RESISTANCE TRAINING MACHINE AND METHODS OF CONTROLLING THE SAME
A resistance training machine, a method of providing custom workouts, and a method of providing feedback on user form and user balance are disclosed. Provided herein are Methods and Systems For Controlling Resistance Training Machine that provides varying force and velocity levels for isokinetic and isotonic exercises, respectively, for a user.
The present application claims priority to U.S. application Ser. No. 18/641,846 filed on Apr. 22, 2024 and U.S. application Ser. No. 18/678,233 filed on May 30, 2024, wherein U.S. application Ser. No. 18/641,846 claims priority to PCT application serial no. PCT/US2022/047441, filed Oct. 21, 2022, which claims priority to U.S. provisional application Ser. No. 63/270,408, filed Oct. 21, 2021 and U.S. Provisional application Ser. No. 63/346,800, filed May 27, 2022, and U.S. application Ser. No. 18/678,233 claims priority to PCT application serial no. PCT/US2022/051356, filed Nov. 30, 2022, which claims priority to U.S. provisional application Ser. No. 63/284,412, filed Nov. 30, 2021, each herein incorporated by reference in their entireties.
TECHNICAL FIELDThe present disclosure generally relates to exercise equipment and, more specifically, to resistance training machines employing electric motors to provide custom workouts.
BACKGROUNDResistance training is a form of exercise undergone to build muscular strength and endurance by working against a weight or applied force. While some resistance training routines can be accomplished without external equipment, i.e. bodyweight exercises, many others require the use of specialized equipment, such as but not limited to free weights, weight machines, cable machines, resistance bands, and the like.
Traditional resistance training equipment is often specialized and, while each piece of equipment may offer distinct advantages, each may also suffer from drawbacks and inefficiencies. For example, free weights and weight machines are commonly employed for isotonic exercises, i.e. exercises requiring muscle activation against a constant force across a given range of motion. However, adjusting the weight or force for such exercises can be inconvenient, often requiring a user to add or remove plates, install clips, swap out dumbbells, etc. Furthermore, initiating an exercise with free weights and weight machines can create undue strain on a user's body, since the force applied by such equipment acts as a step function-jumping from zero to the full resistance. Perhaps more importantly, traditional resistance training equipment is usually designed for specific exercises or specific exercise modes only, requiring an individual to own a plurality of equipment in order to access a variety of well-rounded exercises.
More recently, ‘smart’ exercise machines have been developed that claim to offer a number of different exercises in a single machine. These machines commonly operate by providing resistive forces through electronic motors, which may be adjusted to the user's strength level. However, the exercise machines disclosed by the prior art have consistently failed to provide a range of exercise modes, or can provide some modes but fail in others. Moreover, such machines tend to be limited in the amount of force they produce; they are usually unwieldy and difficult to install or transport; and many fail to provide adequate safety measures for the user. Finally, neither traditional resistance training equipment nor newer exercise machines offer feedback regarding both user form and user balance during workouts.
Accordingly, there remains a need in the art for a resistance training machine that is capable of implementing a large number of exercise modes, including at least isotonic and isokinetic exercises; that is capable of supplying high levels of resistive force; and that may provide feedback on user form and user balance throughout each exercise.
SUMMARY OF THE DISCLOSUREProvided herein are Methods and Systems for Controlling Resistance Training Machine. According to a second aspect of the present disclosure, a method of providing custom workouts using a resistance training machine is disclosed. The method comprises: calibrating one or more exercises, each exercise including a relative beginning position and a relative end position; the user selecting an exercise from among the one or more calibrated exercises; the user selecting an isokinetic exercise mode or an isotonic exercise mode; the user moving a cable to a beginning position without resistance; a motor ramping up the cable to a constant velocity or a constant force, depending on the exercise mode; the user performing one or more repetitions of the exercise; and the motor ramping down the cable from the constant velocity or the constant force, depending on the exercise mode.
According to a third aspect of the present disclosure, a method of providing feedback on user form and user balance during an exercise on a resistance training machine is disclosed. The method comprises: a user performing an isokinetic exercise or an isotonic exercise using resistance supplied by a motor; a machine controller receiving position data from the motor throughout the exercise; the machine controller receiving torque data from the motor throughout the exercise; the machine controller receiving force data from one or more load cells located in a base of the resistance training machine; the machine controller generating user form feedback; the machine controller generating user balance feedback; and displaying the user form feedback and user balance feedback through an HMI.
These and other aspects and features of the present disclosure will be more readily understood after reading the following description in conjunction with the accompanying drawings.
Referring now to the drawings and with specific reference to
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The power supply 235 may receive electrical power from an external supply and may provide electrical power to some or all of the other electronic components of the machine 100, where wattage ratings may be determined by specific applicational requirements. In some embodiments, such as the one shown in
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The cable 140 may be fixed to the drum pulley 280 at a first end and configured to wind and unwind from the drum pulley 280 as it is retracted and extended, respectively. More specifically, the cable 140 may begin at the drum pulley 280, extend through the one or more cable pulleys 290, and exit vertically through the pulley housing 205. In some embodiments, the pulley housing 205 may be located on an outer perimeter of the base 102, wherein a left pulley housing 205A and a right pulley housing 205B may be appropriately mirrored across the base 102. In other embodiments, however, the pulley housing 205 and the termination of the cable 140 may be located in other sections of the base 102, may be symmetrical across a different plane of the base 102, or may not be symmetrical at all.
