U.S. patent application number 17/353522 was filed with the patent office on 2022-01-13 for systems for dynamic resistance training.
The applicant listed for this patent is Arena Innovation Corp.. Invention is credited to Dan Hammer, Ilya Polyakov, Zachary M. RUBIN.
Application Number | 20220008775 17/353522 |
Document ID | / |
Family ID | |
Filed Date | 2022-01-13 |
United States Patent
Application |
20220008775 |
Kind Code |
A1 |
RUBIN; Zachary M. ; et
al. |
January 13, 2022 |
SYSTEMS FOR DYNAMIC RESISTANCE TRAINING
Abstract
Systems and methods for dynamic resistance training are provided
that include the use of a dynamic force module. The dynamic force
module includes an actuator and controller adapted to control the
actuator according to a force profile that specifies the
relationship between an operational parameter of the actuator and a
measured parameter associated with a user performing an exercise.
The dynamic force module is also capable of communicating with a
broader network system to facilitate storing and distribution of
force profiles and user profile information. The network system
further includes features for, among other things, generating and
managing force profiles, uploading multimedia content, and tracking
user progress.
Inventors: |
RUBIN; Zachary M.; (San
Jose, CA) ; Polyakov; Ilya; (San Francisco, CA)
; Hammer; Dan; (Douglasville, GA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Arena Innovation Corp. |
New York |
NY |
US |
|
|
Appl. No.: |
17/353522 |
Filed: |
June 21, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15884074 |
Jan 30, 2018 |
11040231 |
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17353522 |
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62499622 |
Jan 30, 2017 |
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62604457 |
Jul 7, 2017 |
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International
Class: |
A63B 21/005 20060101
A63B021/005; A63B 24/00 20060101 A63B024/00; A63B 21/00 20060101
A63B021/00; A63B 23/035 20060101 A63B023/035; A63B 23/12 20060101
A63B023/12; A63B 71/06 20060101 A63B071/06; G16H 20/30 20060101
G16H020/30 |
Claims
1-20. (canceled)
21. A method of controlling an exercise device comprising:
controlling an electric motor to provide an exercise resistance to
a cable operatively attached to the electric motor, the exercise
resistance provided above a first retraction position; and
controlling the electric motor to provide a constant retraction
rate on the cable, the constant retraction rate provided below the
first retraction position.
22. The method of claim 21 further comprising controlling the
electric motor to reduce the exercise resistance to require less
force to retract the cable against a force from the electric motor
when a speed of retraction matches a threshold.
23. The method of claim 22 wherein the speed of retraction is
determined from an encoder operatively monitoring the electric
motor.
24. The method of claim 21 wherein the exercise resistance is a
constant exercise resistance.
25. The method of claim 24 further comprising accessing a force
profile to obtain the constant exercise resistance.
26. The method of claim 25 wherein the force profile further
defines the first retraction position, the first retraction
position defining a starting point for a particular type of
exercise.
27. The method of claim 21 wherein the first retraction position is
set by a user through a user interface in operative communication
with the exercise device.
28. The method of claim 21 wherein the constant retraction rate on
the cable below the first retraction position is a nominal rate to
gently return the cable to a home position.
29. The method of claim 21 wherein first retraction position is set
above an upper and outer surface of an exercise device housing the
electric motor, and wherein the cable extends directly from the
electric motor through an aperture in the upper and outer surface
and wherein the cable is spooled about a motor shaft extending from
the electric motor.
30. The method of claim 21 wherein the motor shaft comprises a drum
about which the cable is spooled.
31. A method of controlling an exercise device comprising:
monitoring a speed of retraction of a cable from an electric motor
controlled to provide an exercise resistance against retracting the
cable; and controlling the electric motor to reduce the exercise
resistance against retraction of the cable when the speed of
retraction falls below a threshold.
32. The method of claim 31 further comprising controlling the
electric motor to provide a constant retraction rate on the cable,
the constant retraction rate provided below a first retraction
position and controlling the electric motor to provide the exercise
resistance above the first retraction position.
33. The method of claim 32 wherein the speed of retraction is
determined from an encoder operatively monitoring the electric
motor.
34. The method of claim 32 wherein the exercise resistance is a
constant exercise resistance.
35. The method of claim 34 further comprising accessing a force
profile to obtain the constant exercise resistance.
36. The method of claim 35 wherein the force profile further
defines the first retraction position.
37. The method of claim 32 wherein the first retraction position is
set by a user through a user interface in operative communication
with the exercise device
38. The method of claim 32 wherein the constant retraction rate on
the cable below the first retraction position is a nominal rate to
gently return the cable to a home position.
39. The method of claim 32 wherein first retraction position is set
above an upper and outer surface of an exercise device housing the
electric motor, and wherein the cable extends directly from the
electric motor through an aperture in the upper and outer surface
and wherein the cable is spooled about a motor shaft extending from
the electric motor.
40. A method of controlling an exercise device comprising:
monitoring retraction of a cable from an electric motor controlled
to provide an exercise resistance against retracting the cable;
controlling the electric motor to reduce the exercise resistance
against retraction of the cable when retraction falls below a
threshold; and controlling the electric motor to provide a return
retraction rate on the cable, the return retraction rate provided
when the electric motor is not providing the exercise resistance or
the reduced exercise resistance, the return retraction rate to
gently return the cable to a home position.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] The present application is a continuation application which
is related to and claims priority to U.S. Nonprovisional
application Ser. No. 15/884,074 filed Jan. 30, 2018 entitled
"Systems for Dynamic Resistance Training," which claims priority
under 35 U.S.C. .sctn. 119 to U.S. Provisional Application No.
62/499,622 filed Jan. 30, 2017 entitled "Intelligent Dynamic
Resistance Training Platform," and to U.S. Provisional Application
No. 62/604,457 filed Jul. 7, 2017 entitled "Dynamic Force
Algorithms for Strength Training," all of which are hereby
incorporated by reference in their entirety into the present
application.
TECHNICAL FIELD
[0002] Aspects of the present invention involve an intelligent
exercise apparatus and, in particular, a network-enabled exercise
apparatus that provides dynamic resistance based on remotely stored
user and exercise data.
BACKGROUND
[0003] Maintaining a successful exercise regimen is a significant
challenge to many individuals with busy schedules, a lack of
training and knowledge regarding exercises, and the diligence
required to properly track and analyze performance and progress
acting as significant roadblocks. For example, many individuals
have only a limited amount of time that they can dedicate to
working out. As a result, it is critically important that such
individuals perform exercises correctly and with an optimal
resistance to maximize their results during the limited time
available. Variety and cross-training is also very important to
maintaining interest, improving motivation, and avoiding injury
through cross-training.
[0004] It is with these issues in mind that aspects of the present
disclosure were conceived.
SUMMARY
[0005] In one implementation of the present disclosure a dynamic
force module for use in an exercise machine is provided. The
dynamic force module includes a motor assembly including a motor
and a cable selectively extendable and retractable by actuation of
the motor. The dynamic force module further includes a frame
coupled to the motor assembly and a load measurement device coupled
to the frame and adapted to measure loading of the frame in
response to tension applied to the cable.
[0006] In another implementation of the present disclosure a
dynamic force module for use in an exercise machine is provided.
The dynamic force module includes a motor for extending and
retracting a cable in response to a control signal, the motor
supported by a frame. The dynamic force module further includes a
load sensing device configured to measure a load on the frame
resulting from tension applied to the cable and a controller
communicatively coupled to each of the motor and the load sensing
device. The controller is adapted to actuate the motor in response
to the load on the frame in accordance with a force profile that
provides a relationship between a first parameter associated with
operation of the motor and a second parameter corresponding to
execution of an exercise by a user of the exercise machine.
[0007] In yet another implementation of the present disclosure, a
system for managing dynamic resistance exercise equipment is
provided. The system includes a computing device communicatively
coupled to a force profile data source for storing force profiles.
The computing device is configured to receive a request from a
dynamic force module for a force profile stored on the data source
and to transmit the force profile to the dynamic force module. The
force profile provides a relationship between a first parameter
associated with operation of an actuator of the dynamic force
module and a second parameter corresponding to execution of an
exercise by a user of an exercise machine within which the dynamic
force module is incorporated.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] Example embodiments are illustrated in referenced figures of
the drawings. It is intended that the embodiments and figures
disclosed herein are to be considered illustrative rather than
limiting.
[0009] FIG. 1 is a schematic illustration of a first exercise
machine including a dynamic force module according to the present
disclosure.
[0010] FIG. 2 is a schematic illustration of a second exercise
machine including two dynamic force modules according to the
present disclosure.
[0011] FIG. 3 is a schematic illustration of a third exercise
machine including a dynamic force module according to the present
disclosure.
[0012] FIG. 4 is a schematic illustration of a fourth exercise
machine including three dynamic force modules according to the
present disclosure
[0013] FIG. 5 is an isometric view of a dynamic force module in
accordance with the present disclosure.
[0014] FIG. 6 is a side elevation view of the dynamic force module
of FIG. 5.
[0015] FIG. 7 is a second side elevation view of the dynamic force
module of FIG. 5 with certain components of the dynamic force
module removed for clarity.
[0016] FIG. 8 is a cross-sectional side view of the dynamic force
module of FIGS. 5-7.
[0017] FIGS. 9A and 9B are a cross-sectional side view and a top
view of a second dynamic force module according to the present
disclosure.
[0018] FIG. 9C is a cross-sectional side view of a third dynamic
force module according to the present disclosure.
[0019] FIG. 9D is a cross-sectional side view of a fourth dynamic
force module according to the present disclosure.
[0020] FIG. 9E is a cross-sectional side view of a fifth dynamic
force module according to the present disclosure.
[0021] FIG. 9F is a cross-sectional side view of a sixth dynamic
force module according to the present disclosure.
[0022] FIG. 10 is an isometric view of a drum of the dynamic force
module of FIGS. 5-8.
[0023] FIG. 11 is a block diagram illustrating a system including
the dynamic force module of FIGS. 5-8.
[0024] FIG. 12 is a state diagram illustrating operation of an
example dynamic force module in accordance with the present
disclosure.
[0025] FIG. 13 is a first force profile that may be executed by a
dynamic force module, the first force profile including a constant
reactive force.
[0026] FIG. 14 is a second force profile that may be executed by a
dynamic force module, the second force profile illustrating
variable concentric and eccentric reactive forces.
[0027] FIG. 15 is a third force profile that may be executed by a
dynamic force module, the third force profile illustrating noise
loading.
[0028] FIG. 16 is a fourth force profile that may be executed by a
dynamic force module, the second force profile illustrating
ballistic reactive force.
[0029] FIG. 17 is a fifth force profile that may be executed by a
dynamic force module, the fifth force profile illustrating a
spotting mode of the dynamic force module.
[0030] FIG. 18 is a sixth force profile that may be executed by a
dynamic force module, the sixth force profile illustrating constant
speed control.
[0031] FIG. 19 is a seventh force profile that may be executed by a
pair of dynamic force modules, the seventh force profile
illustrating imbalanced loading applied by the pair of dynamic
force modules.
[0032] FIG. 20 is a first example of an interactive animation for
providing feedback to a user using a dynamic force module in
accordance with the present disclosure, the first interactive
animation including variable boundaries.
[0033] FIG. 21 is a second example of an interactive animation for
providing feedback to a user using a dynamic force module, the
second interactive animation corresponding to simulated throwing of
an object.
[0034] FIG. 22 is a third example of an interactive animation for
providing feedback to a user using a dynamic force module, the
third interactive animation corresponding to simulated catching of
an object.
[0035] FIG. 23 is a fourth example of an interactive animation for
providing feedback to a user using a dynamic force module, the
fourth interactive animation including an indicator including a
series of parallel bars.
[0036] FIGS. 24A and 24B are, in combination, a fifth example of an
interactive animation for providing feedback to a user using a
dynamic force module, the fifth interactive animation including a
simulated receiving and passing of an object.
[0037] FIGS. 25A and 25B illustrate a sixth example of an
interactive animation for providing feedback to a user using a
dynamic force module, the sixth interactive animation including a
one-dimensional indicator for providing feedback to the user.
[0038] FIGS. 26A and 26B illustrate a seventh example of an
interactive animation for providing feedback to a user using a
dynamic force module, the seventh interactive animation including a
two-dimensional axis and a circle indicating a target for the
user.
[0039] FIG. 27 is an eighth example of an interactive animation in
the form of animated concentric circles.
[0040] FIG. 28 is a ninth example of an interactive animation in
the form of a simulated ball and beam.
[0041] FIGS. 29A and 29B illustrate a tenth example of an
interactive animation for providing feedback to a user using a
dynamic force module, the tenth interactive animation including a
two-dimensional space through which a user guides a marker.
[0042] FIG. 30 is an example network environment for operating and
managing dynamic force modules.
[0043] FIG. 31 is a first network topology for communication among
multiple dynamic force modules.
[0044] FIG. 32 is a second network topology for communication among
multiple dynamic force modules.
[0045] FIG. 33 is a third network topology for communication among
multiple dynamic force modules.
[0046] FIG. 34 is a fourth network topology for communication among
multiple dynamic force modules.
[0047] FIG. 35 illustrates a computing system that may be
implemented in conjunction with dynamic force modules according to
the present disclosure.
DETAILED DESCRIPTION
[0048] The present disclosure is directed to dynamic force modules
for use in exercise machines and systems for managing,
coordinating, and communicating with dynamic force modules. Dynamic
force modules disclosed herein are generally intended to replace
the functionality of weights, bands, and other conventional
resistance elements in exercise equipment. In particular, the
dynamic force modules include an actively controlled actuator that
provides reactive force during the performance of an exercise by a
user of the dynamic force module. For example, a grip, handle, or
other accessory may be coupled to the dynamic force module and
manipulated by a user to perform various exercises.
[0049] In general, dynamic force modules execute a force profile
that provides a relationship between an operational parameter of
the dynamic force module (such as a reactive force provided by the
dynamic force module) and a measurable parameter of the user as
they perform a particular exercise. Although other examples are
provided herein, in one basic example, the force profile may
indicate a reactive force to be applied by the dynamic force module
based on the position of the user during an exercise. Accordingly,
as the user performs the exercise associated with the force
profile, the dynamic force module operates the actuator in
accordance with the force profile.
[0050] The dynamic force module may be incorporated into or in
communication with various devices for providing feedback to a
user. For example, the dynamic force module may be communicatively
coupled to a display of an exercise machine in order to present
various interactive animations to the user. Such animations may be
directed to, among other things, motivating the user, instructing
the user, and indicating progress to the user. In certain
implementations, the interactive animations may simulate real-world
activities and may be presented to the user during the execution of
force profiles by the dynamic force module reflecting forces
experienced during the activity.
[0051] Dynamic force modules in accordance with this disclosure may
be communicatively coupled to each other and to other computing
devices over a network, such as the Internet. In one
implementation, a cloud-based computing platform may interact with
dynamic force modules and user computing devices to, among other
things, distribute force profiles, store and update user
information, and present tracking information to users and
personnel such as gym facility managers, personal trainers,
physiotherapists, and others who may be working with a user. The
cloud-based computing platform further enables the generation,
updating, and storage of content for use with dynamic force modules
including, but not limited to, force profiles, workout plans,
multimedia content, and the like.
[0052] The foregoing discussion merely introduces some of the
broader concepts associated with dynamic force modules in
accordance with this disclosure and is merely intended to provide
introductory context for the remainder of this disclosure. In
general, this disclosure provides a general overview of dynamic
force modules and associated exercise machines followed by a
description of an example dynamic force module and various
components thereof. The electrical and control aspects of dynamic
force modules are then provided including examples of feedback
mechanisms and interactive animations that may be provided through
a user interface that may be used in conjunction with a dynamic
force module. The disclosure further provides a description of a
broader network-based computing system for managing, operating, and
providing enhanced features of dynamic force modules.
