U.S. patent application number 12/874130 was filed with the patent office on 2012-03-01 for apparatus and system for a resistance training system.
Invention is credited to Zhengmao Zhu.
Application Number | 20120053014 12/874130 |
Document ID | / |
Family ID | 45698004 |
Filed Date | 2012-03-01 |
United States Patent
Application |
20120053014 |
Kind Code |
A1 |
Zhu; Zhengmao |
March 1, 2012 |
Apparatus and System for a Resistance Training System
Abstract
An apparatus and a system include an electrically controlled
motor comprising an output shaft, at least one winding and a rotor
for exerting torque on the output shaft. An encoder senses and
outputs a rotational position of the output shaft. A pulley is
joined to the output shaft for converting a rotational motion to a
linear motion. A cable is joined to the pulley where at least a
portion of the cable is wound about the pulley. The cable is
configured for joining to a resistance training system to provide a
force element. A controller is in communication with the
electrically controlled motor and the encoder for controlling the
electrically controlled motor to exert a predetermined torque
during motion of the cable in conjunction with operation of the
resistance training system.
Inventors: |
Zhu; Zhengmao; (San Jose,
CA) |
Family ID: |
45698004 |
Appl. No.: |
12/874130 |
Filed: |
September 1, 2010 |
Current U.S.
Class: |
482/5 |
Current CPC
Class: |
A63B 21/4035 20151001;
A63B 2220/36 20130101; A63B 21/0455 20130101; A63B 2024/0093
20130101; A63B 23/1281 20130101; A63B 2071/065 20130101; A63B
2220/34 20130101; A63B 21/152 20130101; A63B 21/153 20130101; A63B
2230/75 20130101; A63B 21/00196 20130101; A63B 21/0058 20130101;
A63B 21/00069 20130101; A63B 2220/44 20130101; A63B 21/00076
20130101; A63B 2024/0081 20130101; A63B 24/0087 20130101; A63B
2024/0065 20130101; A63B 2225/50 20130101; A63B 21/0059 20151001;
A63B 2220/54 20130101 |
Class at
Publication: |
482/5 |
International
Class: |
A63B 21/005 20060101
A63B021/005 |
Claims
1. An apparatus comprising: an output shaft; means for exerting
torque on said output shaft; means for sensing and for outputting a
rotational position of said output shaft; means for converting a
rotational motion to a linear motion; means for joining to a
resistance training system to provide a force element; and means,
in communication with said exerting means and said sensing means,
for controlling said exerting means to exert a predetermined torque
during motion of said joining means in conjunction with operation
of the resistance training system.
2. The apparatus as recited in claim 1, further comprising means
for enabling user setting of at least a value corresponding to said
predetermined torque.
3. The apparatus as recited in claim 1, further comprising means
for mitigating vibration.
4. The apparatus as recited in claim 1, further comprising means
for supporting said output shaft.
5. The apparatus as recited in claim 1, further comprising means
for enabling said joining means to be pulled in a plurality of
directions relative to said converting means.
6. An apparatus comprising: an electrically controlled motor
comprising an output shaft, at least one winding and a rotor for
exerting torque on said output shaft; an encoder for sensing and
for outputting a rotational position of said output shaft; a pulley
joined to said output shaft for converting a rotational motion to a
linear motion; a cable joined to said pulley where at least a
portion of said cable is wound about said pulley, said cable being
configured for joining to a resistance training system to provide a
force element; and a controller in communication with said
electrically controlled motor and said encoder for controlling said
electrically controlled motor to exert a predetermined torque
during motion of said cable in conjunction with operation of the
resistance training system.
7. The apparatus as recited in claim 6, further comprising a user
interface for enabling user setting of at least a value
corresponding to said predetermined torque.
8. The apparatus as recited in claim 6, further comprising a flex
coupling joining said pulley to said output shaft for mitigating
vibration.
9. The apparatus as recited in claim 6, further comprising at least
one grounded bearing for supporting said output shaft.
10. The apparatus as recited in claim 6, further comprising a first
pair of parallel rollers having a first space between said rollers,
and a second pair of parallel rollers having a second space between
the rollers, said second pair of parallel rollers being positioned
perpendicular to said first pair of parallel rollers where an
intersection of said first space and said second space produces a
third space through which said cable passes for enabling said cable
to be pulled in a plurality of directions relative to said
pulley.
11. The apparatus as recited in claim 6, wherein the controller
communicates an electrical current profile to said electrically
controlled motor for electrically controlled motor to exert said
predetermined torque.
12. The apparatus as recited in claim 11, wherein said electrical
current profile is at least, in part, determined by said rotor
position relative to said winding and a level of current applied to
said electrically controlled motor.
