Manual control performance on-board a moving vehicle is often impeded by biodynamic feedthrough—the effects of vehicle motion feeding through the operator’s body to produce unintended forces on the control interface. In this paper, we propose and experimentally test a model-based controller that acts through a motorized manual interface to cancel the effects of biodynamic feedthrough. The cancellation controller is based on characterization data collected using an accelerometer on the vehicle and a force sensor embedded in the manual interface and a protocol under which the manual interface is temporarily immobilized while in the grip of the operator. The biodynamic model fit to the data is based in turn on a carefully constructed model of the coupled vehicle-operator system. The impact of biodynamic feedthrough and the ability of the model-based controller to cancel its effects were estimated through an experiment in which 12 human subjects used a joystick to carry out a pursuit tracking task on-board a single-axis motion platform. Cancellation controllers derived from biodynamic models fit individually to each subject significantly improved pursuit tracking performance, as evidenced by a 27% reduction in root-mean-square tracking error, a 32% improvement in time-on-target, and an increase in crossover frequency from 0.11 to 0.15 Hz.
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March 2006
Technical Papers
Model-Based Cancellation of Biodynamic Feedthrough Using a Force-Reflecting Joystick
Szabolcs Sövényi
Szabolcs Sövényi
Department of Mechanical Engineering,
e-mail: ssovenyi@umich.edu
University of Michigan
, 2350 Hayward St., Ann Arbor, MI 48109
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Szabolcs Sövényi
Department of Mechanical Engineering,
University of Michigan
, 2350 Hayward St., Ann Arbor, MI 48109e-mail: ssovenyi@umich.edu
J. Dyn. Sys., Meas., Control. Mar 2006, 128(1): 94-103 (10 pages)
Published Online: September 23, 2005
Article history
Received:
April 4, 2005
Revised:
September 23, 2005
Citation
Gillespie, R. B., and Sövényi, S. (September 23, 2005). "Model-Based Cancellation of Biodynamic Feedthrough Using a Force-Reflecting Joystick." ASME. J. Dyn. Sys., Meas., Control. March 2006; 128(1): 94–103. https://doi.org/10.1115/1.2168480
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