Haptic control of a pneumatic muscle actuator to provide resistance for simulated isokinetic exercise: Part I - dynamic test station and human quadriceps dynamic simulator

Pneumatic muscle actuators (PMAs) have a high power to weight ratio and possess unique characteristics which make them ideal actuators for applications involving human interaction. PMAs are difficult to control due to nonlinear dynamics, presenting challenges in system implementation. Despite these...

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Bibliographic Details
Published in:Computer methods in biomechanics and biomedical engineering 2014, Vol.17 (12), p.1391-1401
Main Authors: Hall, Kara L., Phillips, Chandler A., Reynolds, David B., Mohler, Stanley R., Rogers, Dana B., Neidhard-Doll, Amy T.
Format: Article
Language:English
Subjects:
biomimetic actuator
Humans
isokinetic exercise
Knee Joint - physiology
Models, Biological
pneumatic muscle actuator (PMA) control
Quadriceps Muscle - physiology
Range of Motion, Articular
Resistance Training - instrumentation
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Summary:Pneumatic muscle actuators (PMAs) have a high power to weight ratio and possess unique characteristics which make them ideal actuators for applications involving human interaction. PMAs are difficult to control due to nonlinear dynamics, presenting challenges in system implementation. Despite these challenges, PMAs have great potential as a source of resistance for strength training and rehabilitation. The objective of this work was to control a PMA for use in isokinetic exercise, potentially benefiting anyone in need of optimal strength training through a joint's range of motion. A human quadriceps dynamic simulator (HQDS) was developed so that control effectiveness and accommodation could be tested prior to human implementation. The experimental set-up and HQDS are discussed in Part I of this work. The development of a PMA haptic controller and its interaction with the HQDS are discussed in Part II.
ISSN:1025-5842
1476-8259
DOI:10.1080/10255842.2012.751982