Title :
A haptic control interface for a motorized exercise machine
Author :
Carignan, Craig R. ; Tang, Jonathan
Author_Institution :
Imaging Sci. & Inf. Syst. Center, Georgetown Univ., Washington, DC
Abstract :
A haptic interface is generated for a powered arm curl machine for modulating resistance "on-the-fly" during strength training and rehabilitation. Force signals from a load cell are input to an impedance loop based on the desired resistance law, which then outputs position commands to a servomotor. The kinematics between the actuator drive and arm curl angle are derived, and the admittance control implementation used for realizing the resistance laws is described. Preliminary experimental results are presented for viscous and inertial control laws.
Keywords :
force measurement; haptic interfaces; servomotors; actuator drive; admittance control; arm curl angle; force signals; haptic control interface; inertial control laws; kinematics; load cell; modulating resistance; motorized exercise machine; powered arm curl machine; resistance laws; servomotor; strength rehabilitation; strength training; Actuators; Automatic control; Automatic generation control; Electric resistance; Haptic interfaces; Immune system; Kinematics; Leg; Pistons; USA Councils;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543509
