TY  - CHAP
A1  - Kolditz, Melanie
A1  - Albin, Thivaharan
A1  - Albracht, Kirsten
A1  - Brüggemann, Gert-Peter
A1  - Abel, Dirk
T1  - Isokinematic leg extension training with an industrial robot
T2  - 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) June 26-29, 2016. UTown, Singapore
Y1  - 2016
U6  - http://dx.doi.org/10.1109/BIOROB.2016.7523750
SP  - 950
EP  - 955
ER  - 
TY  - CHAP
A1  - Kolditz, Melanie
A1  - Albracht, Kirsten
A1  - Fasse, Alessandro
A1  - Albin, Thivaharan
A1  - Brüggemann, Gert-Peter
A1  - Abel, Dirk
T1  - Evaluation of an industrial robot as a leg press training device
T2  - XV International Symposium on Computer Simulation in Biomechanics July 9th – 11th 2015, Edinburgh, UK
Y1  - 2015
SP  - 41
EP  - 42
ER  - 
TY  - CHAP
A1  - Kolditz, Melanie
A1  - Albin, Thivaharan
A1  - Fasse, Alessandro
A1  - Brüggemann, Gert-Peter
A1  - Abel, Dirk
A1  - Albracht, Kirsten
T1  - Simulative Analysis of Joint Loading During Leg Press Exercise for Control Applications
T2  - IFAC-PapersOnLine
Y1  - 2015
U6  - http://dx.doi.org/10.1016/j.ifacol.2015.10.179
N1  - IFAC-PapersOnLine 48-20;
Conference Paper Archive
VL  - 48
IS  - 20
SP  - 435
EP  - 440
ER  - 
TY  - CHAP
A1  - Ketelhut, Maike
A1  - Göll, Fabian
A1  - Braunstein, Bjoern
A1  - Albracht, Kirsten
A1  - Abel, Dirk
T1  - Iterative learning control of an industrial robot for neuromuscular training
T2  - 2019 IEEE Conference on Control Technology and Applications
N2  - Effective training requires high muscle forces potentially leading to training-induced injuries. Thus, continuous monitoring and controlling of the loadings applied to the musculoskeletal system along the motion trajectory is required. In this paper, a norm-optimal iterative learning control algorithm for the robot-assisted training is developed. The algorithm aims at minimizing the external knee joint moment, which is commonly used to quantify the loading of the medial compartment. To estimate the external knee joint moment, a musculoskeletal lower extremity model is implemented in OpenSim and coupled with a model of an industrial robot and a force plate mounted at its end-effector. The algorithm is tested in simulation for patients with varus, normal and valgus alignment of the knee. The results show that the algorithm is able to minimize the external knee joint moment in all three cases and converges after less than seven iterations.
KW  - Knee
KW  - Training
KW  - Load modeling
KW  - Force
KW  - Iterative learning control
Y1  - 2019
SN  - 978-1-7281-2767-5 (ePub)
SN  - 978-1-7281-2766-8 (USB)
SN  - 978-1-7281-2768-2 (PoD)
U6  - http://dx.doi.org/10.1109/CCTA.2019.8920659
N1  - 2019 IEEE Conference on Control Technology and Applications (CCTA) Hong Kong, China, August 19-21, 2019
PB  - IEEE
CY  - New York
ER  -