U.S. patent application number 13/082184 was filed with the patent office on 2011-08-11 for adaptive exercise equipment apparatus and method of use thereof.
Invention is credited to Stelu Deaconu, David Paulus, Alton Reich, James Shaw.
Application Number | 20110195819 13/082184 |
Document ID | / |
Family ID | 44354163 |
Filed Date | 2011-08-11 |
United States Patent
Application |
20110195819 |
Kind Code |
A1 |
Shaw; James ; et
al. |
August 11, 2011 |
ADAPTIVE EXERCISE EQUIPMENT APPARATUS AND METHOD OF USE THEREOF
Abstract
The invention comprises a method and/or an apparatus using
computer configured exercise equipment and an electric motor. A
computer-controlled robotic resistance system is used for training,
diagnosis and/or therapy. The resistance system comprises: a
subject interface, software control, a controller, an electric
servo assist/resist motor, an actuator, and/or a subject sensor.
The system overcomes the limitations of the existing robotic
rehabilitation, weight training, and cardiovascular training
systems by providing a training and/or rehabilitation system that
adapts a resistance or force applied to a user interactive element
in response to the user's interaction with the training system, a
physiological strength curve, and/or sensor feedback. For example,
the system optionally provides for an automatic reconfiguration
and/or adaptive load adjustment based upon real time measurement of
a user's interaction with the system or sensor based observation by
the exercise system as it is operated by the subject.
Inventors: |
Shaw; James; (Sterling,
CT) ; Paulus; David; (Fort Smith, AR) ; Reich;
Alton; (Huntsville, AL) ; Deaconu; Stelu;
(Gaithersburg, MD) |
Family ID: |
44354163 |
Appl. No.: |
13/082184 |
Filed: |
April 7, 2011 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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12545324 |
Aug 21, 2009 |
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13082184 |
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61091240 |
Aug 22, 2008 |
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61387772 |
Sep 29, 2010 |
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Current U.S.
Class: |
482/5 |
Current CPC
Class: |
A63B 22/0005 20151001;
A63B 2220/36 20130101; A63B 22/0605 20130101; A63B 24/0087
20130101; A63B 2230/06 20130101; A63B 2024/0093 20130101; A63B
21/0058 20130101; A63B 24/0062 20130101; A63B 2225/50 20130101;
A63B 2230/30 20130101 |
Class at
Publication: |
482/5 |
International
Class: |
A63B 21/005 20060101
A63B021/005 |
Goverment Interests
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
[0005] The U.S. Government may have certain rights to this
invention pursuant to NASA SBIR Contract number: NNX10CB13C dated
Feb. 5, 2010.
Claims
1. An exercise apparatus configured for use by an operator,
comprising: an operator interface; a cable linked to said operator
interface; an electric motor configured to supply a resistive force
to movement of said cable; a sensor configured to provide a
feedback sensor reading; and a controller electrically connected to
said motor, said controller configured to use the feedback sensor
reading in control of the resistive force to movement of said
cable.
2. The apparatus of claim 1, wherein said controller is configured
to vary the resistive force to said cable during an exercise
repetition based on the feedback sensor reading.
3. The apparatus of claim 2, wherein the feedback sensor reading
relates to at least one of: applied load on said cable; position of
said operator interface; velocity of a movable element of said
exercise apparatus; and acceleration of a movable component of said
exercise apparatus.
4. The apparatus of claim 1, wherein the sensor reading comprises a
measure of movement of at least one of: said cable; said motor; and
said subject interface.
5. The apparatus of claim 1, said sensor comprising: a stepper
motor encoder linked to said electric motor, said encoder
configured to generate a motor movement reading via marking
rotation of a shaft of said motor, said controller determining
movement and/or position of said subject interface using the motor
movement reading and a measure of time.
6. The apparatus of claim 5, said controller configured to alter
the resistive force to movement of said cable based on position of
said operator interface as measured by said stepper motor
encoder.
7. The apparatus of claim 1, said sensor comprising: a hand control
sensor, said hand control sensor: configured to sense operation of
a hand control by the operator; and configured to generate a
resistance change signal sent to said motor via said controller,
said resistance change signal altering the resistive force applied
by said electric motor to said cable.
8. The apparatus of claim 1, said sensor comprising: a voice sensor
configured to generate a voice control signal, said voice control
signal used for altering at least one of: velocity of said operator
interface; and the resistive force supplied by said electric
motor.
9. The apparatus of claim 1, said sensor comprising: a foot control
sensor configured for use by the operator to alter at least one of:
a movement velocity of said operator interface; and the resistive
force supplied by said electric motor.
10. The apparatus of claim 9, said foot control sensor configured
to measure a pressure applied by said operator.
11. The apparatus of claim 1, said sensor comprising: a visual
feedback system configured to provide information on movement of
the operator.