[0053] FIG. 1 is a schematic illustration of an exercise machine
100 including a dynamic force module 102 according to the present
disclosure. As illustrated, in certain implementations, the
exercise machine 100 generally includes a handle 106, strap, grip,
belt, or similar component with which a user may apply a force. The
handle 106 may in turn be coupled to the dynamic force module 102
by a transmission mechanism 104, which may include, without
limitation, one or more of cables, linkages, bars, pulleys, gears,
pistons/cylinders, and similar mechanical components. As
illustrated in FIG. 1, for example, the transmission mechanism 104
includes a cable 110 that is run through a pair of pulleys 112A,
112B.
[0054] The dynamic force module 102 generally includes a
computer-controlled actuator 108 which is coupled to or otherwise
affixed in proximity to the stationary exercise equipment. The
actuator 108 of the dynamic force module 102 may include, for
example and without limitation, one or more of a motor, an
electromagnet, a hydraulic system, a spring mechanism, a shape
memory alloy, or any other suitable actuator. During operation, the
actuator 108 applies forces to the handle 106 via the transmission
mechanism 104 to generally create a reactive force against movement
by a user of the exercise machine. In the exercise machine 100 of
FIG. 1, for example, the actuator 108 includes a motor coupled to
the cable 110 such that rotation of the motor causes spooling or
unspooling of the cable 110, thereby providing resistance to
pulling of the cable 110 by a user.
[0055] The exercise machine 100 may include adjustable members to
adjust the placement or orientation of the exercise machine 100 to
perform different exercises or to accommodate users having
different physical characteristics. The exercise machine 100, for
example, includes a movable block 116 for adjusting the height of
the handle 106. In certain implementations, the adjustable members
may be manually adjusted by the user; however, in other
implementations, the exercise machine 100 may include one or more
actuators, such as actuator 114, adapted to move the adjustable
members. For example, the block 116 is illustrated in FIG. 1 as
being coupled to the actuator 114 by a belt 118 such that the
actuator 114 may be used to adjust the height of the block 116.
[0056] The vertically movable block 116 of the exercise machine 100
is merely intended as an example of an adjustable member that may
be incorporated into exercise machines according to the present
disclosure. Other examples of such members may include, without
limitation, telescoping members, rotatable members, translatable
members, and other movable members for adjusting aspects of the
exercise machine 100 to accommodate users of different sizes and/or
different exercises. In addition to the motor-driven belt of the
exercise machine 100, other actuators may include, without
limitation, one or more of motors, hydraulic actuators, pneumatic
actuators, linear electric actuators, thermal actuators, and
magnetic actuators. In certain implementations, the dynamic force
module 102 may be communicatively coupled to the exercise machine
100 such that the dynamic force module 102 can issue commands to
the exercise machine 100 and, in particular, to the actuator 114.
Such commands may, for example, be used to automatically change the
position of adjustable members of the exercise machine 100, such as
the block 116.
[0057] FIGS. 2-5 illustrate alternative implementations of exercise
machines in accordance with the present disclosure. First, FIG. 2
illustrates an exercise machine 200 similar to a conventional
cable-crossover machine. The exercise machine 200 includes a pair
of dynamic force modules 202A, 202B, each of which includes a
respective cable 210A, 210B and transmission mechanism 204A,
204B.
[0058] In exercise machines according to the present disclosure
including multiple dynamic force modules, the dynamic force modules
may be operated in a substantially synchronous fashion. In other
words, the reactive force provided by each of the dynamic force
modules may be generally equal throughout a range of motion
performed by a user. In other implementations, however, the dynamic
force modules may be operated asynchronously and may provide
differing reactive forces. Referring to the exercise machine 200,
for example, each of the dynamic force modules 202A, 202B may be
configured to provide different reactive forces, thereby providing
an imbalanced load to the user. Such load imbalances may be used
to, among other things, correct muscle imbalances and accommodate
injuries that a user may be experiencing.
[0059] Dynamic force modules may also be incorporated into
multi-function exercise equipment. For example, FIG. 3 illustrates
an exercise machine 300 in the form of a multi-function exercise
machine including each of a pull-down mechanism 350, a bench
press/pectoral fly mechanism 352, and a leg extension/leg curl
mechanism 354. Similar to the exercise machine 100 of FIG. 1, the
exercise machine 300 further includes a dynamic force module 302 to
provide reactive force to each of the mechanisms 350-354 and in
place of a conventional weight stack or similar resistance
mechanism. The exercise machine 300 is further illustrated as
including a display 356 which may be perform various functions
including, without limitation, presenting workout data to a user,
controlling parameters of the dynamic force module 302, and
presenting motivational or instructional content to the user.
[0060] FIG. 4 is another implementation of an exercise machine 400.
The exercise machine 400 includes three dynamic force modules
402A-402C, each of which are coupled to a bar 406 by respective
cables 410A-410C and pulleys/transmission mechanisms 404A-404C. As
shown, the dynamic force modules 402A, 402B are coupled to opposite
ends of the bar 406 to provide downwardly directed force to the bar
406. In contrast, dynamic force module 402C is coupled to the bar
406 to provide upwardly directed force. In one example application,
the exercise machine 400 may be configured for performing barbell
curls. In such an application, the dynamic force modules 402A-402C
may be used to provide reactive force during both the concentric
phase (i.e., the lifting phase) of the curl and the eccentric
(i.e., the lowering phase) of the curl. More specifically, during
the concentric phase, downward force may be provided by each of the
dynamic force modules 402A, 402B while during the eccentric phase
upward force may be provided by the dynamic force module 402C.
[0061] The foregoing examples of exercise machines are intended
merely as examples within which dynamic force modules of the
present disclosure may be incorporated. More generally, a dynamic
force module in accordance with this disclosure may be used in
place of most conventional resistance elements including, without
limitation, weight stacks, flexible bars or rods, elastic bands or
tubes, straps, magnetic resistance elements, air-based resistance
mechanisms, and frictional resistance elements. Accordingly, a
dynamic force module may generally be implemented into a broad
range of exercise machines intended for cardiovascular, strength,
and other types of training. Notably, in contrast to such
conventional resistance elements, the dynamic force module is able
to provide dynamic reactive force that varies based on various
parameters including, without limitation, the position of the user,
the position of a handle or other accessory handled by the user,
the speed with which a movement is being executed, the force
applied during an exercise, and other similar metrics.
[0062] FIG. 5 is an isometric view of a dynamic force module 500 in
accordance with the present disclosure and FIG. 6 is a side
elevation view of the dynamic force module 500. Although other
configurations of dynamic force modules are contemplated, as
illustrated in FIG. 5, the dynamic force module 500 includes a
motor 502 mounted on a frame 550 including a motor bracket 552 and
a base plate 554 coupled to the motor bracket 552. The motor 502
includes a motor hub 504 and motor shaft 506 extending from the
motor hub 504. The motor shaft 506 includes a drum 508 about which
a cable 510 is disposed. The motor shaft 506 is supported on one
end by the motor hub 504 and on the opposite end by a bearing 512
coupled to the frame 550. In certain implementations, the dynamic
force module may further include a brake assembly 520 including a
disc 522 coupled to the motor shaft 506 and a caliper 524 mounted
on the frame 550. The dynamic force module 500 further includes a
brake solenoid 525 for actuation of the brake assembly 520, and
power- and control-related electronics including a system
controller 526, a motor controller 528, and a battery pack 530. The
dynamic force module 500 may further include one or more guards,
such as guard 553, or one or more similar structures to restrict
movement of the cable 510 during operation. Such guards may include
ridges, gussets, lips or similar features for improving structural
strength. The guards may also include lips, ridges, bends, guides,
or similar features that are shaped to improve retention of the
cable 510. For clarity, the guard 553 is removed in FIG. 6.
[0063] The dynamic force module 500 may include one or more sensors
for determining the extent to which the cable 510 has been
unspooled from the drum 508. For example, as shown in FIG. 6, the
dynamic force module 500 includes two induction proximity sensors
570A, 570B disposed adjacent the drum 508, although other sensors,
switches, etc. may also be used in addition to or instead of
induction proximity sensors. For example, in some implementations,
one or more of infrared or capacitive sensors may be used instead
of the inductive proximity sensors. During operation, the inductive
proximity sensors 570A, 570B provides a binary signal based on the
presence of the cable 510 (which is metallic or includes metal) at
locations on the drum 508 corresponding to the inductive proximity
sensors 570A, 570B. Accordingly, based on the signal from the
inductive proximity sensors 570A, 570B, the amount of cable 510
remaining on the drum 508 may be determined and, by extension so
can the amount of cable 510 that has been unspooled from the drum
508. Alternatively, the inductive proximity sensors 570A, 570B may
be positioned relative to the drum 508 to identify specific
positions/locations of the cable 510, such as positions
corresponding to a home position and an end position of the dynamic
force module. Between these extents, internal sensing of the motor
502 (such as from an encoder or similar sensor) may be used to
determine the specific degree of extension or retraction of the
cable 510.
[0064] The inductive proximity sensors 570A, 570B are intended only
as an example of a sensor for determining the amount of cable 510
that has been unspooled from the drum 508. In other
implementations, the length of unspooled cable 510 or length of
cable 510 remaining on the drum 508 may instead be measured based
on a number of rotations of the drum 508. Various sensors may be
used to obtain such a measurement including, without limitation,
potentiometers, accelerometers, Hall Effect sensors, encoders, and
resolvers.
[0065] FIG. 7 is a cross-sectional side view of the dynamic force
module 500 with the motor 502, brake assembly 520, inductive
proximity sensors 570A, 570B and related components removed for
clarity. In particular, FIG. 6 is intended to illustrate the
arrangement of a load cell 540 of the dynamic force module 500 with
respect to the frame 550. The load cell 540 serves as the primary
means for measuring force applied to the dynamic force module 500.
More specifically, as illustrated in FIG. 6, the motor 502 is
coupled to the frame 550 such that as tension on the cable 510 is
applied or reduced, a resulting force is applied to the motor
bracket 552.
[0066] Referring back to FIG. 7, the load cell 540 is generally
coupled to the frame 550 such that the load cell 540 is the primary
support for the motor bracket 552 and the motor. In other words,
when tension is not applied to the cable 510, the weight of the
motor 502 is substantially applied to the load cell 540. As tension
on the cable 510 varies during an exercise, the weight on the load
cell 540 and the corresponding measurements provided by the load
cell 540 vary such that the force applied by the user may be
determined. FIG. 8 is a representative side view of the dynamic
force module 500 further illustrating the arrangement of the load
cell 540. In particular, FIG. 8 is a representative side view of
the dynamic force module 500 along cross-section A-A indicated in
FIG. 6. As indicated in FIG. 8, the load cell 540 is disposed
between the motor bracket 552 and the base plate 554 of the frame
550. Accordingly, as tension is applied to the cable 510 (as
indicated by arrow 572), the load applied to the load cell 540 is
varied, thereby providing an indication of forces being applied to
the cable 510.
[0067] FIG. 8 further illustrates the motor bracket 552 being
coupled to the base plate 554 of the frame opposite the load cell
540. More generally, the load cell 540 is disposed relative to the
coupling between the motor bracket 552 and the base plate 554 such
that tension applied to the cable 510 results in a corresponding
tension being applied to the load cell 540. In certain arrangement,
such as that of FIG. 8, the coupling between the motor bracket 552
and the base plate 554 provides a fulcrum about which the motor
bracket 552 rotates (as indicated by arrow 574) in response to
tension applied to the cable 510 and provides additional stability
for the frame 550. In other words, in certain implementations the
motor bracket 552 may be coupled to the base plate 554 such that
the motor bracket 552 provides a cantilever supporting the motor
502 that is in turn supported by the load cell 540. To facilitate
more accurate measurements by the load cell 540, one or more of the
motor bracket 552, the base plate 554, and the coupling
therebetween may be adapted to have increased flexibility, thereby
reducing the load absorbed by elements of the frame 550 other than
the load cell 540. For example, in certain implementations, one or
both of the motor bracket 552 and the base plate 554 may include
cutouts, thinned sections, or similar sections of flexible material
forming living hinges. The motor bracket 552 of the dynamic force
module 500, for example, includes cutouts (such as cutout 576)
distributed along a side 578 of the motor bracket 552 disposed
opposite the load cell 540. Such cutouts increase the flexibility
of the coupling between the motor bracket 552 and the base plate
554, thereby improving the sensitivity of the load cell 540 to
variations in tension applied to the cable 510. In still other
implementations, the motor bracket 552 and the base plate 554 may
instead be coupled by one or more movable joints, such as a
multi-part hinge.
[0068] FIGS. 9A-9F illustrate various alternative dynamic force
modules in accordance with the present disclosure and are intended
to illustrate various frame designs that may be implemented.
[0069] FIG. 9A is a side view of a first alternative dynamic force
module 900A taken along a cross-section similar to cross-section
A-A shown in FIG. 6. FIG. 9B is a top view of the dynamic force
module 900A with certain components removed for clarity. The
dynamic force module 900A includes a motor 902A mounted to a frame
950A. More specifically, the motor 902A is coupled to a motor
bracket 952A. The motor bracket 952A includes a pair of parallel
rails 960A, 962A. Each of the parallel rails 960A, 962A is
supported by a base plate 954A of the frame 950A such that tension
applied to a cable 910A of the dynamic force module 900A applies
force to respective load cells 964A, 966A. More specifically, the
rails 960A, 962A are received by respective brackets assemblies
932A, 934A that support the load cells 964A, 966A above the rails
960A, 962A such that as upward tension is applied to the cable
910A, the load cells 964A, 966A are compressed by the rails 960A,
962A, thereby providing a measurement corresponding to the tension
applied to the cable 910A. Each of the bracket assemblies 932A,
934A may further include an adjustment member, such as adjustment
screws 936A, 938A, for fine tuning the position of the rails 960A,
962A with respect to the load cells 964A, 966A. Notably, in
implementations similar to that of FIG. 9A, one of the bracket
assemblies 932A, 934A may be omitted and replaced with a floating
support such that the motor 902A is constrained only at a single
point. By doing so, forces on the motor 902A caused by tension on
the cable 910A may be entirely transferred to the remaining load
cell, thereby improving the accuracy and sensitivity of the load
cell to variations in tension on the cable 910A.
[0070] FIG. 9c is a side view of a second alternative dynamic force
module 900B taken along a cross-section similar to cross-section
A-A shown in FIG. 6. The dynamic force module 900C includes a motor
902C mounted to a frame 950C. Similar to the dynamic force module
500 of FIGS. 5-8, the dynamic force module 900C includes a frame
950C having a motor bracket 952C coupled to a base plate 954C. The
motor bracket 952C is coupled to the base plate 954C such that the
motor bracket 952C forms a cantilever on which the motor 902C is
mounted. More specifically, the motor bracket 952C includes an
upper portion 956C to which the motor 902C is coupled and a
sidewall 958C extending from the upper portion 956C that is coupled
to the base plate 954C. Accordingly, as tension is applied to a
cable 910C of the dynamic force module 900C, a load is applied to
the sidewall 958C. One or more strain gauges 959C are coupled to
the sidewall 958C to measure the loading of the sidewall 958C and,
based on such measurements, to determine the tension applied to the
cable 910C.
[0071] FIGS. 9D and 9E are side views of a third alternative
dynamic force module 900D and a fourth alternative dynamic force
module 900E taken along a cross-section similar to cross-section
A-A shown in FIG. 6. The dynamic force modules 900D, 900E are
similar to the dynamic force module 900C of FIG. 9C; however,
instead of the fully cantilevered motor bracket 952D of the dynamic
force module 900D, additional support is provided for the
respective motor brackets. The frame 950D of the dynamic force
module 900D of FIG. 9D, for example, includes a motor bracket 952D
that supports a motor 902D and that is coupled to opposite sides of
a base plate 954D. More specifically, the motor bracket 952D
includes a first sidewall 958D including a strain gauge 959D.
