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  - https://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  - JOUR
A1  - Ketelhut, Maike
A1  - Kolditz, Melanie
A1  - Göll, Fabian
A1  - Braunstein, Bjoern
A1  - Albracht, Kirsten
A1  - Abel, Dirk
T1  - Admittance control of an industrial robot during resistance training
JF  - IFAC-PapersOnLine
N2  - Neuromuscular strength training of the leg extensor muscles plays an important role in the rehabilitation and prevention of age and wealth related diseases. In this paper, we focus on the design and implementation of a Cartesian admittance control scheme for isotonic training, i.e. leg extension and flexion against a predefined weight. For preliminary testing and validation of the designed algorithm an experimental research and development platform consisting of an 
industrial robot and a force plate mounted at its end-effector has been used. Linear, diagonal and arbitrary two-dimensional motion trajectories with different weights for the leg extension and flexion part are applied. The proposed algorithm is easily adaptable to trajectories consisting of arbitrary six-dimensional poses and allows the implementation of individualized trajectories.
KW  - Assistive technology
KW  - Rehabilitation engineering
KW  - Human-Computer interaction
KW  - Automatic control
Y1  - 2019
U6  - https://doi.org/10.1016/j.ifacol.2019.12.102
SN  - 2405-8963
N1  - 14th IFAC Symposium on Analysis, Design, and Evaluation of Human Machine Systems HMS 2019
Tallinn, Estonia, 16–91 September 2019
VL  - 52
IS  - 19
SP  - 223
EP  - 228
PB  - Elsevier
CY  - Amsterdam
ER  - 
TY  - CHAP
A1  - Braun, Sebastian
A1  - Cheng, Chi-Tsun
A1  - Lai, Chow Yin
A1  - Wollert, Jörg F.
T1  - Microservice Architecture for Automation - Realization by the example of a model-factory’s manufacturing execution system
T2  - Proceedings of the 23rd World Multi-Conference on Systemics, Cybernetics and Informatics: WMSCI 2019
Y1  - 2019
SP  - 33
EP  - 37
ER  - 
TY  - JOUR
A1  - Slabu, Ioana
A1  - Roeth, Anjali A.
A1  - Engelmann, Ulrich M.
A1  - Wiekhorst, Frank
A1  - Buhl, Eva Miriam
A1  - Neumann, Ulf P.
A1  - Schmitz-Rode, Thomas
T1  - Modeling of magnetoliposome uptake in human pancreatic tumor cells in vitro
JF  - Nanotechnology
Y1  - 2019
U6  - https://doi.org/10.1088/1361-6528/ab033e
SN  - 1361-6528
VL  - 30
IS  - 18
SP  - 184004
ER  - 
TY  - CHAP
A1  - Chavez Bermudez, Victor Francisco
A1  - Wollert, Jörg F.
T1  - Gateway for Automation Controllers and Cloud based Voice Recognition Services
T2  - KommA, 10. Jahreskolloquium Kommunikation in der Automation
Y1  - 2019
SN  - 978-3-944722-85-6
SP  - 1
EP  - 8
PB  - Institut für Automation und Kommunikation
CY  - Magdeburg
ER  - 
TY  - CHAP
A1  - Ulmer, Jessica
A1  - Braun, Sebastian
A1  - Lai, Chow Yin
A1  - Cheng, Chi-Tsun
A1  - Wollert, Jörg F.
T1  - Generic integration of VR and AR in product lifecycles based on CAD models
T2  - Proceedings of The 23rd World Multi-Conference on Systemics, Cybernetics and Informatics: WMSCI 2019
Y1  - 2019
ER  -