U.S. patent number 3,744,480 [Application Number 05/202,769] was granted by the patent office on 1973-07-10 for ergometer.
Invention is credited to Bobby G. Bynum, Raymond L. Gause.
United States Patent |
3,744,480 |
Gause , et al. |
July 10, 1973 |
ERGOMETER
Abstract
An ergometer including a pedal driven direct current motor as a
load and including a frame for supporting the body of a person in
either a sitting or a prone position whereby the pedals may be
operated by either the feet or the hands and the electrical
circuitry of the ergometer includes means for limiting the load
applied to the pedals as a function of work being performed, heart
rate, and increases in heart rate.
Inventors: |
Gause; Raymond L. (Huntsville,
AL), Bynum; Bobby G. (Huntsville, AL) |
Family
ID: |
22751185 |
Appl.
No.: |
05/202,769 |
Filed: |
November 29, 1971 |
Current U.S.
Class: |
600/520;
73/379.07; 482/8; 482/900 |
Current CPC
Class: |
A63B
22/0007 (20130101); A63B 21/0053 (20130101); A61B
5/222 (20130101); A63B 22/0002 (20130101); A63B
22/0605 (20130101); A63B 22/0005 (20151001); A61B
5/1107 (20130101); A61B 5/221 (20130101); A63B
69/0064 (20130101); A63B 2220/34 (20130101); Y10S
482/90 (20130101); A63B 2208/0257 (20130101); A63B
2230/06 (20130101); A63B 2230/062 (20130101); A63B
2220/54 (20130101); A61B 5/704 (20130101) |
Current International
Class: |
A61B
5/11 (20060101); A61B 5/22 (20060101); A63B
21/005 (20060101); A63B 22/10 (20060101); A63B
23/035 (20060101); A63B 22/06 (20060101); A63B
24/00 (20060101); A63B 23/12 (20060101); A61b
005/02 () |
Field of
Search: |
;128/2.5R,2.6R,2.6F,2.1R,2R,2S ;272/73 ;73/379 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Howell; Kyle L.
Claims
What is claimed is:
1. An ergometer comprising:
exercise means adapted to be operated by limbs of the body and
providing a mechanical output;
electrical load means connected to the said output of said exercise
means for applying resistance to the operation of said exercise
means;
load control means responsive to an input signal for varying said
resistance applied to said exercise means;
work signal means responsive to the speed of operation of said
exercise means and resistance force applied to said exercise means
for providing a work output signal;
physiological monitoring means responsive to a condition of an
operator of said exercise means for providing an electrical output
corresponding to heart beats of said operator;
first and second integrating means responsive to the output of said
physiological monitoring means, said first integrating means having
a longer time constant than said second integration means;
first differential means responsive to the outputs of said first
and second integrating means for providing a first difference
signal of a value proportional to actual heart rate less a value
proportional to increasing heart rate, or plus a value proportional
to decrease in heart rate;
heart rate signal reference means for providing an output
representative of a desired heart rate from said operator;
second differential means responsive to the outputs of said first
integrating means and said heart rate signal means for providing an
output corresponding to an error signal indicating the difference
between desired heart rate and actual heart rate of said
operator;
summing means responsive to the outputs of said first and second
differential means for providing a heart rate demand signal which
is proportional to required change in heart rate to achieve said
desired heart rate less a value proportional to the presence of
increasing heart rate or plus a value proportional to the presence
of decreasing heart rate; and
third differential means responsive to the output of said work
signal means and said summing means for providing said input signal
to said load control means;
whereby a work rate imposed upon an operator of said exercise means
is determined by a desired heart rate activity of the operator as
modified by rate of change of heart rate experienced by the
operator during an imposed change from one heart rate to
another.
2. An ergometer as set forth in claim 1 further comprising a work
rate signal reference means and selection means for coupling either
said heart rate demand signal or the output of said work rate
signal reference means to said third differential means,
whereby said load control means may, selectively, be controlled as
either a function of a selected work rate or a selected heart
rate.
3. An ergometer as set forth in claim 2 wherein said heart rate
signal reference means includes programming means for selectively
applying in sequence, predetermined, discrete said outputs for
predetermined periods of time.
4. An ergometer as set forth in claim 1 wherein said load control
means includes pulse width modulation means responsive to the
output of said third differential means for generating variable
width control signals proportional to the output of said third
differential means for controlling said electrical load means.
