Abstract: It is provided an exercise unit incorporating a module for exerting torque countering torque exerted by a user. The exercise unit includes a torque sensor and a processor. The torque sensor includes a first arm connected to a first axis rotatable by the user, and a beam load cell connected to the first arm and associated with a second arm. The second arm is connected to a second axis rotationally associated with the module, and is coaxially coupled to the first axis. Exerting torque on the first axis loads the beam load cell, providing a measured load, which the processor uses to provide a measured exerted torque. The processor is embedded within a motor driver, and its method of operation includes acquiring desired exercising parameters, receiving measurements of motion variable and driving the motor accordingly.

Abstract: An exercise device provides first and second foot-support surfaces which are each displaced by an actuator system along an arbitrary path defined in at least two dimensions over a range of at least 25 centimeters by 15 centimeters. A control system is configured to control the actuator system so as to generate an exercise path for each of the first and second foot-support surfaces. The exercise movement may be active or passive, and may be varied dynamically during an uninterrupted exercise session.

Abstract: A dual-mode printer for printing on both flexible and rigid substrates includes a table providing a substantially planar support surface for supporting a substrate. A flexible-substrate feed system is configured to feed a flexible substrate in a given feed direction across the support surface. The printer has a print head configured for depositing a printing medium on a substrate as part of a printing process. A motion system is configured to generate relative displacement between the print head and the support surface in at least a first direction parallel to the feed direction. This combination of components allows the printer to be used in a flexible-substrate mode in which relative displacement between the substrate and the print head is generated at least in part by the flexible-substrate feed system and in a rigid-substrate mode in which relative displacement between the substrate and the print head is generated exclusively by the motion system.