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首页> 美国卫生研究院文献>The Journal of Physiology >Human control of an inverted pendulum: Is continuous control necessary? Is intermittent control effective? Is intermittent control physiological?
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Human control of an inverted pendulum: Is continuous control necessary? Is intermittent control effective? Is intermittent control physiological?

机译：人工控制倒立摆：是否需要连续控制？间歇控制有效吗？间歇控制是否生理？

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Human motor control is often explained in terms of engineering ‘servo’ theory. Recently, continuous, optimal control using internal models has emerged as a leading paradigm for voluntary movement. However, these engineering paradigms are designed for high bandwidth, inflexible, consistent systems whereas human control is low bandwidth and flexible using noisy sensors and actuators. By contrast, engineering intermittent control was designed for bandwidth-limited applications. Our general interest is whether intermittent rather than continuous control is generic to human motor control. Currently, it would be assumed that continuous control is the superior and physiologically natural choice for controlling unstable loads, for example as required for maintaining human balance. Using visuo-manual tracking of an unstable load, we show that control using gentle, intermittent taps is entirely natural and effective. The gentle tapping method resulted in slightly superior position control and velocity minimisation, a reduced feedback time delay, greater robustness to changing actuator gain and equal or greater linearity with respect to the external disturbance. Control was possible with a median contact rate of 0.8 ± 0.3 s−1. However, when optimising position or velocity regulation, a modal contact rate of 2 s−1 was observed. This modal rate was consistent with insignificant disturbance–joystick coherence beyond 1–2 Hz in both tapping and continuous contact methods. For this load, these results demonstrate a motor control process of serial ballistic trajectories limited to an optimum rate of 2 s−1. Consistent with theoretical reasoning, our results suggest that intermittent open loop action is a natural consequence of human physiology.
机译：人体运动控制通常用工程“伺服”理论来解释。最近，使用内部模型进行连续，最优控制已成为自愿运动的主要范例。但是，这些工程范式是为高带宽，不灵活，一致的系统而设计的，而人为控制的则是低带宽且使用嘈杂的传感器和执行器来灵活控制。相比之下，工程间歇控制是针对带宽受限的应用而设计的。我们的主要兴趣是间歇控制而不是连续控制是否通用于人类运动控制。当前，可以假定连续控制是控制不稳定负载的最佳且生理上自然的选择，例如维持人类平衡所需要的。使用视觉手动跟踪不稳定的负载，我们表明使用轻柔，间歇的水龙头进行控制是完全自然而有效的。温和的攻丝方法可实现略微优越的位置控制和速度最小化，减少反馈时间延迟，对改变执行器增益具有更高的鲁棒性，并且相对于外部干扰具有相等或更大的线性度。控制的中位接触率为0.8±0.3 s -1 。但是，当优化位置或速度调节时，观察到的模态接触率为2 s -1 。在攻丝法和连续接触法中，这种模态速率与超过1-2 Hz的无关紧要的操纵杆相干一致。对于这种负载，这些结果证明了串联弹道的电机控制过程被限制为2 s -1 的最佳速率。与理论推理一致，我们的结果表明间歇性开环作用是人类生理的自然结果。

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