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Tesi etd-06012016-151319


Thesis type
Tesi di dottorato di ricerca
Author
OLIVARI, MARIO
URN
etd-06012016-151319
Title
Measuring pilot control behavior in control tasks with haptic feedback
Settore scientifico disciplinare
ING-INF/04
Corso di studi
INGEGNERIA
Commissione
tutor Prof. Pollini, Lorenzo
commissario Prof. Bülthoff, Heinrich H.
commissario Prof. Landi, Alberto
commissario Prof. Colombo, Carlo
Parole chiave
  • Haptic feedback
  • neuromuscular response
  • multi-loop identification
  • time-varying identification
Data inizio appello
26/06/2016;
Consultabilità
completa
Riassunto analitico
The research goal of this thesis was to increase the understanding of effects of haptic feedback on human’s performance and control behavior. <br><br>Firstly, we investigated the effectiveness of haptic aids on improving human’s performance in different control scenarios. <br>Beneficial effects of haptic aids were shown in terms of human&#39;s performances and control effort.<br>Comparisons with input-mixing systems showed that, although input-mixing systems yielded better performance<br>than haptic aids in nominal conditions, participants recovered better from failures of haptic systems than from failures of input-mixing aids.<br><br>Secondly, we investigated how humans adapt their dynamic responses to realize benefits of the haptic feedback.<br>To achieve this goal, we developed novel identification methods to estimate human&#39;s neuromuscular dynamics in a multi-loop control task.<br>The novel methods assumed a time-invariant behavior of humans responses.<br>The novel methods were validated in simulation and applied to experimental data.<br><br>Finally, novel methods were developed to account for time-varying behavior of human&#39;s responses.<br>Different sets of numerical simulations were used to validate the novel methods.<br>Then, the methods were applied to data obtained in human in-the-loop experiments.
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