Opposite the first sidewall 958D, the motor bracket 952D includes a
second sidewall 971D including an integral spring structure. The
dynamic force module 900E of FIG. 9E is also similar to the dynamic
force module 900B of FIG. 9B. Specifically, the dynamic force
module 900E includes a frame 950E including a motor bracket 952E
that supports a motor 902E and that is coupled to a base plate
954E. The motor bracket 952E further includes a sidewall 958E to
which a strain gauge 959E is coupled. However, in contrast to the
spring structure 971C of the dynamic force module 900C, which is
integrated into the motor bracket 952E, the dynamic force module
900E includes a spring 971E disposed between the motor bracket 952E
and the base plate 954E.
[0072] FIG. 9F is a side view of a sixth alternative dynamic force
module 900F. The dynamic force module 900F includes a motor 902F
and a frame 950F having each of a motor bracket 952F and a base
plate 954F. Disposed between the motor bracket 952F and the base
plate 954F are load cells 940F, 942F on which the motor bracket
952F is directly mounted. Accordingly, as tension is applied to a
cable 910F of the dynamic force module 900F, a load is applied to
each of the load cells 940F, 942F. The measurements provided by
each of the load cells 940F, 942F may then be combined to measure
the total load applied to the motor 902F and, as a result, the
tension applied to the cable 910F. Notably, although illustrated in
FIG. 9F as including two load cells 940F, 942F, other
implementations of the present disclosure may include any number of
load cells. For example, in one implementation, a dynamic force
module may include four load cells with one load cell placed in
each corner of the frame or similarly distributed between the motor
bracket and the base plate of the frame.
[0073] FIG. 10 is an isometric view of the drum 508 of the dynamic
force module 500 as previously included in each of FIGS. 5 and 6.
The drum 508 is coupled to the motor shaft 506 of the motor 502
and, as a result, rotates with the motor shaft 506. As illustrated
in FIG. 10 and with reference to elements of FIGS. 5 and 6, the
drum 508 may include a helical groove 580 extending about and along
the length of the drum 508. The groove 580 provides a guide for the
cable 510 as the cable 510 is spooled and unspooled from the drum
508 during operation of the dynamic force module 500. More
specifically, the groove 508 is arranged to prevent contact and/or
overlapping of the cable 510 as it is spooled onto the drum 508
and, as a result, enables unspooling of the cable 510 without
binding or friction with itself. For example, the groove 580 may
generally have a radius of curvature similar to the radius of the
cable 510 such that the cable 510 is cradled by the groove 580. The
pitch of the groove 580 may also be chosen to prevent contact
between adjacent turns of the cable 510 when the cable 510 is
spooled on the drum.
[0074] The foregoing discussion provides various details regarding
the mechanical aspects of dynamic force modules according to the
present disclosure. The following discussion will address the
electrical, control, and user interface elements that may be
included in dynamic force modules. In general, however, dynamic
force modules according to the present disclosure are adapted to
provide dynamic reactive force based on a force profile that
dictates a relationship between an operational parameter of the
dynamic force module and a measured parameter associated with an
exercise being performed by a user. For example, in certain
implementations, the reactive force provided by the dynamic force
module may vary depending on the position, speed, or acceleration
applied by the user as measured by various sensors. In another
example, the dynamic force module may operate at a nominal reactive
force but may then increase or decrease reactive force in response
to the user speeding up or slowing down movement, respectively, to
encourage the user to perform an exercise at an optimal speed.
Other possible control mechanisms are provided in more detail
below.
[0075] As previously discussed in the context of FIGS. 7-9F,
dynamic force modules in accordance with this disclosure generally
measure reactive force by a load cell, strain gauge, current
sensor, or similar sensor coupled to a frame supporting a motor or
similar actuator of the dynamic force module. Other sensors of the
dynamic force module may include, without limitation, one or more
of an encoder, a potentiometer, a Hall Effect sensor, or similar
sensors for counting or otherwise measuring rotations of the motor.
As illustrated in FIG. 6, the dynamic force module may also include
inductive or other proximity sensors for measuring the presence of
the cable on the drum of the dynamic force module. Such
measurements may then be converted to determine the length of cable
unspooled from the dynamic force module and, as a result, the
position, speed, or acceleration of the user.
[0076] The position, speed, or acceleration of the user may also be
determined using sensors of an exercise machine in which the
dynamic force module is incorporated or other sensors in the
environment around the dynamic force module. For example, in
certain implementations, an exercise machine including a dynamic
force module may further include potentiometers, accelerometers,
encoders, switches, load cells, strain gauges, pressure pads, and
other sensors for determining the position, orientation, speed,
acceleration, loading or other parameters of various components of
the exercise machine and, as a result, corresponding parameters
corresponding to the user. A vision system may also be used to
measure similar parameters by tracking and analyzing movement of
one or both of the user and the exercise machine.
[0077] Dynamic force modules in accordance with the present
disclosure may also be communicatively coupleable to a computing
device, such as, without limitation, a smartphone, smartwatch,
laptop, tablet, exercise tracker, display, server, or similar
computing device. Such computing devices may execute or otherwise
provide access to an application, web portal, or other software,
including those that provide access to data bases and other data
sources. Such computing devices generally facilitate interaction
between the user and the dynamic force module by enabling the user
to provide commands, settings, and similar input to the dynamic
force module and for the dynamic force module to provide
information and feedback to the user. For example, in certain
implementations, the computing device may include a display that
enables a user to select from a variety of workouts or to otherwise
change settings of the exercise machine and dynamic force module.
During a workout the dynamic force module may communicate with the
computing device such that the computing device displays, among
other things, the current settings of the dynamic force module, the
user's progress through an exercise or workout, and other
information.
[0078] During an exercise or broader workout, one or more of the
dynamic force module, the exercise machine in which the dynamic
force module is incorporated, and a computing device
communicatively coupled to the dynamic force module and/or the
exercise machine may be adapted to provide feedback to a user. Such
feedback may be used, for example, to provide encouragement to the
user or to provide guidance on form and technique for performing an
exercise. For example, the speed with which the user executes a
particular movement may be tracked and various forms of audio,
visual, or haptic feedback may be provided the user based on
whether and to what degree the user's speed deviates from a
predetermined optimal speed or speed range. In certain
implementations, the frequency, intensity, or other parameter of
the feedback may be varied in response to the user's deviation from
an optimal value or range.
[0079] In certain implementations, dynamic force modules in
accordance with this disclosure provide such feedback, at least in
part, through a user interface that is presented to the user. The
user interface generally includes textual, audio, speech, and/or
graphical elements for guiding the user through exercises or
workouts. For example, the user interface may include animated
graphs or other representations for displaying a measured user
parameter relative to an optimal value or optimal range for the
same parameter. As the user performance a given exercise, a marker
or similar representation associated with the user parameter may
move to indicate the user parameter, thereby providing the user
with feedback regarding the quality with which the user is
performing the exercise. The user interface may also indicate,
among other things, a user's progress through an exercise or
workout, a score or points accumulated by the user based on
successful completion of an exercise or exercises, and similar
information.
[0080] Further aspects of the dynamic force module are now provided
in detail with reference to FIG. 11, which is a block diagram
illustrating a system 1100 in which the dynamic force module 500 of
FIG. 5 is incorporated into an exercise machine 1160. In general,
the dynamic force module 500 includes a system controller 1102 for
providing primary control and supervision of the dynamic force
module 500 and each of a dynamic force module power system 1110 and
a motor system 1130 communicatively coupled to the system
controller 1102. As described below in more detail, the dynamic
force module power system 1110 facilitates charging, discharging,
and distribution of power for the dynamic force module 500 while
the motor system 1130 provides control and supervision of the motor
502. The system controller 1102 is also illustrated as being
communicatively coupled to a load cell 540, for providing readings
associated with forces applied to the dynamic force module 500
during performance of an exercise by a user.
[0081] The system controller 1102, includes a processor 1103
communicatively coupled to a memory 1105. Although other
configurations of the system control 1102 are possible, in general,
the memory 1105 stores data and instructions executable by the
processor 1103 to perform functions of the dynamic force module
500. The system controller 1102 may further include each of an
input/output (I/O) module 1104, a power module 1106, and a
communications module 1108.
[0082] During operation, the system controller 1102 may send and
receive signals via the I/O module 1104. In particular, the system
controller 1102 may receive readings and data from the load cell
540, the dynamic force module power system 1110, the motor system
1130, and/or other sensors of the system 1100 and provide commands
to direct various functions of the dynamic force module 500. For
example, the system controller 1102 may provide commands to the
motor system 1130 for positioning or otherwise controlling the
motor 502 in response to force readings provided by the load cell
540 during execution of an exercise by a user. The motor system
1130 may in turn provide sensor readings corresponding to the
position and movement of the motor 502, thereby providing feedback
to the system controller 1102 and based on which the system
controller 1102 may issue additional commands to components of the
dynamic force module 500.
[0083] The I/O module 1104 may also be configured to send to and/or
receive data from one or more auxiliary inputs and outputs 1150 of
the dynamic force module 500 or the exercise machine 1160 to which
the dynamic force module 500 is connected. Such auxiliary I/O 1150
may be used, for example, to provide feedback to the user or to
indicate the status of the dynamic force module 500. Regarding
feedback, the auxiliary I/O may include, without limitation, one or
more of a speaker, lights/LEDs, a display, a haptic feedback
system, a counter, or any similar device that may be used to
indicate various information regarding an exercise or workout to a
user. Such information may include, without limitation, current
force settings of the dynamic force module 500, progress of the
user (e.g., a counter or progress bar), whether the user has
performed a particular exercise properly, and the like. The
auxiliary I/O 1150 may also be used to indicate the operational
status of the dynamic force module 500. For example, the auxiliary
I/O 1150 may include a display or indicator lights for indicating
whether the dynamic force module 500 is currently on and whether
the dynamic force module 500 is functioning properly or in an error
state.
[0084] The auxiliary I/O 1150 may also include one or more
actuators of the exercise machine 1160. For example, in certain
implementations, the exercise machine 1160 may include one or more
actuators for modifying the configuration of the exercise machine
1160. Such actuators may, for example, adjust the location and
placement of handles or linkages such that the exercise machine may
be used for different exercises or to accommodate the physical
characteristics of different users.
[0085] In certain implementations, the auxiliary I/O 1150 may also
include various sensors and systems for measuring the position of
the user and/or other components of the exercise machine 1160 or
the dynamic force module 500. For example, in addition to the load
cell 540 of the dynamic force module 500, the auxiliary I/O 1150
may also include one or more additional force sensors, such as a
strain gauge, incorporated into the dynamic force module 500 or
coupled to an element of the exercise machine 1160 to measure the
amount of force exerted by a user. Such sensors may be placed, for
example, in line with a cable, at a motor shaft, on a pulley, in a
handle, or in linkages or joints of the exercise machine 1160. The
auxiliary I/O 1150 may also include a position sensor for measuring
the position of the user and/or the position of components of the
dynamic force module 500 or the exercise machine 1160. Positions
sensors may include, without limitation, one or more of an encoder,
a potentiometer, an accelerometer, and a computer vision system.
For example, in certain implementations, a potentiometer or encoder
may be mounted internally near the motor 502 of the dynamic force
module 500 or incorporated into linkages or elements of the
exercise machine 1160 and an accelerometer may be disposed within a
handle or grip. In implementations in which a vision system is
used, such a system may include one or more externally mounted
image capture devices that provide a partial or full
three-dimensional view of the user during execution of an
exercise.
[0086] The auxiliary I/O 1150 may also include various other
sensors incorporated into the dynamic force module 500 and the
exercise machine 1160. For example, in certain implementations,
pressure sensors, capacitive pads, mechanical switches, or similar
components may be integrated into a seat of handles of the exercise
machine 1160. If the user subsequently stands from the seat or
releases the handles, the dynamic force module 500 may
automatically return to a safe state or otherwise modify the
reactive force provided by the dynamic force module 500.
[0087] The system controller 1102 may further include a
communications module (COM) 1108 to facilitate communication
between the dynamic force module 500 and external devices. The
communications module 1108 may, for example, enable wired or
wireless communication between the dynamic force module 500 and one
or more user computing devices 1190. Such communication may occur
over any known protocol including, without limitation, Bluetooth,
WiFi, and ANT/ANT+. Accordingly, the user computing device 1190 may
be, without limitation, one or more of a smartphone, a tablet, a
laptop, a desktop computer, one or more other dynamic force
modules, a centralized network node, a user-interface display (such
as a user-interface display of the exercise machine 1160), an
Internet of Things (IoT) device, a wearable device (such as a smart
watch or exercise tracker), an implanted or similar medical device,
or any other similar piece of personal computing hardware.
[0088] The communications module 1108 may, in certain
implementations, be connected to a network, such as the Internet,
and enable downloading of various files and instructions for
execution by the system controller 1102. For example, in certain
implementations, files including force profiles for controlling the
dynamic force module 500, exercise routines containing
predetermined exercise/force settings, and similar workout
information may be downloaded via the communications module 1108
for execution by the dynamic force module 500. Accordingly, a user
may search for and locate exercise programs that they would like to
perform over the Internet or an application using the user
computing device 1190 and cause such programs to be downloaded to
and executed by the system controller 1102 of the dynamic force
module 500.
[0089] In certain implementations, the system controller 1102 may
be adapted to automatically download updates to a workout program
or exercise in response to user performance or other feedback
obtained from the user. In certain implementations, such updating
may occur in real-time during the course of an exercise, a set, or
a workout. For example, the system controller 1102 may determine
that the user is failing or struggling to perform a particular
exercise. In response, the system controller 1102 may download and
implement an alternative exercise routine or force profile that is
more appropriate for the user.
[0090] In addition to information regarding particular exercises,
the communications module 1108 may also enable downloading of user
profile data. Such data may include, among other things, physical
characteristics of the user, goals and targets of the user,
particular injuries or disabilities the user may be subject to, and
any other information that may determine the types, nature, and
extent of the exercises for the user. In certain cases, the
physical characteristics of the user may be used, at least in part,
to automatically configure the exercise machine 1160. For example,
in response to receiving user profile data indicating a user's
height, body proportions, or similar biometric data, the dynamic
force module 500 may automatically adjust the exercise machine 1160
for a proper fit with the user. Such auto configuration may
include, among other things, the system controller 1102
communicating and issuing commands to one or more actuators of the
exercise machine 1160, as previously discussed in the context of
the auxiliary I/O 1150 component of the dynamic force module
500.
[0091] The power system 1110 includes a battery management system
1112, a battery pack 1116, a low-voltage output (LV OUT) 1118, a
high voltage output (HV OUT) 1120, a charge/discharge system 1122,
and various power system-related sensors 1124. The battery
management system 1112 may generally function as a controller for
the power system 1110 and may include a battery I/O module 1114
adapted to facilitate communication between the battery management
system 1112 and the system controller 1102. Accordingly, during
operation, the battery management system 1112 may exchange data
with the system controller 1102 to facilitate control and operation
of the power system 1120.
