Abstract
The control of a one degree of freedom exercise machine is considered. The control objective is to cause the human user to exercise at a rate which optimizes a prescribed weighted power criterion. The optimality condition is determined by the muscle mechanics which is assumed to satisfy a force-velocity relationship. In general, the parameters of this relationship are unknown and vary with the configuration of the exercise machine. As a consequence, the control scheme must simultaneously i) identify the parameters, ii) optimize the controller, and iii) stabilize the system to the estimated optimal states. In this paper we derive a controller which is in the form of a nonlinear dynamic damper and makes the controlled system interact passively with the user. Assuming that the human's force-velocity muscular biomechanics relationship is known, this controller allows the user to exercise in an optimal manner.
Original language | English (US) |
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Title of host publication | International Workshop on Advanced Motion Control, AMC |
Publisher | IEEE |
Pages | 271-276 |
Number of pages | 6 |
Volume | 1 |
State | Published - Jan 1 1996 |
Event | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn Duration: Mar 18 1996 → Mar 21 1996 |
Other
Other | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) |
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City | Tsu, Jpn |
Period | 3/18/96 → 3/21/96 |