U.S. patent application number 13/851935 was filed with the patent office on 2013-10-03 for controllable training and rehabilitation device.
The applicant listed for this patent is Alexandr Shkolnik. Invention is credited to Alexandr Shkolnik.
Application Number | 20130260968 13/851935 |
Document ID | / |
Family ID | 49235807 |
Filed Date | 2013-10-03 |
United States Patent
Application |
20130260968 |
Kind Code |
A1 |
Shkolnik; Alexandr |
October 3, 2013 |
Controllable Training and Rehabilitation Device
Abstract
A muscle training and physical rehabilitation device is
disclosed. The device is controllable by liquid based resistive
units. The liquid based resistive unit utilizes either smart
magnetorheological (MR) liquid whose resistance to motion can be
adjusted by electromagnetism or by proportional valves with various
liquids whose resistance can be controlled by an electronic signal.
The MR fluid resistive units comprises a rotor supported by a
bearing inside a housing, a stator mounted together with the
housing to the mounting plate, and the MR liquid that flows inside
the cavity formed by the vane of the rotor and chamber of the
stator. The MR liquid is controlled by the applied electromagnetic
field to adjust the resistance according to the exerted toque.
Inventors: |
Shkolnik; Alexandr;
(Gardena, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Shkolnik; Alexandr |
Gardena |
CA |
US |
|
|
Family ID: |
49235807 |
Appl. No.: |
13/851935 |
Filed: |
March 27, 2013 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61616938 |
Mar 28, 2012 |
|
|
|
Current U.S.
Class: |
482/111 |
Current CPC
Class: |
A63B 2220/40 20130101;
A63B 23/08 20130101; A63B 21/4047 20151001; A63B 2071/0666
20130101; A63B 2071/0655 20130101; A63B 21/00 20130101; A63B
2220/16 20130101; A63B 21/00076 20130101; A63B 21/4013 20151001;
A63B 21/4017 20151001; A63B 23/0494 20130101; A63B 2220/51
20130101; A63B 23/03508 20130101; A63B 2024/0093 20130101; A63B
24/0087 20130101; A63B 2220/30 20130101; A63B 21/4025 20151001;
A63B 2022/0647 20130101; A63B 2220/54 20130101; A63B 21/0083
20130101; A63B 23/03575 20130101; A63B 71/0622 20130101; A63B
21/4019 20151001; A63B 23/14 20130101; A63B 23/1245 20130101; A63B
23/1281 20130101; A63B 21/4009 20151001; A63B 21/4011 20151001;
A63B 2230/425 20130101; A63B 23/0482 20130101; A63B 2071/0638
20130101; A63B 21/00845 20151001; A63B 23/16 20130101; A63B 23/1272
20130101; A63B 24/0062 20130101; A63B 2230/045 20130101; A63B
2230/208 20130101; A63B 23/03541 20130101; A63B 21/4001
20151001 |
Class at
Publication: |
482/111 |
International
Class: |
A63B 21/00 20060101
A63B021/00 |
Claims
1. An exercise device comprising: a liquid based resistive unit.
Description
[0001] This patent application claims the benefit of, priority of,
and incorporates by reference U.S. Provisional Patent Application
Ser. No. 61616938, entitled "Full Body Controllable Training and
Rehabilitation Device" by Alexandr Shkolnik filed on Mar. 28,
2012.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates generally to an exercise
equipment, and more particularly, to a dynamic resistance exercise
device.
[0004] 2. Description of the Related Art
[0005] Various training and rehabilitation devices are used by
individuals at home or as public facilities in community. These
devices are usually based on simple mechanical systems such as the
gravity force from a stack of weights, elastic force from springs,
etc, which provide the resistance subjecting to the movement of
human body to strengthen the muscles. A lot of exercise machines
are developed to train different portion of body, such as
stationary bicycles, rowing machines, treadmills, ski trainers,
stair stepping machines etc. However, these conventional exercise
machines usually only provide fixed resistive force due to the
fixed gravity and fixed elasticity. Also, most of these
conventional exercise machines are not capable of changing
resistance in real time. For example, the user can stack a number
of weights before using the weight training device. In the middle
of the training, the only way of changing the weight is stopping
the training and changing the number of weights, the same situation
is for the spring based devices, which is quite inconvenient for
the users. Even worse, the conventional devices have limited range
of forces. They cannot be used by a large population of users with
different ages and different physical conditions. Moreover, most of
the devices focus on training a specific portion of the human body.
