U.S. patent application number 12/392718 was filed with the patent office on 2010-08-26 for high efficiency strength training apparatus.
Invention is credited to Leonard D. Chisholm, Bert Davison, Fred H. Holmes, Kent E. Noffsinger.
Application Number | 20100216600 12/392718 |
Document ID | / |
Family ID | 42631483 |
Filed Date | 2010-08-26 |
United States Patent
Application |
20100216600 |
Kind Code |
A1 |
Noffsinger; Kent E. ; et
al. |
August 26, 2010 |
HIGH EFFICIENCY STRENGTH TRAINING APPARATUS
Abstract
In one preferred embodiment, the present invention provides an
exercise apparatus in which an impingement member is driven between
a selectable start point and a selectable endpoint. When coupled
with suitable instrumentation and electronic circuitry, the
inventive strength training device allows the measurement,
tracking, and computation of force exerted, repetitions performed,
measurement and display of position, velocity, acceleration, work,
impulse, etc. In addition, archived data can be used to show
improvement or problem areas as well as provide an indication of
the quality of each repetition and the quality of the workout in
general. Such an exercise apparatus comprises: a frame including a
base; a linear actuator supported from the frame; an impingement
member movable relative to the frame and driven by the actuator;
and a controller for controlling the actuator.
Inventors: |
Noffsinger; Kent E.;
(McPherson, KS) ; Davison; Bert; (Sapulpa, OK)
; Chisholm; Leonard D.; (Tijeras, NM) ; Holmes;
Fred H.; (Cleveland, OK) |
Correspondence
Address: |
FELLERS SNIDER BLANKENSHIP;BAILEY & TIPPENS
THE KENNEDY BUILDING, 321 SOUTH BOSTON SUITE 800
TULSA
OK
74103-3318
US
|
Family ID: |
42631483 |
Appl. No.: |
12/392718 |
Filed: |
February 25, 2009 |
Current U.S.
Class: |
482/5 |
Current CPC
Class: |
A63B 23/1263 20130101;
A63B 24/00 20130101; A63B 24/0062 20130101; A63B 21/0058 20130101;
A63B 23/0355 20130101; A63B 23/1272 20130101; A63B 2220/51
20130101; A63B 23/03525 20130101; A63B 21/4045 20151001; A63B
23/1209 20130101; A63B 21/00058 20130101; A63B 23/12 20130101; A63B
21/4047 20151001; A63B 21/4035 20151001 |
Class at
Publication: |
482/5 |
International
Class: |
A63B 21/00 20060101
A63B021/00 |
Claims
1. An exercise machine for strength training and assessment, said
exercise machine comprising: a frame; an impingement member movably
attached to said frame; an actuator disposed between said frame and
said impingement member for driving said impingement member through
a range of motion between a first position and a second position;
and a controller in communication with said actuator for
controlling the movement of said actuator, said controller
providing selectable control of the said first position and said
second position such that range of motion is programmable, wherein
when a user engages said impingement member, at least one muscle of
the user is exercised.
2. The exercise machine of claim 1 further comprising: a user
interface for receiving input from said user and displaying
exercise results to said user; a load cell in mechanical
communication with said impingement member such that forces applied
to said impingement member by said user will be measured by said
load cell; and a computer in communication with said display, said
load cell, and said motor controller, said computer for receiving
said forces applied to said impingement member, for directing
selectable control of said motor controller, and for receiving
information from, and providing information to, said user interface
to control the exercise of said at least one muscle and assess the
fitness of said at least one muscle.
3. The exercise machine of claim 2 wherein the user can selectably
engage said impingement member for either concentric training or
eccentric training at any point in said range of motion.
4. The exercise machine of claim 2 wherein said first position and
said second position are stored in a database for each user of a
plurality of users and said computer accesses said database when
each user exercises on the exercise machine such that the range of
motion is individually appropriate for each user.
5. The exercise machine of claim 1 wherein the exercise machine is
configured as a chest press machine and said at least one muscle is
a plurality of muscles including muscles located in said user's
chest and arms.
6. The exercise machine of claim 1 wherein the exercise machine is
configured as a shoulder press machine and said at least one muscle
is a muscle located in the user's arm.
7. The exercise machine of claim 1 wherein the exercise machine is
configured as a leg extension machine and said at least one muscle
is a muscle located in the user's leg.
8. The exercise machine of claim 1 wherein the exercise machine is
configured as a leg press machine and said at least one muscle is a
muscle located in the user's leg.
9. The exercise machine of claim 1 wherein the exercise machine is
configured as a squat machine and said at least one muscle is a
muscle located in the user's leg.
10. The exercise machine of claim 1 wherein the exercise machine is
configured as a shoulder machine and said at least one muscle is a
muscle which produces rotation of the user's shoulder.
11. The exercise machine of claim 1 wherein the exercise machine is
configured as a back abdominal machine and said at least one muscle
is a muscle located in the user's back.
12. A computerized strength training exercise machine comprising: a
frame; an impingement member movably attached to said frame; an
actuator disposed between said frame and said impingement member
for driving said impingement member through a range of motion
between a first position and a second position; a controller in
communication with said actuator for controlling the movement of
said actuator, said controller providing selectable control of the
said first position and said second position such that said range
of motion is programmable; a user interface for receiving input
from a user and displaying exercise results to said user; a load
cell in mechanical communication with said impingement member such
that forces applied to said impingement member by said user will be
measured by said load cell; and a computer in communication with
said user interface, said load cell, and said motor controller,
said computer for receiving said forces applied to said impingement
member, for directing selectable control of said motor controller,
and for receiving information from, and providing information to,
said user interface to control the exercise provided to said user
by said impingement member.
13. The computerized strength training machine of claim 12 wherein
the user can selectably engage said impingement member for either
concentric training or eccentric training at any point in said
range of motion.
14. The computerized strength training machine of claim 12 wherein
said first position and said second position are stored in a
database for each user of a plurality of users and said computer
accesses said database when each user exercises on the exercise
machine such that the range of motion is individually appropriate
for each user.
15. The computerized strength training machine of claim 12 wherein
the exercise machine is configured as a chest press machine.
16. The computerized strength training machine of claim 12 wherein
the exercise machine is configured as a shoulder press machine.
17. The computerized strength training machine of claim 12 wherein
the exercise machine is configured as a leg extension machine.
18. The computerized strength training machine of claim 12 wherein
the exercise machine is configured as a leg press machine.
19. The computerized strength training machine of claim 12 wherein
the exercise machine is configured as a squat machine.
20. The computerized strength training machine of claim 12 wherein
the exercise machine is configured as a shoulder machine.
21. The computerized strength training machine of claim 12 wherein
the exercise machine is configured as a back/abdominal machine.
22. The computerized strength training machine of claim 12 wherein
the exercise machine is configured so that said computer
communicates with a server in order to store and update user
information in a database configured to house information relating
to user(s) exercise performance history.
24. The computerized strength training machine of claim 12 wherein
the exercise machine is configured so that said computer
communicates with the computers of other computerized strength
training machines.
25. A suite of computerized strength training machines of claim 12
wherein the exercise machines are configured so that said strength
training machines communicate with one another.
26. A suite of computerized strength training machines of claim 12
wherein said exercise machine are configured so that their
computers communicate with a server.
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] The present invention relates to an efficient system and
method for exercise testing and prescription. More particularly,
but not by way of limitation, the invention provides an exercise
apparatus such that the performance of a user can be precisely
monitored or controlled.
[0003] 2. Background of the Invention
[0004] People exercise for any number of reasons, such as to
improve performance in a sport, to lose weight, general
conditioning, to feel better, or even as a social activity. Since
many people find it difficult, if not impossible, to maintain an
exercise regimen for any meaningful period of time, measuring
performance and producing noticeable gains in the shortest period
of time are an important part of motivating an individual to
maintain an exercise program.
[0005] Exercise machines for aerobic conditioning have provided
measurements of a user's performance for many years. Even if such
machines have historically inflated some measurements, such as
calorie consumption, a user may still observe a relative
improvement in performance from workout-to-workout. Traditionally
strength training devices have not provided users the same benefit.
This has been true for a number of reasons.