12. The apparatus of claim 1, said controller configured within a
single repetition to: apply a first resistance to movement of said
cable along an axis in a first direction during a first time
period; and apply a second resistance to movement of said cable
along said axis in a direction opposed to said first direction
during a second time period.
13. The apparatus of claim 1, said electric motor configured to
apply assistance to movement of said cable.
14. The apparatus of claim 13, wherein said motor alters the
assistance to movement using the feedback sensor reading.
15. The apparatus of claim 1, said controller configured to
automatically adjust resistance applied to said resistance cable
between repetitions of movement of said subject interface
element.
16. A method of exercising an operator, comprising the steps of:
providing an exercise apparatus, said apparatus comprising: an
operator interface; a cable linked to said operator interface;
supplying a resistive force to said cable using an electric motor;
generating a feedback sensor reading with a sensor; and controlling
said motor with a controller electrically connected to said motor,
said controller configured to use the feedback sensor reading in
control of the resistive force to said cable.
17. The method of claim 16, wherein said sensor comprises a heart
rate monitor.
18. The method of claim 16, wherein said sensor comprises a blood
pressure monitor.
19. The method of claim 16, wherein said sensor comprises a
wireless receiver, said wireless receiver configured to receive
information about the operator.
20. The method of claim 16, the feedback sensor reading comprising
a velocity tracking signal, said operator using feedback related to
said velocity tracking signal to alter exertion during a
repetition.
Description
CROSS-REFERENCES TO RELATED APPLICATIONS
[0001] This application: [0002] is a continuation in part of U.S.
patent application Ser. No. 12/545,324, filed Aug. 21, 2009, which
under 35 U.S.C. 120 claims benefit of U.S. provisional patent
application No. 61/091,240 filed Aug. 22, 2008; and [0003] claims
benefit of U.S. provisional patent application No. 61/387,772 filed
Sep. 29, 2010, [0004] all of which are incorporated herein in their
entirety by this reference thereto.
BACKGROUND OF THE INVENTION
[0006] 1. Field of the Invention
[0007] The present invention relates generally to computer and
motor assisted exercise equipment methods and apparatus.
[0008] 2. Discussion of the Related Art
[0009] Patents related to computer controlled variable resistance
exercise equipment are summarized herein.
Sensors and Resistive Force
[0010] J. Casler, "Electronically Controlled Force Application
Mechanism for Exercise Machines", U.S. Pat. No. 5,015,926 (May 14,
1991) describes an exercise machine equipped with a constant speed
electric drive mechanically coupled to a dynamic clutch, which is
coupled to an electromagnetic coil or fluid clutch to control
rotary force input. An electronic sensor connected to a computer
senses the speed, motion, and torque force of the system's output
shaft and a control unit directed by the computer controls the
clutch.
[0011] G. Stewart, et. al., "Computer Controlled Exercise Machine",
U.S. Pat. No. 4,869,497 (Sep. 26, 1989) describe a computer
controlled exercise machine where the user selects an exercise mode
and its profile by programming a computer. Signals are produced by
the program to control a resistive force producing device. Sensors
produce data signals corresponding to the actuating member of the
system, velocity of movement, and angular position. The sampled
data are used to control the amount of resistive force.
Pressure/Movement Sensors
[0012] M. Martikka, et.al., "Method and Device for Measuring
Exercise Level During Exercise and for Measuring Fatigue", U.S.
Pat. No. 7,764,990 B2 (Jul. 27, 2010) describe sensors for
measuring electrical signals produced by muscles during exercise
and use of the electrical signals to generate a fatigue
estimate.
E. Farinelli, et.al., "Exercise Intra-Repetition Assessment
System", U.S. Pat. No. 7,470,216 B2 (Dec. 30, 2008) describe an
intra-repetition exercise system comparing actual performance to a
pre-established goal with each repetition of the exercise, where
displayed indicia includes travel distance and speed.
[0013] R. Havriluk, et.al., "Method and Apparatus for Measuring
Pressure Exerted During Aquatic and Land-Based Therapy, Exercise
and Athletic Performance", U.S. Pat. No. 5,258,927 (Nov. 2, 1993)
describe a device for monitoring exercise pressure on systems using
an enclosed compressible fluid chamber. Measurements are taken at
pressure ports and are converted to a digital signal for computer
evaluation of type and degree of exercise performed.
Hand Controls
[0014] S. Owens, "Exercise Apparatus Providing Resistance Variable
During Operation", U.S. Pat. No. 4,934,692 (Jun. 19, 1990)
describes an exercise device having a pedal and hand crank
connected to a flywheel provided with a braking mechanism. To vary
the amount of braking, switches located on the hand crank are used
making removal of the hand from the crank unnecessary to operation
of the switches.
Resistance/Varying Resistance Exercise
[0015] D. Munson, et.al., "Exercise Apparatus Based on a Variable
Mode Hydraulic Cylinder and Method for Same", U.S. Pat. No.
