Schmidt, Annika und Forano, Maion und Sachtler, Arne und Calzolari, Davide und Weber, Bernhard und Franklin, David und Albu-Schäffer, Alin Olimpiu (2024) Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks. PLoS Computational Biology, 20 (9), e1011478. Public Library of Science. doi: 10.1371/journal.pcbi.1011478. ISSN 1553-734X.
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Offizielle URL: https://journals.plos.org/ploscompbiol/article?id=10.1371/journal.pcbi.1011478
Kurzfassung
Activities like ball bouncing and trampoline jumping showcase the human ability to intuitively tune to system dynamics and excite motions that the system prefers intrinsically. This human sensitivity to resonance has been experimentally supported for interactions with simple linear systems but remains a challenge to validate in more complex scenarios where nonlinear dynamics cannot be predicted analytically. However, it has been found that many nonlinear systems exhibit periodic orbits similar to the eigenmodes of linear systems. These nonlinear normal modes (NNM) are computable with a recently developed numerical mode tool. Using this tool, the present research compared the motions that humans excite in nonlinear systems with the predicted NNM of the energy-conservative systems. In a user study consisting of three experiment parts, participants commanded differently configured virtual double pendula with joint compliance through a haptic joystick. The task was to alternately hit two targets, which were either aligned with the NNM (Experiments 1 and 2) or purposefully arranged offset (Experiment 3). In all tested experiment variations, participants intuitively applied a control strategy that excited the resonance and stabilized an orbit close to the ideal NNM of the conservative systems. Even for increased task accuracy (Experiment 2) and targets located away from the NNM (Experiment 3), participants could successfully accomplish the task, likely by adjusting their arm stiffness to alter the system dynamics to better align the resonant motions to the task. Consequently, our experiments extend the existing research on human resonance sensitivity with data-based evidence to nonlinear systems. Our findings emphasize the human capabilities to apply control strategies to excite and exploit resonant motions in dynamic object interactions, including possibly shaping the dynamics through changes in muscle stiffness.
elib-URL des Eintrags: | https://elib.dlr.de/206467/ | ||||||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||||||
Zusätzliche Informationen: | A.S. and M.F. were partly funded by the TUM Integrative Research Fund, provided by the seed funding initiative of the Munich Institute of Robotics and Machine Intelligence (MIRMI). | ||||||||||||||||||||||||||||||||
Titel: | Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks | ||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 3 September 2024 | ||||||||||||||||||||||||||||||||
Erschienen in: | PLoS Computational Biology | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||||||
Gold Open Access: | Ja | ||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||||||
Band: | 20 | ||||||||||||||||||||||||||||||||
DOI: | 10.1371/journal.pcbi.1011478 | ||||||||||||||||||||||||||||||||
Seitenbereich: | e1011478 | ||||||||||||||||||||||||||||||||
Herausgeber: |
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Verlag: | Public Library of Science | ||||||||||||||||||||||||||||||||
ISSN: | 1553-734X | ||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||
Stichwörter: | Pendulum, nonlinear system, stiffness, resonance | ||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Laufroboter/Lokomotion [RO] | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Schmidt, Annika | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 17 Sep 2024 10:23 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 17 Sep 2024 10:23 |
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