[0006] First, the principal measurements of interest to most people
using strength training equipment are the amount of weight lifted
and the number of repetitions for the given weight lifted. These
two units of measure are easily measured by the user and do not
necessitate adding sophisticated electronics just to count
repetitions. Unfortunately, tracking a strength training regimen by
only weight and repetitions is very likely misleading and may
actually de-motivate a user rather than encourage.
[0007] Whether using free weights or a machine, adding weight
involves adding at least one more weight plate, thus one can only
increase the amount lifted in discrete increments. Further, simply
adjusting the weight and counting repetitions do not readily allow
an individual to identify day-to-day factors which can effect the
number of times the user can lift a given weight. Factors such as
activity prior to lifting, recovery from the last exercise session,
illness, injury, hydration, etc. can significantly influence one's
performance. Further still, merely counting repetitions does not
reflect intra-rep performance factors, i.e., power, inertia,
relative concentric/eccentric speeds, etc.
[0008] There is also a perception that only those with some
specialized skill, such as those educated in exercise physiology,
or those who employee a personal trainer, would benefit from more
detailed measures of performance during an exercise session.
However, a primary reason many people abandon an exercise program
is the lack of discernible improvement. Recorded detailed
measurements can motivate an exerciser, even when there is
otherwise no apparent improvement, by providing an indication of
minute improvement or an improvement in strength despite an
apparent setback in overall performance due to a temporary
condition.
[0009] One device which provides such measurements is the
impingement exerciser described in U.S. Pat. No. 4,647,039, issued
to Noffsinger, which is incorporated by reference as if fully set
forth herein. The impingement exerciser changes the strength
training paradigm by providing a bar that moves over a
predetermined range of motion. Over this range, the bar is driven
by a DC motor under the control of a four-quadrant controller such
that the bar will either develop force or resist force to maintain
a speed profile. For example, a user performing a squat continually
pushes up on the bar over both the up phase and the down phase. The
difference between a conventional squat and a squat on the
Noffsinger device is that the user applies as much force as
possible over the entire repetition. With a conventional weight bar
or a conventional weight machine, only the amount of weight the
user can lift at his or her weakest point, a "sticking point," can
be loaded on the machine. With the Noffsinger device, the user
pushes with his or her maximum force at all points along the range
of motion. At the sticking points, the force could be the same as
with conventional equipment, but at all other points the user can
push with significantly greater force thus increasing the
efficiency of the training. Sticking points simply do not exist
with the Noffsinger device.
[0010] Other advantages of the Noffsinger device include: it is
well suited to instrumentation; increased negative loading is
completely under user control; the device is safer than
conventional weight equipment, if a user feels threatened, he or
she can simply quit pushing and the bar will simply continue to
move at the selected speed.
[0011] Disadvantages of the Noffsinger device include: the
horsepower of the motor required for high-end users is substantial;
the device is relatively heavy; the range of motion is limited
because it is mechanically set; and sinusoidal movement of the
impingement member is inherent in the device. Finally, Noffsinger
does not suggest or utilize the use of real-time feedback to
control the exercise motion during its execution.
[0012] It is thus an object of the present invention to provide a
system and method for measuring human performance and/or providing
training which overcomes the problems and alleviates the needs
discussed above.
SUMMARY OF THE INVENTION
[0013] In one preferred embodiment, the present invention provides
an exercise apparatus in which an impingement member is driven
between a selectable start point and a selectable endpoint. When
coupled with suitable instrumentation and electronic circuitry, the
inventive strength training device allows the measurement,
tracking, and computation of force exerted, repetitions performed,
measurement and display of position, velocity, acceleration, work,
impulse, etc. In addition archived data can be used to show
improvement or problem areas as well as provide an indication of
the quality of each repetition and the quality of the workout in
general. Such an exercise apparatus comprises: a frame including a
base; a linear actuator supported from the frame; an impingement
member movable relative to the frame and driven by the actuator;
and a controller for controlling the actuator.
[0014] In another preferred embodiment there is provided an
exercise apparatus for providing exercise testing and prescription.
The exercise apparatus may be provided as a multipurpose exercise
device or adapted to exercise a particular muscle or group of
muscles. In one preferred embodiment the exercise machine
comprises: a frame; an impingement member movably supported by said
frame and adapted to move over a range of motion; a linear actuator
in communication with said impingement member to drive the
impingement member through the range of motion; a controller for
controlling operation of the linear actuator in a predetermined
manner; and a display for obtaining information from the user and
displaying workout information to the user. As a user interacts
with the impingement member, the controller controls velocity and
reversal of the impingement member at the endpoints of the range of
motion and measure forces applied to the impingement member by the
user.
[0015] In yet another preferred embodiment, the inventive exercise
apparatus draws user information from a database so that workout
parameters, i.e. endpoints, speed of exercise, max force, number of
repetitions, number of sets, and the like, may be used to customize
workout sessions for each user.
[0016] In each of the preceding embodiments, it should be
understood that the present invention will preferably be able to
measure and utilize the quantity "effort" as a consistent,
repeatable, exterior measure of human muscular output capacity for
given exercise. "Effort," will be defined herein as the total
momentum generated during an exercise repetition, or set, and has
units of Newton-seconds in the metric system. It is a superior
measure compared to "work" in that work (which is traditionally
measured in Joules) depends on the existence of motion during
exercise. In contrast, effort, as used herein, is independent of
the state of motion since it is the calculus integral of force over
time, not force over displacement (as is the case for the work
performed). The present invention allows for the practical,
consistent, and repeatable measurement of effort for exercise
protocols, such as bench press, squat, rows, etc. Using the
real-time feedback loop described below, the present invention will
preferably not only measures effort, but also use that measurement
to provide the user with feedback concerning the performance in
real-time. Additionally, in the preferred arrangement the instant
invention will also allow customization, in real time or at a later
date, of a given user's exercise program.
[0017] In each of the preceding embodiments, it should be
understood that the present invention's use of load sensors coupled
with robotic control of the linear actuator allows for real-time or
near real-time feedback. The inventive apparatus uses the data
collected by said load sensors in a feedback loop to tailor the
user's specific work-out in real time or near real time. For
example, the inventive apparatus could slow or even stop the
apparatus' machine rate cycle if the load sensors detect a force
applied by the user that is in excess of a predetermined maximum.
Further, the data collected by the feedback loop could used to
coach a user through the use of vocal or musical reinforcement when
the force applied by the user falls either above, below or within
predetermined ranges of values.
[0018] Further objects, features, and advantages of the present
invention will be apparent to those skilled in the art upon
examining the accompanying drawings and upon reading the following
description of the preferred embodiments.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Other objects and advantages of the invention will become
apparent upon reading the following detailed description and upon
reference to the drawings in which:
[0020] FIG. 1 depicts one preferred embodiment of the inventive
strength training apparatus in its general environment.
[0021] FIG. 2 provides a side view of a suitable actuator as
employed in the strength training apparatus of FIG. 1.
[0022] FIG. 3 provides a schematic of the actuator system and
controls for the strength training apparatus of FIG. 1.
[0023] FIG. 4 provides a block diagram of one preferred embodiment
of a motor controller as depicted in FIG. 3.
[0024] FIG. 5 provides a side view of a preferred embodiment of a
chest press/seated row machine according to the present
invention.
[0025] FIG. 6 provides a view of section 6-6 from FIG. 5.
[0026] FIG. 7 provides a view of section 7-7 from FIG. 5.
[0027] FIG. 8 provides a front view of a preferred embodiment of a
shoulder press/lat pull machine according to the present
invention.
[0028] FIG. 9 provides a view of section 9-9 from FIG. 8.
[0029] FIG. 10 provides a view of section 10-10 from FIG. 9.
[0030] FIG. 11 provides a front view of a preferred embodiment of a
squat machine according to the present invention.
[0031] FIG. 12 provides a view of section 12-12 of FIG. 11.
[0032] FIG. 13 provides a view of section 13-13 of FIG. 12.
[0033] FIG. 14 provides a side view of a preferred embodiment of a
leg press machine according to the present invention.
[0034] FIG. 15 provides a view of section 15-15 of FIG. 14.
[0035] FIG. 16 provides a side view of a preferred embodiment of a
leg extension/seated leg curl machine according to the present
invention.
[0036] FIG. 17 provides a view of section 16-16 from FIG. 16.
[0037] FIG. 18 provides a view of section 17-17 from FIG. 16.
[0038] FIG. 19 provides a side view of a preferred embodiment of a
back/abdominal 1 machine according to the present invention.