5. An ergometer as set forth in claim 4 wherein said pulse
modulation means comprises:
a comparator,
a saw-tooth oscillator operating at a predetermined frequency and
providing a first input to said comparator;
said third differential amplifier provides a second input to said
comparator,
whereby said variable width pulses are obtained by coincidence of
signal levels between said saw-tooth oscillator and said output of
said third differential amplifier.
6. An ergometer as set forth in claim 4 further comprising
integration means coupling said summing means to said third
differential means for smoothing the coupled signal to provide
gradual rather than step changes in the coupled signal during heart
rate changes.
Description
ORIGIN OF THE INVENTION
The invention described herein was made by employees of the United
States and may be manufactured and used by or for the Government of
the United States of America for Governmental purposes without the
payment of any royalties thereon or therefor.
BACKGROUND OF THE INVENTION
This invention relates generally to physiological stressing and
conditioning devices and systems and more particularly to a system
in which there is provided enhanced versatility in operation and
more effective control of the work load imposed upon the body
undergoing the conditioning.
GENERAL DESCRIPTION OF THE PRIOR ART
Devices and systems for the controlled stressing, conditioning or
exercising of a person are well known. They vary from simple
mechanically loaded pedal structures to sophisticated electrically
regulated systems. A sometimes critical parameter in the employment
of conditioning devices is the effect on the heart. Further, it is
believed clear that it is generally desirable to provide some
regulation of the work load as a function of heart activity.
One prior art system shows the control of work load is achieved
automatically by means of a comparison of programmed work with
heart rate as an indication of work and thus varying loads until
the heart rate of the person being exercised equals that of the
programmed work. In addition there is provided for the removal of
work load in the event that a dangerous condition of the person is
sensed via an ECG (electrocardiogram), temperature or chemical
sensor.
One difficulty with known previous systems has been the reliance
upon the exercising operator to generally regulate the speed of
exercise in that actual work performed was not included as a
parameter of the control system. A further difficulty has been that
systems have not provided for load compensation when system inputs
called for a change in loading. Thus, for example, during an
increase in loading, that is between the time that increased
loading is indicated and the time that it is actually achieved,
excessive loading is often applied to a person. A further
deficiency has existed in prior systems in that they have failed to
provide versatility insofar as exercise of different limbs of the
body is concerned.
SUMMARY OF THE INVENTION
Accordingly, it is an object of the present invention to provide a
new and improved ergometer which overcomes the aforesaid
difficulties.
An ergometer in accordance with the present invention includes
means for comparing actual work performed with a fixed indicated
work rate to be performed, and actual work rate versus the
difference between a programmed heart rate and actual heart rate.
As another feature of the invention there is dual integration of
heart rate signals employing different time constants and the
combination and a comparison made of the outputs of the two
integrators to derive a work reduction signal during periods when
heart rate is accelerating. A still further feature of the
invention is that of employing a DC torque motor connected in a
generator mode as a load source thus simplifying and providing more
effective control of the load which may be accomplished simply by
variable duty cycle switching of resistance connected across the
terminals of the motor. A still further feature of the invention is
that of an exercise frame which includes readily convertible
supports enabling one to apply work by use of feet or hands.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view of the exercise frame of the invention
adjusted for hand operation of the pedals.
FIG. 2 is a perspective view of the exercise frame adjusted for
foot operation.
FIG. 3 is a schematic illustration of the electrical system of the
invention.
DESCRIPTION OF THE PREFERRED EMBODIMENT
Considering first the physical arrangement of components,
principally exercise machine 10, reference is made to FIGS. 1 and
2. Load module 11 is driven by bicycle type pedals 12 and 14 and
operator 16 may operate the pedals from either a prone position on
table 18 (FIG. 1) or from a sitting position on bicycle seat 20
(FIG. 2) to react to a load effected by load module 11. In the
prone position the pedals are hand operated, as shown, and in the
sitting position they are, of course, foot operated. Electronic
control circuitry elements are contained in console 22 which is
mounted on handlebars 24. Front panel 26 of console 22 includes
appropriate meters and controls sufficient to enable the operator
to observe his performance and control the torque which he must
oppose in operating load module 11.
Table 18 (FIG. 1) is rectangular and of a dimension generally
adapted to support the body of an operator from about the ankles to
the chest and is typically padded for comfort. Semi- rigid leg
supports 28 and 30 are attached to table 18 and adapted to
vertically support the legs of the operator and belt 32 is adapted
to secure the buttocks of the operator to table 18. Table 18 is
pivotally supported near end 15 by means of support assembly 32
upon flat base 34, this assembly being constructed of round tubular
members 36 which are pivotally attached to base 34 and table 18
(attachment not shown) by brackets 38 to enable table 18 to be
moved backward and lowered so that seat 20 may be raised or lowered
to and from an operating position. This function is enabled by
coupling assembly 40 which detachably secures the other end, end
42, of table 18 to vertical support 43 in turn supported by
mounting frame 44 to base 34.