In an embodiment shown in
As discussed above, the cable 140 may terminate in the knob 200, which acts as a stop defining a maximum retraction of the cable 140. For example, the pulley housing 205 may include a limiter bracket 206 having an aperture with dimensions smaller than a diameter of the knob 200. Consequently, when the cable 140 is in the docking position, the knob 200 may rest against the limiter bracket 206 of the pulley housing 205. In some embodiments, the cable 140 may terminate in a carabiner, D-ring, snap-hook, or comparable attachment device for the incorporation of various accessories, which will be discussed further below. And in the same or other embodiments, said attachment device may be in addition to or may altogether replace the knob 200.
With continued reference to
In addition to the foregoing, the motor 255 may be configured with a number of specific control features. According to an embodiment, the motor 255 may be capable of independently implementing closed-loop PID feedback; and/or may be capable of independently operating at a constant current, operating at a constant position, operating at a constant velocity, and/or implementing a specific motion profile. In the same or other embodiments, the machine controller 250 may operatively supply instructions to the motor 255 with respect to the above parameters through a CAN bus, PWM signal, or similar protocol common to the art.
For example, the machine controller 250 may command the motor 255 to operate at a specific velocity, e.g. in order to provide an isokinetic exercise to a user exercising with the machine 100. Upon receiving such a command, the motor 255 may be capable of independently maintaining the commanded velocity through internal control mechanisms without the need for additional signals from the machine controller 250 or from external encoders (not shown). The above notwithstanding, in some embodiments, the motor 255 may also receive external feedback from the machine controller 250 and/or from external encoders to supplement its internal control mechanisms.
In another embodiment, the machine controller 250 may command the motor 255 to operate at a specific current or torque, e.g. in order to provide an isotonic exercise to the exercising user. Likewise, the motor 255 may be capable of independently maintaining the necessary current or torque through internal control mechanisms without the need for external data, feedback, or commands. It may be appreciated that, with regard to isotonic exercises in particular, the machine controller 100 may be configured to convert a desired force level in the cable 140 to a current or torque level of the motor 255. In such circumstances, the machine controller 250 may be configured to consider any number of system factors, such as but not limited to force multipliers in the pulley system 201, transfer functions in the motor 255, and the like.
According to some embodiments, the motor 255 may be configured to implement a specific motion profile received from the machine controller 100, which may or may not be ‘streamed’ in real time. For example, the motor 255 may be configured to ramp up to or ramp down from a given velocity, e.g. during an initial or ending phase of an isokinetic exercise; or the motor 255 may be configured to ramp up to or ramp down from a given force, torque, or current, e.g. during an initial or ending phase of an isotonic exercise. In the same or other embodiments, the motor 255 may be configured to implement independent S-curve smoothing; and/or may be configured to operate at constant accelerations, operate within minimum and/or maximum velocities, operate within minimum and/or maximum accelerations, and yet other kinematic controls, which further improve a perceived smoothness and overall safety for the user.
Furthermore, in some embodiments, one or both of the left motor 255 and the right motor 255 may be capable of implementing a ‘follow mode’ protocol, wherein a ‘follower’ motor may be controlled by and execute an identical motion profile to a ‘lead’ motor, e.g. during symmetrical exercises.
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In some embodiments, each motor 255 may further include an integrated planetary gearbox, such as but not limited to the Versa Planetary Gearbox, which may feature any number of modular and interchangeable gear stages. Without limitation, the motor 255 may further include any number of coupling components required to integrate its shaft with the pulley system 201. As shown in the exploded view in
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As previously discussed, the machine controller 250 may be in bi-directional communication with each of the motors 255. More specifically, it may command an operation of each motor 255 through a CAN bus, PWM signals, or comparable communication protocol, and may receive feedback from each motor 255 via the same or additional communication channels. For example, the machine controller 250 may command each motor 255 to operate at a specific velocity, specific torque or current level, or specific motion profile, depending on the exercise being provided for the user. In some embodiments, after supplying the initial command to the motor 255, the machine controller 250 may not be required to participate in the motor's 255 independent control processes. For example, the machine controller 250 may supply the initial command for a concentric motion of an exercise, defer to the motor's independent closed-loop control, and then, upon completion of the concentric motion, supply the command for the eccentric motion of the same exercise. And in other embodiments, the entire repetition or even the entire set of repetitions may be independently controlled by each motor 255. However, it may be appreciated that the control scheme between the machine controller 250 and each motor 255 may differ depending on the exercise being performed, wherein each exercise may be left-side only, right-side only, symmetric, functionally symmetric, etc. For example, where a symmetric exercise is provided, the machine controller 250 may provide commands to the ‘lead’ motor 255 only, which may be then be replicated by the ‘follower’ without direct input from the machine controller 250.
