Self-tuning control of an exercise machine

Perry Y. Li, Joel Shields, Roberto Horowitz

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The control of a one degree of freedom exercise machine is considered. The control objective is to cause the user to exercise at a rate which optimizes a modified power criterion. The optimality condition is determined by the muscle mechanics which is assumed to satisfy a linear force-velocity relationship. The parameters of the equation are assumed to be unknown and to vary with the body geometric configuration. The control scheme simultaneously i) identifies the parameters, ii) optimizes the controller, and iii) stabilizes the system to the estimated optimal states. The controller is in the form of a nonlinear dynamic damper such that the controlled system interacts passively with respect to the user. Experimental results show that the force-velocity relationship is strongly position dependent and the scheme is successful in identifying the unknown parameters and in obtaining the optimal exercise regime.

Original languageEnglish (US)
Title of host publicationSymposium on Mechatronics
EditorsJeffery L. Stein
PublisherPubl by ASME
Number of pages8
ISBN (Print)0791810208
StatePublished - Dec 1 1993
EventProceedings of the 1993 ASME Winter Annual Meeting - New Orleans, LA, USA
Duration: Nov 28 1993Dec 3 1993

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC


OtherProceedings of the 1993 ASME Winter Annual Meeting
CityNew Orleans, LA, USA


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