Seat 20 is attached to plate 46 which is adjustably movable on, and
attached to, supporting plate 48 to provide fore and aft adjustment
of seat 20. Supporting plate 48 is in turn supported by arm 50
which is adjustably locked in seat supporting column 52 to provide
vertical adjustment of seat 20. Column 52 is pivotally mounted on
vertical support 43 by bolt assembly 54 which selectively permits
column 52 to assume an operating position, as shown in FIG. 2, or a
stored position, as shown in FIG. 1. In a raised or operating
position, seat supporting column 52 rests against the back of
recess 56 of table 18 to provide a rear lateral support for seat
20, and the operator, when engaged in foot operation of load module
11. Harness 57 fastened to seat 20 by means not shown further
secures the operator in an operating position. Handlebars 24 are
adjustably supported in height by arm 58 supported by tubular
column 60 by bolt 62. Fore and aft adjustment of handlebars 24 is
achieved by pivotal connection of column 60 to vertical support 64
by bolt assembly 65. Vertical support 64 is in turn supported by
mounting base 34 through mounting frame 44.
Load module 11 is secured to mounting frame 44 by means of angle
brackets 66 and arm 67 extending between vertical support 43 and
vertical support 64.
Considering now the control system of the invention, shown in FIG.
3, load module 11 includes a permanent magnet torque motor 70 which
functions as a generator and which is driven by pedals 12 and 14 of
exercise machine 10 (FIG. 1). Variable loading to torque motor 70
is effected by electrical resistor 72 connected across the
terminals of torque motor 70 through transistor 74, which is
switched on and off in accordance with pulses of varying widths by
switch driver 76. Tachometer 78 is coupled to torque motor 70 by a
shaft diagrammatically illustrated by broken line 71 and provides a
speed output signal to one input, input 80, of multiplier 82.
Torque sensor 84, mechanically connected between torque motor 70
and its support by means diagrammatically illustrated by broken
line 85, provides a torque signal representative of the torque
applied by the operator of exercise machine 10 to a second input,
input 86 of multiplier 82.
Multiplier 82 provides a direct current output representative of
the rate of work being performed on exercise machine 10. The
calibration of this output by the operator is such that an output
of 5 volts is representative of a work rate of 300 watts. This
output is indicated or read out by first converting it to a pulse
frequency proportional to voltage by DC frequency convertor 88 and
then applying the thus converted output to counter 90, which counts
pulses for a predetermined period, the second being chosen to
provide a direct readout of counter 90 in watts.
The output of multiplier 82 is also applied to input 92 of
differential amplifier 94 and a "work demand" signal is applied to
the other input, input 96, of differential amplifier 94. This "work
demand" signal is obtained through three-position selector switch
98 in accordance with the desired mode of operation of the system.
In one mode, the work rate control mode, the mode is shown by the
position of movable contact c of switch 98 there is provided a
voltage from potentiometer 100 of 0 to 5 volts, again with 5 volts
being representative of a work rate of 300 watts.
"Work demand" signals which are in terms of desired heart rate are
obtained in two of the three modes of operation from heart rate
circuit 102 and applied to contacts C2 and C3 in a manner which
will be discussed below with respect to this circuit.
In all modes of operation of the system, differential amplifier 94
provides a work demand output whenever the work demand input signal
on input 96 exceeds that of the actual work signal on input 92. The
work demand output of differential amplifier 94 is applied to a
variable width pulse modulator 104 which provides output pulses at
a predetermined frequency but which vary in width in proportion to
the amplitude of the work demand signal. Modulator 104 consists of
a saw-tooth generator 106 which provides a saw-tooth voltage of
constant frequency to one input, input 108, of comparator 110 and
the work demand signal is applied to the other input, input 112,
resulting in a variable cutoff of the amplitude of the saw-tooth
voltage and thus variable width output pulses 114 are a function of
the work demand signal 112.
The output of modulator 104 is amplified in switch driver 76 and is
employed to control transistor 74 of load module 11 turning
transistor 74 on during the presence of a pulse and off when no
pulse is present. In this fashion transistor 74 provides control of
the loading of torque motor 70, effecting loading by closing an
electrical path through resistor 72 during the presence of a pulse
and closing this path in the absence of a pulse. Thus the average
work extracted by load module 11 is proportional to the pulse
"on-time" for the period averaged.