[0039] FIG. 20 provides a view of section 20-20 from FIG. 19.
[0040] FIG. 21 provides a view of section 21-21 from FIG. 19.
[0041] FIG. 22 provides a side view of a preferred embodiment of a
shoulder machine according to the present invention.
[0042] FIG. 23 provides a perspective view of the shoulder machine
of FIG. 22.
[0043] FIG. 24 illustrates a preferred networking hardware
configuration FIG. 25 contains a preferred flowchart suitable for
use with various embodiments of the instant invention.
[0044] FIG. 26 contains a force-vs.-time plot for the bench press
embodiment of the instant invention for different numbers of
repetitions.
[0045] FIG. 27 contains effort curves for a single user of the
bench press embodiment of the instant invention for two separate
work-out sessions of a number of different repetitions
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0046] Before explaining the present invention in detail, it is
important to understand that the invention is not limited in its
application to the details of the construction illustrated and the
steps described herein. The invention is capable of other
embodiments and of being practiced or carried out in a variety of
ways. It is to be understood that the phraseology and terminology
employed herein is for the purpose of description and not of
limitation.
[0047] Referring now to the drawings, wherein like reference
numerals indicate the same parts throughout the several views, FIG.
1 depicts one preferred embodiment 100 of the inventive strength
training apparatus in its general environment. Typically an
exercise machine 100 constructed according to the present invention
includes: a frame 102 having a base 104 for supporting the machine
100; a support 106 for a user 108; an impingement member 110
pivotally attached to the frame 102 for providing resistance
training to user 108; an actuator 112 drivingly positioned between
the impingement member 110 and frame 102 for driving member 110; a
display or user interface 114 for displaying information to user
108; a motor controller 126 (FIG. 3) for providing control of
actuator 112; and a computer 128 for providing overall control of
the machine and feedback to user 108.
[0048] Typically, frame 102 will be fabricated from tubing, sheet
metal, metal plate, or other material of sufficient strength and
rigidity to support machine 100. Base 104 provides a sufficient
footprint for machine 100 to remain in a stable position through
normal use of machine 100. In one preferred embodiment base 104
includes adjustable feet 116 for leveling machine 100 and thus, to
prevent rocking. Depending on the muscle groups exercised by a
particular machine, support 106 may support user 108 in a standing,
seated, recumbent, inclined, or other position appropriate for the
particular exercise.
[0049] Preferably actuator 112 is a linear actuator for driving
impingement member 110 between a first position and a second
position. One suitable actuator is the SR-41 roller screw actuator
manufactured by Exlar Corporation of Chanhassen, Minn. While many
Exlar models are suitable for use on the inventive machine, a
device that is similar to an SR series actuator is depicted in the
drawings. It should be noted that many other actuators are suitable
for use in the present invention including, by way of example and
not limitation, ball screw actuators, hydraulic cylinders,
pneumatic actuators, etc. With further reference to FIGS. 2 and 3,
a roller screw actuator 112 comprises a housing 118, a rod 120
driven by the roller screw mechanism and an internal servo motor, a
power connector 124 for inputting properly phased electrical power
from motor controller 126 to selectively drive the servo motor, and
an encoder connector 122 for outputting servo motor position and
rod position information to motor controller 126.
[0050] In one preferred embodiment motor controller 126 receives
electrical power for operation of the machine via power cord 130.
Power is then distributed to display 114 and computer 128 through
connections 132 and 134, respectively. Display 114 receives video
information from computer 128 for display to the user through
connection 136. Preferably display 114 includes a touch screen
interface for receiving information and commands from the user.
Information from the touch screen 114 is sent to computer 128
through connection 138. Properly phased electrical signals are
provided to drive actuator 112 through connection 140 and feedback
from the actuator is sent to the motor controller through
connection 142. A load cell 144 or similar load-measuring device is
provided at clevis 146 for measuring rod force on actuator 112.
Connection 148 carries the load cell 144 information to motor
controller 126 where signal conditioning is performed to amplify
and filter the load cell signals as required. Motor commands for
directing movement produced by actuator 112 are sent from computer
128 to motor controller 126, and positional information, force
information, and performance parameters are sent from motor
controller 126 to computer 128 through connection 150.
[0051] As will be appreciated by those skilled in the art, motor
controllers are well known devices and an in-depth understanding of
such devices is not essential to understand the present invention.
However, as shown in FIG. 4, in one preferred embodiment, motor
controller 126 comprises: a digital communication interface, i.e.
serial interface 152 and/or Ethernet interface 154, for
communication with a host computer 128 (FIG. 3); connectors 156 and
158 which accepts cables for serial or Ethernet communication,
respectively; an actuator feedback connector 160 through which Hall
effect sensor signals from the servo motor of an actuator are
received and processed by the Hall effect interface circuitry 162
to provide rotor position for electrical commutation of the servo
motor; also through feedback connector 160, quadrature encoder
signals are received from the actuator and processed by the
quadrature encoder interface 164 to provide rod position
information; an instrumentation amplifier 166 processes the load
cell signal received through connector 168 to provide an indication
of rod force at the actuator; a processor 170 for processing
commands from a host processor and feedback signals from the
actuator to produce properly sequenced signals 172, 174, 176, 178,
180, and 182 which provide commutation of the magnetic fields in
the servo motor; power amplifier 184 amplifies the signals 172-180
to provide sufficient voltage and electrical current to drive the
actuator through connections 186, 188, and 190 and further through
connector 192 which interfaces the power cable of the actuator; and
power supply 194 which receives AC electrical power through
connector 198 and provides high voltage DC power to the power
amplifier and low voltage DC power 196 for operation of the
circuitry of motor controller 126.
[0052] In an electric motor, commutation is the practice of
creating a rotating magnetic field within the motor to rotate the
rotor of the motor. In three phase AC motors, the natural phase
angle between the three phases is used to create a rotating field,
in motors with brushes, this is performed by the interaction of the
brushes, a commutator in contact with the brushes and the windings
of the armature such that the armature produces the rotating field.
In servomotors, or brushless DC motors, as found in the actuator,
commutation is performed outside the motor to drive multiple
windings in the motor sequentially. To synchronize the rotating
field with the rotor of the motor, Hall effect sensors (typically
three sensors) may be placed in the motor to indicate rotor
position as the rotor rotates. Processor 170 can thus determine the
motor rotor position through Hall sensor interface 162. Processor
170 then determines the proper configuration of signals 172-182 to
create the next sequential step in the commutation to drive the
rotor to its next position. For example, in one preferred
embodiment, there are three output signals from motor controller
126 to the actuator, phase A 186, phase B 188, and phase C 190.
Each output signal can be driven to a high state, e.g. phase A 186
can be driven high by signal 172, phase B 188 can be driven high by
signal 176, or phase C 190 can be driven high by signal 180, or
alternatively, each output signal phase A 176, phase B 178, or
phase C 180 may be driven to a low state by either signal 174, 178,
or 182, respectively. The process of sequentially driving outputs
186-190 is repeated hundreds, or even thousands, of times per
second to drive the motor at a desired speed.
[0053] In the present system, rod position is also important to
operation of the exercise machine and a quadrature encoder is
included in the actuator to indicate the rod position. The
quadrature encoder interface 164 decodes the signals to provide an
indication of rod position to processor 170.
[0054] Returning to FIG. 1, in use, a person 108 wishing to engage
in a strength training session preferably will preferably first
enter an user identification, name, or the like through the touch
screen interface of 114. As will be apparent to one skilled in the
art, ideally the start and end points of impingement member 110
will be tailored to each individual user and for each particular
exercise to be performed on a particular machine. Thus, for
example, first user 108 identifies herself and then selects an
exercise to be performed. Using this information, the computer 128
will preferably access a database which contains the start and
endpoints appropriate for this user for the selected exercise. The
first time a user uses each type of machine, preferably there will
be an orientation session wherein the machine determines each
appropriate endpoint for each exercise which may be performed on
the machine. Additional exercise parameters might also be specified
(either by the user and/or his or her trainer) in connection with
each user/exercise combination including, by way of example only,
outbound speed of the impingement member, inbound speed, maximum
allowable force on the impingement member, pause intervals at each
endpoint, number of repetitions per set, the number of sets
prescribed, rest between sets, and the like.
