Abstract: The invention relates to a method, in particular a computer implemented method, of controlling a force, displacement, and/or resistance generator of an exercise apparatus (1), which apparatus comprises a user force input device (7-9) arranged to follow a path. The method comprising the steps of imposing on the user force input device (7-9) a main force, a main displacement, and/or a main resistance along the path, superimposing a vibratory force, displacement and/or resistance on the main force, the main displacement, and/or the main resistance along the path, wherein the amplitude of the superimposed vibrations is in excess of 0.2 mm.

Abstract: The invention relates to a method, in particular a computer implemented method, of controlling a force and/or resistance generator of an exercise apparatus (1), which apparatus includes a plurality of physical transmission ratios (10, 4) between a user force input device (7-9) and the force and/or resistance generator and at least one shifter (12) to select a desired transmission ratio. The method includes the steps of determining the engaged physical transmission ratio, mapping the engaged physical gear ratio onto a virtual transmission ratio, and adapting the generated force and/or resistance based on the virtual transmission ratio.

Abstract: Methods and systems for controlling a force generator of an exercise apparatus are described wherein the method comprises determining or receiving angular positions of a rotatable axle of an exercise apparatus when a force is applied to a force receiving structure of the exercise apparatus, the rotatable axle being part of a mechanical power transmission system connecting the force receiving structure via the rotatable axis to a force generator which is controlled by a computer based on a kinematic model, the kinetic model representing equations of motion of the exercise the apparatus; determining or retrieving first geometrical scaling values associated with the angular positions and incorporating the first geometrical scaling values into the kinematic model to form a first modified kinematic model, the first geometrical scaling values being associated with a non- circular gear of a first predetermined non-circular geometry; and, determining applied force values for the angular positions, each applied force

Abstract: This disclosure relates to a torque sensing system. The torque sensing system comprises a rotatable shaft (102) having a first part and a second part, the shaft comprising a spring structure (122) between the first and second part; a first readout structure (130) connected to the first part, the first readout structure (130) comprising first position indicators, and a second readout structure (132) connected to the second part, the second readout structure (132) comprising second position indicators; a detector system for detecting the first and second position indicators and generating a first detection signal indicating respective passing times for the first position indicators and a second detection signal indicating respective passing times for the second position indicators; and a processor.