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  - 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  - 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  - CHAP
A1  - Goldmann, Jan-Peter
A1  - Braunstein, Bjoern
A1  - Heinrich, Kai
A1  - Sanno, Maximilian
A1  - Stäudle, Benjamin
A1  - Ritzdorf, Wolfgang
A1  - Brüggemann, Gert-Peter
A1  - Albracht, Kirsten
T1  - Joint work of the take-off leg during elite high jump
T2  - Proceedings of the 33th International Conference on Biomechanics in Sports (ISBS)
Y1  - 2015
ER  - 
TY  - CHAP
A1  - Braunstein, Bjoern
A1  - Goldmann, Jan-Peter
A1  - Albracht, Kirsten
A1  - Sanno, Maximilian
A1  - Willwacher, Steffen
A1  - Heinrich, Kai
A1  - Herrmann, Volker
A1  - Brüggemann, Gert-Peter
T1  - Joint specific contribution of mechanical power and work during acceleration and top speed in elite sprinters
T2  - 31 International Conference on Biomechanics in Sports, Taipei, Taiwan, July 07 - July 22, 2013
Y1  - 2013
SN  - 1999-4168
ER  -