[0092] The charge/discharge system 1122 includes components
configured to charge the battery pack 1116 and/or provide for safe
discharge of components of the dynamic force module 500, such as
during powering off of the dynamic force module 500. In certain
implementations, for example, the charge/discharge system 1122 may
be adapted to be connected to a standard 120 VAC or similar power
source and may include a trickle charger or similar device for
providing current to and charging the battery pack 1116 while also
providing power to the other components of the dynamic force module
500. The charge/discharge system 1122 may also include a discharge
resistor connected to ground to facilitate discharge of dynamic
force module components when components of the dynamic force module
500 or the dynamic force module 500 as a whole is turned off or
otherwise disabled. Alternatively, other actuators (such as the
motor or solenoids of the dynamic force module) may be used in
place of the discharge resistor to discharge components of the
dynamic force module. In certain implementations, the
charge/discharge system 112 may allow charging and discharging of
the battery pack such that the state of charge of the battery is
maintained at a precise value or percentage corresponding to the
expected charge or discharge associated with
[0093] The power system-related sensors 1124 may include various
sensors adapted to measure properties and provide feedback
regarding the power system 1110. Such sensors may include, without
limitation, one or more of voltage sensors, current sensors,
temperature sensors, and sensors specifically adapted to provide an
indication of the available power stored within the battery pack
1116. Such sensors may provide data to facilitate power management
by the dynamic force module 500. For example, in certain
implementations, operation of the dynamic force module 500 may be
dictated, at least in part, by power management concerns. For
example, in certain implementations, the dynamic force module 500
may include an onboard energy storage system (such as the battery
pack 1116). Such implementations may enable use of the dynamic
force module 500 without being directly connected to a wall socket
or other power source. Such implementations may also include a
system for power regeneration (such as a regenerative braking
system) adapted to produce power in response to exercises performed
by a user, thereby reducing power drawn by the dynamic force module
500 during operation. Accordingly, the system controller 1102 may
execute algorithms for predicting the energy consumed and/or
generated by each motion of the user and may control corresponding
charging and/or discharging of the energy storage system to an
appropriate level for the given activity. To the extent excess
energy is produced by the user, the power system 1110 may also be
adapted to return such excess power to the grid or a secondary
storage system, or to dissipate the excess energy as heat. The
excess energy may also be used to power other devices and systems,
including, without limitation, computing devices adapted to perform
cryptographic hashing or other functions for mining
cryptocurrencies. Such functionality allows the energy storage
system to be generally smaller and to be prepared for the energy
loads produced and/or demanded by user activity.
[0094] The motor system 1130 includes the motor 502, a motor
controller 1134, a motor braking system 1138, and various
motor-related sensors 1140. The motor controller 1134 may further
include an I/O module 1136 adapted to send and/or receive data from
the system controller 1102.
[0095] During operation, the motor controller 1134 receives command
signals from the system controller 1102 and controls operation of
the motor 502 accordingly. Feedback regarding the functioning of
the motor 502 may be provided by various sensors 1140
communicatively coupled to the motor controller 1134. Such sensors
may include, without limitation, one or more of encoders,
potentiometers, resolvers, temperature sensors, voltage and/or
current sensors, tachometers, Hall Effect sensors, torque sensors,
strain gauges, and any other sensor that may be used to monitor
characteristics of the motor 502 and its performance. As previously
discussed in more detail in the context of FIG. 5-8, the dynamic
force module 500 may also include one or more sensors, such as
inductive proximity sensors, adapted to measure the amount of cable
being spooled and unspooled from a drum 508 coupled to the motor
502. In such implementations, signals from such sensors may also be
transmitted to the system controller 1102 to facilitate control and
monitoring of the motor 502.
[0096] The motor system 1130 may also include a brake system 1138.
For example, the brake system 1138 may include the brake assembly
520 and any associated switches for activating the caliper 524 of
the brake assembly 520. Although illustrated in FIG. 11 as being
incorporated into the motor system 1130 and controlled through the
motor controller 1134, the brake system 1138 may also be separate
from the motor system 1130 and controlled directly by the system
controller 1102 such that the system controller 1102 may operate
the brake assembly in the event of a failure of the motor
controller 1134 or other aspects of the motor system 1130. Although
described herein as including mechanical brake components, the
brake system 1138 may be software driven and provide braking force
on the motor through, among other things, DC injection braking and
dynamic braking.
[0097] The motor system 1130 is also illustrated as including a
motor power system 1142 coupled to the broader dynamic force module
power system 1110. The motor power system 1142 is generally
configured to receive power from the dynamic force module power
system 1110 and to provide power to both the motor 502 and the
motor controller 1134. Accordingly, the motor power system 1142 may
include, among other things, one or more of converters, inverters,
transformers, filters and similar components for processing and
conditioning power received by the motor system 1130. To the extent
such components are actively controlled, such control may, in some
implementations, be performed by the motor controller 1134.
[0098] FIG. 12 is a state diagram 1200 illustrating operation of an
example dynamic force module in accordance with the present
disclosure.
[0099] The Home Sleep state 1202 generally corresponds to a "sleep"
or "off state" of the dynamic force module. While in the Home Sleep
state, the dynamic force module is in an inactivated or resting
state until turned on or otherwise directed to wake from the Home
Sleep state 1202. Such waking may be conducted in response to
various events including, without limitation, a user activating a
switch or otherwise issuing a command, a user entering into
proximity to the dynamic force module, a user gripping or otherwise
manipulating a component of the dynamic force module, or a user
taking any similar action.
[0100] Once activated/woken from the Home Sleep state 1202, the
dynamic force module enters the Find Home state 1204. While in the
Find Home state 1204, the dynamic force module performs an
auto-calibration function in which the dynamic force module
determines an absolute home or zero position. In certain
implementations, the dynamic force module or exercise machine in
which the dynamic force module is incorporated may include limit
switches or other positional sensors to assist in determining the
home position. For example, the dynamic force module may determine
its range extents by actuating in a first direction until a first
limit switch is activated and then actuating in an opposite
direction until a second limit switch is activated, thereby
determining the full range of motion for the dynamic force module.
The dynamic force module may then actuate into an intermediate
position between the two extents. Alternatively, the dynamic force
module may actuate in a first direction until the first limit
switch is triggered. The location at which the first limit switch
is triggered may then be used as an absolute location from which
all subsequent position calculations may be based. The inductive
proximity sensors 570A, 570B of FIG. 6 may provide similar
functionality as the first and second limit switches. After
executing the auto-calibration function associated with the Find
Home state 1204, the dynamic force module enters into the Home
state 1206 in which the dynamic force module waits in the home
position until the dynamic force module receives an input or signal
to transition into various exercise-related states.
[0101] The exercise-related states generally correspond to
providing dynamic resistance during a range of motion associated
with an exercise. As illustrated in FIG. 12, for example, the
exercise-related states may generally include each of an Extension
state 1210 and a Contraction state 1212. The Extension state 1210
and the Contraction state 1212 each generally correspond to halves
of an exercise repetition and include application of reactive force
by the actuator of the dynamic force module in an appropriate
direction. Accordingly, during normal operation, the dynamic force
module will generally move between the Extension state 1210 and the
Contraction state 1212 as a user performs a repetition. For
example, if the dynamic force module were used in conjunction with
an exercise machine for performing cable pulls, the dynamic force
module would first be in the Extension state 1210 during pulling or
extension of the cable from the dynamic force module and then,
after sufficient extension, would enter the Contraction state 1212
during retraction of the cable. The specific transitions between
the Extension state 1210 and the Contraction state 1212 may vary
based on the exercise being performed. Nevertheless, in each of the
Extension state 1210 and the Contraction state 1212 the actuator of
the dynamic force module provides reactive force according to a
force profile that dictates reactive force based on, among other
things, position, speed, counter force, or other factors. Example
force profiles are discussed in more detail below in the context of
FIGS. 13-19.
[0102] During an exercise, the dynamic force module may also enter
into a Hold Position state 1214. The Hold Position state 1214
generally includes the dynamic force module holding a force,
thereby facilitating isometric exercises in which a user holds a
position under load. The Hold Position state 1214 may also be used
as an emergency state should an error occur during operation. In
some implementations, the Hold Position state 1214 includes
applying a mechanical or other braking system to maintain the force
applied by the dynamic force module actuator.
[0103] The dynamic force module may also include a Spot state 1208
in which the dynamic force module is gently returned to the home
position. Transition between the Extension state 1210 or the
Contraction state 1212 and the Spot state 1208 may occur in
response to the dynamic force module detecting that a user is not
providing sufficient counter force to complete a repetition.
Accordingly, by gently returning the dynamic force module to the
home position or by lessening the applied reactive force, the
dynamic force module assists the user in completing the current
repetition and/or safely returning to the home position.
[0104] The dynamic force module may also include states
corresponding to operational limits of the dynamic force module.
For example, as shown in FIG. 12, the dynamic force module may
enter an End Approach state 1216 when at or near a limit of the
dynamic force module's range of motion. When in the End Approach
state 1216, the dynamic force module may increase the reactive
force applied to further movement so as to discourage the dynamic
force module from reaching its mechanical limit. In certain
implementations, should further extension occur, the dynamic force
module may transition into the Hold Position state 1214 in which a
brake is applied to prevent further extension.
[0105] Dynamic force modules in accordance with the present
disclosure may function based on what are referred to herein as
force profiles. Force profiles are relationships and/or algorithms
that dictate or otherwise control the dynamic force module actuator
in response to various parameters as exercises are being performed
by a user. In certain implementations, for example, a force profile
may dictate the force to be applied by the dynamic force module in
response to the position of the user.
[0106] In certain implementations, a force profile may be executed
by the dynamic force module that causes the dynamic force module to
apply a constant force over a full range of motion associated with
an exercise. FIG. 13, for example, is a first force profile 1300
that may be executed by a dynamic force module in accordance with
this disclosure. As illustrated by the force profile 1300, certain
force profiles in accordance with the present disclosure may
provide a relationship between the output force of the dynamic
force module 1302 and a position 1304. In certain implementations,
each of the force output and the position may be expressed as a
percentage of a nominal value. For example, the force output may be
indicated as a percentage of some maximum force output that may or
may not be equal to the maximum force output of the dynamic force
module. Similarly, the position may be expressed as a percentage of
a predetermined range of the dynamic force module. The range may be
equal to the full range of the dynamic force module (e.g., the full
range between full retraction and full extension of the dynamic
force module) or may correspond to a range of motion associated
with a particular exercise. With respect to the latter, the range
of motion may be determined, for example, by having the user
perform an exercise under a nominal load, determining the starting
and ending position of the user and the corresponding position of
the dynamic force module actuator, and setting the position range
based on the dynamic force module actuator positions. Although the
example of the subsequent figures is based on percentages relative
to various nominal values, force profiles may also be implemented
based on absolute parameter values. Referring back to FIG. 13, the
force profile 1300 presented is a relatively simple force profile
in which the force output by the dynamic force module is constant.
Specifically, the force output of the dynamic force module is
approximately 80% of a maximum force for the full range of
positions.
[0107] Other force profiles may distinguish between phases of an
exercise or movement in different directions and apply different
reactive forces to each phase or direction of movement. Such force
profiles may be used for, among other things, placing additional
emphasis on one of the concentric or eccentric portions of an
exercise. FIG. 14, for example, is a second force profile 1400 in
which different loading is applied during each of the concentric
and eccentric phases of an exercise. Such variation may be used,
for example, to implement "eccentric overloading" or similar
techniques which are generally unavailable using conventional
weights or weight-based exercise machines. In the specific force
profile 1400 of FIG. 14, for example, a first force is applied by
the dynamic force module during a concentric phase 1402 of an
exercise at approximately 50% of a predetermined maximum force.
However, during the eccentric phase, the force applied by the
dynamic force module is increased to approximately 90% of the
maximum force. Accordingly, an overload is applied during the
eccentric phase. In other implementations, a similar force profile
may be used to emphasize the concentric phase of an exercise over
the eccentric phase. For example, the force applied by the dynamic
force module may be 90% during the concentric phase but then
reduced to 50% during the eccentric phase.
[0108] In still other force profiles, random noise may be applied
to some nominal control parameter or value associated with the
load. Doing so may decrease the stability of the load provided by
the dynamic force module and, as a result, increase the challenge
of performing the exercise by the user. More specifically, under
such loading, the user must provide stabilization of the load in
addition to executing the primary movements of the exercise. Such a
force profile is illustrated in FIG. 15. FIG. 15 is a third force
profile 1500 including each of a concentric phase 1502 and an
eccentric phase 1504. The third force profile 1500 is intended to
illustrate a force profile that applies the concepts of speed or
force noise loading. During such loading, the speed of the
contraction/extension or the force required for
contraction/extension is not constant. Rather, some degree of noise
is superimposed over a predetermined speed or force, thereby
causing random variations over the range of motion associated with
a given exercise.
[0109] In force noise loading, for example, a noise signal is
superimposed over a force set point, thereby creating a scenario in
which a user must vary the counterforce he or she provides for
stable, consistent motion. Such unpredictable loading effectively
"shocks" muscle groups in a way that is difficult to achieve using
conventional exercise equipment. During speed noise loading, the
speed with which the dynamic force module allows contraction or
extension is varied about some nominal speed. For example, a cable
speed may be randomly cycled between positive and negative cable
speeds of varying degrees. By doing so, a user's muscles are
demanded to quickly switch between concentric, eccentric, and
isometric modes of operation.
[0110] Force profiles executed by the dynamic force module may also
attempt to simulate loads and physics of other exercise machines
and equipment. FIG. 16, for example, is a fourth force profile 1600
including each of an extension phase 1602 and a contraction phase
1604. The force profile 1600 illustrates an implementation of
ballistic loading or resistance similar to that which would be
experienced when using an ergometer/rowing machine. Specifically,
during the extension phase 1602, the force applied by the dynamic
force module begins at a predetermined maximum value and then
reduces exponentially towards a minimum force value at the end of
the exercise. During the contraction phase 1604, a constant reduced
force is applied to assist the user in returning back to the
starting position.
[0111] Force profiles and aspects of force profiles may also be
implemented for purposes of safety and injury reduction. For
example, force profiles executed by a dynamic force module may
attempt to identify if a user is unable to execute an exercise at a
current load and may reduce or otherwise modify the load to allow
the user to safely return to a starting position or otherwise
complete the exercise. FIG. 17 is a fifth force profile 1700
illustrating an example of "spotting" or assistance functionality.
In general, spotting functionality may be implemented by measuring
the force exerted by the user and reducing the force output of the
dynamic force module in response to the force exerted by the user
falling below a predetermined threshold. For example, in the
specific example force profile of FIG. 17, when the user exceeds
approximately 40% of an expected force, a predetermined force may
be applied by the dynamic force module. However, if the user force
falls below 40% and, in particular below 25%, the force output of
the dynamic force module is reduced to approximately 20% of the
predetermined force. Under this reduced load, the user may then
return to the starting position of the exercise. Alternatively, if
the user were to release the grip, handle, etc. of the exercise
machine in response to becoming fatigued, the reduced load allows
safe return of the dynamic force module to the starting position.
In either case, a speed limit may also be applied to retraction of
the dynamic force module to ensure safe, controlled return to the
starting position.
[0112] Although dynamic force modules are described herein as being
primarily standalone devices intended to replace conventional
resistance elements, dynamic force modules may also be used in
conjunction with conventional resistance elements and to supplement
or otherwise provide additional functionality for performing
exercises with such resistance elements. For example, a dynamic
force module may be implemented into exercise equipment including
conventional weights in order to provide the spotting functionality
described in FIG. 17. Alternatively, the dynamic force module may
be used to add reactive forces to a conventional resistance
element. For example, a dynamic force module may be coupled to a
weighted bar and may supplement the weight of the bar by adding
additional reactive forces in the direction of gravity, such as
during an eccentric phase of an exercise. A dynamic force module
may also be used to add instability to a conventional resistance
element. For example, a dynamic force module may be coupled to a
weighted bar in order to provide vibration or "noise" to the
weighted bar (similar to the example illustrated in FIG. 15) or the
dynamic force module may be coupled to the weighted bar to create a
load imbalance between sides of the weighted bar.