[0055] Once the appropriate exercise variables are obtained from
the database, the user will be provided a workout screen on display
114 with a "START" button to begin the workout. Upon pushing the
start button, impingement member 110 will preferably begin
oscillating between an innermost position 198 (FIG. 5) and an
outermost position 200 (FIG. 5). Once the user exerts a threshold
force on the impingement member, the computer 128 will begin
counting and displaying repetitions of the impingement member and
graphing the user exerted force on display 114.
[0056] Each complete cycle, e.g., an outbound stroke and an inbound
stroke, constitutes one repetition. Often times strength training
will be prescribed as a number of sets, each set consisting of a
prescribed number of repetitions. Preferably, the number of sets
and number of repetitions in each set will be displayed to the
user. As will be apparent to one skilled in the art, each muscle
only works in contraction. When a muscle is pulling, it is said to
be working in a concentric phase. When a muscle is resisting
movement, it is said to be in an eccentric phase. A unique
characteristic of the present invention, as well as the earlier
Noffsinger patent referenced hereinabove, is the ability of the
user to operate in a normal concentric-eccentric cycle,
eccentric-concentric cycle, concentric-concentric cycle, or
eccentric-eccentric cycle, simply by choosing to pull or push at
any point as the impingement member oscillates. With regards to the
preceding aspect, the present invention can be thought of as
providing "dynakinetic" capacity. Dynakinetic is used herein to
describe the present invention's ability to provide users with
concentric and eccentric cycles of movement, as described above.
Additionally, the present invention can vary the rate at which the
impingement member moves through each of the above-described
cycles. In this sense, the present invention provides "dynamic"
variation of the traditional concentric/eccentric weight-lifting
cycles.
[0057] As is generally recognized in the art, there are unique
benefits gained in each of the concentric and eccentric phases of
the exercise. The present invention allows the user to maximize a
workout session based on the goals of the individual and the
individual's performance using the real-time feedback loop present
in the claimed invention. This feature also allows a single machine
to replace two stations of conventional weight training equipment.
For example, a chest press machine 100 as shown in FIG. 1, can also
be used to perform an upright row movement, and an abdominal
machine can also be used to exercise lower back muscles. This
feature thus allows a facility to use less floor space for a
circuit of strength training equipment and to increase the
utilization of each machine in the circuit.
[0058] When user 108 completes a workout, the machine may display
an exercise summary to the user. Most preferably, previous exercise
sessions of like exercises are stored in a central location and
accessible to the local exercise machine. Workout information is
preferably stored in database tables associated with the same
database as workout parameters and workout prescription information
as detailed above. Along with the summary of the most recent
workout, the machine may also show a comparison to other recent
sessions and graphically show overall changes in ability over any
length of time stored in the database. It should be noted that the
historical data gathered at the central location may also be used
for a number of purposes. If age, gender, height, weight, cultural
background, fitness history, and similar information are collected
for each user, when a new user contemplates using the machine, he
or she may see statistics for similarly situated users who have
used the machines in the past. A user can thus approach an exercise
regimen with realistic expectations. Further, such data may be
useful to inspire research, verify research, or verify data
collected in other ways with regard to exercise physiology. As will
also be apparent to those skilled in the art, the present invention
is applicable to the training of virtually all muscle groups and
can be used in lieu of any weight-plate strength training
equipment. The chest press/seated rowing machine 100 of FIG. 1 is
also shown in in several views in FIGS. 5-7. It can be seen that,
when the rod of actuator 112 is fully retracted, impingement member
110 will be located at an inner most position. Preferably seat 202
is adjustable for users of varying heights and weight, such as via
pin 204 which locks in one of holes 206 to set the seat height.
Seat back 208 is shown fixed but may likewise be made adjustable,
however, as will be apparent to one skilled in the art, the ability
to set the start and endpoints of impingement member 110 for a
particular exercise reduces, if not eliminates, the need to make
seat back 208 adjustable. It should also be noted that a lumbar
support (not shown) may be included in seat back 208, if so
desired.
[0059] Foot rest 210 provides support for the user's feet,
particularly during a seated row-type exercise where there may be a
propensity to slide forward on seat 202 during the exercise while
the user is pulling on grips 212.
[0060] It should be noted that grips 212 include a narrow vertical
gripping surface 214, a slightly wider gripping surface 216, and
optionally a wider gripping surface (not shown) outside impingement
member 110 by extending grip 212 completely through member 110.
Providing a variety of gripping options, along with the ability to
set a range of motion, allows the user to engage different muscles
during a workout session.
[0061] Referring to FIGS. 8-10, a preferred embodiment of a
shoulder press/lat pull strength training machine 218 constructed
in accordance with the present invention comprises: a frame 220
having a base 222 for supporting the machine 218; a seat 226 for a
user attached to frame 220 by support 236; an adjustable leg
support 228 for helping the user remain seated during lat pull
exercises, the leg support adjustable between a lowermost position
232 and an uppermost position 234 by pulling on spring pin 230,
adjusting leg support 228 to the desired height and allowing pin
230 to engage the nearest hole (not shown); adjustable feet 224 for
leveling machine 218 and eliminating any rocking when the machine
is installed on an uneven floor; an impingement member 238
pivotally attached to the frame 220 for providing resistance
training to the user; a linear actuator 240 pivotally attached to
mount 246 at actuator clevis 242 through axle 244 and drivingly
positioned between the impingement member 238 and frame 220 for
driving member 238; a display or other user interface 274 for
displaying information to the user; a motor controller (not shown)
for providing control of actuator 240; and a computer (not shown)
for providing overall control of the machine and feedback to the
user.
[0062] As will be apparent to those skilled in the art, if
impingement member 238 simply pivots at a fixed point on the frame,
grips 276 and 284 will have horizontal movement as well as vertical
movement and, in fact will follow an arcuate path. While such a
movement would not be objectionable, particularly if the arc was of
sufficient radius, in one preferred embodiment, a mechanism is
employed to substantially remove arcuate motion of the grips. To
provide substantially vertical motion, impingement member 238 is
pivotally attached to a pair of uprights 258 at pivot 260 with
axles 264. Uprights 258 are in turn pivotally attached to plate 262
of frame 220 at mounts 262 through axels 266 allowing uprights 260
to move forward and backward. Rod clevis 248 of actuator 240
pivotally attaches to impingement member 238 and to first ends of
links 256 through axle 250. Links 250 attach at second ends to
frame mount 254 via axle 290. As the rod of actuator 240 extends
from its lowermost position, wherein impingement member 238 is at
position 270, to its midpoint, links 256 push uprights rearward to
negate the arcuate motion of impingement member about axle 264. As
the rod of actuator 240 extends upward from its midpoint towards
full extension, wherein impingement member 238 is at position 272,
links 256 pull uprights 258 forward, likewise negating the arcuate
motion of impingement member 238 about axle 264. Most preferably
either a load cell is included at rod clevis 248 or actuator clevis
242, or alternatively a pair of load cells are provided proximate
the grips 276 and 284 to allow measurement of the forces exerted by
the user.
[0063] As will be apparent to one of ordinary skill in the art, a
alternative methods could be employed to achieve vertical motion
such as, by way of example and not limitation, rollers guided along
a vertical member of frame 220, a vertical rack and pinion, cables,
etc. Advantage of the system described above include: less chance
of rumbling or vibration than in a system where rollers or gears
bear on a mating surface; maintenance requirements are lower since
friction producing areas are confined to the axles; and lubricated
points are not exposed.
[0064] As with the chest press/seated row embodiment discussed
hereinabove, multiple grips and/or gripping surfaces may be
provided to increase exercise options for the user and to engage
different muscle groups for different exercises. By way of example
and not limitation, shoulder press/lat pull machine 218 may
include: a forward grip 276 providing a wide gripping surface 282,
a narrow gripping surface 280 and a pronated gripping surface 278;
as well as a rearward grip 284 providing a lat pull gripping
surface 288 and a narrow gripping surface 286. Also as with chest
press/seated row embodiment, the shoulder press machine 218 may be
used to train opposing muscle groups with either upward presses or
downward pulls. Likewise the shoulder press/lat pull machine may be
used on a conventional concentric--eccentric fashion,
concentric--concentric fashion, or eccentric--eccentric
fashion.