13. The apparatus as recited in claim 11, wherein said current
profile represents a type of said force element.
14. The apparatus as recited in claim 13, wherein types of said
force element comprise linear and non-linear forces.
15. A system comprising: an output shaft; means for exerting torque
on said output shaft; means for sensing and for outputting a
rotational position of said output shaft; means for transferring a
force element to a user engaging in resistance training using the
system; and means, in communication with said exerting means and
said sensing means, for controlling exerting means to exert a
predetermined torque during user operation of the system for
resistance training.
16. The system as recited in claim 15, further comprising: means
for converting a rotational motion to a linear motion; and means
for joining said transferring means to said output shaft.
17. The system as recited in claim 15, further comprising means for
enabling user setting of at least a value corresponding to said
predetermined torque.
18. The system as recited in claim 16, further comprising means for
mitigating vibration.
19. The system as recited in claim 16, further comprising means for
enabling said joining means to be pulled in a plurality of
directions.
20. A system comprising: an output shaft; an electrically
controlled motor for exerting torque on said output shaft; an
encoder for sensing and for outputting a rotational position of
said output shaft; a handle joined to said output shaft for
transferring a force element to a user engaging in resistance
training using the system; and a controller in communication with
said electrically controlled motor and said encoder for controlling
said electrically controlled motor to exert a predetermined torque
during user operation of the system for resistance training.
21. The system as recited in claim 20, further comprising: a pulley
joined to said output shaft for converting a rotational motion to a
linear motion; and a cable joined to said pulley, said pulley and
said cable being configured for joining said handle to said output
shaft.
22. The system as recited in claim 20, further comprising a user
interface for enabling user setting of at least a value
corresponding to said predetermined torque.
23. The system as recited in claim 21, further comprising a flex
coupling joining said pulley to said output shaft for mitigating
vibration.
24. The system as recited in claim 21, further comprising a first
pair of parallel rollers having a first space between said rollers,
and a second pair of parallel rollers having a second space between
the rollers, said second pair of parallel rollers being positioned
perpendicular to said first pair of parallel rollers where an
intersection of said first space and said second space produces a
third space through which said cable passes for enabling said cable
to be pulled in a plurality of directions relative to said
pulley.
25. The system as recited in claim 20, wherein the controller
communicates an electrical current profile to said electrically
controlled motor for said predetermined torque.
26. The system as recited in claim 25, wherein said electrical
current profile represents a type of said force element.
27. The system as recited in claim 26, wherein types of said force
element comprise linear and non-linear forces.
28. The system as recited in claim 20, wherein said user interface
displays to said user an amount of calories burned by said
user.
29. The apparatus as recited in claim 20, wherein absent a user
applied force to said handle, said controller stops said
electrically controlled motor.
30. The system as recited in claim 20, wherein a rotational speed
of said electrically controlled motor above a predetermined level
initiates a modification of said electrical current profile to
mitigate user injury.
Description
FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
[0001] Not applicable.
REFERENCE TO SEQUENCE LISTING, A TABLE, OR A COMPUTER LISTING
APPENDIX
[0002] Not applicable.
COPYRIGHT NOTICE
[0003] A portion of the disclosure of this patent document contains
material that is subject to copyright protection. The copyright
owner has no objection to the facsimile reproduction by anyone of
the patent document or patent disclosure as it appears in the
Patent and Trademark Office, patent file or records, but otherwise
reserves all copyright rights whatsoever.
FIELD OF THE INVENTION
[0004] The present invention relates generally to fitness
equipment. More particularly, the invention relates to an
intelligent weight training resistance system.
BACKGROUND OF THE INVENTION
[0005] The present invention relates to weight training systems.
Most current fitness weight training devices rely on weight stacks
or spring loading systems to provide resistance to a user. Weight
stack devices are typically heavy and massive because the devices
consist of actual weighted elements to provide resistance. There
are known methods to reduce the actual amount of weight in the
weight stacks by using pulley systems; however, pulley systems
decrease the resolution of the weight selection. Furthermore, it is
easy to get injured when using these systems. For example, if a
user is trying to push up weight that is greater than his limit, as
the weight is released it may pull the user's muscle.
[0006] Spring loading types of systems are lighter than the weight
stack systems; however, they tend to occupy a large amount of space
to enable the spring loading rods to swing. Also spring loading
systems cannot provide linear resistance throughout the range of
motion. This greatly reduces the positive effect on the user during
training. Another problem with spring loading systems is that over
a period of time the system ages and may no longer provide the
indicted weight. Thus, the user may receive false training
information, which leads to bad exercise.