[0113] Previously discussed force profiles focused primarily on the
dynamic force module providing a force output based on the position
of a user and, in particular, the position of the user with respect
to a range of motion for an exercise. In other implementations,
however, the output of the dynamic force module may be based on
other measured parameters associated with an exercise performed by
the user including, among other things, the speed or acceleration
of the user during performance of the exercise. FIG. 18 is a sixth
force profile 1800 illustrating a force profile for implementing
speed control in which the force output by the dynamic force module
is based on the speed at which the user is moving through an
exercise. In the implementation illustrated in FIG. 18, for
example, the dynamic force module provides a constant force output
while extension or retraction of a cable coupled to the dynamic
force module is maintained between 40% and 120% of a predetermined
speed. If, however, extension or retraction exceeds 120%, the force
output of the dynamic force module is increased proportionately up
to double the level of the constant force output in order to
encourage the user to slow his or her movement. Similarly, if the
extension or retraction falls below 40%, the force output of the
dynamic force module may be proportionately decreased to encourage
the user to speed up his or her movement. In certain
implementations, additional feedback may be provided to the user in
the form of a haptic pulse or visual/audio feedback that provides
warnings or other indications if the user falls outside of the
ideal speed range.
[0114] As previously discussed in the context of the exercises
machines 200 and 400 of FIGS. 2 and 4, respectively, some
implementations of the present disclosure may include multiple
dynamic force modules. In such implementations, one force profile
may govern the operation of each of the dynamic force modules such
that the dynamic force modules are substantially synchronized
throughout an exercise. In other implementations, however, each
dynamic force module may execute a different force profile, thereby
causing imbalanced loading. FIG. 19 is a seventh force profile 1900
that illustrates such a case. Specifically, the force profile 1900
includes a first curve 1902 corresponding to a first dynamic force
module and a second curve 1904 corresponding to a second dynamic
force module. As illustrated in the force profile 1900, the force
applied by the first dynamic force module starts at a high level
and gradually decreases towards the end of the exercise while the
force applied by the second dynamic force module starts at a low
level and gradually increases a maximum at the end of the exercise.
So, for example, in an implementation in which the first dynamic
force module provides reactive force to a user's right arm while
the second dynamic force module provides reactive force to the
user's left arm, a dynamic imbalance may be created that shifts
loading between the user's arms over the course of an exercise.
[0115] Although the concept of force profiles and the specific
force profiles herein are described in the context of dynamic force
modules, such force profiles may be applied in other systems
including actuators for providing dynamic resistance. Moreover,
while dynamic force modules described herein are primarily
described as including motors and certain arrangements of sensors,
force profiles may be used in any variation of a dynamic force
module in accordance with this disclosure.
[0116] The force profiles illustrated in FIGS. 13-19 are intended
merely as illustrations of force profiles that may be implemented
in conjunction with dynamic force modules of the present
disclosure. In general, a force profile generally dictates the
force or speed at which the dynamic force module extends or
retracts based on some parameter corresponding to an exercise being
performed. Such parameters may include kinematics and dynamics
associated with various elements including, without limitation, the
user, a handle or similar accessory, a cable or link, or any other
measurable aspect of the dynamic force module itself, the exercise
machine to which the dynamic force module is coupled, the user, or
the environment within which the dynamic force module/exercise
machine is operated.
[0117] In certain implementations, the force profiles may
substantially stimulate other exercise machines. For example, a
dynamic force module may execute a force profile intended to mimic
the dynamics of a traditional cable machine including a weight
stack under normal gravity. Other force profiles may simulate any
of static, sliding, rolling, or rolling friction associated with
real-world objects or resistance mechanisms (e.g., pulleys, belts,
cables, or similar moving parts of conventional exercise machines).
The force profiles may also be based on other real-world models
intended to simulate fluid dynamics (such as the dynamics of water
when rowing), fans or magnetic resistance elements (such as
implemented in stationary bikes and ergometers), pneumatic or
hydraulic resistance elements, spring/damper systems, or any other
similar systems.
[0118] Although force profiles simulating conventional exercise
machines and conventional environments are possible, the force
profiles implemented by the dynamic force module are not necessary
limited to real world analogs. Rather, the underlying models and
physics on which a force profile is based may be modified based on
the particular needs and goals of a user.
[0119] In certain implementations, force profiles may reflect
slightly modified versions of terrestrial physics in order to
smooth the user's experience. For example, physical weight stacks
have inertia such that if an explosive/ballistic movement is
conducted using a physical weight stack, the weight stack will
continue in an upward motion even if the person performing the
exercise has stopped moving a handle, grip, etc. coupled to the
weight stack. In cable-based systems, such inertia causes slack in
the cable and a subsequent high-tension shock loading event when
the weight stack falls under the force of gravity. In contrast,
dynamic force modules according to the present disclosure may
modify the simulated properties of the cable and/or weight stack to
avoid such events. For example, in one implementation, the dynamic
force module may simulate an elastic cable during the period when
the shock loading event would occur. In another implementation, the
dynamic force module may simulate a zero-inertia weight stack such
that the slack and subsequent shock experienced when using actual
weight stacks are eliminated. In yet another implementation, the
dynamic force module may include control algorithms that limit or
otherwise control movement of the cable/drum such that the cable
does not go slack. In another example, a user may be tasked with
catching a simulated object, such as a simulated egg or medicine
ball. In the real world, catching an object generally requires the
person catching the object to receive the full mass of the object
at once. In contrast, the dynamic force module may create a
simulated scenario in which the weight of the caught object ramps
up from a small nominal value to a full simulated value over a
predetermined period of time.
[0120] In another example implementation, a force profile may be
executed such that the dynamics of the dynamic force module
correspond to non-terrestrial gravity. So, for example, the dynamic
force module may be used to simulate the gravity of the moon by
reducing the resistance to upward acceleration of a simulated load,
as experienced by a "floating" dynamic at the end of a vertical
movement. Similarly, such resistance may be increased to simulate
the gravity of another planet, such as Jupiter.
[0121] In yet another example, the physics governing a force
profile may reflect movement through a particular substance.
Referring to the ergometer/rowing machine example provided in FIG.
16, for example, the rate of which the force output of the dynamic
force module decays during the extension phase 1602 may be modified
to simulate rowing through different media. For example, one force
profile may decrease the rate of decay, thereby simulating a fluid
having high viscosity, such as honey or oil. Still other force
profiles may increase the rate of decay, thereby simulating fluids
having low viscosity, such as various types of alcohols. In still
other implementations, the force profile may reflect a
non-Newtonian fluid such that the force output by the dynamic force
module is inversely proportional to the force output or
acceleration applied by the user. Such force profiles may be used,
for example, as a method of speed control, similar to the force
profiled discussed in the context of FIG. 18.
[0122] Force profiles may also be progressive in that they vary
over the course of a single repetition, an exercise set, and/or a
workout. For example, a force profile may be dynamically adjusted
over the course of a workout to correspond to each of a warm-up
period (that begins with relatively low reactive force that is
gradually increased), a primary exercise period (at a relatively
high reactive force), and a cool down period (that begins at a
relatively high reactive force that is gradually decreased). Within
each of these periods, the dynamic force module could dynamically
adjust reactive forces based on feedback corresponding to the
user's performance. For example, if the user exhibits consistently
high speed and force, the workout may be too easy and the reactive
force may be increased. In contrast, if the user exhibits
inadequate force output, the workout may be too difficult and the
reactive force or other difficulty-related parameter may be
decreased. Accordingly, the user's level of effort and/or muscular
breakdown may be made to follow a separately defined trajectory. In
this way, the dynamic force module could ensure that a user reaches
particular thresholds for warming and/or muscular breakdown within
a predetermined time or number of sets. In certain implementations,
a user may be asked by the system to perform one or more warmup
exercises or otherwise perform a particular exercise at a
relatively low weight. During the course of the warmup, the system
may analyze the user's performance and select an appropriate force
profile to use during the main set or sets of the exercise based on
the user's performance.
[0123] In one implementation, the concept of progressive force
profiles may be used to execute "drop sets", which are commonly
practiced among advanced weightlifters. In a conventional drop set
workout, weight/resistance is reduced every few reps to keep a
weightlifter near the point of muscular breakdown. Accordingly, to
implement drop sets in the context of dynamic force modules, the
reactive force for a given force profile may be dynamically
adjusted downward every few reps as deemed appropriate by the
system. Notably, conventional drop sets require the weightlifter to
have access to a wide range of weights (which are generally only
available in discrete increments) and to quickly switch between
such weights. In contrast, the dynamic force module includes a
near-continuous force range and can make reactive force changes on
the fly. Moreover, the dynamic force module is able to provide a
wider range of force profiles, including those having varying
reactive forces between the eccentric and concentric phases of an
exercise.
[0124] FIGS. 20-29B illustrate various human feedback mechanisms
and user interfaces that may be implemented in conjunction with
dynamic force modules according to the present disclosure. In
general, the human feedback mechanisms are intended to provide
feedback to a user regarding the user's performance of a given
exercise. Feedback may take various forms including, without
limitation, one or more of audio, visual, and haptic feedback, each
of which may vary in intensity based on the degree to which the
user deviates from a benchmark or similar value.
[0125] Although other types of audio feedback are possible,
examples of audio feedback include, without limitation, a buzzer, a
beeping sound, one or more tones played in succession, and voice
feedback. In certain implementations, the audio feedback may be
varied in tone, intensity, or quality based on the degree of
feedback provided to the user. With respect to voice-based
feedback, the dynamic force module 500 may be adapted to play
various phrases regarding the degree of deviation by the user
and/or that provide specific instructions to the user. For example,
if a user is executing a particular movement too quickly, the
voice-based feedback may instruct a user to slow down.
[0126] Visual feedback may also take various forms. In some example
implementations, visual feedback may be provided in the form of one
or more lights/LEDs adapted to illuminate based on the user's
performance. For example, a system may include each of a green LED,
a yellow LED, and a red LED for indicating whether a user is
performing a particular exercise according to target parameters,
slightly outside target parameters, or well outside target
parameters, respectively. Visual feedback may also make use of a
screen or other display for presenting information to the user. A
screen may be used, for example, to provide one or more of
graphical and textual feedback to the user. In either case, such
feedback may include particular instructions to encourage the user
to perform an exercise within target parameters. Visual feedback
may also be provided in the form of a numerical score or similar
metric for measuring the user's performance with proper performance
of an exercise earning greater points than improper performance of
the exercise.
[0127] Haptic feedback may also be provided to the user. For
example, the handles, grips, or other elements of the dynamic force
module or exercise machine may include mechanisms to cause
vibration or pulsation. Haptic feedback may also be provided by a
separate device, such as a smartphone, smartwatch, fitness tracker,
or similar item kept on the user with haptic feedback
functionality.
[0128] In general, the feedback mechanisms discussed herein are
communicatively coupled to one or more dynamic force modules such
that the feedback mechanisms may be used within a control loop for
controlling the dynamic force modules and providing feedback to the
user. For example, the user interfaces discussed herein may be
presented on a display of a computing device that is wirelessly
coupled to a dynamic force module of an exercise machine.
Similarly, audio and haptic feedback components may also be coupled
to one or more dynamic force modules such that the dynamic force
module may provide feedback to the user.
[0129] FIG. 20 is a first example of a display 2000 for providing
feedback to a user using a dynamic force module in accordance with
the present disclosure. The display 2000 may corresponding to a
display integrated into an exercise machine including a dynamic
force module or may correspond to a computing device
communicatively coupled to the dynamic force module, such as a
smartphone, laptop, tablet, or similar device.
[0130] The display 2000 illustrates a relatively general
implementation of a human feedback mechanism including an animated
graph 2002. As shown, the animated graph 2002 includes a y-axis
2004 for indicating a measured parameter and an x-axis 2006
representing time. The measured parameter can be any of a number of
parameters including, without limitation, one or more of user
force, dynamic force module force, user position, user speed, or
any other measurable parameter of the user, dynamic force module,
or exercise machine including the dynamic force module. Although
indicated as time, the x-axis 2006 may alternatively correspond to
other parameters including, without limitation, the user's position
over a range of motion, the user's relative progress through an
exercise repetition or set of repetitions, or the user's progress
through a longer workout.
[0131] In the example display 2000, a boundary collection 2008 is
superimposed on the animated graph 2002 to provide a visual
indication of acceptable ranges of the parameter. The example
boundary collection 2008 of FIG. 20 includes each of a maximum
boundary 2010, a high boundary 2012, a low boundary 2014, and a
minimum boundary 2016. During operation, an animated marker 2018
tracks the parameter corresponding to the y-axis 2004 and moves
across the display. In certain implementations, the screen may
refresh when the animated marker 2018 reaches the end of the
display in order to present the subsequent segment of the boundary
collection 2008. Alternatively, instead of the animated marker 2018
traversing across the display 2000, the boundary collection 2008
may instead scroll across the display 2000.
[0132] The boundary collection 2008 may be used to define various
ranges for the measured parameter. For example, values of the
measured parameter between the high boundary 2012 and the low
boundary 2014 may be considered acceptable. Accordingly, when the
marker 2018 is within such a range, no additional feedback or even
positive feedback may be provided. Such positive feedback may
include, without limitation, encouraging text, encouraging voice
messages, positive points (or a similar scoring metric), bell
dings, illumination of green lights/LEDs, and the like.
[0133] The ranges between the high boundary 2012 and the maximum
boundary 2010 and between the low boundary 2014 and the minimum
boundary 2016 may correspond to a first level of corrective
feedback. If the marker 2014 enters these ranges, various forms of
feedback may be provided. For example, in certain implementations,
a tone or haptic feedback may be provided at a first intensity
and/or frequency, a yellow/amber light or LED may be illuminated,
or audio or textual warning messages may be provided to the user.
Messages provided to the user may also include specific
instructions (e.g., "Slow down", "Try harder", etc.) directing the
user back into the preferred range of the measured parameter. A
subsequent level of feedback may be provided if the user exceeds
the maximum boundary 2010 or falls below the minimum boundary 2016.
Moreover, in certain implementations, the dynamic force module may
be configured to stop or modify a given exercise or workout if the
user falls outside of the maximum or minimum boundaries for a
predetermined amount of time.
[0134] As indicated in FIG. 20, the display 2000 may include a
third dimension in addition to the parameters associated with each
of the x- and y-axes. For example, visual indicators may be applied
in the animated graph 2002 to convey information corresponding to
another parameter associated with an exercise. So, for example, in
one implementation, the y-axis 2004 may correspond to a user's
speed, the x-axis 2006 may correspond to time, and color may be
used to indicate reactive force, with darker, more intense colors
corresponding to higher reactive force. Referring to FIG. 20, for
example, the animated graph 2002 includes two phases 2018, 2020 in
which reactive force is temporarily ramped up, as indicated by
gradients applied in each of the two phases 2018, 2020. In other
implementations other visual indicators may be used to illustrate
the third parameter. For example, instead of a gradient, a color
change may be implemented in sections of the animated graph 2002.
In other implementations, the animated graph 2002 may include
vertical lines or other symbols, the spacing between which serves
as an indicator of the value of the third parameter.
[0135] FIG. 21 illustrates an example interactive animation 2100
that may be displayed to a user to provide feedback. Specifically,
FIG. 21 illustrates a throwing simulation in which a parameter
associated with an exercise performed by a user (e.g., speed or
force) is used as an input for an animation in which an object 2102
is thrown by an arm 2104 at a target 2106. In such an
implementation, the object 2102 may be made to hit the center or
bullseye of the target 2106 in response to the user performing an
exercise such that the measured parameter is within a target range.
In response to the user falling below or exceeding the target
range, the object 2102 may be under- or over-thrown by the arm
2104, respectively. In such cases, corrective feedback may be
provided to the user.
