摘要：AbstractVirtual stick balancing by human subjects is analyzed with special attention to the reaction time delay and the sensory dead zones. A pendulum-cart system displayed on a computer screen is controlled via an optical computer mouse. Realization of the balancing task involves additional computational delay in the feedback loop. The measurement results are compared to numerical simulations based on a model with delayed proportional-derivative (PD) feedback. Balancing skills are measured using the critical length, i.e., the length of the shortest stick that subjects can balance. The critical length obtained by the virtual balancing tests is larger by a factor of 2 ~ 3.5 than the critical length for mathematical model with delayed PD control. Time domain simulations for a model with dead zones both for the position and for the velocity show a limit cycle type of oscillation rather than a realistic noisy (or chaotic) motion.
关键词：KeywordsReflex delaycomputer delaysvirtual stick balancinginverted pendulumdead zone
