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 journalJournal articlesResearchpeer-review


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 languageEnglish
Issue number19
Pages (from-to)223-228
Number of pages6
Publication statusPublished - 2019
EventThe IFAC/IFIP/IFORS/IEA Symposium on Analysis Designs and Evaluation of Human-Machine Systems - Tallin, Estonia
Duration: 16.09.201919.09.2019
Conference number: 14


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