[0065] In a third preferred embodiment, as shown in FIGS. 11-13, a
squat machine 292 is provided. Preferably squat machine 292
includes: a frame 294 having a base 296; a surface 298 on base 296
for supporting a user; a plurality of adjustable feet 300
projecting downward from base 296 for leveling machine 292 on a
floor and eliminating any rocking caused by unevenness in the
floor; an impingement member 302 pivotally attached to the frame
294 for providing resistance training to the user; a linear
actuator 304 pivotally attached to mount 306 at actuator clevis 308
through axle 310 and drivingly positioned between the impingement
member 302 and frame 294 for driving member 302; a display or other
user interface 312 for displaying information to the user; a motor
controller (not shown) for providing control of actuator 304; and a
computer (not shown) for providing overall control of the machine
and feedback to the user.
[0066] As in the shoulder press/lat pull embodiment discussed
above, if impingement member 302 simply pivots at a fixed point on
the frame, shoulder pads 314 will have horizontal movement as well
as vertical movement and, in fact, will follow an accurate path.
Again such a movement would not necessarily be objectionable,
particularly if the arc was of sufficient radius. However, in one
preferred embodiment, a mechanism substantially the same as that
discussed with respect to the shoulder press/lat pull embodiment is
employed to substantially remove arcuate motion of pads 314. To
provide substantially vertical motion, links 318 pivot from
frame-side member 318 at axles 326 to move uprights 320 rearward
and forward in response to extension and retraction of rod 322 to
limit impingement member 302 to a substantially vertical movement
over its normal range of motion. Rod clevis 324 is also pivotally
attached to impingement member 324 by pin 328 such that extension
and retraction of actuator 304 will move impingement member 302 up
and down. Uprights 320 are pivotally attached to frame 294' through
axles 330 and to impingement member 302 by axles 332 to allow
forward and rearward movement. When rod 322 of actuator 304 is at
its lowermost position, impingement member 302 is at its lowest
position 334. As rod 322 extends upward towards full extension,
impingement member 302 moves to its uppermost position 336.
[0067] In use, the user steps under the pads and pushes upward with
his or her legs both as impingement member 302 moves upward and
downward. It should be noted that there are those skilled in the
art that believe squat should be performed on a slight incline. As
will be apparent, squat machine 292 could be easily modified to
perform squats on an incline. In particular, surface 298 could
simply be angled upward at a desired angle to place the user in
such a posture if so desired. It should be noted that, unlike
previously described embodiments, the squat machine would typically
be used in a traditional concentric--eccentric fashion.
[0068] There are also those skilled in the art that believe that
not all users will be of a fitness level where a standing squat is
an appropriate exercise. As an alternative to the squat machine,
the leg press machine 338 of FIGS. 14 and 15 will provide similar
training to leg muscles. In one preferred embodiment, leg press
machine 338 comprises: frame 340 having a base 342, which in turn
includes adjustable feet 378 for supporting machine 338 on a floor
and removing any rocking resulting from unevenness in the floor; a
seat 344 for supporting a user, seat 344 having a seat base 380
mounted to frame 340 on plate 356, and seat back 346 which,
optionally, may include adjustment mechanism 348 for setting the
angle of seat back 346 for the comfort of individual users; a
display 350 supported from frame 340 by monitor stand 352 and
pivoting mount 354 which allows a user to adjust the angle of
display 350 for comfortable viewing; an actuator 358 driving
disposed between frame 340 and impingement member 388, actuator 358
being pivotally attached to frame 340 at actuator clevis 382
through pin 384 and pivotally attached to impingement member 388 at
rod clevis 364 by pin 386; load cell 362 for measuring the forces
produced by a user; and a computer/motor controller (not shown) for
directing movement of actuator 358.
[0069] In one preferred embodiment of leg press machine 338,
impingement member 388 comprises a conventional four bar mechanism
so that the angle of foot plate 372 relative to the base 342
remains substantially constant over the range of motion of
impingement member 388. Preferably, the four bar mechanism
comprises: a portion of frame 340; foot support 372; a pair of
forward support bars 368 pivotally attached to frame 340 and foot
support 372 by axles 370; and a rear support bar 366 likewise
pivotally attached to frame 340 and foot support 372 by axles 370.
As will be apparent to those skilled in the art, bars 366 and 368
will at all times remain parallel to each other which in turn,
maintains the angle of foot support 372.
[0070] Foot support 372 includes plate 374 which the user pushes
against with his or her feet. Preferably, plate 374 is formed of a
durable material such as wood, metal, plastic, or the like, and is
coated on the user facing side with a non-skid surface to reduce
slippage of the user's feet during the workout. Handles 376 may
also be provided proximate seat base 380 to improve the user's
control during a workout. As is the case with the squat machine
discussed above, the leg press machine is primarily suited for use
in a traditional concentric--eccentric fashion.
[0071] Turning next to FIGS. 16-18, in yet another preferred
embodiment the present invention provides a combination leg
extension/leg curl machine 390. Preferably leg machine 390
comprises: a frame 392 having a base 394 with adjustable feet 396,
frame 392 includes upright bearing support 434 and brace 436 to
improve the rigidity of frame 392; a seat 398 is supported by frame
392; an impingement member 410 is pivotally attached to frame 392
via axle 408 which is rotatably received in pillow black bearings
412; bell crank 416 which is non-rotatably secured to axle 408
through a woodruff key, splines, or the like; actuator 414
drivingly disposed between frame 392 and bell crank 416, actuator
clevis 418 being pivotally attached to frame 392 by pin 420 and the
rod 422 of actuator 414 being pivotally attached to bell crank 416
at clevis 424 through pin 426 such that linear extension or
retraction of actuator 414 results in rotation of axle 408; display
428 supported from frame 392 by monitor stand 430 and monitor pivot
432 which allows the user to adjust display 428 for comfortable
viewing; and a computer/motor controller to control movement of
actuator 414. A load cell (not shown) is preferably provided to
measure forces produced by the user during a workout.
[0072] Preferably seat 398 comprises: seat cushion 400 on which the
user sits; seat back 402; seat base 404; and seat adjustor 406
which allows the user to move the seat forward and rearward
relative to frame 392 so that the user's knee pivots along roughly
the same axis as that defined by axle 408.
[0073] In one preferred embodiment, impingement member 410 is
welded or otherwise secured to axle 408. Impingement member 410
includes: pad 444 which engages the user's leg during a workout; an
upper section 438; a lower section 440 which is telescopically
received in upper section 438; and an adjustment spring pin 442. To
adjust the length of impingement member 410, the users pulls on pin
442 and telescopes lower section 440 in or out of upper section
438. When the correct length is found, the user releases pin 442
which falls into one of a series of holes in lower section 440 to
fix the length.
[0074] To perform a leg extension, the user places his or her shins
against pad 440 on the inboard side of pad 440 between the seat and
the pad 440. As the actuator 414 extends and retracts, impingement
member 410 moves over a range of motion, somewhere between a
lowermost position 446 where rod 422 is fully extended and an
uppermost position where rod 422 is fully retracted. Over the range
of motion, the user pushes upward and out on impingement member
410
[0075] To perform a leg curl, the user places his or her calves on
the outboard side of cushion 444 and pushes downward and in on
impingement member 410. In a seated leg curl, the user produces
forces which tend to lift the upper part of the leg off the seat.
To keep the user properly seated during the leg curl exercise, leg
support 450 can be rotated downward to position 452 and locked in
place via adjustment mechanism 454. When performing leg extensions
or when the user is embarking or disembarking, support 450 can be
lifted to position 456. The seated leg curl is not necessarily well
accepted by all trainers and exercise physiologists, thus an
alternative embodiment is to produce an inclined leg curl machine
(not shown). In such an embodiment, seat 398 is simply replaced
with a bench and the need for support 450 is eliminated. The user
lies on his or her stomach while performing the leg curl exercise
against impingement member 410. Obviously such modifications are
well within the abilities of one of ordinary skill in the art.
[0076] In still another preferred embodiment, as shown in FIGS.