[0007] In view of the foregoing, there is a need for improved
techniques for providing a fitness weight training system that is
lightweight, offers a small footprint, offers user definable
resistance profiles, and offers injury protection functions.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] The present invention is illustrated by way of example, and
not by way of limitation, in the figures of the accompanying
drawings and in which like reference numerals refer to similar
elements and in which:
[0009] FIGS. 1A and 1B illustrate an exemplary resistance training
system, in accordance with an embodiment of the present invention.
FIG. 1A is a front perspective view, and FIG. 1B is a diagrammatic
side view;
[0010] FIG. 2 is a graph illustrating exemplary torque output
curves for two different motors from resistance training systems,
in accordance with embodiments of the present invention;
[0011] FIG. 3 is a diagrammatic side view of an exemplary
resistance training system, in accordance with an embodiment of the
present invention;
[0012] FIG. 4 is diagrammatic front view of an exemplary resistance
training system comprising a gear system, in accordance with an
embodiment of the present invention;
[0013] FIG. 5 is diagrammatic front view of an exemplary resistance
training system comprising a synchronous belt, in accordance with
an embodiment of the present invention;
[0014] FIG. 6 is front perspective view of an exemplary resistance
training system comprising a lever, in accordance with an
embodiment of the present invention;
[0015] FIG. 7 is a side view of an exemplary cable guiding system
for a resistance training system, in accordance with an embodiment
of the present invention; and
[0016] FIG. 8 is an exemplary diagram of a motor, in accordance
with an embodiment of the present invention.
[0017] Unless otherwise indicated illustrations in the figures are
not necessarily drawn to scale.
SUMMARY OF THE INVENTION
[0018] To achieve the forgoing and other aspects and in accordance
with the purpose of the invention, an apparatus and system for a
resistance training system is presented.
[0019] In one embodiment an apparatus includes an output shaft,
means for exerting torque on the output shaft, means for sensing
and for outputting a rotational position of the output shaft, means
for converting a rotational motion to a linear motion, means for
joining to a resistance training system to provide a force element,
and means, in communication with the exerting means and the sensing
means, for controlling the exerting means to exert a predetermined
torque during motion of the joining means in conjunction with
operation of the resistance training system. Another embodiment
further includes means for enabling user setting of at least a
value corresponding to the predetermined torque. Yet another
embodiment further includes means for mitigating vibration. Still
another embodiment further includes means for supporting the output
shaft. Another embodiment further includes comprising means for
enabling the joining means to be pulled in a plurality of
directions relative to the converting means.
[0020] In another embodiment an apparatus includes an electrically
controlled motor comprising an output shaft, at least one winding
and a rotor for exerting torque on the output shaft. An encoder
senses and outputs a rotational position of the output shaft. A
pulley is joined to the output shaft for converting a rotational
motion to a linear motion. A cable is joined to the pulley where at
least a portion of the cable is wound about the pulley. The cable
is configured for joining to a resistance training system to
provide a force element. A controller is in communication with the
electrically controlled motor and the encoder for controlling the
electrically controlled motor to exert a predetermined torque
during motion of the cable in conjunction with operation of the
resistance training system. Another embodiment further includes a
user interface for enabling user setting of at least a value
corresponding to the predetermined torque. Yet another embodiment
further includes a flex coupling joining the pulley to the output
shaft for mitigating vibration. Still another embodiment further
includes at least one grounded bearing for supporting the output
shaft. Another embodiment further includes a first pair of parallel
rollers having a first space between the rollers, and a second pair
of parallel rollers having a second space between the rollers. The
second pair of parallel rollers is positioned perpendicular to the
first pair of parallel rollers where an intersection of the first
space and the second space produces a third space through which the
cable passes for enabling the cable to be pulled in a plurality of
directions relative to the pulley. In yet another embodiment the
controller communicates an electrical current profile to the
electrically controlled motor for electrically controlled motor to
exert the predetermined torque. In still another embodiment the
electrical current profile is at least, in part, determined by the
rotor position relative to the winding and a level of current
applied to the electrically controlled motor. In other embodiments
the current profile represents a type of the force element, and
types of the force element comprise linear and non-linear
forces.
[0021] In another embodiment a system includes an output shaft,
means for exerting torque on the output shaft, means for sensing
and for outputting a rotational position of the output shaft, means
for transferring a force element to a user engaging in resistance
training using the system, and means, in communication with the
exerting means and the sensing means, for controlling exerting
means to exert a predetermined torque during user operation of the
system for resistance training. Another embodiment further includes
means for converting a rotational motion to a linear motion, and
means for joining the transferring means to the output shaft. Yet
another embodiment further includes means for enabling user setting
of at least a value corresponding to the predetermined torque.
