Admittance Control of an Industrial Robot during Resistance Training

Maike Ketelhut; Melanie Kolditz; Fabian Göll; Bjoern Braunstein; Kirsten Albracht; Dirk Abel

doi:10.1016/j.ifacol.2019.12.102

Admittance Control of an Industrial Robot during Resistance Training

Maike Ketelhut^*, Melanie Kolditz, Fabian Göll, Bjoern Braunstein, Kirsten Albracht, Dirk Abel

^*Corresponding author for this work

Publication: Contribution to journal › Journal articles › Research › peer-review

Abstract

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.

Original language	English
Journal	IFAC-PapersOnLine
Volume	52
Issue number	19
Pages (from-to)	223-228
Number of pages	6
DOIs	https://doi.org/10.1016/j.ifacol.2019.12.102
Publication status	Published - 2019
Event	The IFAC/IFIP/IFORS/IEA Symposium on Analysis Designs and Evaluation of Human-Machine Systems - Tallin, Estonia Duration: 16.09.2019 → 19.09.2019 Conference number: 14

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10.1016/j.ifacol.2019.12.102

https://doi.org/10.1016/j.ifacol.2019.12.102

3 Conference contribution - Published abstract for conference with selection process
1 Contributions to collected editions/anthologies
1 Journal articles

Training with an Industrial Robot: Current Directions to Personalize Neuromuscular Training
Albracht, K., Ketelhut, M., Göll, F., Braunstein, B. & Abel, D., 01.10.2021, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021): Workshop on Ergonomic Human-Robot Collaboration: Applications and Future Research . Peternel, L., Kim, W., Ajoudani, A. & Yoshida, E. (eds.). 1 p. 3096
Publication: Chapter in Book/Report/Conference proceeding › Conference contribution - Published abstract for conference with selection process › Research › peer-review
Adaptive Iterative Learning Control of an Industrial Robot during Neuromuscular Training
Ketelhut, M., Brügge, G. M., Göll, F., Braunstein, B., Albracht, K. & Abel, D., 2020, In: IFAC-PapersOnLine. 53, 2, p. 16468-16475 8 p.
Publication: Contribution to journal › Journal articles › Research › peer-review

Open Access
A Musculoskeletal Model For Individualized Neuromuscular Training And Rehabilitation On A Robotic Resistive Exercise Device
Göll, F., Braunstein, B., Ketelhut, M., Abel, D. & Albracht, K., 28.10.2020, N.N..
Publication: Chapter in Book/Report/Conference proceeding › Conference contribution - Published abstract for conference with selection process › Research › peer-review

1 Finished

RoSylerNT: VDI RoSylerNT
Albracht, K., Braunstein, B. & Gšll, F.
01.08.17 → 31.07.20
Project: Funded by third parties

File

2 Trade fairs and exhibitions

Automatica: The Leading Exhibition for Smart Automation and Robotics
Björn Braunstein (Speaker) & Kirsten Albracht (Speaker)
27.06.2023 → 30.06.2023
Activity: Participating in or organising an event › Trade fairs and exhibitions › Transfer
Automatica: The Leading Exhibition for Smart Automation and Robotics
Björn Braunstein (Speaker) & Kirsten Albracht (Speaker)
27.06.2022 → 30.06.2022
Activity: Participating in or organising an event › Trade fairs and exhibitions › Transfer

RoboGym: Revolutionäres Training nicht nur für Spitzensportler
Björn Braunstein, Fabian Göll & Kirsten Albracht
16.11.20
1 item of Media coverage
Press/Media
Trainingspartner Roboter – So sieht die Rehabilitation der Zukunft aus
Kirsten Albracht, Björn Braunstein & Fabian Göll
16.08.19
2 items of Media coverage
Press/Media
Interaktives Krafttraining mit dem Roboter
Kirsten Albracht
21.06.19
1 item of Media coverage
Press/Media

Citation

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abstract = "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.",

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AU - Ketelhut, Maike

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AU - Albracht, Kirsten

AU - Abel, Dirk

N1 - Conference code: 14

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AB - 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.

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KW - Human-Computer Interaction

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Admittance Control of an Industrial Robot during Resistance Training

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