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Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks
Annika Schmidt1,2,3, Marion Forano3,4, Arne Sachtler1,2
1Sensor Based Robotic Systems and Intelligent Assistance Systems, TUM School of Computation, Information and Technology, Technical University of Munich (TUM), Garching, Germany.
Plos Computational Biology
|September 3, 2024
Summary
Humans intuitively exploit system resonance, even in complex nonlinear dynamics. This study shows people can excite and control nonlinear normal modes (NNM) in virtual systems, demonstrating advanced human dynamic interaction capabilities.
Area of Science:
- Human-computer interaction
- Nonlinear dynamics
- Robotics and control
Background:
- Human sensitivity to resonance is known in linear systems.
- Validating resonance sensitivity in complex nonlinear systems is challenging.
- Nonlinear systems can exhibit periodic orbits called nonlinear normal modes (NNM).
Purpose of the Study:
- To investigate human ability to excite and control NNM in nonlinear systems.
- To compare human-excited motions with predicted NNM.
- To extend research on human resonance sensitivity to nonlinear dynamics.
Main Methods:
- Developed a numerical tool to compute NNM for energy-conservative systems.
- Conducted a user study with virtual double pendula and haptic joysticks.
- Participants performed target-hitting tasks aligned or offset from NNM.
Main Results:
- Participants intuitively excited resonance and stabilized orbits close to NNM.
- Task success was maintained even with increased accuracy demands or offset targets.
- Participants adjusted arm stiffness to alter system dynamics and align resonant motions.
Conclusions:
- Human resonance sensitivity extends to complex nonlinear systems.
- Humans can intuitively excite and exploit resonant motions in dynamic interactions.
- Muscle stiffness can be adjusted to shape system dynamics for task accomplishment.
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