Haptic-based resistance training machine and its application to biceps exercises

  • Jaewoo Park
  • Kyungnam Kim
  • Daehie HongEmail author


This paper introduces the design of a haptic-based resistance training machine and deals with the details of a control scheme for biceps exercises. The developed training machine has three components: 1) Machine hardware; 2) Impedance control based resistance generator; and 3) User interface. It can enable various resistance trainings considering the biomechanical behavior of individual user. That is, in contrast to conventional exercise machines, it can easily generate two-dimensional exercise motions and resistance profiles with respect to an individual’s musculoskeletal characteristics. This feature can help users to easily execute an arbitrary exercise pattern that can maximize exercise performance. We choose the biceps exercise as its first application and implement an impedance control scheme for executing the newly suggested exercise protocol. Details of the experimental results are included for verification.


Haptic Resistance training Impedance control Biceps exercise 



vertical direction of the resistance training machine


horizontal direction of the resistance training machine


Pre-Defined Exercise Trajectory


external force exerted on the training machine by user

Ft (x, z)

tangential force component to the PDET

Fn (x, z)

normal force component to the PDET

vt (x, z)

tangential direction velocity to the PDET

βn(x, z)

damping coefficient in normal direction to the PDET

kn (x, z)

stiffness coefficient in normal direction to the PDET

βt(x, z)

damping coefficient in tangential direction to the PDET

Kp, KI, KV

proportional, integral, derivative gains of controller, respectively


control input to the controller


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Copyright information

© Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringKorea UniversitySeoulKorea

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