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Admittance Control of an Industrial Robot during Resistance Training

机译：阻力训练中工业机器人的导纳控制

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Neuromuscular strength training of the leg extensor muscles plays an important role in the rehabilitation and prevention of age and wealth related diseases. In this paper, we focus on the design and implementation of a Cartesian admittance control scheme for isotonic training, i.e. leg extension and flexion against a predefined weight. For preliminary testing and validation of the designed algorithm an experimental research and development platform consisting of an industrial robot and a force plate mounted at its end-effector has been used. Linear, diagonal and arbitrary two-dimensional motion trajectories with different weights for the leg extension and flexion part are applied. The proposed algorithm is easily adaptable to trajectories consisting of arbitrary six-dimensional poses and allows the implementation of individualized trajectories.
机译：腿伸肌的神经肌肉力量训练在年龄和财富相关疾病的康复和预防中起着重要作用。在本文中，我们专注于等渗训练的笛卡尔导纳控制方案的设计和实现，即针对预定重量的腿部伸展和屈曲。为了对设计的算法进行初步测试和验证，已使用了由工业机器人和安装在其末端执行器上的测力板组成的实验研究和开发平台。对腿部伸展和屈曲部分应用具有不同权重的线性，对角线和任意二维运动轨迹。所提出的算法很容易适应由任意六维姿势组成的轨迹，并允许实现个性化轨迹。

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