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

fYear

2008

fDate

19-23 May 2008

Firstpage

2055

Lastpage

2060

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Conference_Location

Pasadena, CA

ISSN

1050-4729

Print_ISBN

978-1-4244-1646-2

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2008.4543509

Filename

4543509