For example, the weight bench machine is mainly for working out the
upper body while the stationary bicycle is mainly for working out
the lower body. Even so, these devices are quite large and bulky.
It is quite desirable to have a portable exercise device that can
train the whole body. Other disadvantages of existing exercise
machines include annoying noises generated by material deformation
and friction, and possibly ill-smelling odor generated by the
lubrication oil or rust. This noise and smell may dramatically
reduce the enjoyment of the exercise and increase the boredom
during the extended exercise period. In addition, gravity and
friction based system may be worn out after a certain time period
which shortens the lifetime of the device. These worn out exercise
systems may injure users when they ultimately malfunction.
[0006] In some cases, the user may require feedback regarding the
level of performance such as the current speed, force, torque,
elapsed time, etc. For physical rehabilitation therapy purposes,
the user may also need to know physiological and bio-mechanical
information such as oxygen level, breathing rate and heart rate.
According to this feedback, the resistance of the device can be
adjusted accordingly.
SUMMARY OF THE INVENTION
[0007] Considering the shortcomings of the previously mentioned
conventional training devices, there is a desire to provide a
portable and controllable machine based on smarter resistance. It
is also desirable for the resistance to be adjusted on the fly
based on various variables. The resistance may be adjusted by a
programmed micro control system working together with various
onboard sensors. This can vary the exercise and tune the workout to
accommodate the response of the user.
[0008] Liquid based resistive units may be utilized for providing
improved resistance for an exercise device. In a preferred
embodiment, a device utilizes rotary and translational MR liquid
based resistive units to provide variable resistance to the user.
For a rotary MR liquid based resistive unit, a mounting plate may
be utilized to mount the resistive unit to specific joint
positions. A rotary resistive unit may be comprised of a rotor
supported by bearing inside a housing unit, a stator mounted
together with the housing to the mounting plate, and MR liquid that
flows inside the cavity formed by the vane of the rotor and chamber
of the stator. For a translational MR liquid based resistive unit,
two universal junctions may be utilized to connect the resistive
unit and two handles which may be grabbled by human hands or other
joints that need to be trained. The resistive unit may be comprised
of two cylinders, two rods, two pistons, and MR liquid. MR liquid
is sealed inside the cylinders between two pistons. Two rods are
connected to the universal junctions and move the pistons back and
forth inside the cylinders. The MR liquid flows between the two
chamber formed by the cylinders and pistons through the gap between
the steel rod and steel orifice. The magnetic field created by
electromagnets or permanent magnet with adjustable magnitude change
the viscosity of the MR fluid and controls the resistance. The
viscosity of MR fluid can be changed dramatically and instantly,
thus, the device can achieve a large range of adjustable resistance
very quickly.
[0009] In some embodiments, a set of MR damper units may be mounted
at different positions of the body, and multiple resistive units
are also used in different rotation directions for different
degrees of freedom. The present invention is a true full body
trainer including training of the hands, wrist, arm, shoulder, hip,
legs, knees, ankle etc. The user can alternately wear the MR unit
band for the specific joint training.
[0010] The resistance can be adjusted on the fly by the
preprogrammed instructions in the micro controller. There is no
need for the user to take off the device and manually change the
exercise level. With different volume ratio of the magnetic
particles in the MR liquid composite, the range of the force can be
very large, which allows for the device to satisfy a larger base of
users, with different ages and physical conditions.
[0011] In another embodiment, a MR liquid based system is
substituted with one that is electronically controlled by
proportional valves, and may utilize a simple liquid, such as
water. Such a device combines a solenoid valve with an electronics
package that digitally modulates the control signal to provide
analog proportional control without the expensive or complexity of
stepper motors, servo valves or other proportioning devices.
[0012] In some embodiments, several on board sensors may detect the
user's performance as well as physical condition, and this
information may be utilized to automatically control the resistance
level.