19-21, the present invention provides a combination a
back/abdominal machine 458. Preferably machine 458 comprises: a
frame 460 having a base 462 with adjustable feet 464, frame 460
includes upright bearing support 466 and brace 468 to improve the
rigidity of frame 460; a seat 470 is supported on frame 460; an
impingement member 472 pivotally attached to frame 460 via axle 474
which is rotatably received in pillow black bearings 476; bell
crank 478 which is non-rotatably secured to axle 474 through a
woodruff key, splines, or the like; actuator 480 drivingly disposed
between frame 460 and bell crank 478, actuator clevis 482 being
pivotally attached to frame 460 by pin 484 and the rod 486 of
actuator 480 being pivotally attached to bell crank 478 at clevis
488 through pin 490 such that linear extension or retraction of
actuator 480 results in rotation of axle 474; display 492 supported
from frame 460 by monitor stand 494 and monitor pivot 496 which
allows the user to adjust display 492 for comfortable viewing; and
a computer/motor controller to control movement of actuator 480. A
load cell (not shown) is preferably provided to measure forces
produced by the user during a workout.
[0077] In one preferred embodiment, impingement member 472 is
welded or otherwise secured to axle 474. Impingement member 472
includes: pad 498 which engages the user's back during a workout;
and a pair of grips 500 which help the user maintain proper posture
during the workout. While impingement member 472 is shown of a
fixed length, it could readily be made adjustable in the same
manner as the impingement member of the leg extension/leg curl
embodiment to accommodate a wider range of users.
[0078] In still another preferred embodiment, as shown in FIGS. 22
and 23, a shoulder machine 502 is provided. Shoulder machine 502
provides strength training for either the left or right shoulder
and allows for rotation of the shoulder constrained to either a
horizontally polarized arc or a vertically polarized arc. Shoulder
machine 502 comprises: a frame 504 having a base 506; a seat 508
mounted to a pair of tracks 516 located on base 506 such that seat
508 can be adjusted from side-to-side; a display 514 pivotally
attached to monitor stand 510 at bracket 512; a rotary actuator 518
mounted to support 530 which, in turn, is pivotally supported form
upright 520, which comprises a portion of frame 504; a housing 526
on upright 520 which receives an axle connected on a first end to
actuator support 530 and handle 524 on a second end; impingement
member 522; rotary load cell 538 between actuator 518 and
impingement member 522 for measuring the torque exerted by a user;
and a computer/motor controller combination for controlling the
motion provided by actuator 518.
[0079] Impingement member 522 includes: hub 536 which is driven by
actuator 518; a pair of parallel bars 532 received in hub 536; end
cap 534 which captures bars 532 at their distil end to hold bars
532 parallel; grip shuttle 540 which slides along bars 532 to
accommodate users of varying forearm length; clamp 546 on shuttle
540 for fixing shuttle 540 at a desired positions on bars 532; grip
542 located on shuttle 540 for the user's hand; and elbow support
546 for holding a user's elbow in a proper position during a
workout.
[0080] To use shoulder machine 502, a user first moves seat 508 to
the left side of the machine to exercise her or his right shoulder,
or to the right side of the machine to exercise the left shoulder.
The user moves handle 524 to its vertical position, as shown, to
perform horizontal training, to a left horizontal position to
exercise the right shoulder in a vertical arc, or to a right
horizontal position to exercise the left shoulder in a vertical
arc. Preferably, detents or a locking pin is provided to hold
handle 524 in the selected position. The user then sits in seat
508, places her or his appropriate elbow in elbow support 544,
adjusts shuttle 540 until grip 542 falls naturally into the user's
hand, and tightens clamp 546 to hold shuttle 540 in the proper
position. The user then grabs grip 542, and presses the start
button on display 514 to start the session.
[0081] It is important to note that for the shoulder machine a
rotary actuator is employed, as opposed to the linear actuator used
in previously described embodiments. Preferably, actuator 518 is a
servo motor, similar in construction, if not identical, to the
motor used inside the linear actuators of previously described
embodiments. It should also be noted that actuator 518 could be
almost any type of controllable motor, just as the type of motor
employed in the linear actuator is not critical to the present
invention. Like the linear actuator, preferably rotary actuator 518
includes a quadrature encoder so the electronic system of machine
502 can stay abreast of the precise position of impingement member
522. It should also be noted that, depending on the characteristics
of the motor employed in actuator 518, it may be desirable to
employ a transmission, gear box, for allowing the motor to run at a
higher speed to produce the torque necessary for the operation of
machine 502. Such engineering decisions are within the level of
skill ordinarily found in the art.
[0082] As will be apparent to one of ordinary skill in the art,
other embodiments, especially the leg extension/leg curl machine,
and the back/abdominal machine could easily employ a rotary
actuator instead of the linear actuator and bell crank. It should
also be apparent that shoulder machine 502 could easily be
constructed using a linear actuator and a bell crank to produce the
desired rotational motion.
[0083] In each of the preceding embodiments, the user's safety will
preferably be accommodated through a variety of techniques. For
example, tape switches have been around for a number of years.
Those of ordinary skill in the art will recognize that a
conventional electrical switch is activated or deactivated by
flipping a toggle or pushing a button--either being located at some
point in space. The tape switch just extends the button linearly
over some distance, e.g., one meter. If one pushes against the
surface of the tape anywhere along its operational length (which is
conventionally glued or fixed to a flat surface) the attached
circuit will be broken shutting off power to the user end. Placing
this kind of flexible extended switch in potential pinch areas of
the instant invention could provide one sort of safety
[0084] Another safety measure that could be implemented would be
based on the use of Force Fault Interrupt (FFI), which is analogous
to Ground Fault Interrupt (GFI) used to trip off electrical
circuits in residential applications. The GFI principal of
operation is simple--if an alternate ground path "appears" in a
circuit, the assumption is that some electrons are taking an
alternate path, perhaps thru a human body. The GFI detects a weak
magnetic field around switch conductors due to differing outgoing
and incoming current levels. Similarly, FFI is designed to detect
an imbalance in forces (not currents) and, e.g., could be used to
immediately stop operation of an exercise station. In one preferred
embodiment, the total force level from a load cell on the linear
motor actuator rod will be compared with the total of forces being
placed on various machine impingement points by a user. Of course,
a fair amount of calibration might be required, but such is
certainly within the ability of one ordinary skill in the art.
Here, the assumption would be that a total force imbalance would be
the result of "outside interference forces" affecting machine
motion, i.e., that a user is being "pinched" inappropriately. An
FFI-based system could address problems occurring out around the
limb areas of exercise machines between impingement points and the
motor actuator.
[0085] A third safety method that might be applicable in some
settings would involve the use of lasers or other light sources in
combination with photovoltaic cells. By positioning such
appropriately, it would be possible to determine when, among other
things, movement of the exercise machine took it out of the
preferred or allowable range. Obviously, sensing such a condition
might trigger an alarm condition. Needless to say, such an
arrangement could be useful as a safety mechanism. Finally, it is
anticipated that one (or preferably more) of the foregoing might be
implemented on each exercise machine, thereby providing redundancy
and/or coverage of different aspects of the exercise machine.
[0086] Turning next to FIG. 24, according to some preferred
embodiments one or more exercise machines 2400 will be networked
together with a remote server 2430. Although this sort of
interconnectivity might have many applications, one preferred usage
would be to communicate performance data to a server where it can
be analyzed, plotted, etc. As is explained in greater detail below
in connection with FIG. 25, many users are interested in evaluating
their performance for the current session, for previous sessions,
and/or across time. It is typical when these sorts of analyses are
produced to provide the user with printed or plotted (either via
hard copy or screen display) records of their performance. As such,
it may be advantageous in some instances to transfer the
performance data from the station where it was collected to a
computer with greater capabilities.
[0087] Some preferred networking configurations suitable for use
with the instant invention are illustrated in this figure. As is
illustrated, exercise machines 2400-2404 could be any combination
of embodiments of the instant invention. Preferably, each machine
will be associated with a computer (2410, 2420, or 2450) that is in
electronic communication with it. Note, as is generally indicated
in this figure, the associated computer might be internal to the
exercise machine (e.g., computer 2450) or external to it (e.g.,
computers 2410 and 2420). All that is required is that the computer
be in electronic communication with processor 170 (FIG. 4). Of
course, in some preferred variations, the functionality described
below will be handled by processor 170 in which case computer 2450
and processor 170 could be the same device, i.e., the communicating
computer might be a stand alone computer or integrated into the
exercise machine.
