Skip to main content
SpringerLink
Log in

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

  • Published:
International Journal of Precision Engineering and Manufacturing Aims and scope Submit manuscript

Abstract

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Abbreviations

z :

vertical direction of the resistance training machine

x :

horizontal direction of the resistance training machine

PDET :

Pre-Defined Exercise Trajectory

F user :

external force exerted on the training machine by user

F t (x, z):

tangential force component to the PDET

F n (x, z):

normal force component to the PDET

v t (x, z):

tangential direction velocity to the PDET

β n (x, z):

damping coefficient in normal direction to the PDET

k n (x, z):

stiffness coefficient in normal direction to the PDET

β t (x, z):

damping coefficient in tangential direction to the PDET

K p , K I , K V :

proportional, integral, derivative gains of controller, respectively

F u :

control input to the controller

References

  1. Cabell, L. and Zebas, C. J., “Resistive Torque Validation of the Nautilus Multi-biceps Machine,” J. of Strength and Conditioning Research, Vol. 13, No. 1, pp. 20–23, 1999.

    Google Scholar 

  2. Brown, L. E., “In Isokinetics in Human Performance,” Human Kinetics, pp. 122–145, 2000.

  3. Hatfield, F., “A New Weights Machine with Dynamically Adjustable Resistance,” Sport Science, Vol. 3, No. 1, 1999.

  4. Li, P. and Horowitz, R., “Control of Smart Exercise Machines,” IEEE/ASME Transactions on Mechatronics, Vol. 2, No. 4, pp. 237–258, 1997.

    Article  Google Scholar 

  5. Carignan, R. C. and Tang, J., “A Haptic Control Interface for a Motorized Exercise Machine,” Proc. of IEEE International Conference on Robotics and Automation, pp. 2055–2060, 2008.

  6. West, A. A., Smith, J. D. and Mcleod, C. S., “Development and Initial Evaluation of a Smart Resistance Training System,” J. of Sports Engineering and Technology, Vol. 223,Part P, pp. 31–47, 2009.

    Google Scholar 

  7. Schwarzenegger, A. and Dobbins, B., “The New Encyclopedia of Modern Bodybuilding,” Simon & Schuster, pp. 396–417, 1999.

  8. Hogan, N., “Impedance Control: An Approach to Manipulation: Part I–III,” J. of Dynamic Systems, Vol. 107, No. 1, pp. 1–24, 1985.

    MATH  Google Scholar 

  9. Colgate, J. E. and Hogan, N., “Robust Control of Dynamically Interacting Systems,” Int. J. of Control, Vol. 48, No. 1, pp. 65–88, 1988.

    Article  MATH  MathSciNet  Google Scholar 

  10. Pelletier, M. and Doyon, M., “On the Implementation and Performance of Impedance Control on Position Controlled Robots,” Proc. of IEEE Conference on Robotics and Automation, pp. 1228–1233, 1994.

  11. Raibert, M. H. and Craig, J. J., “Hybrid Position/Force Control of Manipulators,” Int. J. of Dynamic Systems, Measurement, and Control, Vol. 102, pp. 126–133, 1981.

    Article  Google Scholar 

  12. Pan, Y.-R., Shih, Y.-T., Horng, R.-H. and Lee, A.-C., “Advanced Parameter Identification for a Linear-Motor-Driven Motion System Using Disturbance Observer,” Int. J. Precis. Eng. Manuf., Vol. 10, No. 4, pp. 35–48, 2009.

    Article  Google Scholar 

  13. Olsson, H., Åström, K. J. and Canudas de Wit, C., “A New Model for Control of Systems with Friction,” IEEE Transactions on Automatic Control, Vol. 40, No. 3, pp. 419–425, 1995.

    Article  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Korea University, 5, Anam-dong, Seongbuk-gu, Seoul, Korea, 136-701

    Jaewoo Park, Kyungnam Kim & Daehie Hong

Authors
  1. Jaewoo Park
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Kyungnam Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Daehie Hong
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Daehie Hong.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Park, J., Kim, K. & Hong, D. Haptic-based resistance training machine and its application to biceps exercises. Int. J. Precis. Eng. Manuf. 12, 21–30 (2011). https://doi.org/10.1007/s12541-011-0003-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12541-011-0003-1

Keywords

Search

Navigation