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Reproduction of human dynamic stability in cooperation with human controller model

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Abstract

We investigate the cooperative behavior between our previously proposed human controller model (HCM) and a human operator. In our previous study, we constructed our HCM by which the behavior of human’s individual balancing control can be accurately reproduced. In this study, we examine how accurately our HCM reproduce the dynamic stability of human behavior in a cooperative balancing task performed by a pair of our HCM and a human operator. To this end, the largest Lyapunov exponents (LLEs) of their balancing errors are estimated. Then, the ratios of LLE of our HCM to that of the human operator are calculated. These ratios are compared with those obtained by a conventional controller, indicating that the dynamic stabilities of the human operators are more accurately reproduced by our HCM than the conventional controller.

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Acknowledgements

This work was supported by JSPS KAKENHI Grant numbers JP18H01391 and JP17H06552.

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Authors and Affiliations

  1. Utsunomiya University, Yoto 7-1-2, Utsunomiya, Tochigi, 321-8585, Japan

    Yoshikazu Yamanaka & Katsutoshi Yoshida

  2. Intelligent Vision & Image Systems Inc, OGI-BLDG, Hongo 3-6-6, Bunkyo-ku, Tokyo, 113-0033, Japan

    Shigeki Matsumoto

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  1. Yoshikazu Yamanaka
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  2. Shigeki Matsumoto
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  3. Katsutoshi Yoshida
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Correspondence to Yoshikazu Yamanaka.

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Yamanaka, Y., Matsumoto, S. & Yoshida, K. Reproduction of human dynamic stability in cooperation with human controller model. Artif Life Robotics 25, 30–37 (2020). https://doi.org/10.1007/s10015-019-00560-y

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