[0088] In a preferred arrangement, each exercise machine 2400-2404
will be in electronic communication with a remote server 2430. The
connection between the two computers might be direct communication
(e.g., computers 2420 and 2430) or indirect (e.g., where computer
2450 uses computer 2420 as an intermediary when sending information
to computer 2430). With respect to the connection between computers
2420 and 2430, that connection might be wired or wireless but, in
the preferred embodiment each computer will be connected somehow
via Ethernet to the Internet. In some preferred embodiments, a
flash drive 2450 might be used to move data from exercise machine
2404 to the remote server 2430.
[0089] In some preferred embodiments, provisions might be made for
wired or, preferably, wireless communication with a handheld
computing device 2440. Bluetooth, WiFi or similar wireless
communications protocol would preferably be used. The subject data
might be compiled and analyzed on the handheld 2440 and/or
forwarded on to server 2430 according to methods well known to
those of ordinary skill in the art.
[0090] FIG. 25 contains a preferred operating logic suitable for
use with the instant invention. As a first step 2500, the exercise
machine program will initialize 2500. Next, and preferably, various
parameters related to the current session will be read. These
parameters might include minimum and maximum position (i.e., the
range) of the impingement member, the velocity (or velocity
function) that it is to move, turnaround behavior (e.g., decelerate
as the impingement member reaches nears its maximum/minimum
excursion, abrupt reversal, etc.), time to travel in an outward
direction, time to travel in an inward direction, number of
repetitions, etc. Those of ordinary skill in the art will recognize
that many such parameters might be utilized. Note that these
parameters might be read from any combination of disk, RAM, ROM,
nonvolatile RAM, and/or obtained directly from the user via a
keypad, touch screen, or other input modality.
[0091] Next, the parameters will preferably be used to set
corresponding internal exercise machine parameters (step 2510) so
as to implement the exercise regime described by the parameters
2505. Additionally, a repetitions counter will preferably be set
equal to zero.
[0092] Preferably, the instant invention will then begin to move
the impingement member according to its program. In some preferred
embodiments, time will be tracked during the movement. In some
cases, a .DELTA.T (i.e., sampling interval) will be chosen and a
cumulative time parameter set equal to zero (step 2515). A suitable
sampling interval will likely be a few milliseconds, but could be
larger or smaller depending on the needs of the programmer, the
time of exercise machine, the computing power available, etc. This
step might be done before, after, or in conjunction with the
setting of the impingement member to its starting position (e.g.,
maximum or minimum excursion) as represented by step 2520 in the
flow chart.
[0093] Next, and preferably, the instant invention will begin to
implement the specified exercise program (loop 2525-2550). As is
indicated, preferably the time (or distance, etc.) will be
incremented by the chosen delta value (step 2525). Over the next
.DELTA.T interval, the impingement member will then be preferably
be moved according to the performance parameters (step 2530). Note
that the movement might be linear (e.g., constant movement) or
nonlinear. Preferably sometime during the movement interval, a load
cell that is in mechanical communication with the impingement
member will be read (step 2535) and stored (step 2540). The load
cell value might be stored locally (e.g., in local RAM) or
communicated over a network to remote storage.
[0094] If the impingement member is not at its maximum or minimum
position ("NO" branch of step 2545) the instant invention will
preferably continue to move the impingement member in the same
direction.
[0095] However, if the impingement member is at its maximum or
minimum (the "YES" branch of step 2545) preferably the repetitions
counter will be incremented. Note that, for purposes of
illustration, the counter is actually incremented at both the min
and max positions, although normally it would be incremented only
after both a maximum and a minimum had been passed. Those of
ordinary skill in the art will know how to modify the logic of FIG.
25 to obtain the more conventional behavior.
[0096] If the repetitions counter is less than the maximum
repetitions specified for this session, preferably the instant
invention will execute a turn around routine (step 2650) and
proceed to move the impingement member in the opposite direction.
As has been mentioned previously, the turn around routine might be
a programmed deceleration/acceleration, a sudden reversal, etc.
Afterward, the process discussed above will be repeated, only this
time in the reverse direction.
[0097] Finally, after the user has finished his or her exercise
program (or in the event that the program is terminated early), the
accumulated load cell data will preferably be stored (step 2656)
for subsequent recall and analysis.
[0098] FIG. 26 illustrates the sort of data that might be obtained
during a user's exercise program. This figure contains a graphical
display of the actual force output of an individual user doing 10
repetitions of a bench press exercise on a preferred embodiment of
the instant invention.
[0099] Data point 2600 marks the beginning of the exercise cycle
which, for purposes of illustration, will be taken to be the point
where, the user's arms are fully extended from the body. Each curve
in this figure is plotted against elapsed time, with one full
repetition taking about 4.5 seconds. Note that the vertical axis
for curve 2600-2605-2610 is offset rather than force, i.e., this
curve represents in a general way the position of the bar during
one repetition of a bench press. The vertical axis for the
remaining curves in this plot is force as measured in pounds.
[0100] Data point 2605 would be observed at the point where the bar
has been lowered towards the user's chest. This movement from point
2600 to point 2605 is called the eccentric side of the exercise
movement and is defined as the resistance (force) applied by the
user is in the opposite direction of the movement of the bar.
[0101] Data point 2610 represents the point where the user's arms
are once again fully extended after raising the bar away from the
chest. The movement from point 2605 to point 2610 is called the
concentric side of the exercise movement. The concentric movement
is defined as the resistance (force) applied by the user is in the
same direction as the movement of the bar. Most strength training
exercises consist of a full range of motion with each repetition
having an eccentric movement and a concentric movement.
[0102] Data curve 2615 shows the actual force exerted by a user
over a complete repetition of the instant invention including both
the eccentric and concentric sides of the exercise. As has been
explained previously, the vertical axis for this curve in pounds
and the horizontal axis is elapsed time as measured from an
arbitrary start. Note that near the beginning of the exercise
cycle, the user is producing approximately 320 lbs. of force (data
point 2612). As the bar lowers towards the user's chest, the amount
of force changes according to the normal biomechanical efficiencies
of body. Throughout the range of motion, on any given exercise, the
body recruits and engages varying groups of muscle and leverage
ability from joints. Data point 2620 signifies the location where
the least amount of force is produced. This is commonly called the
sticking point or weak point. In the exercise shown the force
output of the user is approximately 140 lbs. at this "sticking
point". This weak point in the lift always occurs on the concentric
side of any exercise.
[0103] Those of ordinary skill in the art will recognize that
during traditional strength training with either free weights or
weight stack machines, the maximum amount that a user can lift will
be limited to the weight that they can get past their "sticking
point". In the exercise shown in this figure, the greatest amount
of weight that a user could exercise with would be 140 lbs. It
should also be noted that this amount would also be the maximum
amount the user could lift and they could probably only complete
one repetition with the 140 lb. weight. When exercising they would
have to realistically use a lower percentage of this maximum amount
to do multiple repetitions.
[0104] Because an exercise machine constructed according to the
instant invention allows the user to recruit maximum amounts of
muscle tissue throughout the entire range of motion, the amount of
force and therefore involvement of the various muscle groups would
be expected to be significantly greater than conventional weight
training. This equates to potentially better efficiency and results
of the exercise utilizing equipment of the sort combined herein
versus conventional weight training. Finally, the increased
efficiency of exercises performed with the instant invention has
the potential to reduce the time spent exercising.
[0105] Returning now to FIG. 26, curve 2625 illustrates a typical
force/time curve which has been collected during the fifth
repetition. Of course, the force output is significantly reduced
from the first repetition (curve 2615) due to increasing muscle
fatigue. Curve 2630 tracks force versus time after 10 repetitions.
This curve tops out at about 75 pounds of force and, during the
concentric side of the movement the user has apparently reached
complete muscle exhaustion.
[0106] When utilizing conventional weight training which uses a
fixed amount of weight, the user tends to be either under loaded or
over loaded. This can cause significant inefficiencies, which is
why conventional weight training requires multiple sets of multiple
repetitions to achieve results. The ability of the instant
invention to allow maximal muscle recruitment throughout the entire
range of motion is significant advantage.
[0107] Note that curves in FIG. 26 plotted as force versus time,
but similar graphs could be produced for force versus vertical
position. Technically speaking, if a force curve is integrated (in
the calculus sense) over distance (vertical position in FIG. 26)
the work that has been performed will be obtain. Visually, this
quantity is the area under the force curve vs. distance. The units
of the integrated force curve will be momentum, which the instant
inventors believe to be the best estimate of physical/muscular
"effort" proposed heretofore. This measure is repeatable and
mathematically consistent.
