Abstract: An exercise system and a method of using a motorized fitness wheel to perform an exercise on a generally vertical wall is provided. The exercise system includes an elongate wall protection device mounted to a generally vertical wall and the motorized fitness wheel. The fitness wheel includes a wheel configured to rotate about an axle with two handles that extend outward from respective sides of the wheel. In use, the user grasps the handles and presses the exercise wheel against a generally vertical surface, rolls the exercise wheel in a first direction, and then rolls the exercise wheel in a second direction to complete an exercise cycle. During movement of the exercise wheel, a motor coupled to the wheel generates, under control of a processor, torque in the forward or backward rotational directions based on the measured movement of the wheel to enhance the exercise for the user.

Abstract: Systems and methods disclosed herein concern a motorized fitness wheel. The fitness wheel includes a wheel that rotates about an axle with two handles that extend outward from respective sides of the wheel along the rotational axis. In use, the user grasps the handles with their hands and rolls the wheel back and forth along the floor. A motor is configured to apply a torque to the wheel in either forward or backward direction to apply resistance or assistance and enhance the exercise. A position sensor feeds positional information of the motor to a microcontroller. Based on the positional information, the microcontroller dynamically controls the output torque of the motor as a function of one or more torque trajectories. The torque trajectories define the output torque of the motor over a cycle of the exercise as a function a spatial variable (e.g., wheel position) and/or time.