[0136] In certain implementations, the dynamic force module may
provide a reactive force that reflects the task/activity/animation
presented to the user. For example, referring back to the example
of FIG. 21, the dynamic force module may simulated actually
throwing of the object 2102 and may adopt a force profile that
provides reactive force reflecting the real-world physics of doing
so. In certain implementations, the object 2102 may be varied and
corresponding changes may be made to the force profile implemented
by the dynamic force module. For example, in a subsequent
repetition, the object 2102 may be increased in size, implying that
the weight of the object being thrown has increased. In conjunction
with this visual change, the dynamic force module may similarly
modify its existing force profile or adopt a new force profile
corresponding to the increased size of the object.
[0137] Whereas the throwing example of FIG. 21 corresponds
primarily to a concentric motion, similar animations may be used
for eccentric motions as well. For example, FIG. 22 illustrates a
second interactive animation 2200 in which an object 2202 is
instead caught by an arm 2204 which is displayed in response to
user movement and reactive force. In contrast to the throwing
motion of FIG. 21, which emphasizes concentric motion required to
accelerate an object at rest, the catching motion of FIG. 22 is
intended to simulate decelerating an object, which emphasizes
eccentric motion. In certain implementations, for example, the
object 2202 may be a virtual egg or a similar breakable object such
that if the user provides insufficient or excessive counter-force
when catching the object, the object may be shown to crack or break
in the animation 2200. However, if the user decelerates the object
appropriately, the object will remain intact, indicating a proper
repetition. Similar to the throwing example, the size of the object
2202 may be varied between repetitions or sets to indicate change
in the reactive force provided by the dynamic force module.
[0138] FIG. 23 illustrates an indicator 2300 that may be
implemented on its own or in conjunction with the various other
interactive animations and feedback mechanisms discussed herein. In
particular, the indicator 2300 includes a set of bars that may be
used to provide feedback to the user regarding a particular
exercise or task. So, if the user performs an exercise properly, a
central bar 2302 may be illuminated. To the extent the user under-
or over-performs the exercise, corresponding bars below 2304 or
above 2306 the central bar 2302 may be illuminated accordingly. For
example, in certain implementations the indicator 2300 may be
displayed adjacent the throwing interactive animation 2100 of FIG.
21 to provide the user with additional feedback regarding whether
and to what extent the user's actions led to the object 2102 being
under- or over-thrown.
[0139] FIGS. 24A-24B, in combination, illustrate another
interactive animation. Specifically, FIG. 24A illustrates an
eccentric motion 2400A in which an object 2402 is received by an
arm 2404 which must be slowed by the application of an appropriate
counterforce by the user. FIG. 24B illustrates a subsequent
concentric motion 2400B in which the object 2402 is thrown or
otherwise released from the arm 2404 in response to the user
applying a corresponding force. Again, successful performance of
the exercise may be indicated by the object 2402 remaining intact
during the eccentric phase and by being launched a certain distance
during the concentric phase.
[0140] Interactive animations may correspond to the execution of
multiple force profiles over the course of the animation. For
example, with reference to the animation of FIGS. 24A-24B, a
distinct force profile may be executed by the dynamic force profile
for each of the catching/receiving phase illustrated by FIG. 24A,
the passing phase illustrated by FIG. 24B, and the transitionary
period between the catching/receiving phase and the passing phase.
Moreover, an interactive animation may correspond to a multi-user
or multi-player experience in which multiple users perform an
exercise or activity represented by the animation. For example, two
or more users operating exercise equipment equipped with respective
dynamic force modules may play a simulated game of catch with each
other or otherwise pass a simulated object between themselves. In
such implementations, the dynamic force modules may communicate
with each other or otherwise coordinate execution of their
respective force profiles in accordance with the multi-user
interactive animation. Such multi-user exercises may also be
conducted using the same exercise machine/dynamic force module.
[0141] FIGS. 25A-25B illustrate yet another interactive animation
2500 intended to guide and provide feedback to a user. The
interactive animation 2500 is a simple one-dimensional
visualization in which a primary marker 2502 corresponding to a
measured parameter moves along an axis 2504 between two extend
markers 2506, 2508. FIG. 25A illustrates the case in which the
measured parameter is within an acceptable range, indicating that
the user is properly performing a given exercise. In contrast, FIG.
25B illustrates the case in which the measured parameter falls
outside of an acceptable range as indicated by interference between
the primary marker 2502 and the marker 2504. In the case
illustrated in FIG. 25B additional feedback may be provided to the
user in the form of, among other things, haptic pulses, audio
indicators, or a point/scoring penalty.
[0142] FIGS. 26A-26B illustrate another interactive animation 2600
intended to guide and provide feedback to a user. The interactive
animation 2600 includes a path 2602 along which an indicator 2604
travels. As previously noted, the interactive animation 2500 of
FIGS. 25A-25B was a one-dimensional visualization in which the
primary marker 2502 moved linearly along a single axis. In
contrast, the interactive animation 2600 adds a second dimension as
indicated by the curved path 2602. More specifically, displacement
along the path 2602 may be affected by each of two measured
parameters with one measured parameter resulting in horizontal
movement of the indicator 2602 and a second measured parameter
resulting in vertical movement of the indicator 2604. The path 2602
may represent a range of absolute or relative values of the
measured parameter. The interactive animation 2600 further includes
a circle 2606 or similar shape representing optimal or target
values for the measured parameters. Accordingly, as the user
performs an exercise, the indicator 2604 moves with the goal of the
user being to position the indicator 2604 within the circle 2606,
as shown in FIG. 26A. If the indicator 2604 falls outside the
circle 2606, various forms of feedback may be provided to the user.
For example, as shown in FIG. 26B, the color of the circle 2606 may
change. In other implementations, haptic, audio, or other feedback
may also be provided to the user.
[0143] FIG. 27 illustrates an interactive animation 2700 that
includes a series of concentric rings 2702 to guide and provide
feedback to a user. In certain implementations, a display may
include multiple similar circles, each of which may correspond to a
separate phase (e.g., concentric, eccentric, isometric) of an
exercise. In certain implementations, the animation 2700 may
include an outer ring 2704 that constricts or shrinks towards the
center of the concentric rings 2702, as indicated by arrow 2706.
The time taken for the ring 2704 to fully shrink may, for example,
correspond to the time required or recommended to perform an
exercise or portion of an exercise. The other stationary rings may
be used to indicate other aspects of an exercise. For example,
variations in color, pattern, texture, or density of the rings may
be used to indicate, among other things, desired force to be
applied by the user at a given point in time. In certain
implementations, yet another dimension may be indicated by the
completeness/thickness of each concentric ring. So, in the example
of FIG. 27, movement/shrinkage of the outer ring 2704 may provide
an indication of speed, the color of the remaining concentric rings
may indicate relative progress through an exercise, and the
relative completeness of each concentric ring may indicate the
relative reactive force applied during different stages of the
exercise.
[0144] FIG. 28 illustrates another example interactive animation
2800 in which a ball 2802 is balanced on a beam 2804 that moves in
response to a measured parameter. Accordingly, the slope of the
beam 2804 generally represents a deviation of the measured
parameter from a nominal value or range. For example, in certain
implementations the slope/orientation of the beam 2804 may
correspond to the position of an actual beam or actual bar held by
the user such that the user is encouraged to maintain the actual
beam/bar in a level orientation. In another example, the
orientation of the beam 2804 may be based on a force applied by the
user such that the user is required to apply and maintain force
within a particular range to keep the ball 2804 on the beam
2802.
[0145] FIGS. 29A and 29B illustrate a last example interactive
animation 2900. The interactive animation 2900 illustrates another
two-dimensional/two-axis implementation in which each axis
corresponds to a different measureable parameter associated with an
exercise, set of exercises, or workout. As shown, the interactive
animation 2900 includes a user marker 2902 that moves through a
two-dimensional space populated by non-user markers, such as
non-user marker 2904. During use, actions of the user cause the
user marker 2902 to move through the space 2904. For example,
movement of the user marker 2902 in a horizontal direction may be
based on the position of the user while movement of the user marker
2902 in the vertical direction may be based on force applied by the
user. In certain implementations, the goal of the user may be to
navigate the user marker 2902 to avoid the non-user markers 2904,
the user gaining points or receiving other positive feedback based
on, among other things, the number of non-user markers 2904 avoided
or the amount of time the user avoids contacting the non-user
markers 2904. In other implementations, the goal of the user may be
to contact each of the non-user markers 2904, collecting points or
receiving similar positive feedback for contacted non-user marker
2904.
[0146] The foregoing examples of interactive animations are merely
intended to provide examples of possible animations that may be
used to provide feedback to and guide a user through an exercise,
set of exercises, or workout. The foregoing examples are also
merely intended to illustrate how certain force dynamics may be
represented and are not intended to be limiting with respect to the
visual elements used in interactive animations. Rather, visual
elements of the interactive animations may be presented in various
ways and may permit the application of skins or similar visual
templates. Such skins may be used, for example, to make the
interactive animations more engaging and/or to incorporate branded
or advertising content into the interactive animations. Moreover,
although described above as primarily including a visual element
presented to the user via a display, the feedback principles
described may also be applied to "blind" applications in which
visual feedback is not provided. For example, the boundaries
discussed in the context of the example of FIG. 21 may be
implemented entirely within internal logic of the dynamic force
module and may not be visually presented to the user. In such
cases, other forms of feedback, such as haptic or audio feedback,
may be the primary feedback mechanism for guiding the user. In the
haptic case, for example, the intensity, frequency, or pattern of
haptic pulses may be varied based on the user's deviation from an
optimal value or range. Volume, pitch, frequency, or other variable
aspects of an audio signal may similarly be used to indicate
deviation when audio feedback is implemented.
[0147] FIG. 30 is a schematic illustration of an example network
environment 3000 intended to illustrate various features of dynamic
force modules according to the present disclosure. In general,
dynamic force modules are capable of communicatively coupling to
other computing devices either directly or over a network,
including over the Internet. Such coupling may be used to
facilitate, among other things, configuration of the dynamic force
modules, control of the dynamic force modules, tracking and
analysis of user performance, and other interaction between the
user and dynamic force modules.
[0148] The example network environment 3000 includes each of a gym
facility 3020 and a home 3030 communicatively coupled to a
cloud-based computing platform 3050 over a network 3052, such as
the Internet. Each of the gym facility 3020 may include one or more
exercise machines (EM 1-EM N) 3021A-3021N, each of which may in
turn include one or more dynamic force modules. For example, the
gym facility 3020 is illustrated in FIG. 30 as including dynamic
force modules 3022A-3022N (DFM 1-DFM N), each of which are
connected to a gym network 3024. Similarly, the home 3030 includes
an exercise machine (EM H) 3026 including a dynamic force module
(DFM H) 3027 coupled to a home network 3028. Example network
topologies that may correspond to the gym network 3024 and the home
network 3028 are described in more detail in FIGS. 31-34.
[0149] Each dynamic force module within the network environment
3000 may also be communicatively coupled to a computing device,
such as a laptop, smartphone, smartwatch, exercise tracker, tablet,
or similar device. For example the exercise machine 3022B is
illustrated as being in direct communication with a smartphone
3032. Similarly, the home exercise machine 3026 is shown as being
communicatively coupled to each of a tablet 3033 and a smartphone
3035 over the home network 3028. During use of the exercise
machines, the respective computing devices may be used to display
settings, progress, statistics, and other information to the user
while also receiving commands from the user in order to control the
exercise machine and/or any corresponding dynamic force
modules.
[0150] Functionality of dynamic force modules and user features may
be supported through a cloud-based computing platform 3050
accessible via a network 3052, such as the Internet. As illustrated
in FIG. 30, the cloud-based computing platform 3050 may include a
server 3054 or one or more similar computing devices
communicatively coupled with various data sources, the server 3054
adapted to write data to the data sources and to retrieve data from
the data sources in response to requests received by the server
3054.
[0151] The cloud-based computing platform 3050 may further include
functionality for logging in and authenticating users. In certain
implementations, such authentication may occur as users move
between exercise stations in a particular facility such with
minimal overhead to the user. For example, as a user moves between
the exercise machines 3021A-3021N of the gym facility, a smartphone
or similar computing device of the user may connect with the
respective dynamic force modules 3022A-3022N and be authenticated
by the cloud-based computing platform 3050. Such dynamic
authentication may leverage a biometric sensing modality (such as,
without limitation, finger print sensing, facial recognition, force
signature, or voice recognition), near field radio beacon,
user-linked avatar selected on a display of the computing device or
the respective exercise machine, automatic connection and
authentication using a short range communication protocol, or an
imaging sensor or similar vision system.
[0152] In one implementation, the cloud-based computing platform
3050 may include a user information data source 3056 that stores
user data. Such user data may include, among other things, personal
information about the user, personal preferences of the user,
historical exercise data regarding the user, and similar
information. Personal information may include, for example, the
user's height, weight, and full or partial medical history
including various health-related metrics such as, without
limitation, the user's historical heart rate, VO2 max, body fat
percentage, hormone levels, blood pressure, and similar biometric
data. Historical exercise data may include, among other things,
previous exercises performed by the user, reactive force or similar
parameters used when previously performing exercises, and the
quality or effectiveness with which the user performed previous
exercises (as measured, for example, by a score, points, or similar
system).
[0153] In certain implementations, connection and authentication of
a user with a particular dynamic force module may also initiate an
auto-configuration of the exercise equipment and dynamic force
module based on data stored in the user information data source
3056. Such auto configuration may include, without limitation,
downloading of any force profiles or settings information to be
implemented by the dynamic force profile and automatic
reconfiguration of the exercise machine to account for the user's
particular physical characteristics or the exercise to be performed
by the user. For example, as discussed in the context of FIG. 1, an
exercise machine in which a dynamic force module is incorporated
may include one or more secondary actuators for adjusting the
position and orientation of components of the exercise machine to
account for variations in stature and exercises. Accordingly, in
certain implementations, the process of connecting and
authenticating a user may further include activating such secondary
actuators to automatically adjust the exercise machine to
accommodate the particular user. The exercise machine may also
include passive components that may be manipulated by the user to
mechanically reconfigure the exercise machine. In such cases,
connecting and authenticating a user may further include presenting
the user with a list of adjustments or settings to be applied to
the exercise machine to account for the user's physical
characteristics and/or the exercise to be performed.
[0154] The cloud-based computing platform 3050 may also include an
exercise data source 3058 that includes a library of exercises and
associated data for executing such exercises using an exercise
machine including a dynamic force module. More specifically, each
exercise included in the exercise data source 3058 may include,
among other things, a force profile for controlling one or more
dynamic force modules during performance of the exercise, ranges or
values for parameters that may be measured during the exercise
(speed, position, force, etc.), a mapping describing how such
parameters are to be modified for various user types, and similar
data related to controlling the dynamic force module and providing
user feedback during the exercise. During or after completion of an
exercise routine or workout, updated exercise data for a user may
be uploaded to the cloud-based computing platform 3050 for storage
in the exercise data source 3058.
[0155] The cloud-based computing platform 3050 may further include
a content data source 3060 that includes multimedia content such
as, without limitation, videos, images, audio, text, interactive
animations/games, and similar content. Such content may be used to,
among other things, provide instruction to a user, to provide
feedback to a user, to provide motivation to a user, or to
otherwise supplement the user's experience.
[0156] In certain implementations, the cloud-based computing
platform 3050 may be accessible through a web portal 3062 or
through a corresponding application. In the example cloud-based
computing platform 3050, the web portal 3062 includes various
modules such as a data insights module 3064, a workout builder
module 3066, an AI/feedback generator module 3068, a content
management module 3070, and a personal trainer module 3072.
