TY - JOUR A1 - Waldvogel, Janice A1 - Freyler, Kathrin A1 - Helm, Michael A1 - Monti, Elena A1 - Stäudle, Benjamin A1 - Gollhofer, Albert A1 - Narici, Marco V. A1 - Ritzmann, Ramona A1 - Albracht, Kirsten T1 - Changes in gravity affect neuromuscular control, biomechanics, and muscle-tendon mechanics in energy storage and dissipation tasks JF - Journal of Applied Physiology N2 - This study evaluates neuromechanical control and muscle-tendon interaction during energy storage and dissipation tasks in hypergravity. During parabolic flights, while 17 subjects performed drop jumps (DJs) and drop landings (DLs), electromyography (EMG) of the lower limb muscles was combined with in vivo fascicle dynamics of the gastrocnemius medialis, two-dimensional (2D) kinematics, and kinetics to measure and analyze changes in energy management. Comparisons were made between movement modalities executed in hypergravity (1.8 G) and gravity on ground (1 G). In 1.8 G, ankle dorsiflexion, knee joint flexion, and vertical center of mass (COM) displacement are lower in DJs than in DLs; within each movement modality, joint flexion amplitudes and COM displacement demonstrate higher values in 1.8 G than in 1 G. Concomitantly, negative peak ankle joint power, vertical ground reaction forces, and leg stiffness are similar between both movement modalities (1.8 G). In DJs, EMG activity in 1.8 G is lower during the COM deceleration phase than in 1 G, thus impairing quasi-isometric fascicle behavior. In DLs, EMG activity before and during the COM deceleration phase is higher, and fascicles are stretched less in 1.8 G than in 1 G. Compared with the situation in 1 G, highly task-specific neuromuscular activity is diminished in 1.8 G, resulting in fascicle lengthening in both movement modalities. Specifically, in DJs, a high magnitude of neuromuscular activity is impaired, resulting in altered energy storage. In contrast, in DLs, linear stiffening of the system due to higher neuromuscular activity combined with lower fascicle stretch enhances the buffering function of the tendon, and thus the capacity to safely dissipate energy. KW - electromyography KW - locomotion KW - overload KW - stretch-shortening cycle KW - ultrasound Y1 - 2023 U6 - http://dx.doi.org/10.1152/japplphysiol.00279.2022 SN - 1522-1601 (Onlineausgabe) SN - 8750-7587 (Druckausgabe) VL - 134 IS - 1 SP - 190 EP - 202 PB - American Physiological Society CY - Bethesda, Md. ER - TY - JOUR A1 - Ketelhut, Maike A1 - Göll, Fabian A1 - Braunstein, Björn A1 - Albracht, Kirsten A1 - Abel, Dirk T1 - Comparison of different training algorithms for the leg extension training with an industrial robot JF - Current Directions in Biomedical Engineering N2 - In the past, different training scenarios have been developed and implemented on robotic research platforms, but no systematic analysis and comparison have been done so far. This paper deals with the comparison of an isokinematic (motion with constant velocity) and an isotonic (motion against constant weight) training algorithm. Both algorithms are designed for a robotic research platform consisting of a 3D force plate and a high payload industrial robot, which allows leg extension training with arbitrary six-dimensional motion trajectories. In the isokinematic as well as the isotonic training algorithm, individual paths are defined i n C artesian s pace by sufficient s upport p oses. I n t he i sotonic t raining s cenario, the trajectory is adapted to the measured force as the robot should only move along the trajectory as long as the force applied by the user exceeds a minimum threshold. In the isotonic training scenario however, the robot’s acceleration is a function of the force applied by the user. To validate these findings, a simulative experiment with a simple linear trajectory is performed. For this purpose, the same force path is applied in both training scenarios. The results illustrate that the algorithms differ in the force dependent trajectory adaption. KW - Rehabilitation Technology and Prosthetics KW - Surgical Navigation and Robotics Y1 - 2018 U6 - http://dx.doi.org/10.1515/cdbme-2018-0005 SN - 2364-5504 VL - 4 IS - 1 SP - 17 EP - 20 PB - De Gruyter CY - Berlin ER - TY - JOUR A1 - Richter, Charlotte A1 - Braunstein, Bjoern A1 - Staeudle, Benjamin A1 - Attias, Julia A1 - Suess, Alexander A1 - Weber, Tobias A1 - Mileva, Katya N. A1 - Rittweger, Joern A1 - Green, David A. A1 - Albracht, Kirsten T1 - Contractile behavior of the gastrocnemius medialis muscle during running in simulated hypogravity JF - npj Microgravity N2 - Vigorous exercise countermeasures in microgravity can largely attenuate muscular degeneration, albeit the extent of applied loading is key for the extent of muscle wasting. Running on the International Space Station is usually performed with maximum loads of 70% body weight (0.7 g). However, it has not been investigated how the reduced musculoskeletal loading affects muscle and series elastic element dynamics, and thereby force and power generation. Therefore, this study examined the effects of running on the vertical treadmill facility, a ground-based analog, at simulated 0.7 g on gastrocnemius medialis contractile behavior. The results reveal that fascicle−series elastic element behavior differs between simulated hypogravity and 1 g running. Whilst shorter peak series elastic element lengths at simulated 0.7 g appear to be the result of lower muscular and gravitational forces acting on it, increased fascicle lengths and decreased velocities could not be anticipated, but may inform the development of optimized running training in hypogravity. However, whether the alterations in contractile behavior precipitate musculoskeletal degeneration warrants further study. Y1 - 2021 U6 - http://dx.doi.org/10.1038/s41526-021-00155-7 SN - 2373-8065 N1 - Corresponding author: Charlotte Richter VL - 7 IS - Article number: 32 PB - Springer Nature CY - New York ER - TY - JOUR A1 - Heieis, Jule A1 - Böcker, Jonas A1 - D'Angelo, Olfa A1 - Mittag, Uwe A1 - Albracht, Kirsten A1 - Schönau, Eckhard A1 - Meyer, Andreas A1 - Voigtmann, Thomas A1 - Rittweger, Jörn T1 - Curvature of gastrocnemius muscle fascicles as function of muscle–tendon complex length and contraction in humans JF - Physiological Reports N2 - It has been shown that muscle fascicle curvature increases with increasing contraction level and decreasing muscle–tendon complex length. The analyses were done with limited examination windows concerning contraction level, muscle–tendon complex length, and/or intramuscular position of ultrasound imaging. With this study we aimed to investigate the correlation between fascicle arching and contraction, muscle–tendon complex length and their associated architectural parameters in gastrocnemius muscles to develop hypotheses concerning the fundamental mechanism of fascicle curving. Twelve participants were tested in five different positions (90°/105°*, 90°/90°*, 135°/90°*, 170°/90°*, and 170°/75°*; *knee/ankle angle). They performed isometric contractions at four different contraction levels (5%, 25%, 50%, and 75% of maximum voluntary contraction) in each position. Panoramic ultrasound images of gastrocnemius muscles were collected at rest and during constant contraction. Aponeuroses and fascicles were tracked in all ultrasound images and the parameters fascicle curvature, muscle–tendon complex strain, contraction level, pennation angle, fascicle length, fascicle strain, intramuscular position, sex and age group were analyzed by linear mixed effect models. Mean fascicle curvature of the medial gastrocnemius increased with contraction level (+5 m−1 from 0% to 100%; p = 0.006). Muscle–tendon complex length had no significant impact on mean fascicle curvature. Mean pennation angle (2.2 m−1 per 10°; p < 0.001), inverse mean fascicle length (20 m−1 per cm−1; p = 0.003), and mean fascicle strain (−0.07 m−1 per +10%; p = 0.004) correlated with mean fascicle curvature. Evidence has also been found for intermuscular, intramuscular, and sex-specific intramuscular differences of fascicle curving. Pennation angle and the inverse fascicle length show the highest predictive capacities for fascicle curving. Due to the