As stated above, two modes of operation of the system contemplate
work requirement based upon heart rate. These modes are selected by
positioning selector switches 98 and 116 with movable contact C in
contact with fixed contacts C2 or C3. It is to be noted that
switches 98 and 116 are mechanically linked for operation in
unison. With the movable arm C of selector switch 116 in contact
with fixed contact C2 and thus an input provided to differential
amplifier 118 from potentiometer 120, potentiometer 120 is set to a
position to provide an output voltage, again in the range of 0 to 5
volts, representative of the selected heart rate of 0 to 200 beats
per minute.
Alternately, with selector switch 116 set with movable contact C in
contact with fixed contact C3, differential amplifier 118 is
connected to the output of programmer 122. Programmer 122 provides
a plurality of selected voltages, corresponding to desired heart
rate demands, which voltages are made available in a selected
sequence and for selected periods. Such circuitry is believed well
known and is not further described herein.
Actual heart rate signals are also provided as an input to heart
rate circuit 102 to enable the limiting of work demand signals
applied to input 96 of differential amplifier 94 during the period
when there is a shift in the heart rate demand as called for by
programmer 122 or potentiometer 120. Thus, sudden or too rapid a
change in demand is avoided by heart rate circuit 102. This is
accomplished as follows. An ECG, electrocardiogram, type signal is
obtained by appropriate sensors from the body of operator 16. This
signal is amplified and shaped by amplifier and shaper 124 to
obtain a pulse output from ECG waveforms, thus corresponding to
heart beats and this output is applied to one shot 126 which
provides output pulses, one for each heart beat, of constant
amplitude and width. Heart beat pulses from one shot 126 are
applied to both short (approximately 3 seconds) and long
(approximately 12 seconds) time-constant integrators 128 and 130.
Long term integrator 130 provides a direct current output voltage
which is continuous and proportional to heart rate. It is applied
to input 132 of differential amplifier 118. As previously
indicated, a desired heart rate voltage is applied to the other
input, input 134 of differential amplifier 118. The output of
differential amplifier 118, representing the error or difference
between demanded heart rate and actual (average for several
seconds) heart rate is applied to input 136 of summing circuit 138.
A second input is applied to input 140 of summing circuit 138 from
differential circuit 142 which provides a signal representative of
the difference between the output of short time-constant integrator
128 and long time-constant integrator 130. The result is that the
signal applied to input 140 is a signal representative of actual
heart rate less a factor proportional to acceleration of heart rate
or plus a factor proportional to deceleration of heart rate, as the
case may be. Thus, summing circuit 138 computes a heart rate demand
control signal which is the sum of the output of differential
circuit 118 and differential amplifier 142 and wherein the sum
would be expressed as D.sub.s = V.sub.1 + V.sub.2 where
V.sub.1 = a voltage proportional to actual heart rate minus desired
heart rate.
V.sub.2 = a voltage proportional to the first derivative of actual
heart rate.
The output of summing circuit 138 is further integrated in
integrator 144 to provide an output which averages and thus
eliminates rapid changes in the "demand" signal. The sense of the
"demand" signal is that of a signal which indicates that actual
heart rate differs from desired heart rate and is of a magnitude to
achieve a change in heart rate at a desired rate of change.
Differential amplifier 94, with a work rate signal applied to input
92 and a heart rate "demand" signal applied to input 96 provides an
applied signal to pulse width generator 104 when the inputs to
terminals 92 and 96 are not identical and causes pulse generator
104 to provide control pulses to operate switch driver 76 and thus
cause a change in loading to effect the loading determined by the
desired heart rate demand signal.