Notably, the web portal 3062 or similar application may be
accessible through the Internet 3002 or similar network 3002 using
a computing device that is not communicatively coupled to a dynamic
force module, such as the computing devices 3074-3078 shown in FIG.
30.
[0157] The data insights module 3064 generally allows a user to
access and analyze their personal and historical exercise data.
Such analysis may include, for example, comparing personal and
performance data to one or more benchmarks, comparing including but
not limited to, past performances by the users, predefined fitness
goals established for the user, and data and records of other
users. The user data insight tool 3064 may provide the user's data
in a variety of tabular and graphical formats to facilitate
analysis by the user.
[0158] The workout builder module 3066 enables generation of
workout routines. For example, in certain implementations, a user
may access the workout builder 3066 and be presented with a list of
exercises selectable to generate a workout routine. As part of the
workout builder 3066, the user may specify various parameters and
factors including, without limitation, a resistance/weight/reactive
force, a number of repetitions, an exercise duration, a sequence of
exercise, a number of sets, a speed profile for repetitions, a
force profile for repetitions, rest durations, and other factors
and parameters, as applicable. By selecting one or more exercises
and their corresponding parameters and order, the user may generate
a custom workout routine that may subsequently be used in
conjunction with a dynamic force module. In certain
implementations, routines generated by the workout builder tool
3066 may be stored in the cloud-based computing platform 3050 or a
data source communicatively coupled thereto and made accessible to
users of the system 3000. The workout routines may be made publicly
available or otherwise shared with other users of the system 3000.
For example, individuals, trainers, actors, fitness celebrities, or
other users may generate pre-defined workout routines for
themselves or others to follow.
[0159] In certain implementations, workout routines may be
accompanied by instructional information for equipment required for
the workout routine. This content may also be created by, or with
the assistance of an artificial intelligence or other automated
generation algorithm. Moreover, the workout routine may further
include details regarding specific gym facilities. For example,
while at a gym facility, a workout routine may guide a user along a
path or otherwise to each machine included in the workout routine.
Such guidance may be provided by one or more of visual or other
cues. For example, a map may be displayed on a computing device of
the user including a map of the gym facility in which the user is
located and corresponding directions between exercise machines. In
another example, the dynamic force modules may include lights,
LEDs, or similar display elements that may display particular
colors or color sequences based on the workout routine such that
the user can readily identify which exercise machines he or she is
to use.
[0160] The AI/feedback generator module 3068 may include a
machine-learning or similar system adapted to provide feedback and
recommendations to a user based on, among other things, the user's
personal information and exercise history. For example, the
AI/feedback generator module 3068 may analyze the user's personal
information and exercise history to identify particular areas of
weakness or areas of concern in order to recommend particular
exercises or workout routines to the user. The AI/feedback
generator may also provide recommendations and/or recommended
workout schedules to the user based on goals or desired results
identified by the user or a doctor, trainer, or similar
professional working with the user. In certain implementations, the
AI/feedback generator module 3068 may also be used to recommend
exercises and workouts to improve client retention for a particular
gym facility. For example, the AI/feedback generator module 3068
may identify exercises based on historical user data that are
highly correlated with regular and consistent gym attendance and
user motivation. The AI/feedback generator module 3068 may then
provide recommendations to a user aimed to encourage high
participation by the user and high retention for the gym
facility.
[0161] A content management module 3070 may also be included for
managing and distributing content to users of the system. Such
content may include, but is not limited to, audio, video, images,
text, instructional information, and interactive modules. The
content management module 3070 may enable a user of the system or a
facility manager to upload, delete, edit, or otherwise manage
content. The content management module 3070 may also facilitate
distribution of content. In certain implementations, the content
management system may also interact with dynamic force modules of
the system 3000 to manage content locally stored on the dynamic
force modules. For example, in some implementations at least some
of the content maintained by cloud-based computing platform 3050
may be cached or otherwise stored locally to facilitate ease and
speed of access. In such implementations, the content management
module 3070 may manage, among other things, distribution of new
content, updates and modifications to previously distributed
content, and removal of expired content.
[0162] The personal trainer module 3070 generally corresponds to a
tool that may be available to a personal trainer for monitoring,
tracking, and managing information and workouts for clients of the
personal trainer. For example, through the personal trainer module
3070, a personal trainer may be able to select exercises and
generate workouts for clients, to track progress and participation
of clients, and to communicate with clients. The personal trainer
module 3070 may also enable a personal trainer to generate or
otherwise upload content, such as instructional or motivational
content, for distribution to clients.
[0163] In certain implementations, the cloud-based computing
platform 3050 may be integrated or otherwise in communication with
a booking and reservation system associated with one or more gym
facilities. In such implementations, the cloud-based computing
platform 3050 may also facilitate a user booking or reserving an
exercise machine. The cloud-based computing platform 3050 may also
be accessible to gym operators to review such booking and
reservation information and to track utilization of equipment.
[0164] As previously discussed, dynamic force modules in accordance
with the present disclosure may be connected to a network such as,
without limitation, the Internet, and may be configured to exchange
data with one or more remote computing systems over the network.
FIGS. 31-35 illustrate various network topologies to facilitate
such communication. The various topologies illustrated in FIGS.
31-35 are intended only as examples for illustrating concepts
regarding network topologies. Other network topologies including
one or more elements of the following examples as well as other
network topologies not specifically discussed herein may also be
used in conjunction with the dynamic force modules discussed.
[0165] In each of the following example network topologies, one of
a dynamic force module or an exercise machine corresponding to a
dynamic force module is referred to as being communicatively
coupled to other devices, which may include other exercise
machines/dynamic force modules and/or computing devices. Such
communicative coupling may be facilitated by a communication module
of the dynamic force module or a communication module of the
exercise machine separate from but in communication with that of
the dynamic force module. Accordingly, to the extent the following
examples refer to communications including dynamic force modules,
such communication may be the result of the dynamic module being
communicatively coupled through the exercise machine. Moreover, the
term communicative coupling, as used herein, is intended to cover
both wired and wireless connections between devices.
[0166] Referring now to FIG. 31, a first network topology 3100 is
illustrated. The network topology 3100 includes multiple exercise
machines 3102A-3102N, each of which includes a respective dynamic
force module 3104A-3104N. As illustrated in FIG. 31, each of the
exercise machines 3102A-3102N and their respective dynamic force
modules 3104A-3104N are communicatively coupled on a one-to-one
basis with a cloud-based computing system 3106.
[0167] As shown in FIG. 31, the exercise machines 3102A-3102N may
also be independent (as is the case with exercise machine 3102A) or
may be coupled one or more other exercise machines. For example the
exercise machine 3102B is communicatively coupled with the exercise
machine 3102C and each of the exercise machines 3102B, 3102C are
communicatively coupled to the cloud-based computing system 3106.
Similarly, the exercise machine 3102E is communicatively coupled to
each of the exercise machines 3102D and 3102F and each of the
exercise machines 3102D-3102F are each communicatively coupled to
the cloud-based computing system 3106. Accordingly, in certain
implementations, exercise machines may be configured to not only
share data and information with the cloud-based computing system
3106, but also among each other.
[0168] Referring next to FIG. 32, a second network topology 3200 is
illustrated. The network topology 3200 includes multiple exercise
machines 3202A-3202N, each of which includes a respective dynamic
force module 3204A-3204N. In contrast to the network topology 3100
of FIG. 31, the network topology 3200 illustrates a daisy chain
arrangement. In such an arrangement, one exercise machine 3204A is
communicatively coupled to a cloud-based computing system 3206
while each of the remaining exercise machines 3204A-3204N are
arranged in a chain arrangement with each of the exercise machines
3204B-3204N communicatively coupled to two neighboring
machines.
[0169] FIG. 33 illustrates a third network topology 3300. The third
network topology 3300 includes an exercise machine 3302 with a
corresponding dynamic force module 3304, which are communicatively
coupled to a cloud-based computing system 3306. The network
topology 3300 further includes a user device 3308, such as a smart
phone, laptop, tablet, or similar computing device. As illustrated,
the user device 3308 may be communicatively coupled with each of
the exercise machine 3302 and the cloud-based computing system
3306. In such an implementation, the user device 3308 may be used
to interact with either the exercise machine 3302 or the
cloud-based computing system 3306. For example, during an exercise
session, the user device 1206 may dynamically display and allow a
user to modify settings of the exercise machine 3302. The user
device 3306 may also allow a user to interact with the cloud-based
computing system 3306 in order to, among other things, upload user
information, review progress and workout history, download exercise
routines, and perform other similar functions.
[0170] FIG. 34 illustrates a fourth network topology 3400. The
network topology 3400 includes multiple exercise machines
3402A-3402N, each of which includes a respective dynamic force
module 3404A-3404N. Each of the exercise machines 3402A-3402N and
their respective dynamic force modules 3404A-3404N are
communicatively coupled to a facility hub 3408 which is in turn
communicatively coupled to a cloud-based computing system 3406. In
such an arrangement, the facility hub 3408 may facilitate
communication between the exercise machines 3402A-3402N and may
perform various functions associated with a particular
facility.
[0171] FIG. 35 illustrates a system 3500 that may be implemented in
conjunction with dynamic force modules according to the present
disclosure. As illustrated, the network environment includes
multiple gym or similar facilities 3502A-3502N communicatively
coupled by respective facility hubs 3504A-3504N to a cloud-based
computing system 3506. Each of the gym facilities may include one
or more exercise machines, each of which includes a dynamic force
module in accordance with the present disclosure.
[0172] As illustrated, the cloud-based computing system 3506 may
provide networked access to a wealth of tools and features to
enhance a user's fitness experience. Such features may be
implemented as modules or similar software components executed by
one or more computing systems in communication with the cloud-based
computing system 3506 and in communication with each of the
facilities 3502A-3502N. In certain implementations, the cloud-based
computing system 3506 and its corresponding features and tools may
also be accessed by a user computing device such as, without
limitation, a smartphone, a laptop, a tablet, or other
computer.
[0173] Dynamic force modules of systems disclosed herein may also
be used in conjunction with or be communicatively coupleable to
other "smart" network-connected fitness equipment beyond other
dynamic force module equipped machines. Examples of such equipment
may include sensor equipped sit-up mats, pullup bars, hang boards,
free weights, resistance bands, abdominal rollers, bosu balls,
treadmills, elliptical machines, computer vision based exercise
monitoring systems, or other similar systems.
[0174] Referring to FIG. 35, a schematic illustration of an example
computing system 3500 having one or more computing units that may
implement various systems, processes, and methods discussed herein
is provided. For example, the example computing system 3500 may
correspond to, among other things, one or more of a dynamic force
module, a user computing, or any similar computing device included
in a system incorporating dynamic force modules, such as the system
3000 of FIG. 30. It will be appreciated that specific
implementations of these devices may be of differing possible
specific computing architectures not all of which are specifically
discussed herein but will be understood by those of ordinary skill
in the art.
[0175] The computer system 3500 may be a computing system capable
of executing a computer program product to execute a computer
process. Data and program files may be input to computer system
3500, which reads the files and executes the programs therein. Some
of the elements of the computer system 3500 are shown in FIG. 35,
including one or more hardware processors 3502, one or more data
storage devices 3504, one or more memory devices 3508, and/or one
or more ports 3508-3512. Additionally, other elements that will be
recognized by those skilled in the art may be included in the
computing system 3500 but are not explicitly depicted in FIG. 35 or
discussed further herein. Various elements of the computer system
3500 may communicate with one another by way of one or more
communication buses, point-to-point communication paths, or other
communication means not explicitly depicted in FIG. 35.
[0176] The processor 3502 may include, for example, a central
processing unit (CPU), a microprocessor, a microcontroller, a
digital signal processor (DSP), and/or one or more internal levels
of cache. There may be one or more processors 3502, such that the
processor 3502 comprises a single central-processing unit, or a
plurality of processing units capable of executing instructions and
performing operations in parallel with each other, commonly
referred to as a parallel processing environment.
[0177] The computer system 3500 may be a conventional computer, a
distributed computer, or any other type of computer, such as one or
more external computers made available via a cloud computing
architecture. The presently described technology is optionally
implemented in software stored on data storage device(s) 3504,
stored on memory device(s) 3506, and/or communicated via one or
more of the ports 3508-3512, thereby transforming the computer
system 3500 in FIG. 35 to a special purpose machine for
implementing the operations described herein. Examples of the
computer system 3500 include personal computers, terminals,
workstations, mobile phones, tablets, laptops, personal computers,
multimedia consoles, gaming consoles, set top boxes, and the
like.
[0178] One or more data storage devices 3504 may include any
non-volatile data storage device capable of storing data generated
or employed within the computing system 3500, such as computer
executable instructions for performing a computer process, which
may include instructions of both application programs and an
operating system (OS) that manages the various components of the
computing system 3500. Data storage devices 3504 may include,
without limitation, magnetic disk drives, optical disk drives,
solid state drives (SSDs), flash drives, and the like. Data storage
devices 3504 may include removable data storage media,
non-removable data storage media, and/or external storage devices
made available via a wired or wireless network architecture with
such computer program products, including one or more database
management products, web server products, application server
products, and/or other additional software components. Examples of
removable data storage media include Compact Disc Read-Only Memory
(CD-ROM), Digital Versatile Disc Read-Only Memory (DVD-ROM),
magneto-optical disks, flash drives, and the like. Examples of
non-removable data storage media include internal magnetic hard
disks, SSDs, and the like. One or more memory devices 3506 may
include volatile memory (e.g., dynamic random access memory (DRAM),
static random access memory (SRAM), etc.) and/or non-volatile
memory (e.g., read-only memory (ROM), flash memory, etc.).
[0179] Computer program products containing mechanisms to
effectuate the systems and methods in accordance with the presently
described technology may reside in the data storage devices 3504
and/or the memory devices 3506, which may be referred to as
machine-readable media. It will be appreciated that
machine-readable media may include any tangible non-transitory
medium that is capable of storing or encoding instructions to
perform any one or more of the operations of the present disclosure
for execution by a machine or that is capable of storing or
encoding data structures and/or modules utilized by or associated
with such instructions. Machine-readable media may include a single
medium or multiple media (e.g., a centralized or distributed
database, and/or associated caches and servers) that store the one
or more executable instructions or data structures.
[0180] In some implementations, the computer system 3500 includes
one or more ports, such as an input/output (I/O) port 3508, a
communication port 3510, and a sub-systems port 3512, for
communicating with other computing, network, or similar devices. It
will be appreciated that the ports 3508-3512 may be combined or
separate and that more or fewer ports may be included in the
computer system 3500.
[0181] The I/O port 3508 may be connected to an I/O device, or
other device, by which information is input to or output from the
computing system 3500. Such I/O devices may include, without
limitation, one or more input devices, output devices, and/or
environment transducer devices.
[0182] In one implementation, the input devices convert a
human-generated signal, such as, human voice, physical movement,
physical touch or pressure, and/or the like, into electrical
signals as input data into the computing system 3500 via the I/O
port 3508. Similarly, the output devices may convert electrical
signals received from the computing system 3500 via the I/O port
3508 into signals that may be sensed as output by a human, such as
sound, light, and/or touch. The input device may be an alphanumeric
input device, including alphanumeric and other keys for
communicating information and/or command selections to the
processor 3502 via the I/O port 3508. The input device may be
another type of user input device including, but not limited to:
direction and selection control devices, such as a mouse, a
trackball, cursor direction keys, a joystick, and/or a wheel; one
or more sensors, such as a camera, a microphone, a positional
sensor, an orientation sensor, a gravitational sensor, an inertial
sensor, and/or an accelerometer; and/or a touch-sensitive display
screen ("touchscreen"). The output devices may include, without
limitation, a display, a touchscreen, a speaker, a tactile and/or
haptic output device, and/or the like. In some implementations, the
input device and the output device may be the same device, for
example, in the case of a touchscreen.