Still another embodiment further includes means for mitigating
vibration. Another embodiment further includes means for enabling
the joining means to be pulled in a plurality of directions.
[0022] In another embodiment a system includes an output shaft. An
electrically controlled motor exerts torque on the output shaft. An
encoder senses and outputs a rotational position of the output
shaft. A handle is joined to the output shaft for transferring a
force element to a user engaging in resistance training using the
system. A controller is in communication with the electrically
controlled motor and the encoder for controlling the electrically
controlled motor to exert a predetermined torque during user
operation of the system for resistance training. Another embodiment
further includes a pulley joined to the output shaft for converting
a rotational motion to a linear motion, and a cable joined to the
pulley, the pulley and the cable being configured for joining the
handle to the output shaft. Yet another embodiment further a user
interface for enabling user setting of at least a value
corresponding to the predetermined torque. Still another embodiment
further includes a flex coupling joining the pulley to the output
shaft for mitigating vibration. Another embodiment further includes
a first pair of parallel rollers having a first space between the
rollers, and a second pair of parallel rollers having a second
space between the rollers. The second pair of parallel rollers is
positioned perpendicular to the first pair of parallel rollers
where an intersection of the first space and the second space
produces a third space through which the cable passes for enabling
the cable to be pulled in a plurality of directions relative to the
pulley. In yet another embodiment the controller communicates an
electrical current profile to the electrically controlled motor for
the predetermined torque. In still another embodiment the
electrical current profile represents a type of the force element.
In another embodiment types of the force element comprise linear
and non-linear forces. In yet another embodiment the user interface
displays to the user an amount of calories burned by the user. In
still another embodiment absent a user applied force to the handle,
the controller stops the electrically controlled motor. In another
embodiment a rotational speed of the electrically controlled motor
above a predetermined level initiates a modification of the
electrical current profile to mitigate user injury.
[0023] Other features, advantages, and aspects of the present
invention will become more apparent and be more readily understood
from the following detailed description, which should be read in
conjunction with the accompanying drawings.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0024] The present invention is best understood by reference to the
detailed figures and description set forth herein.
[0025] Embodiments of the invention are discussed below with
reference to the Figures. However, those skilled in the art will
readily appreciate that the detailed description given herein with
respect to these figures is for explanatory purposes as the
invention extends beyond these limited embodiments. For example, it
should be appreciated that those skilled in the art will, in light
of the teachings of the present invention, recognize a multiplicity
of alternate and suitable approaches, depending upon the needs of
the particular application, to implement the functionality of any
given detail described herein, beyond the particular implementation
choices in the following embodiments described and shown. That is,
there are numerous modifications and variations of the invention
that are too numerous to be listed but that all fit within the
scope of the invention. Also, singular words should be read as
plural and vice versa and masculine as feminine and vice versa,
where appropriate, and alternative embodiments do not necessarily
imply that the two are mutually exclusive.
[0026] It is to be further understood that the present invention is
not limited to the particular methodology, compounds, materials,
manufacturing techniques, uses, and applications, described herein,
as these may vary. It is also to be understood that the terminology
used herein is used for the purpose of describing particular
embodiments only, and is not intended to limit the scope of the
present invention. It must be noted that as used herein and in the
appended claims, the singular forms "a," "an," and "the" include
the plural reference unless the context clearly dictates otherwise.
Thus, for example, a reference to "an element" is a reference to
one or more elements and includes equivalents thereof known to
those skilled in the art. Similarly, for another example, a
reference to "a step" or "a means" is a reference to one or more
steps or means and may include sub-steps and subservient means. All
conjunctions used are to be understood in the most inclusive sense
possible. Thus, the word "or" should be understood as having the
definition of a logical "or" rather than that of a logical
"exclusive or" unless the context clearly necessitates otherwise.
Structures described herein are to be understood also to refer to
functional equivalents of such structures. Language that may be
construed to express approximation should be so understood unless
the context clearly dictates otherwise.
[0027] Unless defined otherwise, all technical and scientific terms
used herein have the same meanings as commonly understood by one of
ordinary skill in the art to which this invention belongs.
Preferred methods, techniques, devices, and materials are
described, although any methods, techniques, devices, or materials
similar or equivalent to those described herein may be used in the
practice or testing of the present invention. Structures described
herein are to be understood also to refer to functional equivalents
of such structures. The present invention will now be described in
detail with reference to embodiments thereof as illustrated in the
accompanying drawings.
[0028] From reading the present disclosure, other variations and
modifications will be apparent to persons skilled in the art. Such
variations and modifications may involve equivalent and other
features which are already known in the art, and which may be used
instead of or in addition to features already described herein.
