title: Haptic control of a pneumatic muscle actuator to provide resistance for simulated isokinetic exercise: Part I--dynamic test station and human quadriceps dynamic simulator.
abstract: 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.
authors.affiliation: a Department of Biomedical , Industrial and Human Factors Engineering, Wright State University , Dayton , OH , USA.
authors.forename: Kara L
authors.initials: KL
authors.lastname: Hall
authors.forename: Chandler A
authors.initials: CA
authors.lastname: Phillips
authors.forename: David B
authors.initials: DB
authors.lastname: Reynolds
authors.forename: Stanley R
authors.initials: SR
authors.lastname: Mohler
authors.forename: Dana B
authors.initials: DB
authors.lastname: Rogers
authors.forename: Amy T
authors.initials: AT
authors.lastname: Neidhard-Doll
mesh_terms: D006801:Humans; D007719:Knee Joint / Q000502:physiology; D008954:Models, Biological; D052097:Quadriceps Muscle / Q000502:physiology*; D016059:Range of Motion, Articular; D055070:Resistance Training / Q000295:instrumentation*
keywords: biomimetic actuator; isokinetic exercise; pneumatic muscle actuator (PMA) control