[0013] In some embodiments, a VR system may be utilized to improve
the enjoyment of exercising. The VR system may also be
interconnected with the on board sensors and resistance levels of
the various resistive units to determine what is displayed within
the VR system.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] A more complete appreciation of the invention and many of
the advantages thereof will be readily obtained as the same becomes
better understood by reference to the detailed description when
considered in connection with the accompanying drawings,
wherein:
[0015] FIG. 1 is a perspective view of a full body exercise
device.
[0016] FIG. 2 is a perspective view of a full body exercise
device.
[0017] FIG. 3A is a perspective view of a MR liquid based
damper.
[0018] FIG. 3B is a perspective view of a MR liquid based
damper.
[0019] FIG. 4 is a cross section view of double chambered damper
with MR liquid and electromagnet.
[0020] FIG. 5 is a perspective view of double chambered damper with
MR liquid and electromagnet.
[0021] FIG. 6 is a perspective view of double chambered damper with
MR liquid and permanent magnet with adjustable magnitude.
[0022] FIG. 7A is a schematic drawing of double chambered damper
with ordinary liquid and electronically controlled proportional
valves.
[0023] FIG. 7B is a schematic drawing of double chambered damper
with ordinary liquid and electronically controlled proportional
valves.
DETAILED DESCRIPTION
[0024] In a preferred embodiment of the invention is a device that
may be utilized for full body muscle training and physical
rehabilitation. It may provide real-time controllable resistance by
using smart liquid. Smart liquid refers to those materials whose
properties can be changed or controlled by various stimuli. In a
preferred embodiment a magnetorhelogical liquid (MR liquid)
controlled by magnetic field is incorporated in the device.
[0025] MR liquid or MR fluid is magnetically polarizable particles
suspended in viscous fluids. They have the ability to change their
rheological properties under the effect of a magnetic field. They
are usually suspensions of magnetizable particles in a carrier
liquid. The magnetizable particles are metal or metal oxide
particles with size on the order of a few microns. The carrier
liquid is also referred to non-magnetic liquid, such as base oil.
Additionally, surfactants are used to allow for high particle
volume fractions to increase the fluid's stability. Normally, the
magnetic particles are randomly distributed in the liquid while no
magnetic field is applied, and the suspensions behave as regular
liquid. If the suspensions are exposed to a magnetic field, its
flow resistance increases. This is because the magnetic particles
form chain-like structures parallel to the magnetic field as a
result of the magnetic interaction. The rheological properties as
shear modulus and viscosity reversibly can change in milliseconds.
The chain-like structure can be deformed and destroyed due to
external forces, but they will quickly re-form as the external
force is decreased or removed.
[0026] The magnetic field created by electromagnets or permanent
magnets with adjustable magnitude can change the viscosity of the
MR fluid and controls the resistance. The viscosity of the MR fluid
can be changed dramatically and instantly. Thus, it can achieve a
large range of adjustable resistance very quickly.
[0027] Controlled by the electromagnet, even small amounts of MR
fluid can generate a large and smooth resistive force when the
magnetic field is strong. Thus, the unit can be quite small and
compact, which allows the exercise device to be light-weight and
portable.
[0028] MR fluid is not abrasive or toxic, and thusly,
environmentally friendly and safe. It does not store energy like a
spring or lifted weight, and is not prone to deformation or
contacting friction. As such, it is much quieter than conventional
exercise devices. In addition, unlike with a spring and weight, the
MR unit applies the force in a passive mode. I.e, the human body
can feel the resistance only while he/she exerts force, and the
resistive force disappears immediately after the user force is
released. Thus, it is physically much safer for the user.
[0029] Both a rotary resistive unit and a translational resistive
unit can be devised using controllable resistance from a liquid,
such as MR liquid. These resistive units can be utilized for
various muscular exercise and can be the primary source of
resistance in a full body exercise device, as depicted in FIG. 1
and FIG. 2. The full body exercise device 100 is a preferred
embodiment that utilizes multiple rotary resistive units 140 with
MR liquid. The rotary resistive units 140 with MR liquid are
positioned at major joints to control resistance when motion is
applied by the user.