[0029] Although Claims have been formulated in this Application to
particular combinations of features, it should be understood that
the scope of the disclosure of the present invention also includes
any novel feature or any novel combination of features disclosed
herein either explicitly or implicitly or any generalization
thereof, whether or not it relates to the same invention as
presently claimed in any Claim and whether or not it mitigates any
or all of the same technical problems as does the present
invention.
[0030] Features which are described in the context of separate
embodiments may also be provided in combination in a single
embodiment. Conversely, various features which are, for brevity,
described in the context of a single embodiment, may also be
provided separately or in any suitable subcombination. The
Applicants hereby give notice that new Claims may be formulated to
such features and/or combinations of such features during the
prosecution of the present Application or of any further
Application derived therefrom.
[0031] As is well known to those skilled in the art many careful
considerations and compromises typically must be made when
designing for the optimal manufacture of a commercial
implementation any system, and in particular, the embodiments of
the present invention. A commercial implementation in accordance
with the spirit and teachings of the present invention may
configured according to the needs of the particular application,
whereby any aspect(s), feature(s), function(s), result(s),
component(s), approach(es), or step(s) of the teachings related to
any described embodiment of the present invention may be suitably
omitted, included, adapted, mixed and matched, or improved and/or
optimized by those skilled in the art, using their average skills
and known techniques, to achieve the desired implementation that
addresses the needs of the particular application.
[0032] Detailed descriptions of the preferred embodiments are
provided herein. It is to be understood, however, that the present
invention may be embodied in various forms. Therefore, specific
details disclosed herein are not to be interpreted as limiting, but
rather as a basis for the claims and as a representative basis for
teaching one skilled in the art to employ the present invention in
virtually any appropriately detailed system, structure or
manner.
[0033] It is to be understood that any exact
measurements/dimensions or particular construction materials
indicated herein are solely provided as examples of suitable
configurations and are not intended to be limiting in any way.
Depending on the needs of the particular application, those skilled
in the art will readily recognize, in light of the following
teachings, a multiplicity of suitable alternative implementation
details.
[0034] At least some preferred embodiments of the present invention
provide resistance training systems that incorporate the use of
motors. At least some preferred embodiments are smaller than
current systems and can provide multiple modes in weight training
to be suitable for different users. Some embodiments may be
implemented to be incorporated into current fitness equipment to
enable this equipment to be smaller, lighter and more intelligent.
At least some preferred embodiments enable a user to make a weight
change on the fly, which can reduce injuries as well as increase
the effectiveness of the training. At least some preferred
embodiments reduce the chance of injury and provide better training
to people who have little knowledge of fitness training to
generally eliminate the need of a personal trainer, which reduces
overall training cost and increases the effectiveness of the
fitness training. At least some preferred embodiments may be
implemented for home and commercial use as well as for professional
athletes. At least some preferred embodiments may also be used in
medical applications for the rehabilitation of muscle strength and
for various bone linkages problems.
[0035] FIGS. 1A and 1B illustrate an exemplary resistance training
system, in accordance with an embodiment of the present invention.
FIG. 1A is a front perspective view, and FIG. 1B is a diagrammatic
side view. A typical resistance training system consists of a cable
or a lever that the user can pull or push. The cable or the lever
is attached to a spring or weight brick to create the resistance.
In the present embodiment, the resistance training system comprises
a motor 101 with a pulley cable system to create friction or
pulling force for fitness or rehabilitation purposes. Those skilled
in the art, in light of the present teachings, will readily
recognize that a multiplicity of suitable motors may be used for
motor 101 including, but not limited to, BLDC motors, BLAC motors,
AC induction motors, servo motors, stepping motors, etc. A motor
shaft 103 is attached to a pulley 105 by using a flex coupling 107
to connect motor shaft 103 to a pulley shaft 109. Flex coupling 107
reduces vibration; however, in alternate embodiments the motor
shaft can be directly attached to the pulley as shown by way of
example in FIG. 3. The use of motor 101 instead of bulky weight
stacks or space consuming spring levers enables the resistance
training system according to the present embodiment to be smaller
and lighter than traditional resistance training systems.