strong correlations between pennation angle and fascicle curvature and the intramuscular pattern of curving we suggest for future studies to examine correlations between fascicle curvature and intramuscular fluid pressure. KW - biomechanics KW - connective tissue KW - physiology KW - ultrasound Y1 - 2023 U6 - http://dx.doi.org/10.14814/phy2.15739 SN - 2051-817X VL - 11 IS - 11 SP - e15739, Seite 1-11 PB - Wiley ER - TY - CHAP A1 - Droszez, Anna A1 - Sanno, Maximilian A1 - Goldmann, Jan-Peter A1 - Albracht, Kirsten A1 - Brüggemann, Gerd-Peter A1 - Braunstein, Bjoern T1 - Differences between take-off behavior during vertical jumps and two artistic elements T2 - 34th International Conference of Biomechanics in Sport, Tsukuba, Japan, July 18-22, 2016 Y1 - 2016 SN - 1999-4168 SP - 577 EP - 580 ER - TY - JOUR A1 - Werkhausen, Amelie A1 - Cronin, Neil J. A1 - Albracht, Kirsten A1 - Bojsen-Møller, Jens A1 - Seynnes, Olivier R. T1 - Distinct muscle-tendon interaction during running at different speeds and in different loading conditions JF - Journal of Applied Physiology Y1 - 2019 U6 - http://dx.doi.org/10.1152/japplphysiol.00710.2018 SN - 1522-1601 VL - 127 IS - 1 SP - 246 EP - 253 ER - TY - JOUR A1 - Werkhausen, Amelie A1 - Albracht, Kirsten A1 - Cronin, Neil J A1 - Paulsen, Gøran A1 - Bojsen-Møller, Jens A1 - Seynnes, Olivier R T1 - Effect of training-induced changes in achilles tendon stiffness on muscle-tendon behavior during landing JF - Frontiers in physiology N2 - During rapid deceleration of the body, tendons buffer part of the elongation of the muscle-tendon unit (MTU), enabling safe energy dissipation via eccentric muscle contraction. Yet, the influence of changes in tendon stiffness within the physiological range upon these lengthening contractions is unknown. This study aimed to examine the effect of training-induced stiffening of the Achilles tendon on triceps surae muscle-tendon behavior during a landing task. Twenty-one male subjects were assigned to either a 10-week resistance-training program consisting of single-leg isometric plantarflexion (n = 11) or to a non-training control group (n = 10). Before and after the training period, plantarflexion force, peak Achilles tendon strain and stiffness were measured during isometric contractions, using a combination of dynamometry, ultrasound and kinematics data. Additionally, testing included a step-landing task, during which joint mechanics and lengths of gastrocnemius and soleus fascicles, Achilles tendon, and MTU were determined using synchronized ultrasound, kinematics and kinetics data collection. After training, plantarflexion strength and Achilles tendon stiffness increased (15 and 18%, respectively), and tendon strain during landing remained similar. Likewise, lengthening and negative work produced by the gastrocnemius MTU did not change detectably. However, in the training group, gastrocnemius fascicle length was offset (8%) to a longer length at touch down and, surprisingly, fascicle lengthening and velocity were reduced by 27 and 21%, respectively. These changes were not observed for soleus fascicles when accounting for variation in task execution between tests. These results indicate that a training-induced increase in tendon stiffness does not noticeably affect the buffering action of the tendon when the MTU is rapidly stretched. Reductions in gastrocnemius fascicle lengthening and lengthening velocity during landing occurred independently from tendon strain. Future studies are required to provide insight into the mechanisms underpinning these observations and their influence on energy dissipation. KW - achilles tendon KW - energy absorption KW - energy dissipation KW - mechanical buffer KW - stiffness Y1 - 2018 U6 - http://dx.doi.org/10.3389/fphys.2018.00794 SN - 1664-042X IS - 9 PB - Frontiers Research Foundation CY - Lausanne ER - TY - CHAP A1 - Pohle-Fröhlich, Regina A1 - Dalitz, Christoph A1 - Richter, Charlotte A1 - Hahnen, Tobias A1 - Stäudle, Benjamin A1 - Albracht, Kirsten T1 - Estimation of muscle fascicle orientation in ultrasonic images T2 - VISIGRAPP 2020 - Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 5 Y1 - 2020 SP - 79 EP - 86 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 - JOUR A1 - Kolditz, Melanie A1 - Albin, Thivaharan A1 - Abel, Dirk A1 - Fasse, Alessandro A1 - Brüggemann, Gert-Peter A1 - Albracht, Kirsten T1 - Evaluation of foot position and orientation as manipulated variables to control external knee adduction moments in leg extension training JF - Computer methods and programs in biomedicine N2 - Background and Objective Effective leg extension training at a leg press requires high forces, which need to be controlled to avoid training-induced damage. In order to avoid high external knee adduction moments, which are one reason for unphysiological loadings on knee joint structures, both training movements and the whole reaction force vector need to be observed. In this study, the applicability of lateral and medial changes in foot orientation and position as possible manipulated variables to control external knee adduction moments is investigated. As secondary parameters both the medio-lateral position of the center of pressure and the frontal-plane orientation of the reaction force vector are analyzed. Methods Knee adduction moments are estimated using a dynamic model of the musculoskeletal system together with the measured reaction force vector and the motion of the subject by solving the inverse kinematic and dynamic problem. Six different foot conditions with varying positions and orientations of the foot in a static leg press are evaluated and compared to a neutral foot position. Results Both lateral and medial wedges under the foot and medial and lateral shifts of the foot can influence external knee adduction moments in the presented study with six healthy subjects. Different effects are observed with the varying conditions: the pose of the leg is changed and the direction and center of pressure of the reaction force vector is influenced. Each effect results in a different direction or center of pressure of the reaction force vector. Conclusions The results allow the conclusion that foot position and orientation can be used as manipulated variables in a control loop to actively control knee adduction moments in leg extension training. KW - External knee adduction moments KW - Manipulated variables KW - Inverse dynamic problem KW - Inverse kinematic problem KW - Musculoskeletal model Y1 - 2016 U6 - http://dx.doi.org/10.1016/j.cmpb.2016.09.005 SN - 0169-2607 N1 - Part of special issue: "SI: Personalised Models and System Identification" VL - 171 SP - 81 EP - 86 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Heinke, Lars N. A1 - Knicker, Axel J. A1 - Albracht, Kirsten T1 - Evaluation of passively induced shoulder stretch reflex using an isokinetic dynamometer in male overhead athletes JF - Isokinetics and Exercise Science N2 - BACKGROUND: Muscle stretch reflexes are widely considered to beneficially influence joint stability and power generation in the lower limbs. While in the upper limbs and especially in the muscles surrounding the shoulder joint such evidence is lacking. OBJECTIVE: To quantify the electromyographical response in the muscles crossing the shoulder of specifically trained overhead athletes to an anterior perturbation force. METHODS: Twenty healthy male participants performed six sets of different external shoulder rotation stretches on an isokinetic dynamometer over a range of amplitudes and muscle pre-activation moment levels. All stretches were applied with a dynamometer acceleration of 10,000∘/s2 and a velocity of 150∘/s. Electromyographical response was measured via sEMG. RESULTS: Consistent reflexes were not observed in all experimental conditions. The reflex latencies revealed a significant muscle main effect (F (2,228) = 99.31, p< 0.001; η2= 0.466; f= 0.934) and a pre-activation main effect (F (1,228) = 142.21, p< 0.001; η2= 0.384; f= 1.418). The stretch reflex amplitude yielded a significant pre-activation main effect (F (1,222) = 470.373, p< 0.001; η2= 0.679; f= 1.454). CONCLUSION: Short latency muscle reflexes showed a tendency to an anterior