IEEE / ASME TRANSACTIONS ON MECHATRONICS 1 Control of Smart Exercise Machines . Part I : Problem Formulation and Non - adaptive

| This is Part 1 of a two part paper on the design of intelligent controllers for a class of exercise machines. The control objective is to cause the user to exercise in a manner which optimizes a criterion related to the user's mechanical power. The optimal exercise strategy is determined by a biomechanical behavior of the individual user, which is assumed to satisfy an aane force-velocity relationship dependent on the body geometric connguration. Consequently, the control scheme must simultaneously i) identify the user's biomechanical behavior, ii) optimize the controller, and iii) stabilize the system to the estimated optimal states. Moreover , to ensure that the exercise machine is safe to operate, the control system guarantees that the interaction between the exercise machine and the user is passive. In Part I of the paper, we formulate the control problem and propose a controller structure which satisses the safety requirement and is capable of causing the user to execute an arbitrary exercise strategy if the user's biomechanical behavior is known. The controller is of the form of a dynamic damper and can be implemented using only passive mechanical components. Part II of the paper is concerned with the self-optimization problem in which both the determination of the optimal exercise strategy and the execution of that strategy, when the user's biomechanical behavior is unknown, must be considered .