Realization of Robot Aided Isokinetic Exercise using Exercise-as-desired Control

This paper develops a control algorithm for a robot aided Isokinetic exercise which is the most effective muscular exercise. In order to achieve human intention based Isokinetic exercise, the exercise-as-desired control scheme is proposed to provide the exercise profile to the velocity-controlled actuator of robot. The main requirement of Isokinetic exercise is robust velocity control, thus this paper designs robust velocity controller for robot joint using disturbance observer to against uncertain environments such as human motion and mechanical nonlinearities. A performance of the controller is verified through the experiment. Finally, pilot tests of robot aided Isokinetic exercises are performed to validate a feasibility and contributions of the proposed exercise-as-desired control scheme.