to posterior muscle recruitment whereby the main internal rotator muscles of the shoulder revealed the most consistent results. Y1 - 2018 U6 - http://dx.doi.org/10.3233/IES-184111 SN - 1878-5913 VL - 26 IS - 4 SP - 265 EP - 274 PB - IOS Press CY - Amsterdam ER - TY - JOUR A1 - Albracht, Kirsten A1 - Arampatzis, Adamantios T1 - Exercise-induced changes in triceps surae tendon stiffness and muscle strength affect running economy in humans JF - European Journal of Applied Physiology Y1 - 2013 U6 - http://dx.doi.org/10.1007/s00421-012-2585-4 SN - 1439-6327 VL - 113 IS - 6 SP - 1605 EP - 1615 PB - Springer CY - Berlin ER - TY - JOUR A1 - Richter, Charlotte A1 - Braunstein, Björn A1 - Stäudle, Benjamin A1 - Attias, Julia A1 - Süss, Alexander A1 - Weber, Tobias A1 - Mileva, Katya N. A1 - Rittweger, Jörn A1 - Green, David A. A1 - Albracht, Kirsten T1 - Gastrocnemius medialis contractile behavior during running differs between simulated Lunar and Martian gravities JF - Scientific reports N2 - The international partnership of space agencies has agreed to proceed forward to the Moon sustainably. Activities on the Lunar surface (0.16 g) will allow crewmembers to advance the exploration skills needed when expanding human presence to Mars (0.38 g). Whilst data from actual hypogravity activities are limited to the Apollo missions, simulation studies have indicated that ground reaction forces, mechanical work, muscle activation, and joint angles decrease with declining gravity level. However, these alterations in locomotion biomechanics do not necessarily scale to the gravity level, the reduction in gastrocnemius medialis activation even appears to level off around 0.2 g, while muscle activation pattern remains similar. Thus, it is difficult to predict whether gastrocnemius medialis contractile behavior during running on Moon will basically be the same as on Mars. Therefore, this study investigated lower limb joint kinematics and gastrocnemius medialis behavior during running at 1 g, simulated Martian gravity, and simulated Lunar gravity on the vertical treadmill facility. The results indicate that hypogravity-induced alterations in joint kinematics and contractile behavior still persist between simulated running on the Moon and Mars. This contrasts with the concept of a ceiling effect and should be carefully considered when evaluating exercise prescriptions and the transferability of locomotion practiced in Lunar gravity to Martian gravity. KW - Bone quality and biomechanics KW - Environmental impact KW - Skeletal muscle KW - Tendons KW - Ultrasound Y1 - 2021 U6 - http://dx.doi.org/10.1038/s41598-021-00527-9 SN - 2045-2322 N1 - Corresponding author: Charlotte Richter VL - 11 IS - Article number: 22555 PB - Springer Nature CY - London ER - TY - JOUR A1 - Richter, Charlotte A1 - Braunstein, Bjoern A1 - Stäudle, Benjamin A1 - Attias, Julia A1 - Suess, Alexander A1 - Weber, Tobias A1 - Mileva, Katja N. A1 - Rittweger, Joern A1 - Green, David A. A1 - Albracht, Kirsten T1 - Gastrocnemius medialis contractile behavior is preserved during 30% body weight supported gait training JF - Frontiers in Sports and Active Living N2 - Rehabilitative body weight supported gait training aims at restoring walking function as a key element in activities of daily living. Studies demonstrated reductions in muscle and joint forces, while kinematic gait patterns appear to be preserved with up to 30% weight support. However, the influence of body weight support on muscle architecture, with respect to fascicle and series elastic element behavior is unknown, despite this having potential clinical implications for gait retraining. Eight males (31.9 ± 4.7 years) walked at 75% of the speed at which they typically transition to running, with 0% and 30% body weight support on a lower-body positive pressure treadmill. Gastrocnemius medialis fascicle lengths and pennation angles were measured via ultrasonography. Additionally, joint kinematics were analyzed to determine gastrocnemius medialis muscle–tendon unit lengths, consisting of the muscle's contractile and series elastic elements. Series