Iterative Learning Control of an Industrial Robot for Neuromuscular Training

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

*Corresponding author for this work

Publication: Chapter in Book/Report/Conference proceedingConference contribution - Article for conferenceResearchpeer-review


Effective training requires high muscle forces potentially leading to training-induced injuries. Thus, continuous monitoring and controlling of the loadings applied to the musculoskeletal system along the motion trajectory is required. In this paper, a norm-optimal iterative learning control algorithm for the robot-assisted training is developed. The algorithm aims at minimizing the external knee joint moment, which is commonly used to quantify the loading of the medial compartment. To estimate the external knee joint moment, a musculoskeletal lower extremity model is implemented in OpenSim and coupled with a model of an industrial robot and a force plate mounted at its end-effector. The algorithm is tested in simulation for patients with varus, normal and valgus alignment of the knee. The results show that the algorithm is able to minimize the external knee joint moment in all three cases and converges after less than seven iterations.
Original languageGerman
Title of host publicationCCTA 2019 - 3rd IEEE Conference on Control Technology and Applications : IEEE CCTA 2019, August 19-21, 2019, City University of Hong Kong, Hong Kong, China
Number of pages7
Publication date01.08.2019
ISBN (Print)9781728127675
ISBN (Electronic)978-1-7281-2767-5
Publication statusPublished - 01.08.2019
EventIEEE Conference on Control Technology and Applications - Hong Kong, China
Duration: 19.08.201921.08.2019
Conference number: 3