[0036] In the present embodiment, a cable 111 is attached to pulley
105. Cable 111 winds around pulley 105, and a handle 113 is
provided to enable a user to more easily pull cable 111; however,
handle 113 may be omitted. When the user pulls cable 111, pulley
105 and pulley shaft 109 rotate, which causes motor shaft 103 to
rotate, thus transferring the linear motion of cable 111 into a
rotary motion, and when motor 101 rotates, cable 111 is wound
around or unwound from pulley 105, and thus translates the rotary
motion of motor shaft 105 into the linear motion of cable 111. An
encoder 115 is attached to the back of motor 101, which senses the
position of motor shaft 103. Those skilled in the art, in light of
the present teachings, will readily recognize that a multiplicity
of suitable types of encoders exist that may be used in the present
embodiment including, but not limited to, magnetic encoders,
resolver encoders, optical encoders, Hall sensors, or any type of
device that can provide the information of the position motor shaft
103. The encoder does not have to be mounted on the back of motor,
it can be placed on the drum where the cable attached to or even
use linear encoder instead. A purpose of the encoder device is to
tell the controller the current position of the motor rotor and
thus command the motor magnetic field to the proper position. So
any other device that will give the position of the rotor directly
or indirectly could be used for this application as well. In
alternate embodiments, a servo closed loop control can be used to
achieve the same function. In the present embodiment, when the user
pulls cable 111, the movement is sensed by encoder 115 and fed back
to a controller 117. Controller 117 then commands motor shaft 105
to move to the proper position and motor 101 to adjust the current
of an electromagnetic coil within motor 101 to maintain the proper
torque, which was previously set by the user. Per FIG. 8. When
motor phase A and phase B have current in the winding as shown Ia
and Ib, the winding creates two magnetic field, Ea and Eb. The
controller adjust the amount of the current through the winding, by
doing so, the controller can control the magnetic field that is
generated by both of the coil. This magnetic field creates the
magnetic force vector which make the rotor turn to the commanded
position. This torque and other settings such as, but not limited
to, weight, number of repetitions, time settings, etc. may be input
by the user on a user interface 119. User interface 119 may be
connected to controller 117 through wires or wirelessly. User
interface 119 is preferably a digital interface, which is easier to
control than a mechanical interface. However, in an alternate
embodiment a mechanical dial may be used as for the user input
rather than a digital interface. In alternate embodiments, the
encoder and the controller may be integrated together into a single
unit mounted on the motor. Furthermore, the user interface in some
embodiments may also be mounted on the motor. The controller can be
linked with wire or wireless. In the present embodiment, support
bearings 121 provide support for pulley shaft 109. Alternate
embodiments may be implemented with more, fewer or no support
bearings depending on the actual configuration of the motor and the
pulley.
[0037] In typical use of the present embodiment, a user enters the
weight or torque at which he would like to train into user
interface 119. In some embodiments the user may also enter other
settings such as, but not limited to, number of repetitions, time
settings, etc. If the user has entered a number of repetitions or
time duration, interface 119, in conjunction with controller 117,
will start increase current of motor 101 to the set value at the
beginning of the session, and lower the current of motor 101 to
idle value at the end of the repetitions or time. In some other
embodiments, interface 119 may include audio and/or visual
indicators to inform the user when to start the session and when
the session is over. In some embodiments the user may stop at any
time and reset the parameter of the session. Once the user has
entered the parameter for the session, and the system indicates it
is ready, the user then pulls on handle 113, and motor 101 outputs
the torque or weight entered to provide the desired resistance for
training. Controller 117 controls motor 101 using position feedback
from encoder 115 to determine the current position of motor shaft
103. Based on the current position of motor shaft 103, controller
117 adjusts a winding coil current phase position to create a lag
related to the position of motor shaft 103, which creates friction
force or pull force on cable 111. Once motor shaft 103 is moved
from its original position by the user via cable 111, encoder 115
reads the current position of motor shaft 103 and sends this
information to controller 117. Controller 117 then commands the
driver of motor 101 to adjust the coil current Ia, Ib, thus move
the magnetic field of the winding in order to keep the winding
position lagging to the current rotor position. This enables a
constant torque to be created by motor 101 so that, no matter where
motor shaft 103 is positioned, there is always a force being
applied to cable 111.
[0038] In the present embodiment, motor 101 enables the user to
vary the resistance and force through the adjustment of the
relative position of motor shaft 103 compared to the position of
the magnetic field of the coil or by changing the winding current
level. per FIG. 8 assuming the motor have no load on the rotor
shaft: when the winding have current running through, the rotor
have a natural parking position as indicated in the figure as
position 1. By changing the current in winding A and B, this
position will be changed because of the change of magnetic field in
the motor. Once the user put load onto the motor shaft, the motor
shaft will be at actual motor rotor position which is marked as 2
in the figure. The encoder then sends the current shaft position to
the controller. The controller then commands the winding current to
change in order to follow the actual rotor position and keep a
certain distance to create the friction. Depends on the speed,
current, and other factors, this difference is designed to be
changed on the fly. The actual formula of the distance between
position 1 and position 2 is to be kept as a commercial secret. On
the other hand. By simply change the winding current in both
windings, the controller can change the strength of the magnetic
field. Then the torque that is generated can be changed as well.
