An Experimental Study on Coupled Balancing Tasks between Human Subjects and Artificial Controllers

Abstract

In this paper, we experimentally study cooperative human balancing tasks performed by a pair of a human subject and an artificial controller, based on the coupled inverted pendula (CIP) model. In order to examine what kind of influence does the feedback gain of the controller on dynamic stabilities of the cooperative balancing tasks, we experimentally estimate Lyapunov exponents of balancing errors of the system of human subject and artificial controller, in which the human subject is in cooperation with the artificial controller having several different feedback gains. The result implies that the human subject seems to try to make the artificial controller minimally or neutrally stable.