Intelligent control of an exercise machine

Perry Li, Roberto Horowitz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


The control of a one degree of freedom exercise machine is considered. The control objective is to cause the human user to exercise at a rate which optimizes a prescribed weighted power criterion. The optimality condition is determined by the muscle mechanics which is assumed to satisfy a force-velocity relationship. In general, the parameters of this relationship are unknown and vary with the configuration of the exercise machine. As a consequence, the control scheme must simultaneously i) identify the parameters, ii) optimize the controller, and iii) stabilize the system to the estimated optimal states. In this paper we derive a controller which is in the form of a nonlinear dynamic damper and makes the controlled system interact passively with the user. Assuming that the human's force-velocity muscular biomechanics relationship is known, this controller allows the user to exercise in an optimal manner.

Original languageEnglish (US)
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Number of pages6
StatePublished - Jan 1 1996
EventProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
Duration: Mar 18 1996Mar 21 1996


OtherProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)
CityTsu, Jpn


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