[0030] Despite prominent advantages of the MR liquid, several
disadvantages may hinder its wide applications for different level
of customers. Most high-quality MR liquids are quite expensive, and
as such, may be cost prohibitive for many. In addition, MR liquid
has much higher density, due to the presence of iron, making it
heavy. Even though the operating volumes are small for one single
resistive unit, the accumulated volume may dramatically increase as
the number of resistive units increases, which finally result in
cumbersome system.
[0031] To overcome aforementioned problem, in another embodiment,
an option that utilizes electronically controlled proportional
valves is proposed. The device combines a solenoid valve with an
electronics package that digitally modulates the control signal to
provide analog proportional control without the expensive or
complexity of stepper motors, servo valves or other proportioning
devices. When the valve is de-energized, pressure is sealed off by
the force of the plunger assembly return spring and the seal in the
plunger assembly. When the valve is energized, the plunger assembly
moves upward, permitting flow through the valve. Higher current or
control signal results in more plunger movement and more flow.
Using proportional valve, the resistance can be accurately
controlled, but the liquid is not necessarily expensive and heavy
like MR fluid. The fluid could be a very cheap and light fluid such
as water.
[0032] The full body exercise device 100, in another embodiment,
can utilize rotary resistive units controlled by proportional
valves instead of MR liquid and magnetism. In other embodiments,
the resistive units may be utilized for only specific joint
positions, and not the entire body.
[0033] The preferred embodiment using a rotary MR liquid based unit
is shown in FIGS. 3a and 3b. The rotary resistive unit 300 includes
a rotor 320 supported by a bearing within a housing 350, a stator
330 mounted together with the housing 350 to the mounting plate
310, and strands of coils wrapped around the stators 330 for
inducing electromagnetism. The MR liquid flows inside the cavity
formed by the vane 340 of the rotor 320 and chamber of the stator
330. The mounting plate 310 may be utilized to mount the resistive
unit to specific joint positions. As the vane 340 on the rotor 320
rotates between fixed vanes on the stator 330, MR fluid is
displaced through clearances from one side of the vane 340 to the
other. Magnetic fields created by electromagnets change the
viscosity of the MR fluid and the damper resistance.
[0034] Similarly, the embodiment using a translational MR liquid
based unit is shown in FIG. 4, FIG. 5, and FIG. 6. FIG. 4 and FIG.
5 show a double chambered damper with MR liquid and electromagnet.
In includes two rods 430 440 that drive two pistons 450 460 moving
back and force inside two cylinders 410 420. MR liquid is sealed
inside the two chambers formed by the two pistons 450 460 and two
cylinders 410 420. As the pistons 450 460 move inside the cylinders
410 420, the MR liquid flows though the gap between the steel rod
and steel orifice. Strands of coils 450 are wrapped around the
junction between two cylinders 410 420 for inducing electromagnet.
Similar with the rotary unit, the adjustable electromagnet can
precisely control the resistance of the MR liquid.
[0035] FIG. 6 shows another alternative embodiment of a double
chambered damper with MR liquid. A permanent magnet 620 as opposed
to electromagnet is utilized. The magnitude of the magnetic flux is
controlled by adjusting the distance between the magnet and the
junction. A linear actuator 610 such as solenoid based plunger,
linear motor or lead screw with step motor mechanism can be used to
drive the magnet unit.
[0036] With a translational MR liquid based resistive unit, two
universal junctions may be utilized to connect the resistive unit
and two handles which may be held by human hands or other joints
that need to be trained. The resistance can be highly controlled
through the magnetism of the MR liquid.
[0037] MR liquid based damper has the advantage of accurate
resistance control, but compared with regular liquid, it is much
heavier and more expensive. FIGS. 7a and 7b show an alternative,
using a two chambered 730 740 damper based on electronically
controlled proportional valves and regular liquid instead of magnet
and MR liquid. The proportional valve is driven by a solenoid
plunger which is controlled by digitally modulated signals. The
system consists of one closed cylinder 730 740, one rod 750 that
drives a piston 720 moving inside the cylinder. The proportional
valve 710 is connected to the cylinder 730 740 though two opening
760 770 at both ends. As the system is not energized, the valve is
open 710 and liquid flows through the valve with low resistance. As
the system is energized, the valve 710 changes the opening size and
resistance changes accordingly. The magnitude of resistance is
proportional to the input signal modulated by the driver which can
be easily adjusted by users. One embodiment of electronically
controlled proportional valves using solenoid technology is PACE Hf
Miniature Proportional Valve from Parker Inc.