7,762,934 B1 (Jul. 27, 2010) describe an exercise machine having a
hydraulic cylinder sealed with spool valves adjustable to permit
entrance and exit of water with forces corresponding to forces
exerted on the cylinder.
[0016] C. Hulls, "Multiple Resistance Curves Used to Vary
Resistance in Exercise Apparatus", U.S. Pat. No. 7,682,295 B2 (Mar.
23, 2010) describes an exercise machine having varying resistance
based on placement of a cable pivot point within a channel, where
placement of the pivot point within the channel alters the
resistance pattern along the range of motion of an exercise.
[0017] D. Ashby, et.al., "System and Method for Selective
Adjustment of Exercise Apparatus", U.S. Pat. No. 7,645,212 B2 (Jan.
12, 2010) describe an electronic interface allowing adjustment of
speed and grade level via a computer based interface mounted on an
exercise machine, such as on a treadmill.
[0018] M. Anjanappa, et.al., "Method of Using and Apparatus for Use
with Exercise Machines to Achieve Programmable Variable
Resistance", U.S. Pat. No. 5,583,403 (Dec. 10, 1996) describes an
exercise machine having a constant torque, variable speed,
reversible motor and associated clutches. The motor and clutch are
chosen in a predetermined combination through use of a computer
controller.
[0019] J. Daniels, "Variable Resistance Exercise Device", U.S. Pat.
No. 5,409,435 (Apr. 25, 1995) describes a programmable variable
resistance exercise device providing a resisting force to a user
supplied force. The user supplied force is resisted by varying the
viscosity of a variable viscosity fluid that surround plates
rotated by the user applied force. A gear and clutch system allow
resistance to a pulling force.
[0020] M. Brown, et.al., "User Force Application Device for an
Exercise, Physical Therapy, or Rehabilitation Apparatus", U.S. Pat.
No. 5,362,298 (Nov. 8, 1994) describe an exercise apparatus having
a cable connected to a resistive weight and a detachable handle
connected to the cable via a tension transmitting device.
Physiological Response
[0021] M. Lee, et.al., "Exercise Treadmill with Variable Response
to Foot Impact Induced Speed Variation", U.S. Pat. No. 5,476,430
(Dec. 19, 1995) describe an exercise treadmill having a plurality
of rates of restoration of the tread belt speed upon occurrence of
change in the load on the moving tread belt resulting from the
user's foot plant, where the user can select a desired rate of
response referred to as stiffness or softness.
Power Generation/Energy Consumption
[0022] J. Seliber, "Resistance and Power Monitoring Device and
System for Exercise Equipment", U.S. Pat. No. 7,351,187 B2 (Apr. 1,
2008) describes an exercise bike including pedals, a belt, and a
hydrodynamic brake. User applied force to the pedals is transferred
to a flywheel and relative rotation speeds of impellers of the
fluid brake are used to estimate generated wattage.
[0023] J. Seo, et.al., "Apparatus and Method for Measuring Quantity
of Physical Exercise Using Acceleration Sensor", U.S. Pat. No.
7,334,472 B2 (Feb. 26, 2008) describe a method for measuring
calorie consumption when using an exercise device based upon
generating acceleration information from an acceleration
sensor.
[0024] S. Shu, et.al., "Power Controlled Exercising Machine and
Method for Controlling the Same", U.S. Pat. No. 6,511,402 B2 (Jan.
28, 2003) describe a self-contained exercise machine with a
generator and an alternator used to recharge a battery with power
supplied from a stepper interface used by a subject.
STATEMENT OF THE PROBLEM
[0025] While a wide variety of computer-controlled exercise
machines for training and rehabilitation exist, some of which can
be automatically adjusted to vary resistance or incline, such
systems provide for preprogrammed changes in load or
resistance.
[0026] What is needed is a system that overcomes the limitations of
the existing robotic rehabilitation systems by providing a training
and/or rehabilitation system that adapts a resistance or force
applied to a user interactive element in response to the user's
interaction with the user interactive element, the system, and/or
observations of the user by the system.
SUMMARY OF THE INVENTION
[0027] The invention comprises a computer assisted exercise
equipment method and apparatus.
DESCRIPTION OF THE FIGURES
[0028] FIG. 1 provides a block diagram of an electric motor
resistance based exercise system;
[0029] FIG. 2 illustrates hardware elements of an exemplary
computer aided motorized resistance exercise system;
[0030] FIG. 3 provides exemplary resistance profiles for a linear
movement;
[0031] FIG. 4 illustrates a rotary exercise system configured with
electric motor resistance;
[0032] FIG. 5 provides exemplary resistance profiles for a rotary
movement; and
[0033] FIG. 6 illustrates a combined linear and rotary exercise
system.
DETAILED DESCRIPTION OF THE INVENTION
[0034] The invention comprises a method and/or an apparatus using a
computer and exercise equipment configured with an electric
motor.
