Force-Field Compensation in a Manual Tracking Task
Identifieur interne : 003781 ( Main/Merge ); précédent : 003780; suivant : 003782Force-Field Compensation in a Manual Tracking Task
Auteurs : Valentina Squeri [Italie] ; Lorenzo Masia [Italie] ; Maura Casadio [Italie, États-Unis] ; Pietro Morasso [Italie] ; Elena Vergaro [Italie]Source :
- PLoS ONE [ 1932-6203 ] ; 2010.
Abstract
This study addresses force/movement control in a dynamic “hybrid” task: the master sub-task is continuous manual tracking of a target moving along an eight-shaped Lissajous figure, with the tracking error as the primary performance index; the slave sub-task is compensation of a disturbing curl viscous field, compatibly with the primary performance index. The two sub-tasks are correlated because the lateral force the subject must exert on the eight-shape must be proportional to the longitudinal movement speed in order to perform a good tracking. The results confirm that visuo-manual tracking is characterized by an intermittent control mechanism, in agreement with previous work; the novel finding is that the overall control patterns are not altered by the presence of a large deviating force field, if compared with the undisturbed condition. It is also found that the control of interaction-forces is achieved by a combination of arm stiffness properties and direct force control, as suggested by the systematic lateral deviation of the trajectories from the nominal path and the comparison between perturbed trials and catch trials. The coordination of the two sub-tasks is quickly learnt after the activation of the deviating force field and is achieved by a combination of force and the stiffness components (about 80% vs. 20%), which is a function of the implicit accuracy of the tracking task.
Url:
DOI: 10.1371/journal.pone.0011189
PubMed: 20567516
PubMed Central: 2887367
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Department, Genoa, Italy</addr-line></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea>Italian Institute of Technology, RBCS Department, Genoa</wicri:regionArea><wicri:noRegion>Genoa</wicri:noRegion></affiliation></author><author><name sortKey="Casadio, Maura" sort="Casadio, Maura" uniqKey="Casadio M" first="Maura" last="Casadio">Maura Casadio</name><affiliation wicri:level="1"><nlm:aff id="aff1"><addr-line>Italian Institute of Technology, RBCS Department, Genoa, Italy</addr-line></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea>Italian Institute of Technology, RBCS Department, Genoa</wicri:regionArea><wicri:noRegion>Genoa</wicri:noRegion></affiliation><affiliation wicri:level="2"><nlm:aff id="aff2"><addr-line>Northwestern University, Chicago, Illinois, United States of America</addr-line></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Northwestern University, Chicago, Illinois</wicri:regionArea><placeName><region type="state">Illinois</region></placeName></affiliation><affiliation wicri:level="1"><nlm:aff id="aff3"><addr-line>University of Genoa, DIST Department, Genoa, Italy</addr-line></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea>University of Genoa, DIST Department, Genoa</wicri:regionArea><wicri:noRegion>Genoa</wicri:noRegion></affiliation></author><author><name sortKey="Morasso, Pietro" sort="Morasso, Pietro" uniqKey="Morasso P" first="Pietro" last="Morasso">Pietro Morasso</name><affiliation wicri:level="1"><nlm:aff id="aff1"><addr-line>Italian Institute of Technology, RBCS Department, Genoa, Italy</addr-line></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea>Italian Institute of Technology, RBCS Department, Genoa</wicri:regionArea><wicri:noRegion>Genoa</wicri:noRegion></affiliation><affiliation wicri:level="1"><nlm:aff id="aff3"><addr-line>University of Genoa, DIST Department, Genoa, Italy</addr-line></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea>University of Genoa, DIST Department, Genoa</wicri:regionArea><wicri:noRegion>Genoa</wicri:noRegion></affiliation></author><author><name sortKey="Vergaro, Elena" sort="Vergaro, Elena" uniqKey="Vergaro E" first="Elena" last="Vergaro">Elena Vergaro</name><affiliation wicri:level="1"><nlm:aff id="aff3"><addr-line>University of Genoa, DIST Department, Genoa, Italy</addr-line></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea>University of Genoa, DIST Department, Genoa</wicri:regionArea><wicri:noRegion>Genoa</wicri:noRegion></affiliation></author></analytic><series><title level="j">PLoS ONE</title><idno type="eISSN">1932-6203</idno><imprint><date when="2010">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>This study addresses force/movement control in a dynamic “hybrid” task: the master sub-task is continuous manual tracking of a target moving along an eight-shaped Lissajous figure, with the tracking error as the primary performance index; the slave sub-task is compensation of a disturbing curl viscous field, compatibly with the primary performance index. The two sub-tasks are correlated because the lateral force the subject must exert on the eight-shape must be proportional to the longitudinal movement speed in order to perform a good tracking. The results confirm that visuo-manual tracking is characterized by an intermittent control mechanism, in agreement with previous work; the novel finding is that the overall control patterns are not altered by the presence of a large deviating force field, if compared with the undisturbed condition. It is also found that the control of interaction-forces is achieved by a combination of arm stiffness properties and direct force control, as suggested by the systematic lateral deviation of the trajectories from the nominal path and the comparison between perturbed trials and catch trials. The coordination of the two sub-tasks is quickly learnt after the activation of the deviating force field and is achieved by a combination of force and the stiffness components (about 80% vs. 20%), which is a function of the implicit accuracy of the tracking task.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Ohta, K" uniqKey="Ohta K">K Ohta</name></author><author><name sortKey="Svinin, M" uniqKey="Svinin M">M Svinin</name></author><author><name sortKey="Luo, Z" uniqKey="Luo Z">Z Luo</name></author><author><name sortKey="Hosoe, S" uniqKey="Hosoe S">S Hosoe</name></author><author><name sortKey="Laboissiere, R" uniqKey="Laboissiere R">R Laboissière</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Russell, D" uniqKey="Russell D">D Russell</name></author><author><name sortKey="Hogan, N" uniqKey="Hogan N">N Hogan</name></author></analytic></biblStruct><biblStruct><analytic><author><name 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