TY - JOUR
T1 - Impedance Control with Energy Regeneration in Advanced Exercise Machines
AU - Richter, Hanz
AU - Selvaraj, Dhipak
N1 - Richter, H., and Selvaraj, D., 2015, "Impedance control with energy regeneration in advanced exercise machines," American Control Conference (ACC), 2015, pp. 5890-5895.
PY - 2015/1/1
Y1 - 2015/1/1
N2 - This paper shows how a controls-oriented approach can be used to improve the functionality, energy efficiency and bulk/weight requirements of advanced exercise machinery. Exercise devices for the space environment are the motivation for this research, but other applications are certainly possible. The paper introduces a design concept involving a user force/velocity port, a mechanical transmission, a DC motor/generator a regenerative servo amplifier and an ultracapacitor as the sole electric energy storage device. The intrinsic capability of the design concept to realize any desired force/velocity relationship at the user port (controllability of port impedance) is verified first using an inverse model approach. As an example, design parameters are selected to match the force/velocity characteristic of a typical gym rower. A feedback implementation is then developed based on the author's semiactive virtual control strategy. The validity of the approach is demonstrated with a laboratory prototype of a scaled rowing machine. The results show that the system can be operated entirely on human power, while simultaneously attaining the impedance control objective.
AB - This paper shows how a controls-oriented approach can be used to improve the functionality, energy efficiency and bulk/weight requirements of advanced exercise machinery. Exercise devices for the space environment are the motivation for this research, but other applications are certainly possible. The paper introduces a design concept involving a user force/velocity port, a mechanical transmission, a DC motor/generator a regenerative servo amplifier and an ultracapacitor as the sole electric energy storage device. The intrinsic capability of the design concept to realize any desired force/velocity relationship at the user port (controllability of port impedance) is verified first using an inverse model approach. As an example, design parameters are selected to match the force/velocity characteristic of a typical gym rower. A feedback implementation is then developed based on the author's semiactive virtual control strategy. The validity of the approach is demonstrated with a laboratory prototype of a scaled rowing machine. The results show that the system can be operated entirely on human power, while simultaneously attaining the impedance control objective.
UR - https://engagedscholarship.csuohio.edu/enme_facpub/309
UR - http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7172263newsearch=truequeryText=.QT.impedance%20control%20with%20energy%20regeneration.QT.
U2 - 10.1109/ACC.2015.7172263
DO - 10.1109/ACC.2015.7172263
M3 - Article
JO - American Control Conference (ACC), 2015
JF - American Control Conference (ACC), 2015
ER -