TY - GEN
T1 - Force feedback assisted balancing of inverted pendulum under manual control
AU - Hua, Jianning
AU - Cui, Yujie
AU - Shi, Pu
AU - Yang, Yanhua
AU - Li, Hongyi
PY - 2013
Y1 - 2013
N2 - Human motor and cognitive behavior has been considered as an important research content and received increased attention from academia. As a suitable platform, the inverted pendulum under manual control has been studied extensively, since the inverted pendulum is essentially a nonlinear system and strong coupling exists between the human operator and pendulum system. However, performance of the system when feedback force is provided has not been reported. This paper presents a virtual pendulum system which is built based on OpenGL, while control inputs are provided with a joystick. Dynamical model has been obtained though mathematical manipulation. In order to obtain more realistic effect, dynamical model is solved with Runge-kutta method. The joystick interface enables operators to control the pendulum manually, providing a fun experience. Comparative experiments have been carried out and the preliminary results confirm the performance difference when force/haptic information is provided to the operator. This study establishes the foundation for further research on cognitive behavior of human operators in human-machine interaction systems and neural control systems.
AB - Human motor and cognitive behavior has been considered as an important research content and received increased attention from academia. As a suitable platform, the inverted pendulum under manual control has been studied extensively, since the inverted pendulum is essentially a nonlinear system and strong coupling exists between the human operator and pendulum system. However, performance of the system when feedback force is provided has not been reported. This paper presents a virtual pendulum system which is built based on OpenGL, while control inputs are provided with a joystick. Dynamical model has been obtained though mathematical manipulation. In order to obtain more realistic effect, dynamical model is solved with Runge-kutta method. The joystick interface enables operators to control the pendulum manually, providing a fun experience. Comparative experiments have been carried out and the preliminary results confirm the performance difference when force/haptic information is provided to the operator. This study establishes the foundation for further research on cognitive behavior of human operators in human-machine interaction systems and neural control systems.
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U2 - 10.1109/ICICIP.2013.6568177
DO - 10.1109/ICICIP.2013.6568177
M3 - Conference contribution
AN - SCOPUS:84883223828
SN - 9781467362481
T3 - Proceedings of the 2013 International Conference on Intelligent Control and Information Processing, ICICIP 2013
SP - 776
EP - 781
BT - Proceedings of the 2013 International Conference on Intelligent Control and Information Processing, ICICIP 2013
T2 - 2013 4th International Conference on Intelligent Control and Information Processing, ICICIP 2013
Y2 - 9 June 2013 through 11 June 2013
ER -