This enables the resistance training system to achieve instant
weight change. The friction force that is created by motor 101 can
be adjusted by the position of motor shaft 103 relative to the
winding current phase position. With encoder 115 on the back of
motor 101 sending current motor shaft position information to
controller 117, controller 117 can direct the electrical phase
position of motor 101 to either lead or lag the position of motor
shaft 103 to create either pulling force or friction. By adjusting
the amount of lead or lag, controller 117 can adjust the force or
friction created by motor 101. At the same time, controller 117 can
adjust the current level in the motor winding to create different
friction force. (the forgoing sentence kind of duplicated what was
added before, please review them) The ease with which the force
output of motor shaft 103 can be changed enables the resistance
training system to provide different force elements to make
training more effective. Force elements include linear and
non-linear forces modes such as output mode includes, but not
limited to, constant force mode, which the output of the force is
constant; linear spring mode, in which the force increases linearly
as the length of the cable being pulled from the original location
increases; inertia mode, the force output simulates the feel of
pulling the actual weight; push mode, the force output simulates
pushing a heavy item on a leveled surface, which provides friction
only, but will not retract the cable once the user stop pulling the
cable or the lever. In an alternate embodiment, force adjustment
may also be achieved through force/load sensor feedback to the
controller. In this embodiment, the torque output from the motor or
the pulling force exerted on the handle is constantly monitored by
a torque/force/load sensor and compared with the value that was set
by the user on the user interface. If the torque or force varies at
any point from this set value, the current of the motor is adjusted
in real time to meet the force requirement.
[0039] In the present embodiment, the current profile generated by
controller 117 can be modified to imitate the feel of a spring type
of device or to imitate the feel of lifting an actual weight. To
imitate the feeling of a spring type of device, the force or torque
output of motor 101 can be set to change linearly according to the
distance that handle 113 travels from its original position. To
imitate the feeling of lifting an actual weight, the force is
modified based on the acceleration of handle 113. Based on the
input of encoder 115, controller 117 can calculated the speed and
acceleration of handle 113, and based on Newton second Law, the
force required to make this change in velocity can be calculated.
This force is then factored into the force output by motor 101 to
imitate the feeling of inertia.
[0040] The present embodiment may also calculate the calories that
have been consumed by the user. This calculation is based on the
speed, force, and distance of the cable that is traveled. The
number of calories burned is preferably displayed on user interface
119. Alternate embodiments may be implemented without a
calorie-counting feature. The present embodiment also includes an
emergency stop or force cutback feature that activates when the
speed of motor shaft 103 is too fast. Encoder 115 can feedback the
current position of pulley 111, and based on this, controller 117
can calculate the speed of motor shaft 103. If the speed is too
fast, controller 117 can either lower the current, thus lowering
the torque, or stop motor 101 immediately. This feature provides
injury protection to the user by generally preventing the user from
pulling or releasing handle 113 too fast, which may cause the user
to pull a muscle. Alternate embodiments may not include this
feature.
[0041] FIG. 2 is a graph illustrating exemplary torque output
curves for two different motors from resistance training systems,
in accordance with embodiments of the present invention. Constant
resistance and force have been achieved with these motors by
adjusting the current within the motors according to the speed of
the motor shafts. The motors have characteristic torque output
curves for different windings. The torque output curves show the
maximum torque at different currents, voltages and speeds. In order
to maintain a constant or preprogrammed torque output profile, the
system must be able to output the proper torque at different
speeds. To accomplish this, the encoder sends position information
to the controller, and the controller then calculates the speed of
the motor. Based on this calculation, the controller can find the
corresponding current value to output the proper torque at that
given moment.
[0042] Those skilled in the art, in light of the present teachings,
will readily recognize that the configuration of the resistance
training system may vary widely in alternate embodiments. For
example, without limitation, the pulley may be located in various
different locations, multiple pulleys may be used, different types
of mechanisms such as, but not limited to, gears, belts, levers,
and chains may be used, etc. FIGS. 3 through 7 illustrate some
non-limiting examples of alternate embodiments of the present
invention.
[0043] FIG. 3 is a diagrammatic side view of an exemplary
resistance training system, in accordance with an embodiment of the
present invention. In the present embodiment, a pulley 303 is
directly connected to a motor shaft 303 of a motor 301 without a
flex coupling. A support bearing 321 provides support to a motor
shaft 303.