To examine operation of the ergometer, assume first that selector
switch 98 is set in the indicated position and potentiometer 100 is
set to provide an output voltage of 2.5 volts, corresponding to a
desired work rate of 150 watts, and this voltage is applied to
input 96 of differential amplifier 94. Prior to pedaling by the
exerciser, there will be no feedback inputs to multiplier 82 and
thus no input to input 92 of differential amplifier 94. The result
will be that differential amplifier 94 will respond to the full
input signal on input 96 to trigger pulse generator 104 to provide
relatively wide modulating pulses to switch driver 76. It in turn
will operate transistor 72 to complete a loading circuit through
resistor 72 across torque motor 70 during each such pulses. Upon
pedaling exercise machine 10, tachometer 78 and torque sensor 84
provide speed and torque signals to multiplier 82, and a product
output, representative of the rate of work being performed, is
applied to input 92 of differential amplifier 94 to oppose the
input on input 96. When pedaling is accelerated to the point where
the actual work rate is equal to the work rate setting of
potentiometer 100, and the voltages at inputs 92 and 96 are equal,
the output of differential amplifier 94 drops to zero and
momentarily the pulse width output of pulse generator 104
diminishes to zero. Actually this zero pulse width condition exists
only instantaneously since the result will be that there will be a
like instantaneous drop in torque in the product input signal on
input 86 causing a differential voltage, and thus pulsed loading of
torque motor, to again occur. Thus, average loading is maintained
at the work rate setting of potentiometer 100. Load switching
effects when loading is near the selected load are minimal in view
of the fact that with a small difference between the load demand
signal on input 96 and actual load signal on input 92 there is
provided a small output signal to pulse generator 104 to produce
relatively narrow switching pulses. Accordingly, change from zero
pulse width to a discrete pulse width is of small magnitude.
The actual work rate as computed by multiplier 82 is indicated by
counter 90 in the manner described above.
Assume next that it is desired to regulate the work request to
operate exercise machine 10 in terms of desired heart rate. This is
accomplished manually by the setting of potentiometer 120 to a
level corresponding to heart rate for continuous loading or
automatically by setting programmer 122 to provide a series of
timed, discrete, heart rate voltages. Assuming that it is desired
to operate the ergometer in the first of these two modes of
operation, selector switch 116 is positioned with movable contact C
in contact with fixed contact C2. Potentiometer 120 is then set to
a preselected heart rate analog voltage of said 2.5 volts
representative of 100 beats per minute and the voltage is applied
to input 134 of differential amplifier 118. Assume further that the
operator of ergometer 10 is pedaling and that his initial heart
rate is 80 beats per minute and thus less than the desired heart
rate. An actual heart rate signal is derived, as described above,
by processing an ECG signal through amplifier and shaper 124 and
one-shot 126 to provide pulse inputs to integrators 128 and 130 of
a predetermined height and width.
Since the desired heart rate is significantly higher than the
actual heart rate there is a requirement that there be a
substantial increase in loading on the exerciser. On the other
hand, as discussed above, it is not desirable to increase the
loading, this heart rate, too rapidly. To prevent this, operation
of circuitry is as follows. One set of the heart rate pulses are
integrated by short time-constant integrator 128 to provide a
direct current output to input 146 of differential circuit 142
which is a direct current but which with change in rate takes the
form of stair steps, ascending or descending, depending upon
whether there is an increase or decrease in heart rate. A second
set of the heart rate pulses are subject to long time-constant
integration in long time-constant integrator 130 and the resulting
output reflects the generally long term average heart rate which is
fed to input 132 of differential circuit 118 and to input 148 of
differential amplifier 142. The output of differential circuit 142
is thus a signal which may be characterized as of a value
proportional to average heart rate less a value proportional to
increasing heart rate, or plus a value proportional to decreasing
heart rate. The output of differential amplifier 118 is simply an
error signal indicating the difference between desired heart rate
and average heart rate, or required change in heart rate. The
outputs of differential circuit 142 and differential circuit 118
are summed in summing circuit 138 to provide an output which is
proportional to the difference in actual heart rate and desired
heart rate and the rate of change of actual heart rate. The output
of summing circuit 138 is integrated by integrator 144 to
accomplish the smoothing of the signal to provide a gradual rather
than stepped changes in the signal during heart rate changes. The
result is that there is a demand signal from integrator 144 which
is applied to input 96 of differential amplifier 94 which is of a
desired value to produce the desired rate of increase in heart rate
at a desired characteristic of increase and without abrupt changes
in demand. The operation of differential amplifier 94 and the
balance of the loading circuitry is the same as described above for
the application of a load demand signal from potentiometer 100.
Thus loading is increased in accordance with the value of the
signal on input 96 of differential amplifier 94, with feedback
signals from speed tachometer 78 and torque sensor 84,
respectively, to multiplier 82 limiting the force application to
that described by the input signal on input 96 of differential
amplifier 94.
In the programmed mode of operation, with movable contact C in
contact with fixed contact C3, a series of programmed voltages are
applied to input 134 of differential amplifier 118 for
predetermined periods. Otherwise, the operation of heart rate
circuitry 102 and load circuitry is identical to that just
described.
* * * * *