Admittance-adaptive model-based approach to mitigate biodynamic feedthrough
J. Venrooij (Max Planck Institute for Biological Cybernetics)
Max Mulder (TU Delft - Control & Operations)
M Mulder (TU Delft - Human-Robot Interaction, TU Delft - Biomechatronics & Human-Machine Control)
DA Abbink (TU Delft - Human-Robot Interaction, TU Delft - Biomechatronics & Human-Machine Control)
M. M.(René) van Paassen (TU Delft - Control & Simulation)
F. C.T. van der Helm (TU Delft - Biomechatronics & Human-Machine Control)
Heinrich H. Bülthoff (Max Planck Institute for Biological Cybernetics)
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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.
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