[0035] In one embodiment, exercise equipment is configured with an
electric motor resistance system. Resistance to movement supplied
by the electric motor optionally varies dependent upon input from
one or more subject sensors. Variation in resistive force
optionally occurs: [0036] within a single direction of a weight
training repetition; [0037] between directions of a weight training
repetition; and/or [0038] between repetitions within a single set
of repetitions.
[0039] Herein, a repetition is one complete movement of an exercise
and repetitions refers to the number of times each exercise is
completed in a row or in a set.
[0040] In another embodiment, a computer-controlled robotic
resistance system or mechanical resistance training system is used
for: [0041] strength training; [0042] aerobic conditioning; [0043]
low gravity training; [0044] physical therapy; [0045]
rehabilitation; and/or [0046] medical diagnosis.
[0047] The resistance system comprises: a subject interface,
software control, a controller, an electric motor, an electric
servo assist/resist motor, a variable speed motor, an actuator,
and/or a subject sensor. The resistance system is adaptable to
multiple configurations to provide different types of training, as
described infra.
[0048] The resistance system significantly advances neuromuscular
function as it is adaptable to a level of resistance or applied
force. For example, the system optionally uses: [0049]
biomechanical feedback [0050] motorized strength training; [0051]
motorized physical conditioning; and/or [0052] a computer
programmed workout.
[0053] For example, a system is provided that overcomes the
limitations of the existing robotic rehabilitation, weight
training, and cardiovascular training systems by providing a
training and/or rehabilitation system that adapts a resistance or
force applied to a user interactive element in response to: [0054]
the user's interaction with the training system; [0055] a
physiological strength curve; [0056] sensor feedback; and/or [0057]
observations of the system.
[0058] For instance, the system optionally provides for an
automatic reconfiguration and/or adaptive load adjustment based
upon real time measurement of a user's interaction with the system
or sensor based observation by the exercise system as it is
operated by the subject 110.
DEFINITIONS
[0059] Herein, the human or operator using the resistance system is
referred to as a subject. The subject is any of: a trainer, a
trainee, a lifter, and/or a patient.
[0060] Herein, a computer refers to a system that transforms
information in any way. The computer or electronic device, such as
an embedded computer, a controller, and/or a programmable machine,
is used in control of the exercise equipment.
[0061] Herein, an x-axis and a y-axis form a plane parallel to a
support surface, such as a floor, and a z-axis runs normal to the
x/y-plane, such as along an axis aligned with gravity. In
embodiments used in low gravity space, the axes are relative to a
support surface and/or to the subject 110.
Motor Assisted Resistance System
[0062] Referring now to FIG. 1, a block diagram of a motor equipped
exercise system 100 is provided. As the exercise system 100
optionally provides resistance and/or assistance to a motion of
user interface, such as a weightlifting bar or crank system, the
motor equipped exercise system 100 is also referred to as a motor
equipped resistance system, a resistance system, a motor equipped
assistance system, and/or an assistance system. For clarity of
presentation, examples provided herein refer to a resistance
provided by a motor of the exercise system 100. However, the motor
of the exercise system 100 is alternatively configured to provide
assistance. Hence, examples referring to motor supplied resistance
are non-limiting and in many cases the system is alternatively
reconfigured to use motor supplied assistance in the range of
motion of a particular exercise.
[0063] Still referring to FIG. 1, the exercise system 100 includes
one or more of: a computer configured with a program 120, a
controller 130, an exercise element 140, and/or a sensor 150. The
exercise system 100 is configured for use by a subject 110.
[0064] Still referring to FIG. 1, the subject 110: [0065] enters a
program 120 to the resistance system 100; [0066] alters the
resistance of the exercise system within a repetition; [0067]
alters the resistance of the exercise system between repetitions;
[0068] is sensed by sensors 150 in the resistance system; and/or
[0069] is recognized by the resistance system, such as through
wireless means described infra.
[0070] The program 120 is optionally predetermined, has preset
options, is configurable to a specific subject, changes resistance
dynamically based on sensor input, and/or changes resistance based
on subject input, described infra. The program 120 provides input
to a controller 130 and/or a set of controllers, which controls one
or more actuators and/or one or more motors of an exercise element
140 of the exercise system 100. Optional sensors provide feedback
information about the subject 110 and/or the state of a current
exercise movement, such as a position of a moveable element of the
resistance system, a force applied to a portion of the exercise
system 100, the subject's heart rate, and/or the subject's blood
pressure. Signal from the sensors 150 are optionally fed in a
feedback system or loop to the program 120 and/or directly to the
controller 130.
[0071] Optionally, active computer control is coupled with
motorized resistance in the exercise system 100. The computer
controlled motor allows for incorporation of progressive and
reconfigurable procedures in strength training, physical
conditioning, and/or cardiovascular exercise. For example, computer
control of the motor additionally optionally provides resistance
curves overcoming the traditional limits of gravity based freestyle
weightlifting, described infra.
