Force-feedback interaction with a neural oscillator model: for shared human-robot control of a virtual percussion instrument

摘要

A study on force-feedback interaction with a model of a neural oscillator provides insight into enhanced human-robot interactions for controlling musical sound. We provide differential equations and discrete-time computable equations for the core oscillator model developed by Edward Large for simulating rhythm perception. Using a mechanical analog parameterization, we derive a force-feedback model structure that enables a human to share control of a virtual percussion instrument with a "robotic" neural oscillator. A formal human subject test indicated that strong coupling (STRNG) between the force-feedback device and the neural oscillator provided subjects with the best control. Overall, the human subjects predominantly found the interaction to be "enjoyable" and "fun" or "entertaining." However, there were indications that some subjects preferred a medium-strength coupling (MED), presumably because they were unaccustomed to such strong force-feedback interaction with an external agent. With related models, test subjects performed better when they could synchronize their input in phase with a dominant sensory feedback modality. In contrast, subjects tended to perform worse when an optimal strategy was to move the force-feedback device with a 90° phase lag. Our results suggest an extension of dynamic pattern theory to force-feedback tasks. In closing, we provide an overview of how a similar force-feedback scenario could be used in a more complex musical robotics setting.