“Humans are skillful at manipulating objects that possess nonlinear underactuated dynamics, such as clothes or containers filled with liquids. Several studies suggested that humans implement a predictive model-based strategy to control such objects. However, these studies only considered unconstrained reaching without any object involved or. … This study examined a task where participants physically interacted with a nonlinear underactuated system mimicking a cup of sloshing coffee: a cup with a ball rolling inside. … These findings provide evidence that humans use simplified internal models along with mechanical impedance to manipulate complex objects.”
Find the paper and list of authors in PLOS Computational Biology.