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Experimental demonstration of an actuated exercise machine

X T Zhang1, D M Dawson, W E Dixon

  • 1Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA.

Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference
|February 3, 2007
PubMed

Abstract:

Experimental results are obtained for a single degree of freedom prototype next generation exercise machine that aims to maximize the user's power output and ensure passivity with the user. In an effort to optimize the user's power expenditure, the desired velocity trajectory is developed that seeks the unknown user-dependent optimal velocity setpoint. A numerical extremum-seeking algorithm is utilized to seek the optimal velocity setpoint while ensuring the trajectory is sufficiently differentiable. To track the reference trajectory and to ensure passivity, a nonlinear controller is utilized.

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