[0044] FIG. 4 is diagrammatic side view of an exemplary resistance
training system comprising a gear system 400, in accordance with an
embodiment of the present invention. In the present embodiment, a
pulley 405 is connected to a motor shaft 403 of a motor 401 by gear
system 400. A small gear of gear system 400 is attached to motor
shaft 403, and a large gear of gear system 400 is attached to a
pulley shaft 409. The small gear rotates as motor shaft 403
rotates, and the rotation of the small gear causes the large gear,
which meshes with the small gear, to rotate. This then causes
pulley shaft 409 and pulley 405 to rotate. In alternate embodiments
the sizes and number of the gears in the gear system may vary in
order to translate the output torque of the motor shaft into the
desired torque on the pulley.
[0045] FIG. 5 is diagrammatic side view of an exemplary resistance
training system comprising a synchronous belt 500, in accordance
with an embodiment of the present invention. In the present
embodiment, synchronous belt 500 is connected to a motor shaft 503
of motor 501 and to a disc 502 on a pulley shaft 509. A pulley 505
s also attached to pulley shaft 509 and, therefore, rotates as disc
502 is rotated by belt 500, which is rotated by motor shaft 503. In
alternate embodiments a chain-driven system may be used in place of
a belt-driven system.
[0046] FIG. 6 is diagrammatic side view of an exemplary resistance
training system comprising a lever 600, in accordance with an
embodiment of the present invention. Lever 600 is attached directly
to a motor shaft 603 of a motor 601. In typical use of the present
embodiment, a user pushes or pulls lever 600 rather than pulling a
cable attached to a pulley. Since lever 600 can be pushed, the
present embodiment can include a push mode. In the push mode, the
user pushes lever 600, and once the user stops pushing, lever 600
does not retreat. This mode enables the user to attempt to apply
the most force that he can output, without fear that the system
will be is over loaded. In this mode, the encoder feeds the current
position of lever 600 to the controller, and the magnetic field of
motor 301 only creates the lag without moving the position of motor
shaft 603.
[0047] FIG. 7 is a side view of an exemplary cable guiding system
700 for a resistance training system, in accordance with an
embodiment of the present invention. In the present embodiment,
cable guiding system 700 comprises two pairs of parallel rollers
sitting perpendicular to each other so that a small hole 702 is
formed in the center of the four rollers. A cable 711, which is
wound around a pulley 705, is fed through hole 702. Cable guiding
system 700 enables cable 711 to be pulled in any direction
smoothly.
[0048] FIG. 8 is an exemplary diagram of a motor, in accordance
with an embodiment of the present invention. Motor phase A and
phase B have currents Ia and Ib in the windings. The windings
create two magnetic fields, Ea and Eb. Controller 117 adjusts the
amount of the current through the windings, by doing so, controller
117 can control the magnetic field that is generated by both of the
coil. This magnetic field creates a magnetic force vector which
make the rotor turn to the commanded position. When the motor has
no load on the rotor shaft and the windings have current running
through them, the rotor has a natural parking position as indicated
in the figure as position 1. By changing the current in windings A
and B, this position will be changed because of the change of
magnetic field in the motor. Once the user put load onto the motor
shaft, the motor shaft will be at actual motor rotor position,
which is marked as position 2 in the figure. The encoder 115 then
sends the current shaft position to controller 117. Then controller
117 commands the winding currents to change in order to follow the
actual rotor position and keep a certain lag distance to create the
friction force. This lag difference may be changed on the fly. By
changing the winding current in both windings, the controller can
change the strength of the magnetic fields and the torque that is
generated.
[0049] Having fully described at least one embodiment of the
present invention, other equivalent or alternative methods of
providing a resistance training system according to the present
invention will be apparent to those skilled in the art. The
invention has been described above by way of illustration, and the
specific embodiments disclosed are not intended to limit the
invention to the particular forms disclosed. For example, the
particular implementation of the system may vary depending upon the
particular type of exercise being performed. The systems described
in the foregoing were directed to single handle or lever
implementations for use with exercises involving only one arm, leg
or other part of the body; however, similar techniques are to
provide systems with multiple handles or levers to enable a user to
pull or push with multiple parts of the body at once for example,
without limitation, using both arms in a rowing motion. In these
implementations the multiple handles or levers may all be
controlled by the same motor or may each be controlled by a
separate motor. Multiple handle or lever implementations of the
present invention are contemplated as within the scope of the
present invention. The invention is thus to cover all
modifications, equivalents, and alternatives falling within the
spirit and scope of the following claims.
[0050] Claim elements and steps herein may have been numbered
and/or lettered solely as an aid in readability and understanding.
Any such numbering and lettering in itself is not intended to and
should not be taken to indicate the ordering of elements and/or
steps in the claims.
* * * * *