Linear Movement
[0072] Referring now to FIG. 2, a linear movement system 200 is
illustrated, which is a species of the exercise system 100. The
linear movement system 200 is illustrative in nature and is used
for facilitating disclosure of the system. Further, the species of
the linear movement system 200 is to a specific form of the
exercise system 100. However, the illustrated linear movement
system 200 is only one of many possible forms of the exercise
system 100 and is not limiting in scope. Herein the linear movement
system refers to a linear, about linear, or non-rotational movement
of the user interface exercise equipment, such as a weightlifting
bar, or to movement of a resistance cable.
[0073] Still referring still to FIG. 2, an exemplary computer and
motorized aided linear movement system 200 is provided. Generally,
FIG. 2 illustrates examples of the structural elements 140 of the
exercise system 100. In the illustrated system, the linear movement
system 200 includes: [0074] a base 210, such as an aluminum
extrusion or suitable material [0075] an upright support member 212
affixed to the base; [0076] a removable weightlifting bar 220
placeable into a guide element of the upright support member 212,
or other geometry suitable for interfacing with the subject, such
as a D-handle; [0077] a first end of a resistance cable 230 affixed
to the weightlifting bar 220; [0078] a cable spool 242 affixed to a
second end of the resistance cable 230; [0079] a resistance cable,
such as flexible metallic cable, a fibrous cord, an about 0.053''
sheathed Kevlar cord, or an about 3/32'' T-100 cord; and/or [0080]
an electric motor configured to provide resistance to movement of
the weightlifting bar 220 through the resistance cable 230.
[0081] As configured, the subject 110 straddles the electric motor
240 and stands on the floor, base 210, and/or a foot support or
cross-member 214 of the base 210. The subject 110 pulls on the
removable weightlifting bar 220 and/or on hand grips 222 affixed or
attached to the weightlifting bar 220. Movement of the
weightlifting bar 220 is continuous in motion, but is illustrated
at a first point in time, t.sub.1, and at a second point in time,
t.sub.2, for clarity. The subject pulls the weightlifting bar 220,
such as along the z-axis. Movement of the weightlifting bar 220 is
resisted by the electric motor 240. For example, the electric motor
240 provides a resistive force to rotation of the cable spool 242,
which transfers the resistive force to the resistance cable 230 and
to the weightlifting bar 220 pulled on by the subject 110. In one
example, the electric motor 240 includes a 10:1 or low lash gearbox
and/or a MicroFlex drive to control motor torque. The torque
produced by the motor is optionally made proportional to an analog
voltage signal applied to one of the drive's analog inputs or is
controlled by sending commands to set the torque value using a
digital communications protocol.
Orientations
[0082] The linear movement system 200 is illustrated with the
resistive cable 230 running in the z-axis. However, the resistive
cable 230 optionally runs along the x-axis or any combination of
the x-, y-, and z-axes. Similarly, the linear movement system 200
is illustrated for the user subject 110 standing on the floor.
However, the exercise system 100 is optionally configured for use
by the subject 110 in a sitting position or any user orientation.
Further, the linear movement system 200 is illustrated with the
subject 110 pulling up against a resistance. However, the subject
is optionally pushing against a resistance, such as through use of
a force direction changing pulley redirecting the resistance cable
230. Still further, the linear movement system 200 is illustrated
for use by the subject's hands. However, the system is optionally
configured for an interface to any part of the subject, such as a
foot or a torso.
Resistance/Assistance Profiles
[0083] Traditional weight training pulls a force against gravity,
which is constant, and requires the inertia of the mass to be
overcome. Particularly, a force, F, is related to the mass, m,
moved and the acceleration, g, of gravity, and the acceleration of
the mass, a, through equation 1,
F=mg+ma (eq. 1)
where the acceleration of gravity, g, is
9.81 m sec 2 . ##EQU00001##
Hence, the resistance to movement of the weight is non-linear as a
function of time or as a function of movement of the user
interactive element.
[0084] Referring now to FIG. 3, resistance profiles 300 are
illustrated, where both the resistance and distance are in
arbitrary units. For traditional free weight strength training, the
external resistance profile is flat 310 as a function of distance.
For example, on a bench press a loaded weight of 315 pounds is the
resistance at the bottom of the movement and at the top of the
movement where acceleration is zero. At positions in between the
external force required to accelerate the mass is dependent on the
acceleration and deceleration of the bar. In stark contrast, the
exercise system 100 described herein allows for changes in the
resistance as a function of position within a single repetition of
movement. Returning to the bench press example, it is well known
that the biomechanics of the bench press result in an ascending
strength curve such that one can exert greater force at the end of
the range of motion than at the beginning. Hence, when the lifter
successfully lifts, pushes, or benches through the "sticking point"
of the bench press movement, the person has greater strength at the
same time the least amount of force needs to exerted as the mass is
deceleration resulting in the musculature of the chest being
sub-optimally loaded. Accordingly, a variable resistance profile
starting with a lower resistance and then increasing to a peak
resistance is more optimal for a bench press.
