Design and validation of feedback controller for social motor coordination with time-varying delays

Abstract Due to the significant effect of time delays on social motor coordination, this work aims to inquire into the coordination mechanism of human joint actions from a control perspective by designing a feedback controller with individual motor signature. Therein the time-varying delay is taken into account to reflect the delay of human motor system in transmitting, processing and analyzing visual signals. By treating individual motor signature as the exogenous signal, it is proved that the coordination model is input-to-state stable. Finally, the model driven by the feedback controller is validated by matching experimental data. It is demonstrated that the appropriate time delays may contribute to motor learning of diverse kinematic characteristics, which can be employed to accomplish the rehabilitation of patients suffering from mental or social disorders.

[1]  H. Haken,et al.  A theoretical model of phase transitions in human hand movements , 2004, Biological Cybernetics.

[2]  Zhiping Hu,et al.  Association between Parkinson’s disease and risk of prostate cancer in different populations: An updated meta-analysis , 2017, Scientific Reports.

[3]  U. Alon,et al.  The mirror game as a paradigm for studying the dynamics of two people improvising motion together , 2011, Proceedings of the National Academy of Sciences.

[4]  Davide Liuzza,et al.  Deep learning control of artificial avatars in group coordination tasks , 2019, 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC).

[5]  Tiago Roux Oliveira,et al.  Time-scaling based sliding mode control for Neuromuscular Electrical Stimulation under uncertain relative degrees. , 2017, Medical engineering & physics.

[6]  Klaus Lehnertz,et al.  Measuring synchronization in coupled model systems: A comparison of different approaches , 2007 .

[7]  R. Miall,et al.  Intermittency in human manual tracking tasks. , 1993, Journal of motor behavior.

[8]  A. Billard,et al.  Influence of facial feedback during a cooperative human-robot task in schizophrenia , 2017, Scientific Reports.

[9]  Charles R. Johnson,et al.  Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.

[10]  Chao Zhai,et al.  Comparing different control approaches to implement a human-like virtual player in the mirror game , 2016, 2016 European Control Conference (ECC).

[11]  Min Wu,et al.  A relaxed quadratic function negative-determination lemma and its application to time-delay systems , 2020, Autom..

[12]  Ludovic Marin,et al.  Social priming enhances interpersonal synchronization and feeling of connectedness towards schizophrenia patients , 2015, Scientific Reports.

[13]  Tass,et al.  Delay-induced transitions in visually guided movements. , 1996, Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics.

[14]  Kangkang Sun,et al.  Event-Triggered Robust Fuzzy Adaptive Finite-Time Control of Nonlinear Systems With Prescribed Performance , 2020, IEEE Transactions on Fuzzy Systems.

[15]  P. D. Neilson,et al.  Internal models and intermittency: A theoretical account of human tracking behavior , 2004, Biological Cybernetics.

[16]  A. Mcghie,et al.  Disorders of attention and perception in early schizophrenia. , 1961, The British journal of medical psychology.

[17]  Yong He,et al.  Stability Analysis and Robust Control of Time-Delay Systems , 2010 .

[18]  Chao Zhai,et al.  An interactive control architecture for interpersonal coordination in mirror game , 2018, Control Engineering Practice.

[19]  Distribution of Human Reaction Time , 1965, Perceptual and motor skills.

[20]  P. Beek,et al.  Effects of correct and transformed visual feedback on rhythmic visuo-motor tracking: tracking performance and visual search behavior. , 2005, Human movement science.

[21]  P. Guest,et al.  Enabling point-of-care testing and personalized medicine for schizophrenia , 2017, npj Schizophrenia.

[22]  Aude Billard,et al.  Unravelling socio-motor biomarkers in schizophrenia , 2017, npj Schizophrenia.

[23]  Mario di Bernardo,et al.  Kinematic characteristics of motion in the mirror game , 2014, 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[24]  R. Schmidt,et al.  Impairments of Social Motor Coordination in Schizophrenia , 2012, PloS one.

[25]  Ian David Loram,et al.  The frequency of human, manual adjustments in balancing an inverted pendulum is constrained by intrinsic physiological factors , 2006, The Journal of physiology.

[26]  Peter J. Bickel,et al.  The Earth Mover's distance is the Mallows distance: some insights from statistics , 2001, Proceedings Eighth IEEE International Conference on Computer Vision. ICCV 2001.

[27]  Chao Zhai,et al.  Design and Validation of a Virtual Player for Studying Interpersonal Coordination in the Mirror Game , 2015, IEEE Transactions on Cybernetics.

[28]  B. Krauskopf,et al.  Effects of time-delay in a model of intra- and inter-personal motor coordination , 2015, 1512.04426.

[29]  Scott S. Wiltermuth,et al.  Synchrony and Cooperation , 2009, Psychological science.

[30]  Viktor K. Jirsa,et al.  How do neural connectivity and time delays influence bimanual coordination? , 2007, Biological Cybernetics.