[0108] Currently, virtually all resistance exercise
machines/systems fall into one of two categories: (1) gravity
activated (free weights, weight stack machines, etc.), or (2)
dashpot (i.e., shock absorber) and spring-like extension. These
systems are passive in the sense that their motion is not motor
driven. There are very few active systems (e.g., high-end
ergometers) which are other than human powered to produce motion.
When utilizing the instant invention a user can determine through
real time effort what the forces are on a continuous basis.
Further, the user can disengage the robotic machine at any point
during an exercise and be instantly and completely freed of any
forces or further needed action for safety reasons.
[0109] The instant inventive concept/paradigm will preferably
involve continuous gathering of vector force data for each point of
user "impingement" (e.g., where hand meets machine grip, foot meets
pedal, etc.) indexed in time and space. This information-rich
multi-channel stream of raw physics-type data, potentially combined
with physiology data (BP, HR, VO2, brainwave, EMG (i.e.,
electromyogram), etc.), can be transformed into a wealth of human
performance information for individuals and groups of users. When
properly outfitted with sensors, the instant invention will be able
to measure asymmetry (e.g., left arm versus right arm--athletes as
well as stroke victims, etc.), endurance, recovery times, progress,
output versus speed, etc., etc. In some preferred embodiments, the
real time force data will be used as feedback to automatically
"coach" a user during actual exercise. In some preferred
embodiment, this force information might be plotted on a computer
monitor, preferably augmented by acoustic feedback (e.g., a musical
tone with varying pitch, intensity, tempo, etc.) which would be
useful in those instances where a user's eyes are closed due to
intense effort. In other preferred embodiments, the force data from
multiple users will be pooled to create a competitive/"gaming"
environment where a user's individual performance is used as a
parameter to, for example, an on-screen video game.
[0110] Longer term, it is anticipated that a database could be
compiled from multiple users' performance that could provide
additional and deeper insights into human performance.
[0111] Finally, and turning next to FIG. 27, in a preferred
embodiment measurements of effort (as that term has been defined
previously to be the integral with respect to time of force) will
be collected and presented to the user in raw form and/or after
processing--in real time and/or after the exercise sequence is
completed. The curves in this figure are representative of the sort
that might be obtained during a series of bench press repetitions
performed by a single individual. In this example, six sets of ten
continuous bench press repetitions, a typical protocol, were
performed with ten-minute rest periods between each set. The
individual was instructed to exert maximum force during each set
without "let-up." The bench press station embodiment of the instant
invention provided a cycle rate of one rep per six seconds. Curve
2710 (Data Series 1) tracks the test subject's initial exercise
session. Curve 2720 (Data Series 2) displays results for the same
protocol applied to the individual six weeks later. Curve 2730
(Data Series 3) is a plot derived from the first two and is,
technically, the "discrete derivative" of the difference between
plots 1 and 2. That is, Data Series 3 displays the change in the
difference over six weeks in the individual's generated effort from
set-to-set (or, worded differently, as a function of inter-set
interval number).
[0112] Curve 2730 is an example of a "first-step" analysis of raw
effort data and can be considered to be a member of a "derived data
class" for this experimental assessment. The downward slope of both
plots 1 and 2 clearly displays the drop-off in momentum generation
set-to-set, a direct indicator of fatigue. The total sum, performed
over repetition sets, of the generated momentum for the initial
protocol assessment is 2.05E+05 Newton-seconds. This same sum,
performed after six weeks, has increased to 3.09E+05 Newton-seconds
representing a 51% increase in momentum generation capacity for the
tested individual using this particular assessment protocol.
[0113] Curve 2730 is positive for sets 1-3 indicating that after
six weeks the tested individual did not fatigue as rapidly up to
the third protocol set, but fatigued more rapidly for the remaining
three sets. It can reasonably be concluded that the tested
individual learned to become more mentally and physically focused
for exercise sessions resulting in a "frontloading" of effort
output. What are not given here are the exercise protocols used
during the intervening six weeks.
[0114] It should also be clear that the above described protocol
could be modified in many ways. For example: 10 sets of 6 reps with
shortened rest intervals; 10 sets of 5 eccentric-only or
concentric-only reps; or 10 sets of 6 variable cycle rate reps. The
possible list of useful variations is virtually unlimited. It
should be further noted that the instant paradigm characterizes a
single cycle (repetition) of a repeated exercise motion as a full
duty cycle. Eccentric-only or concentric-only reps are half-duty
cycle--any fraction of a full duty cycle can be defined and applied
when using exercise machines constructed according to the instant
invention. If the protocol were administered to a group of
individuals as described above for a single test subject, a
meaningful statistical study could be performed to assess a variety
of intervening protocols for effectiveness.
[0115] Based on the foregoing example, it should be clear that
effort data, which has not heretofore been available from an
exercise machine, provides a valuable and unique contribution to
the quantitative analysis of performance data. Whether viewed in
its raw/unprocessed form (e.g., curves 2710 and 2720) or after
mathematical transformation (e.g., curve 2730) the calculation of
effort (and derivatives therefrom) provides a new and meaningful
way to view performance data.
[0116] The present invention is subject to a number of variations
and alterations which are all within the scope of the present
invention. By way of example and not limitation, the servo of the
motor controller can be programmed to optionally operate as a force
servo in conjunction with the load cell to provide a constant force
at the impingement member. Thus, the inventive machines can thus
operate as conventional strength training equipment. In such a mode
of operation the motor controller can be programmed to only allow
movement of the impingement member when the user is providing some
minimal force. If the user "drops" the bar, unlike traditional free
weights or weight plate machines, the bar will simply freeze at its
current position.
[0117] The discussion of use as a conventional weight training
machine highlights the difference between the present invention
used in its preferred mode and traditional machines. In its
preferred mode, the exercise provided is dynakinetic such that the
impingement member moves at a constant speed regardless of the
force applied, the machine always pushes back with the same force
provided by the user. Alternatively, the speeds (eccentric and
concentric) could be varied. For example, an exercise program might
be faster in the eccentric phase of a bench press and slower in the
concentric phase, move more slowly through natural sticking points,
etc. Of course, real-time feedback control of machine motion,
permitted force levels (or "bracket" force limits where user must
stay between two force values or machine responds in some
predetermined manner) could cause many discrete or continuous
changes. As discussed above, this allows the user to maximize the
effort expended because sticking points are nonexistent
[0118] As will be apparent to those skilled in the art, the present
invention offers data management abilities that were heretofore,
impossible. Machines constructed according to the present invention
are ideally suited for networking, i.e. through an Ethernet
connection. When the machines are thus connected, the personalized
user variables, such as end points, speed, etc., will preferably be
made available at any machine on the network. In fact, if multiple
networks are connected via the Internet, user variables will
potentially be accessible from any machine anywhere in the world.
Further, raw data from each workout a user performs can also be
stored in a database along with user information such as gender,
age, weight, height, fitness level, etc. As data is collected,
historical data may be used to provide a user measurement of
improvement, even minute improvements, over time. Additionally,
historical data may be used to predict a response a new user might
reasonably expect to achieve over a given time period. This ability
can keep users motivated since people will start with reasonable
expectations and can thereafter see even small improvements which
would be difficult, is not impossible, to measure with prior art
equipment.
[0119] Note that in some preferred embodiments the instant
invention will be designed to permit multi-dimensional movement
under actuator control, e.g., orienting the actuators in such a way
as to permit independent x-y-z motion. This could prove to be
useful in situations where, for example, a patient is in
rehabilitation or for sport-specific training movements. On way of
implementing this would be through the use of a cable and pulley
arrangement of the sort utilized in a weight stack machine.
[0120] In other preferred embodiments, the exercise machine of the
instant invention could be programmed to have a cycle rate slows
down with increased force. In other instances, the machine could be
stopped and/or warns the user when the user is overstressing
according to so predetermined parameter values. Finally, in some
preferred embodiments the user will be acoustically coached (e.g.,
via musical note pitch, or intensity, or preprogrammed voice
messages, etc.) as exercise progresses to provide acoustic feedback
related to the user's performance.
[0121] Thus it can be seen that the present invention is well
suited to overcome the needs and alleviate the problems associated
with prior art
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