[0085] Still referring to FIG. 3, still an additional profile 350
is a profile where the force at the beginning of the lift (in a
given direction) is about equal to the force at the end of the
lift, such as a weight of mass times gravity. At points or time
periods between the beginning of the lift and the end of the lift
(in a given direction) the force applied by the electric motor
optionally depends on whether the bar is accelerating or
decelerating. For example, additional force is applied by the motor
during acceleration and no additional force is applied by the motor
during deceleration versus a starting weight. For example, the
applied force profile is higher than a starting weight or initial
force as the load is accelerated and less than or equal to the
initial load as it movement of the repetition decelerates.
[0086] Still referring to FIG. 3, more generally the resistance
profile 300 is optionally set: [0087] according to predetermined
average physiological human parameters; [0088] to facilitate
therapy of a weak point in a range of motion; [0089] to accommodate
restricted range of motion, such as with a handicap; [0090] to fit
a particular individual's physiology; [0091] to fit a particular
individual's preference; [0092] in a pre-programmed fashion; [0093]
in a modified and/or configurable manner; and/or [0094] dynamically
based on [0095] sensed values from the sensor 150; and/or [0096]
through real-time operator 110 input.
[0097] Several optional resistance profiles are illustrated,
including: a step-down function resistance profile 320, an
increasing resistance profile 330, and a peak resistance profile
340. Physics based profiles include: [0098] accurate solution of
F=mg+ma; [0099] accurate solution of
[0099] F = mg + { ma , ( a > 0 ) 0 , ( a .ltoreq. 0 ) } ,
##EQU00002##
which prevents the resistance from dropping below the baseline,
static resistance; and/or [0100] accurate solution of F=mg+maximum,
which maintains the maximum resistance developed when accelerating
the load through the remainder of the lift.
[0101] Additional profiles include a step-up profile, a decreasing
resistance profile, a minimum resistance profile, a flat profile, a
complex profile, and/or any permutation and/or combination of all
or parts of the listed profiles. Examples of complex profiles
include a first profile of sequentially increasing, decreasing, and
increasing resistance or a second profile of decreasing,
increasing, and decreasing resistance.
[0102] In one example, the resistance force to movement of the
subject interface varies by at least 1, 5, 10, 15, 20, 25, 50, or
100 percent within a repetition or between repetitions in a single
set.
Reverse Movement
[0103] For the linear movement system 200, resistance profiles were
provided for a given direction of movement, such as an upward push
on bench press. Through appropriate mounts, pulleys, and the like,
the resistance profile of the return movement, such as the downward
movement of negative of the bench press, is also set to any
profile. The increased load is optionally set as a percentage of
the initial, static load. For example, the downward force profile
of the bench press are optionally set to match the upward
resistance profile, to increase weight, such as with a an increased
weight "negative" bench press, or to have a profile of any
permutation and/or combination of all or parts of the listed
profiles.
Time/Range of Motion
[0104] One or more sensors are optionally used to control rate of
movement of the resistive cable. For example, the electric motor
240 is optionally configured with an encoder that allows for
determination of how far the cable has moved. The encoder
optionally provides input to the controller 130 which controls
further movement of the actuator and/or motor turn, thereby
controlling in a time controlled manner movement or position of the
resistive cable.
[0105] In one example, the exercise system 100 senses acceleration
and/or deceleration of movement of the movable exercise equipment,
such as the weightlifting bar 220. Acceleration and/or deceleration
is measured using any of: [0106] an encoder associated with
rotation of the electric motor; [0107] an accelerometer sensor
configured to provide an acceleration signal; and/or [0108]
a-priori knowledge of a range or motion of a given exercise type
coupled with knowledge of: [0109] a start position of a repetition;
[0110] a physical metric of the operator, such as arm length, leg
length, chest size, and/or height.
[0111] Since putting an object into motion takes an effort beyond
the force needed to continue the motion, such as through a raising
period of a bench press, the forces applied by the motor are
optionally used to increase or decrease the applied force based on
position of movement of the repetition. The encoder, a-priori
knowledge, physical metrics, and/or direct measurement with a load
cell, force transducer, or strain gage are optionally used in
formulation of the appropriate resistance force applied by the
electric motor 240 as a function of time.
Exercise Types
[0112] Thus far, concentric and eccentric exercises configurable
with the exercise system 100 have been described. Optionally,
isometric exercises are configurable with the exercise system 100.