(http://ph.parker.com/webapp/wcs/stores/servlet/Product2.sub.--1
0151.sub.--12051.sub.--12176_-1-1.sub.--14106.sub.--14097_ProductDisplayE-
rrorView) The valve can deliver precise flow with low hysteresis,
rapid response and highly repeatable pressure and flow control. In
this system, no specific requirement is needed for the liquid, and
very cheap and light water can fit the purpose.
[0038] A set of damper units are connected by linkages and mounted
on different actuation joints of human body such as hands, wrist,
arm, shoulder, hip, legs, knees, ankle etc, as shown in FIG. 1 and
FIG. 2. When the user moves the joints, the resistance force
changes accordingly, in this way, the muscle can be trained. The
device also includes a sensor system comprising a sensor assembly
to measure angle, velocity, and acceleration of the movement as
well as the elapsed time of training, the sensors along with the
microcontroller provide a closed loop system that can adjust the
magnetic-rheological fluid according to the user feedback.
[0039] The resistance can be adjusted on the fly by the
preprogrammed instructions in the micro controller. There is no
need for the user to take off the device and manually change the
exercise level. With different volume ratio of the magnetic
particles in the MR liquid composite, the range of the force can be
very large, which allows for the device to satisfy a larger base of
users, with different ages and physical conditions.
[0040] In some embodiments, several on board sensors are used to
detect the signals of the user's performance such as speed, torque,
force, training time etc and the signals of the user's physical
conditions such as oxygen level, breathing rate and heart rate. The
sensors, MR unit and micro-processor form a closed-loop system. The
device may be programmed so that the resistive force of the MR unit
is adjusted according to the sensor readout. The device may also
allow for the user to modify variously settings, such as the level
of difficulty, purpose of exercise (e.g. strength training,
rehabilitation, etc.), and other variables that will allow the user
to customize their workout. Microcontroller takes the customized
setting as target and use PID control algorithm to adjust the
resistance of MR liquid. The basic idea behind a PID controller is
to read the sensor values, then compute the desired output by
calculating proportional, integral, and derivative responses and
summing those three components to compute the output. In this
closed loop system, the resistive force is the system parameter to
be controlled. The sensor reading provides the feedback to the
control system. The customer setting is the desired set point. At
any given moment, the difference between the sensor readout and the
set point is used by the control system algorithm (compensator) to
determine the desired output to drive the system. For instance, if
the sensor readout is lower than the set point, then the output
specified by the control algorithm might be to increase the
resistance. This is called a closed loop control system, because
the process of reading sensors to provide constant feedback and
calculating the desired output is repeated continuously.
[0041] In some embodiments, to improve the enjoyment of the
training process and encourage the user's performance, a virtual
reality (VR) smart system is incorporated. The sophisticated micro
controller system and 3D software convert the physical components
of the device into fully virtual reality scene. The users can be
immersed in a VR simulation with visual, auditory and even haptic
feedback to the user's performance by wearing the VR 3D goggle. For
example, the VR 3D goggle can read the information of user's
current joint position through the position sensors, it then
displays the scene according to current positions, therefore the
user can see a 3D aviator perform exactly the same movement as
he/she moves the joints. Another set of sensors are also used to
provide the physiological and bio-mechanical information such as
oxygen level, breathing rate and heart rate. They are used to drive
the virtual environment and collect the performance data. I.e, they
can be used to measure a user's level of exertion, which can be
used as a means to control and modify the difficulty of VR
activity. One embodiment of the VR system is utilizing oculus rift,
which is an upcoming high field of view, low-latency,
consumer-priced virtual reality head-mounted display. With an
incredibly wide field of view, high resolution display, and
ultra-low latency head tracking, the rift provides a truly
immersive experience that allows user to step inside the virtual
scene and explore new worlds like never before. The rift kit is
open source and thus provides tremendous flexibility of software
and firmware development and integration for the proposed
system.
[0042] Although the present invention has been described in detail
with respect to certain embodiments and examples, variations and
modifications exist which are within the scope of the present
invention as defined in the following claims.
* * * * *
References