Control at stability's edge minimizes energetic costs: Expert stick balancing

John Milton, Ryan Meyer, Max Zhvanetsky, Sarah Ridge, T. Insperger

Research output: Contribution to journalArticle

29 Citations (Scopus)

Abstract

Stick balancing on the fingertip is a complex voluntary motor task that requires the stabilization of an unstable system. For seated expert stick balancers, the time delay is 0.23 s, the shortest stick that can be balanced for 240 s is 0.32 m and there is a ≈0.8° dead zone for the estimation of the vertical displacement angle in the saggital plane. These observations motivate a switching-type, pendulum-cart model for balance control which uses an internal model to compensate for the time delay by predicting the sensory consequences of the stick's movements. Numerical simulations using the semi-discretization method suggest that the feedback gains are tuned near the edge of stability. For these choices of the feedback gains, the cost function which takes into account the position of the fingertip and the corrective forces is minimized. Thus, expert stick balancers optimize control with a combination of quick manoeuvrability and minimum energy expenditures.

Original languageEnglish
Article number20160212
JournalJournal of the Royal Society Interface
Volume13
Issue number119
DOIs
Publication statusPublished - Jun 1 2016

Fingerprint

Time delay
Feedback
Costs and Cost Analysis
Maneuverability
Pendulums
Cost functions
Energy Metabolism
Costs
Stabilization
Computer simulation

Keywords

  • Microchaos
  • Predictor feedback
  • Sensory dead zone
  • Stick balancing
  • Time delay

ASJC Scopus subject areas

  • Biophysics
  • Biotechnology
  • Bioengineering
  • Biomedical Engineering
  • Biomaterials
  • Biochemistry

Cite this

Control at stability's edge minimizes energetic costs : Expert stick balancing. / Milton, John; Meyer, Ryan; Zhvanetsky, Max; Ridge, Sarah; Insperger, T.

In: Journal of the Royal Society Interface, Vol. 13, No. 119, 20160212, 01.06.2016.

Research output: Contribution to journalArticle

Milton, John ; Meyer, Ryan ; Zhvanetsky, Max ; Ridge, Sarah ; Insperger, T. / Control at stability's edge minimizes energetic costs : Expert stick balancing. In: Journal of the Royal Society Interface. 2016 ; Vol. 13, No. 119.
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