elastic element length was assessed using a muscle–tendon unit model. Depending on whether data were normally distributed, a paired t-test or Wilcoxon signed rank test was performed to determine if body weight supported walking had any effects on joint kinematics and fascicle–series elastic element behavior. Walking with 30% body weight support had no statistically significant effect on joint kinematics and peak series elastic element length. Furthermore, at the time when peak series elastic element length was achieved, and on average across the entire stance phase, muscle–tendon unit length, fascicle length, pennation angle, and fascicle velocity were unchanged with respect to body weight support. In accordance with unchanged gait kinematics, preservation of fascicle–series elastic element behavior was observed during walking with 30% body weight support, which suggests transferability of gait patterns to subsequent unsupported walking. KW - AlterG KW - rehabilitation KW - gait KW - walking KW - ultrasound imaging KW - series elastic element behavior KW - muscle fascicle behavior KW - unloading Y1 - 2021 U6 - http://dx.doi.org/10.3389/fspor.2020.614559 SN - 2624-9367 VL - 2021 IS - 2 PB - Frontiers CY - Lausanne ER - TY - CHAP A1 - Richter, Charlotte A1 - Braunstein, Bjoern A1 - Stäudle, Benjamin A1 - Attias, Julia A1 - Suess, Alexander A1 - Weber, T. A1 - Rittweger, Joern A1 - Green, David A. A1 - Albracht, Kirsten T1 - In vivo fascicle length of the gastrocnemius muscle during walking in simulated martian gravity using two different body weight support devices T2 - 23rd Annual Congress of the European College of Sport Science, Dublin, Irland Y1 - 2018 ER - TY - JOUR A1 - Heinke, Lars N. A1 - Knicker, Axel J. A1 - Albracht, Kirsten T1 - Increased shoulder muscle stretch reflex elicitability in supine subject posture JF - Isokinetics and Exercise Science N2 - BACKGROUND: Muscle stretch reflexes are widely used to examine neural muscle function. The knowledge of reflex response in muscles crossing the shoulder is limited. OBJECTIVE: To quantify reflex modulation according to various subject postures and different procedures of muscle pre-activation steering. METHODS: Thirteen healthy male participants performed two sets of external shoulder rotation stretches in various positions and with different procedures of muscle pre-activation steering on an isokinetic dynamometer over a range of two different pre-activation levels. All stretches were applied with a dynamometer acceleration of 104∘/s2 and a velocity of 150∘/s. Electromyographical response was measured via sEMG. RESULTS: Consistent reflexive response was observed in all tested muscles in all experimental conditions. The reflex elicitation rate revealed a significant muscle main effect (F (5,288) = 2.358, ρ= 0.040; η2= 0.039; f= 0.637) and a significant test condition main effect (F (1,288) = 5.884, ρ= 0.016; η2= 0.020; f= 0.143). Reflex latency revealed a significant muscle pre-activation level main effect (F (1,274) = 5.008, ρ= 0.026; η2= 0.018; f= 0.469). CONCLUSION: Muscular reflexive response was more consistent in the primary internal rotators of the shoulder. Supine posture in combination with visual feedback of muscle pre-activation level enhanced the reflex elicitation rate. Y1 - 2020 U6 - http://dx.doi.org/10.3233/IES-192219 SN - 1878-5913 VL - 28 IS - 2 SP - 139 EP - 146 PB - IOS Press CY - Amsterdam ER - TY - THES A1 - Albracht, Kirsten T1 - Influence of mechanical properties of the leg extensor muscletendon units on running economy Y1 - 2010 N1 - Cologne, German Sport Univ., Diss., 2010 PB - Deutsche Sporthochschule Köln CY - Köln ER - TY - JOUR A1 - Albracht, Kirsten A1 - Arampatzis, Adamantios T1 - Influence of the mechanical properties of the muscle-tendon unit on force generation in runners with different running economy JF - Biological Cybernetics Y1 - 2006 U6 - http://dx.doi.org/10.1007/s00422-006-0070-z SN - 1432-0770 VL - 95 IS - 1 SP - 87 EP - 96 ER - 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 - 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 -