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  Objective Model Selection for Identifying the Human Feedforward Response in Manual Control

Drop, F., Pool, D., van Paassen, M., Mulder, M., & Bülthoff, H. (2018). Objective Model Selection for Identifying the Human Feedforward Response in Manual Control. IEEE Transactions on Cybernetics, 48(1), 2-15. doi:10.1109/TCYB.2016.2602322.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0001-7D3D-0 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-80F1-D
Genre: Journal Article

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Drop, FM1, 2, 3, 4, Author              
Pool, DM, Author              
van Paassen, MM, Author
Mulder, M, Author
Bülthoff, HH1, 3, 4, Author              
Affiliations:
1Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
2Project group: Motion Perception & Simulation, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528705              
3Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              
4Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: Realistic manual control tasks typically involve predictable target signals and random disturbances. The human controller (HC) is hypothesized to use a feedforward control strategy for target-following, in addition to feedback control for disturbance-rejection. Little is known about human feedforward control, partly because common system identification methods have difficulty in identifying whether, and (if so) how, the HC applies a feedforward strategy. In this paper, an identification procedure is presented that aims at an objective model selection for identifying the human feedforward response, using linear time-invariant autoregressive with exogenous input models. A new model selection criterion is proposed to decide on the model order (number of parameters) and the presence of feedforward in addition to feedback. For a range of typical control tasks, it is shown by means of Monte Carlo computer simulations that the classical Bayesian information criterion (BIC) leads to selecting models that contain a feedforward path from data generated by a pure feedback model: “false-positive” feedforward detection. To eliminate these false-positives, the modified BIC includes an additional penalty on model complexity. The appropriate weighting is found through computer simulations with a hypothesized HC model prior to performing a tracking experiment. Experimental human-in-the-loop data will be considered in future work. With appropriate weighting, the method correctly identifies the HC dynamics in a wide range of control tasks, without false-positive results.

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 Dates: 2018-01
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/TCYB.2016.2602322
BibTex Citekey: DropPVMB2016
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Title: IEEE Transactions on Cybernetics
Source Genre: Journal
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Pages: - Volume / Issue: 48 (1) Sequence Number: - Start / End Page: 2 - 15 Identifier: -