Admittance control of an industrial robot during resistance training
- 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.
| Author: | Maike Ketelhut, Melanie Kolditz, Fabian Göll, Bjoern Braunstein, Kirsten AlbrachtORCiD, Dirk Abel |
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| DOI: | https://doi.org/10.1016/j.ifacol.2019.12.102 |
| ISSN: | 2405-8963 |
| Parent Title (English): | IFAC-PapersOnLine |
| Publisher: | Elsevier |
| Place of publication: | Amsterdam |
| Document Type: | Article |
| Language: | English |
| Year of Completion: | 2019 |
| Date of the Publication (Server): | 2023/12/20 |
| Tag: | Assistive technology; Automatic control; Human-Computer interaction; Rehabilitation engineering |
| Volume: | 52 |
| Issue: | 19 |
| First Page: | 223 |
| Last Page: | 228 |
| Note: | 14th IFAC Symposium on Analysis, Design, and Evaluation of Human Machine Systems HMS 2019 Tallinn, Estonia, 16–91 September 2019 |
| Link: | https://doi.org/10.1016/j.ifacol.2019.12.102 |
| Institutes: | FH Aachen / Fachbereich Medizintechnik und Technomathematik |
| FH Aachen / IfB - Institut für Bioengineering | |
| collections: | Verlag / Elsevier |
