Digital strength training

Patent metadata

Field	Value
Publication number	US-12076601-B2
Application number	US-202217902534-A
Country	US
Kind code	B2
Filing date	Sep 2, 2022
Priority date	Jul 25, 2016
Publication date	Sep 3, 2024
Grant date	Sep 3, 2024

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, wherein the motor is of a pancake style; and
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;
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 comprises a dynamic nonlinear strength curve that changes over time; and
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, wherein the computing of the motor position comprises to:
perform one or more of the following:
A) determine an initial position of the motor while the motor is at rest;
determine, using the low speed sensor, a current position of the motor while the motor is moving; and
in response to a determination that a difference between the initial position and the current position is equal to or exceeds a pre-determined threshold:
 switch to a high-speed mode using the high speed sensor; and
 determine, using the high speed sensor, a change in position, comprising to:
 in response to a determination that the change in position is less than the pre-determined threshold, switch back to a low-speed mode using the low speed sensor; and/or

B) determine an initial position of the motor using the high speed sensor;
after the motor moves no more than a predetermined motor angle:
 toggle the low speed sensor to a different low speed sensor; and
 record the current position and the predetermined motor angle; and
calculate a true motor angle based on a comparison of the current position with the current position and the predetermined motor angle.

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 information related to the position of the cable includes a plurality of points in time to derive velocity of the cable.

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

5. 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.

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 to the actuator.

7. 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.

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.

9. 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.

10. 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 friction being applied to the actuator; and compensate for the actuator friction being applied.

11. 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 friction being applied to the actuator; and compensate for the actuator friction being applied, and wherein the calculation of the actuator friction comprises a percentage of a mirrored weight stack weight.

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

13. 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.

14. 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.

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

16. 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.

17. The exercise machine of claim 1 , wherein the the exercise 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 exercise machine makes user adjustments based on a performance of a 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 motor is of a pancake style; and
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 comprises a dynamic nonlinear strength curve that changes over time; and
computing 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, wherein the computing of the motor position comprises:
performing one or more of the following:
A) determining an initial position of the motor while the motor is at rest;
determining, using the low speed sensor, a current position of the motor while the motor is moving; and
in response to a determination that a difference between the initial position and the current position is equal to or exceeds a pre-determined thresho

Assignees

• Tonal Systems Inc

Inventors

• Orady Aly E
• Stott Bret G

Classifications

• A63B2220/833

  Sensors arranged on the exercise apparatus or sports implement · CPC title

• A63B2220/805

  Optical or opto-electronic sensors · CPC title

• A63B2220/80

  Special sensors, transducers or devices therefor · CPC title

• A63B2220/62

  Time or time measurement used for time reference, time stamp, master time or clock signal · CPC title

• A63B2220/40

  Acceleration · CPC title