An isometric exercise is a type of strength training where a joint
angle and a muscle length do not vary during contraction. Hence,
isometric exercises are performed in static positions, rather than
being dynamic through a range of motion. Resistance by the electric
motor 240 transferred through the resistive cable 230 to the
weightlifting bar 220 allows for isometric exercise, such as with a
lock on the motor or cable, and/or through use of a sensor, such as
the encoder.
Rotational Movement
[0113] Thus far, the linear movement system 200 species of the
exercise system 100 has been described. Generally, elements of the
linear movement system 200 apply to a rotational movement system
400 species of the exercise system 100 genus. In a rotary movement
system, the electric motor 240 provides resistance to rotational
force.
[0114] Referring now to FIG. 4, a rotational movement system 400 is
illustrated, which is a species of the exercise system 100. The
rotational movement system 400 is illustrative in nature and is
used for facilitating disclosure of the system. Further, the
species of the rotational movement system 400 is to a specific form
of the exercise system 100. However, the illustrated rotational
movement system 400 is only one of many possible forms of the
exercise system 100 and is not limiting in scope.
[0115] Still referring still to FIG. 4, an exemplary computer and
motorized aided rotational movement system 400 is provided.
Generally, FIG. 4 illustrates examples of the structural elements
140 of the exercise system 100. In the illustrated system, the
rotational movement system 400 includes: [0116] a support base 410;
[0117] an upright support member 422 affixed to the base; [0118] an
operator support 420, such as a seat, affixed to the upright
support member 422; [0119] a hand support 430 affixed to the
upright support member 422; [0120] a crank assembly 440 supported
directly and/or indirectly by the support base 410 or a support
member; [0121] pedals 450 attached to the crank assembly 440;
[0122] an electric motor 240; [0123] a rotational cable 442 affixed
to the crank assembly 440 and to the motor 240; [0124] control
electronics 246 electrically connected to at least one of the
electric motor 240 and controller 130; [0125] a display screen 492
attached to a display support 492, which is directly and or
indirectly attached to the support base 410; and/or [0126] an
aesthetic housing 480, which is optionally attached, hinged, or
detachable from the support base 410.
Orientations
[0127] As with the with linear movement system 200, the
orientations of the rotational movement system 400 are optionally
configurable in any orientation and/or with alternative body parts,
such as with the hands and arms instead of with feet and legs.
Resistance/Assistance Profiles
[0128] As described, supra, with respect to the linear movement
system 200, traditional rotary systems have a preset resistance,
which is either flat or based upon a fixed cam or set of fixed
cams. Referring now to FIG. 5, resistance profiles 500 are
illustrated, where the resistance is in arbitrary units as a
function of rotation angle theta. For traditional rotation systems,
the resistance profile is flat 510 as a function of rotation. In
stark contrast, the exercise system 100 described herein allows for
changes in the resistance as a function of rotation within a single
revolution of movement and/or with successive revolutions of the
rotating element. Typically, resistance variation is a result of
changes in the electric motor supplied resistance.
[0129] An example of rotation of a bicycle crank illustrates
differences between traditional systems and resistance profiles
available using the rotational movement system 500. A flat
resistance profile versus rotation 510 is typical. However, the
physiology of the body allows for maximum exerted forces with the
right leg at about 45 degrees of rotation of the crank (zero
degrees being the 12 o'clock position with a vertical rotor) and
maximum exerted forces by the left leg at about 225 degrees of
rotation of the crank. The computer controlled electric motor 240
allows variation of the resistance profile as a function of
rotational angle 520. Unlike a cam system or a bicycle equipped
with an elliptical crank, the resistance profile is alterable
between successive revolutions of the crank via software and/or
without a mechanical change.
[0130] Still referring to FIG. 5, more generally the resistance
profile 500 of the rotational exercise system 400 is optionally
set: [0131] according to predetermined average physiological human
parameters; [0132] to facilitate therapy of a weak point in a range
of motion; [0133] to accommodate restricted range of motion, such
as with a handicap; [0134] to fit a particular individual's
physiology; [0135] to fit a particular individual's preference;
[0136] in a pre-programmed fashion; [0137] in a modified and/or
configurable manner; and/or [0138] dynamically based on [0139]
sensed values from the sensor 150; and/or [0140] through real-time
operator 110 input.
[0141] Several optional rotational resistance profiles are
possible, including: a step function resistance profile, a changing
resistance profile within a rotation and/or between rotations, a
range or programs of resistance profiles. Additional profiles
include any permutation and/or combination of all or parts of the
profiles listed herein for the linear movement system 200 and/or
the rotational movement system 400.
Combinatorial Linear and Rotation Systems
[0142] Referring now to FIG. 6, a combinatorial movement system 200
is illustrated. In the illustrated example, a single electric motor
240 is used for control of two or more pieces of exercise
equipment, such as: [0143] an isometric station; [0144] a linear
movement system 200; and [0145] a rotational movement system
400.
[0146] Generally, the single electric motor 240 optionally provides
resistance to 1, 2, 3, 4, 5, or more workout stations of any
type.
