{"title":"一种用于机动运动机的触觉控制界面","authors":"C. Carignan, Jonathan Tang","doi":"10.1109/ROBOT.2008.4543509","DOIUrl":null,"url":null,"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.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":"{\"title\":\"A haptic control interface for a motorized exercise machine\",\"authors\":\"C. Carignan, Jonathan Tang\",\"doi\":\"10.1109/ROBOT.2008.4543509\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":351230,\"journal\":{\"name\":\"2008 IEEE International Conference on Robotics and Automation\",\"volume\":\"8 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-05-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"14\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2008.4543509\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2008.4543509","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A haptic control interface for a motorized exercise machine
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.
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