Admittance-adaptive model-based approach to mitigate biodynamic feedthrough

Journal article (2017)

Authors

J. Venrooij Max Planck Institute for Biological Cybernetics
Max Mulder Control & Operations
M. Mulder Human-Robot Interaction - Mechanical, Maritime and Materials Engineering , Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
David Abbink Human-Robot Interaction - Mechanical, Maritime and Materials Engineering , Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Frans van der Helm Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Heinrich H. Bülthoff Max Planck Institute for Biological Cybernetics
Copyright: © 2017 J. Venrooij, Max Mulder, M. Mulder, D.A. Abbink, M.M. van Paassen, F.C.T. van der Helm, Heinrich H. Bulthoff
DOI: https://doi.org/10.1109/TCYB.2016.2601638
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Published Date

2017

Language

English

Abstract

Biodynamic feedthrough (BDFT) refers to the feedthrough of vehicle accelerations through the human body, leading to involuntary control device inputs. BDFT impairs control performance in a large range of vehicles under various circumstances. Research shows that BDFT strongly depends on adaptations in the neuromuscular admittance dynamics of the human body. This paper proposes a model-based approach of BDFT mitigation that accounts for these neuromuscular adaptations. The method was tested, as proof-of-concept, in an experiment where participants inside a motion simulator controlled a simulated vehicle through a virtual tunnel. Through evaluating tracking performance and control effort with and without motion disturbance active and with and without cancellation active, the effectiveness of the cancellation was evaluated. Results show that the cancellation approach is successful: the detrimental effects of BDFT were largely removed.