TY - JOUR
T1 - Robotic Biceps Exercise Machine
T2 - Hardware Using Series Elastic Actuator and Control with Disturbance Observer
AU - Kim, Kyungnam
AU - Hong, Daehie
N1 - Funding Information:
This work supported by the Ministry of Trade, Industry and Energy (MOTIE), South Korea, through the Industrial Technology Innovation Program under Grant 20003739.
PY - 2020
Y1 - 2020
N2 - Resistance training is a popular form of exercise owing to its health-related and athletic performance benefits. Robotic exercise machines using human-robot interaction are a promising solution for designing resistance training programs that successfully achieve training gains. We propose a robotic biceps exercise machine that generates a variable resistance force profile and controls the interaction force corresponding to the profile through a range of motion of exercises. A series elastic actuator measures and controls the resistance force. A novel cascade control structure comprising an inner velocity and outer force control is presented. The inner loop disturbance on the dynamics and outer loop disturbance on the kinematics are eliminated by a disturbance observer (DOB) in each loop. The performance of the proposed force control scheme is validated by comparisons with the conventional DOB and proportional-integral (PI) control schemes. Additionally, the resistance force profile and interaction force of a conventional robotic biceps exercise machine are analyzed experimentally.
AB - Resistance training is a popular form of exercise owing to its health-related and athletic performance benefits. Robotic exercise machines using human-robot interaction are a promising solution for designing resistance training programs that successfully achieve training gains. We propose a robotic biceps exercise machine that generates a variable resistance force profile and controls the interaction force corresponding to the profile through a range of motion of exercises. A series elastic actuator measures and controls the resistance force. A novel cascade control structure comprising an inner velocity and outer force control is presented. The inner loop disturbance on the dynamics and outer loop disturbance on the kinematics are eliminated by a disturbance observer (DOB) in each loop. The performance of the proposed force control scheme is validated by comparisons with the conventional DOB and proportional-integral (PI) control schemes. Additionally, the resistance force profile and interaction force of a conventional robotic biceps exercise machine are analyzed experimentally.
KW - Biceps exercise
KW - disturbance observer
KW - human-robot interaction
KW - robotic exercise machine
KW - series elastic actuator
KW - variable resistance
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U2 - 10.1109/ACCESS.2019.2963101
DO - 10.1109/ACCESS.2019.2963101
M3 - Article
AN - SCOPUS:85078696452
VL - 8
SP - 12758
EP - 12767
JO - IEEE Access
JF - IEEE Access
SN - 2169-3536
M1 - 8945370
ER -