[0147] Still referring to FIG. 6, an exercise system is
figuratively illustrated showing interfaces for each of: (1) a
linear movement system 200 and (2) a rotational movement system 200
with a motor 240 and/or motor controlled wheel 462. The
combinatorial movement system 600 is illustrative in nature and is
used for facilitating disclosure of the system. However, the
illustrated combinatorial movement system 600 is only one of many
possible forms of the exercise system 100 and is not limiting in
scope.
Sensors
[0148] Optionally, various sensors 150 are integrated into and/or
are used in conjunction with the exercise system 100.
Operator Input
[0149] A first type of sensor includes input sources to the
computer from the operator 110. For example, the hand support 430
of the rotational movement system 400 is optionally configured with
one or more hand control 432 buttons, switches, or control elements
allowing the operator 110 to adjust resistance and/or speed of the
electric motor 240 within a repetition and/or between repetitions.
For example, an increase weight button is optionally repeatedly
depressed during raising of a weight, which incrementally increases
the load applied by the electric motor 240. A similar button is
optionally used to decrease the weight. Similarly foot control
buttons 452 are optionally used to achieve the same tasks, such as
when the hands are tightly gripped on a weightlifting bar.
Instrumentation Sensor
[0150] A second type of sensor 150 delivers information to the
computer of the exercise system 100. In a first example, the pedals
450 of the bicycle assembly are optionally equipped with sensors
150 as a means for measuring the force applied by a operator 110 to
the pedals. As a second example, the linear motion system 200
and/or rotational motion system 400 optionally contains sensors 150
for measuring load, position, velocity, and/or acceleration of any
movable element, such as the pedals 450 or the weightlifting bar
200.
[0151] For example, muscle loading is controlled using the
resistance force exerted on the bar by the electric motor.
Position, velocity, and acceleration data are provided by an
encoder on the motor and are used as feedback in the control
system. For additional muscular overload, often more weight is
lowered than can be raised. The lowering or eccentric phase of the
exercise can be controlled in real-time for eccentric overload.
Muscle loading control and data acquisition is optionally
performed, for example, in a dataflow programming language where
execution is determined by the structure of a graphical block
diagram which the programmer connects different function-nodes by
drawing wires, such as LabView.RTM. or other suitable software.
Radio-Frequency Identification
[0152] A third type of sensor 150 delivers information to the
computer of the exercise system 100 from the operator. For example,
the operator wears a radio-frequency identification (RFID) tag,
such as in a belt, shoe, wallet, cell phone, article of clothing,
or an embedded device. The radio frequency identification
identifies the operator to the exercise system 100 along with
information, such as any of: [0153] an operator name; [0154] an
operator gender; [0155] an operator age; [0156] an operator height;
[0157] an operator weight; [0158] an operator physical
characteristic, such as arm length, leg length, chest size for an
exercise like a bench press; [0159] an operator workout preference;
[0160] an operator workout history; and [0161] an operator
goal.
[0162] The radio-frequency identification tag is of any type, such
as active or battery powered, passive, and battery assisted
passive. Generally, wireless signal is received by the exercise
equipment 100 from a broadcast source, such as from a global
positioning system or RFID tag.
Computer
[0163] The motor drive controller 130 is optionally connected to a
microprocessor or computer and power electronics that are used to
control the electric motor 240. The power electronics are connected
to a power supply such as a battery or power outlet. The computer,
the electric drive unit, and the sensors 150 optionally communicate
with one another to form feedback control loops allowing the
profile of the force and/or resistance applied to the operator 110.
The computer optionally provides: a user interface, data storage
and processing, and/or communication with other computers and/or a
network.
[0164] A visual feedback system 492 is also optionally used to
provide the user with immediate feedback on velocity tracking
ability and/or other exercise related parameters. Velocity tracking
is particularly useful for systems designed for patients in
rehabilitation settings.
Microgravity
[0165] In yet another embodiment, the exercise system 100 described
herein is designed for use in a microgravity environment.
Variations include use of lightweight materials, straps for holding
an astronaut relative to the exercise system, and an emphasis on
foldable and/or collapsible parts.
Compact/Reconfigurable System
[0166] As described in U.S. patent application Ser. No. 12/545,324,
which is incorporated herein, the system 100 is optionally
configured as a compact strength training system that provides the
benefits associated with free weight lifting and/or aerobic
training. Optionally, structure of the exercise system 100 is
optionally manually or robotically reconfigurable into different
positions, such as a folded position for storage. For example, the
weightlifting bar 220 folds, the operator support 420 folds, and/or
the support base 410 folds or telescopes.
[0167] Although the invention has been described herein with
reference to certain preferred embodiments, one skilled in the art
will readily appreciate that other applications may be substituted
for those set forth herein without departing from the spirit and
scope of the present invention. Accordingly, the invention should
only be limited by the Claims included below.
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