Abstract
In this paper, we experimentally study cooperative human balancing tasks performed by a pair ofa human subject and an artificial controller, based on the coupled inverted pendula (CIP) model. Inorder to examine what kind of influence does the feedback gain of the controller on dynamic stabilitiesof the cooperative balancing tasks, we experimentally estimate Lyapunov exponents of balancingerrors of the system of human subject and artificial controller, in which the human subject is incooperation with the artificial controller having several different feedback gains. The result impliesthat the human subject seems to try to make the artificial controller minimally or neutrally stable.