[0183] The environment transducer devices convert one form of
energy or signal into another for input into or output from the
computing system 3500 via the I/O port 3508. For example, an
electrical signal generated within the computing system 3500 may be
converted to another type of signal, and/or vice-versa. In one
implementation, the environment transducer devices sense
characteristics or aspects of an environment local to or remote
from the computing device 3500, such as, light, sound, temperature,
pressure, magnetic field, electric field, chemical properties,
physical movement, orientation, acceleration, gravity, and/or the
like. Further, the environment transducer devices may generate
signals to impose some effect on the environment either local to or
remote from the example the computing device 3500, such as,
physical movement of some object (e.g., a mechanical actuator),
heating or cooling of a substance, adding a chemical substance,
and/or the like.
[0184] In one implementation, a communication port 3510 is
connected to a network by way of which the computer system 3500 may
receive network data useful in executing the methods and systems
set out herein as well as transmitting information and network
configuration changes determined thereby. Stated differently, the
communication port 3510 connects the computer system 3500 to one or
more communication interface devices configured to transmit and/or
receive information between the computing system 3500 and other
devices by way of one or more wired or wireless communication
networks or connections. Examples of such networks or connections
include, without limitation, Universal Serial Bus (USB), Ethernet,
WiFi, Bluetooth.RTM., Near Field Communication (NFC), Long-Term
Evolution (LTE), and so on. One or more such communication
interface devices may be utilized via communication port 3510 to
communicate one or more other machines, either directly over a
point-to-point communication path, over a wide area network (WAN)
(e.g., the Internet), over a local area network (LAN), over a
cellular (e.g., third generation (3G) or fourth generation (4G))
network, or over another communication means. Further, the
communication port 3510 may communicate with an antenna for
electromagnetic signal transmission and/or reception.
[0185] The computer system 3500 may include a sub-systems port 3512
for communicating with one or more sub-systems, to control an
operation of the one or more sub-systems, and to exchange
information between the computer system 3500 and the one or more
sub-systems. Examples of such sub-systems include, without
limitation, imaging systems, radar, lidar, motor controllers and
systems, battery controllers, fuel cell or other energy storage
systems or controls, light systems, navigation systems, environment
controls, entertainment systems, and the like.
[0186] The system set forth in FIG. 35 is but one possible example
of a computer system that may employ or be configured in accordance
with aspects of the present disclosure. It will be appreciated that
other non-transitory tangible computer-readable storage media
storing computer-executable instructions for implementing the
presently disclosed technology on a computing system may be
utilized.
[0187] Numerous examples are provided herein to enhance
understanding of the present disclosure. A specific set of
statements are provided as follows.
[0188] Statement A1: A dynamic force module for use in an exercise
machine is provided. The dynamic force module includes a motor
assembly including a motor and a cable selectively extendable and
retractable by actuation of the motor. The dynamic force module
further includes a frame coupled to the motor assembly and a load
measurement device coupled to the frame and adapted to measure
loading of the frame in response to tension applied to the
cable.
[0189] Statement A2: A dynamic force module is disclosed according
to Statement A1, wherein the motor assembly further includes a
motor shaft extending from the motor, the actuation of the motor
including rotation of the motor shaft, and a drum coupled to each
of the motor shaft and the cable such that the cable unspools from
the drum when the cable is extended and spools onto the drum when
the cable is retracted.
[0190] Statement A3: A dynamic force module is disclosed according
to Statement A2, wherein the drum comprises an outer helical groove
shaped to receive the cable such that the cable does not overlap
itself when spooled on the drum.
[0191] Statement A4: A dynamic force module is disclosed according
to Statement A2, the dynamic force module further including at
least one proximity sensor coupled to the frame and disposed
adjacent the drum, the proximity sensor configured to identify a
presence of the cable at a location along the drum.
[0192] Statement A5: A dynamic force module is disclosed according
to Statement A2, the dynamic force module further including at
least one guard disposed adjacent the drum, the guard configured to
at least partially retain the cable.
[0193] Statement A6: A dynamic force module is disclosed according
to Statement A5, wherein the at least one guard further includes at
least one of a ridge, a gusset, and a lip adapted to impart
structural strength to the at least one guard.
[0194] Statement A7: A dynamic force module is disclosed according
to any of preceding Statements A1-A6, wherein the frame includes a
motor bracket coupled to the motor assembly and a base plate offset
from the motor bracket.
[0195] Statement A8: A dynamic force module is disclosed according
to any of preceding Statements A7-A8, wherein the motor bracket is
coupled to the base plate such that the motor bracket is
cantilevered.
[0196] Statement A9: A dynamic force module is disclosed according
to any of preceding Statements A7-A10, wherein the motor bracket is
coupled to the base plate by a sidewall.
[0197] Statement A10: A dynamic force module is disclosed according
to Statement A9, wherein the sidewall includes one or more
cutouts.
[0198] Statement A11: A dynamic force module is disclosed according
to any of preceding Statements A7-A10, wherein the frame further
includes a spring element disposed between the motor bracket and
the base plate.
[0199] Statement A12: A dynamic force module is disclosed according
to Statement A11, wherein the spring element is formed into a
second sidewall disposed opposite the sidewall.
[0200] Statement A13: A dynamic force module is disclosed according
to any of preceding statements A7-A12, wherein the strain
measurement device includes one or more load cells disposed between
the motor bracket and the base plate.
[0201] Statement A14: A dynamic force module is disclosed according
any of preceding statements A9-A12, wherein the strain measurement
device includes one or more strain gauges coupled to the
sidewall.
[0202] Statement A15: A dynamic force module is disclosed according
to Statement A7, wherein the motor bracket includes a pair of
parallel rails supported offset from the base plate.
[0203] Statement A16: A dynamic force module is disclosed according
to Statement A15, wherein the parallel rails are supported offset
from the base plate by respective adjustment screws coupled to the
base plate.
[0204] Statement A17: A dynamic force module is disclosed according
to any of preceding Statements A15 and A16, wherein the load
measurement device includes at least one load cell supported
adjacent to one of the parallel rails and opposite the base plate
by a bracket such that tension applied to the cable causes the one
of the parallel rails to compress the load cell.
[0205] Statement B1: A dynamic force module for use in an exercise
machine is provided. The dynamic force module includes a motor for
extending and retracting a cable in response to a control signal,
the motor supported by a frame. The dynamic force module further
includes a load sensing device configured to measure a load on the
frame resulting from tension applied to the cable and a controller
communicatively coupled to each of the motor and the load sensing
device. The controller is adapted to actuate the motor in response
to the load on the frame in accordance with a force profile that
provides a relationship between a first parameter associated with
operation of the motor and a second parameter corresponding to
execution of an exercise by a user of the exercise machine.
[0206] Statement B2: A dynamic force module is disclosed according
to Statement B1, wherein the frame includes a motor bracket coupled
to the motor and a base plate offset from the motor bracket.
[0207] Statement B3: A dynamic force module is disclosed according
to Statement B4, wherein the load sensing device includes at least
one load cell disposed between the motor bracket and the base
plate.
[0208] Statement B4: A dynamic force module is disclosed according
to Statement B4, wherein the frame further includes a sidewall
extending between the motor bracket and the base plate and the load
sensing device includes at least one strain gauge coupled to the
sidewall.
[0209] Statement B5: A dynamic force module is disclosed according
to any of preceding Statements B1-B4, wherein the force profile
includes a range of values of the second parameter over which the
first parameter is maintained at a predetermined value.
[0210] Statement B6: A dynamic force module is disclosed according
to any of preceding Statements B1-B4, wherein the force profile
includes a first portion corresponding to a concentric phase of the
exercise and a second portion corresponding to an eccentric phase
of the exercise, and a value of the first parameter corresponding
to a value of the second parameter is varied depending on whether
the user is in the first phase or the second phase.
[0211] Statement B7: A dynamic force module is disclosed according
to any of preceding Statements B1-B4, wherein the force profile
includes a range of values of the second parameter over which
corresponding values of the first parameter are based on random
noise applied to a nominal value.
[0212] Statement B8: A dynamic force module is disclosed according
to any of preceding Statements B1-B4, wherein the force profile
includes a first portion corresponding to a first phase of the
exercise over which the second parameter is increased and a second
portion corresponding to a second phase of the exercise over which
the second parameter is decreased, a value of the first parameter
reducing exponentially over the first portion and the value of the
first parameter being held constant during the second portion.
[0213] Statement B9: A dynamic force module is disclosed according
to any of preceding Statements B1-B8, wherein the first parameter
is at least one of a force output by the motor and a rotational
speed of the motor.
[0214] Statement B10: A dynamic force module is disclosed according
to any of preceding Statements B1-B9, wherein the second parameter
is at least one of a position of the user, a speed of the user, and
a force output of the user.
[0215] Statement B11: A dynamic force module is disclosed according
to any of preceding Statements B1-B8, wherein the controller is
configured to automatically reduce the first parameter in response
to the second parameter being below a predetermined threshold.
[0216] Statement B12: A dynamic force module is disclosed according
to any of preceding Statements B11, wherein the first parameter is
a force output of the motor and the second output is a force output
by the user.
[0217] Statement B13: A dynamic force module is disclosed according
to any of preceding Statements B1-B12, wherein the force profile is
based, at least in part, on functionality of a second dynamic force
module of the exercise machine.
[0218] Statement B14: A dynamic force module is disclosed according
to any of preceding Statements B1-B12, wherein the controller is
communicatively coupled to a user feedback device.
[0219] Statement B15: A dynamic force module is disclosed according
to any of preceding Statements 14, wherein the user feedback device
includes at least one of an audio feedback device, a haptic
feedback device, and a visual feedback device.
[0220] Statement B16: A dynamic force module is disclosed according
to any of preceding Statements 14 and 15, wherein the controller is
configured to vary at least one of an a frequency and an intensity
of feedback provided by the user feedback device based on deviation
between a measured parameter of the user during execution of the
exercise and one or more target values for the measured
parameter.
[0221] Statement B17: A dynamic force module is disclosed according
to Statement B14, wherein the user feedback device is a display and
user feedback is provided by an interactive animation shown on the
display.
[0222] Statement B18: A dynamic force module is disclosed according
to Statement B17, wherein the interactive animation includes a
two-dimensional space and a marker movable within the
two-dimensional space according to values of each of a first
parameter and a second parameter, the first parameter corresponding
to a measured parameter of the user during execution of the
exercise.
[0223] Statement B19: A dynamic force module is disclosed according
to Statement B18, wherein the interactive animation further
includes one or more boundaries corresponding to one or more ranges
of the measured parameter.
[0224] Statement B20: A dynamic force module is disclosed according
to Statement B19, wherein feedback is provided to the user based on
whether the user maintains the marker at least one of inside of or
outside of the one or more boundaries.
[0225] Statement B21: A dynamic force module is disclosed according
to Statement B18, wherein the interactive animation includes one or
more objects disposed in the two-dimensional space.
[0226] Statement B22: A dynamic force module is disclosed according
to Statement B21, wherein feedback is provided to the user in
response to the marker at least one of contacting or avoiding the
one or more objects.
[0227] Statement B21: A dynamic force module is disclosed according
to Statement B17, wherein the interactive animation includes one
dimensional object and a marker that moves along the one
dimensional object in response to the measured parameter.
[0228] Statement B21: A dynamic force module is disclosed according
to Statement B17, wherein the interactive animation includes a
simulated object and the force profile executed during the
interactive animation simulates reactive forces associated with
interactions with the object.
[0229] Statement B22: A dynamic force module is disclosed according
to Statement B21, wherein the interactive animation includes an
animation of the simulated object being at least one of caught,
received, passed, or thrown.
[0230] Statement B23: A dynamic force module is disclosed according
to Statement B17, wherein the interactive animation includes a
first segment during which the controller executes the force
profile and a second segment during which a second controller
executes a second force profile.
[0231] Statement B24: A dynamic force module is disclosed according
to Statement B23, wherein the second controller is the same as the
controller and each of the first force profile and the second force
profile are executed by the controller.
[0232] Statement B25: A dynamic force module is disclosed according
to Statement B23, wherein the second controller is a controller of
a second dynamic force module such that the second force profile is
executed by the second dynamic force module.
[0233] Statement C1: A system for managing dynamic resistance
exercise equipment is provided. The system includes a computing
device communicatively coupled to a force profile data source for
storing force profiles. The computing device is configured to
receive a request from a dynamic force module for a force profile
stored on the data source and to transmit the force profile to the
dynamic force module. The force profile is executable by the
dynamic force module and provides a relationship between a first
parameter associated with operation of an actuator of the dynamic
force module and a second parameter corresponding to execution of
an exercise by a user of an exercise machine within which the
dynamic force module is incorporated.
[0234] Statement C2: A system for managing dynamic resistance
exercise equipment is disclosed according to Statement C1, the
system further including a user information data source for storing
user information and that is communicatively coupled to the
computing device. The computing device is further configured to
receive, from the dynamic force module, exercise data corresponding
to an exercise performed by the user using the exercise machine and
at least one of update and generate an entry of the user
information source corresponding to the user including the exercise
data.
[0235] Statement C3: A system for managing dynamic resistance
exercise equipment is disclosed according to any of preceding
Statements C1 and C2, wherein the computing device is further
configured to receive authentication data from the dynamic force
module associated with the user and to provide the force profile in
response to authenticating the user.
[0236] Statement C4: A system for managing dynamic resistance
exercise equipment is disclosed according to Statement C3, wherein
the computing device is further configured to transmit
auto-configuration data to the dynamic force module, the
auto-configuration data causing the dynamic force module to actuate
one or more actuators of the exercise machine.
[0237] Statement C5: A system for managing dynamic resistance
exercise equipment is disclosed according to Statement C4, wherein
the auto-configuration data is based on user information stored in
the user information data source.
[0238] Statement C6: A system for managing dynamic resistance
exercise equipment is disclosed according to any of preceding
Statements C3-C4, wherein the authentication data corresponds to
biometric data including at least one of finger print data, facial
recognition data, force signature data, and voice data.
[0239] Although various representative embodiments have been
described above with a certain degree of particularity, those
skilled in the art could make numerous alterations to the disclosed
embodiments without departing from the spirit or scope of the
inventive subject matter set forth in the specification. All
directional references (e.g., upper, lower, upward, downward, left,
right, leftward, rightward, top, bottom, above, below, vertical,
horizontal, clockwise, and counterclockwise) are only used for
identification purposes to aid the reader's understanding of the
embodiments of the present invention, and do not create
limitations, particularly as to the position, orientation, or use
of the invention unless specifically set forth in the claims.
Joinder references (e.g., attached, coupled, connected, and the
like) are to be construed broadly and may include intermediate
members between a connection of elements and relative movement
between elements. As such, joinder references do not necessarily
infer that two elements are directly connected and in fixed
relation to each other.
[0240] In some instances, components are described with reference
to "ends" having a particular characteristic and/or being connected
to another part. However, those skilled in the art will recognize
that the present invention is not limited to components which
terminate immediately beyond their points of connection with other
parts. Thus, the term "end" should be interpreted broadly, in a
manner that includes areas adjacent, rearward, forward of, or
otherwise near the terminus of a particular element, link,
component, member or the like. In methodologies directly or
indirectly set forth herein, various steps and operations are
described in one possible order of operation, but those skilled in
the art will recognize that steps and operations may be rearranged,
replaced, or eliminated without necessarily departing from the
spirit and scope of the present invention. It is intended that all
matter contained in the above description or shown in the
accompanying drawings shall be interpreted as illustrative only and
not limiting. Changes in detail or structure may be made without
departing from the spirit of the invention as defined in the
appended claims.
* * * * *