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  - 
TY  - CHAP
A1  - Schmitz, Annika
A1  - Apandi, Shah Eiman Amzar Shah
A1  - Spillner, Jan
A1  - Hima, Flutura
A1  - Behbahani, Mehdi
ED  - Digel, Ilya
ED  - Staat, Manfred
ED  - Trzewik, Jürgen
ED  - Sielemann, Stefanie
ED  - Erni, Daniel
ED  - Zylka, Waldemar
T1  - Effect of different cannula positions in the pulmonary artery on blood flow and gas exchange using computational fluid dynamics analysis
T2  - 4th YRA MedTech Symposium 2024 : February 1 / 2024 / FH Aachen
N2  - Pulmonary arterial cannulation is a common and effective method for percutaneous mechanical circulatory support for concurrent right heart and respiratory failure [1]. However, limited data exists to what effect the positioning of the cannula has on the oxygen perfusion throughout the pulmonary artery (PA). This study aims to evaluate, using computational fluid dynamics (CFD), the effect of different cannula positions in the PA with respect to the oxygenation of the different branching vessels in order for an optimal cannula position to be determined. The four chosen different positions (see Fig. 1) of the cannulas are, in the lower part of the main pulmonary artery (MPA), in the MPA at the junction between the right pulmonary artery (RPA) and the left pulmonary artery (LPA), in the RPA at the first branch of the RPA and in the LPA at the first branch of the LPA.
Y1  - 2024
SN  - 978-3-940402-65-3
U6  - http://dx.doi.org/10.17185/duepublico/81475
SP  - 29
EP  - 30
PB  - Universität Duisburg-Essen
CY  - Duisburg
ER  -