Digital strength training

Patent metadata

Field	Value
Publication number	US-11465006-B2
Application number	US-202016737684-A
Country	US
Kind code	B2
Filing date	Jan 8, 2020
Priority date	Jul 25, 2016
Publication date	Oct 11, 2022
Grant date	Oct 11, 2022

Abstract

An information related to the position of an actuator coupled to a cable which is coupled to a motor is received. A filter is used to provide an input to a motor controller coupled to the motor, to adjust torque on the motor such that a strength curve is implemented relative to the position of the actuator.

First claim

What is claimed is:

1. An exercise machine including:
an actuator;
a motor;
a cable coupled between the actuator and the motor;
a motor controller coupled to the motor;
a filter coupled to the motor controller, configured to:
receive an information related to a position of the actuator, wherein the information related to a position of the cable includes a plurality of points in time to obtain velocity of the cable;
provide an input to the motor controller to adjust torque on the motor such that a strength curve is implemented relative to the position of the actuator, wherein:

the strength curve is a momentum free weight stack filter, at least in part mirroring a behavior of a weight machine with a weight stack without momentum to the actuator;
calculate a friction being applied to the actuator; and
compensate for the friction being applied, wherein the friction is a percentage of the mirrored weight stack weight added during spooling of the cable and subtracted during unspooling of the cable.

2. The exercise machine of claim 1 , wherein the actuator is a handle, the filter is a digital filter, and the motor is a three phase motor.

3. The exercise machine of claim 1 , wherein the filter is further configured to receive a second information related to the force applied on the cable.

4. The exercise machine of claim 1 , wherein the strength curve is a constant torque filter, at least in part driving the actuator with a constant torque.

5. The exercise machine of claim 1 , wherein the strength curve is a weight stack filter, at least in part mirroring a behavior of a weight machine with a weight stack to the actuator.

6. The exercise machine of claim 1 , wherein the strength curve is a weight stack filter, at least in part mirroring a behavior of a weight machine with a weight stack with at least ten pounds of accuracy to the actuator.

7. The exercise machine of claim 1 , wherein the strength curve is a momentum free weight stack filter, at least in part mirroring a behavior of a weight machine with a weight stack without momentum to the actuator.

8. The exercise machine of claim 1 , wherein the strength curve is a momentum free weight stack filter, at least in part mirroring a behavior of a weight machine with a weight stack without momentum to the actuator, wherein the filter is further configured to calculate an actuator momentum of the actuator; and compensate for the actuator momentum.

9. The exercise machine of claim 1 , wherein the strength curve includes an asymmetry, at least in part providing eccentric loading service to the actuator.

10. The exercise machine of claim 1 , wherein the strength curve includes a dynamic spotter protocol, at least in part providing a weight spotter service to the actuator.

11. The exercise machine of claim 1 , wherein the strength curve includes a dynamic repetition protocol, at least in part providing at least one of the following to the actuator: a pyramid service, an escalation service, a ladder service, and a drop service.

12. The exercise machine of claim 1 , wherein the strength curve comprises a dynamic nonlinear strength curve that changes over time.

13. The exercise machine of claim 1 , wherein the motor is an AC induction motor.

14. The exercise machine of claim 1 , wherein the filter is further configured to compute motor position based on sensor fusion comprising a high speed sensor to determine motor position at high speed and a low speed sensor to determine motor position at low speed.

15. The exercise machine of claim 1 , wherein the filter is further configured to compute motor position based on sensor fusion comprising a magnet sensor to determine motor position based on magnetism and an optical sensor to determine motor position based on optics.

16. The exercise machine of claim 1 , wherein the motor is of pancake style and the machine is of low relative depth.

17. The exercise machine of claim 1 , wherein the motor is of pancake style and the machine is of low relative depth for at least one of the following: wall mounting and floor mounting.

18. The exercise machine of claim 1 , wherein the motor controller is coupled to a user input device, wherein the user input device includes at least one of the following: a touch screen, buttons, and dials.

19. The exercise machine of claim 1 , wherein the motor controller is coupled to a user feedback device, wherein the user feedback device includes at least one of the following: a screen, lights, a haptic feedback, an audible sound generator, and a speaker.

20. The exercise machine of claim 1 , wherein the strength curve is a filter effectuating two or more of strength curves.

21. The exercise machine of claim 1 , wherein the machine makes user adjustments based on the performance of the user.

22. The exercise machine of claim 1 , wherein the filter compensates for at least one of the following: friction, positive velocity, negative velocity, momentum, inertia, and kinetic energy.

23. A method, comprising:
receiving an information related to a position of an actuator coupled to a cable which is coupled to a motor, wherein the information related to a position of the cable includes a plurality of points in time to obtain velocity of the cable;
using a filter to provide an input to a motor controller coupled to the motor, to adjust torque on the motor such that a strength curve is implemented relative to the position of the actuator, wherein: the strength curve is a momentum free weight stack filter, at least in part mirroring a behavior of a weight machine with a weight stack without momentum to the actuator;
calculating a friction being applied to the actuator; and
compensating for the friction being applied, wherein the friction is a percentage of the mirrored weight stack weight added during spooling of the cable and subtracted during unspooling of the cable.

24. A computer program product, the computer program product being embodied in a tangible computer readable storage medium and comprising computer instructions for:
receiving an information related to a position of an actuator coupled to a cable which is coupled to a motor, wherein the information related to a position of the cable includes a plurality of points in time to obtain velocity of the cable;
using a filter to provide to a motor controller coupled to the motor, to adjust torque on the motor such that a strength curve is implemented relative to the position of the actuator, wherein: the strength curve is a momentum free weight stack filter, at least in part mirroring a behavior of a weight machine with a weight stack without momentum to the actuator;
calculating a friction being applied to the actuator; and
compensating for the friction being applied, wherein the friction is a percentage of the mirrored weight stack weight added during spooling of the cable and subtracted during unspooling of the cable.

Assignees

• Tonal Systems Inc

Inventors

• Orady Aly E
• Stott Bret G

Classifications

• A63B21/151

  Using flexible elements for reciprocating movements, e.g. ropes or chains · CPC title

• A63B71/0619

  Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills · CPC title

• A63B24/0087 Primary

  Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load · CPC title

• A63B21/06

  User-manipulated weights · CPC title

• A63B21/00181

  comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising · CPC title