Reproduction of human dynamic stability in cooperation with human controller model

Abstract

We investigate the cooperative behavior between our previously proposed human controller model (HCM) and a human operator. In our previous study, we constructed our HCM by which the behavior of human’s individual balancing control can be accurately reproduced. In this study, we examine how accurately our HCM reproduce the dynamic stability of human behavior in a cooperative balancing task performed by a pair of our HCM and a human operator. To this end, the largest Lyapunov exponents (LLEs) of their balancing errors are estimated. Then, the ratios of LLE of our HCM to that of the human operator are calculated. These ratios are compared with those obtained by a conventional controller, indicating that the dynamic stabilities of the human operators are more accurately reproduced by our HCM than the conventional controller.