In addition to controlling an operation of the motors 255, the machine controller 250 may also receive feedback therefrom, including at least a position feedback and a current, torque, and/or force feedback. In an embodiment, the position feedback may be supplied by the integrated motor encoder, and the current, torque, and/or force feedback may be supplied by the integrated motor controller. In some embodiments, each motor 255 may only supply a position feedback and a current feedback, wherein the latter may be converted into the relevant parameter, e.g. force, by the machine controller 255, after accounting for force multipliers in the pulley system 201, transfer functions in the motor 255, and the like. In the same or other embodiments, additional metrics may be monitored by the machine controller 250, such as not limited to the temperature levels, voltage levels, power consumption, and efficiency of each motor 255.
Furthermore, the machine controller 250 may implement algorithms and/or software processes which perform an analysis on the data received from the motors 255 to provide user form feedback and user balance feedback on some or all exercises performed on the resistance training machine 100. Such analysis may consider, without limitation, the type of exercise being performed, the mode of the exercise (e.g. isokinetic or isotonic), the specified velocity or force levels outputted by the motors 255, the number of repetitions, the motion profile executed by the motor 255, and yet other factors; and may further depend on a sampling frequency of the motor 255 and/or the machine controller 250. For example, during an isokinetic and isometric exercise, the machine controller 250 may utilize the position feedback from the motors 255 to determine a kinematic motion of the user throughout his or her range of motion. Likewise, during an isotonic and isometric exercise, the machine controller 25 may utilize the current feedback from the motors 255 to determine a force applied by the user throughout his or her entire range of motion. In the above examples, it may be determined that the user's physical motion or force output is sufficiently balanced between the left and right sides of the body, or alternatively, that an unbalanced distribution has occurred. Such analysis by the machine controller 250 may then be communicated to the user through the HMI 110 and/or, in some circumstances, may lead to the activation of certain safety protocols. No limitation is intended herein for the type and number of user form and user balance metrics which may be derived by the machine controller 250, nor for the algorithms and mechanisms by which feedback is extracted from the motors 255 and the subsequent analysis performed.
With continued reference to
In the above or other embodiments, the force feedback from the load cells 299 may be consolidated with feedback from the motors 255 to provide more complex insights into user form and user balance. For example, net force data from the load cells 299 may be measured against a net force outputted by the motors 255. The comparison therein may be used to calculate a distribution of vertical (Z-axis) and horizontal (X-axis, Y-axis) force vectors, thereby arriving at a simulated pulling angle of one or both cables 140. It should be understood, however, that each of the above analyses are exemplary only, and that no limitation is intended herein for the methods or algorithms by which data from the motors 255 and the load cells 299 are measured and analyzed to drive insights for the user.
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In some embodiments, the machine controller 250 may further implement software to generate a graphic user interface (GUI) displayed by HMI 110. The GUI may be configured to receive a user's selection of exercise type, exercise mode, exercise velocity, exercise force, exercise repetitions etc. Furthermore, the GUI may display feedback regarding the user's form and balance, and/or the GUI may alert the user when unsafe practice are detected. For example, during an ongoing exercise, a visual representation on the HMI 10 may display a simulated user form, a relative position of the cable, a force distribution between the left and right sides of the user's body, a weight distribution across the base 102, a simulated user stance, and yet other possibilities. Indeed, no limitation is intended herein for the means by which the HMI 110 may receive selections from the user, nor for the means by which feedback on user balance and form may be displayed on the HMI 110.
HardwareWhile the above has described a number of electronic components comprising the resistance training machine 100, several hardware features will now be discussed in greater detail.
More specifically, the resistance training machine 100 may comprise a number of hardware features which improve its ease of use and its customizability. In the embodiment shown in
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With continued reference to
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In some embodiments, the machine and, more specifically, the machine controller, may be programmed to include a Calibration Mode incorporating the above steps, where said steps may be facilitated through the display and input mechanism of the HMI. In the same or other embodiments, recalibration of an exercise may be performed at any time by entering the Calibration Mode.
With continued reference to
It may be understood, however, that different exercises may require only one or both cables, or may even be performed with functional symmetry, i.e. alternating left and right cables; that different exercises may require a specific number or range of repetitions; that different exercises may be performed in a specific exercise mode only; that different exercises may require a specific number or range of velocity and force; and/or that different exercises may be preprogrammed into the machine. Indeed, no limitation is intended herein for the specific combination of exercise type, handedness, symmetry, repetitions, exercise mode, and/or range of exertions that may be provided by the machine. Furthermore, it should be understood that some or all of the above steps may be obviated, may be performed in a different order, and/or may be performed concurrently, without departing from the scope of the present disclosure. In some embodiments, the machine and, more specifically, the machine controller may be programmed to include a Ready Workout Mode incorporating the above selection steps, where said steps may be facilitated through the display and input mechanism of the HMI.
With continued reference to
Next, the motor may ramp up the cable to a constant velocity (block 691), e.g. for an isokinetic exercise, or ramp up the cable to a constant force (block 692), e.g. for an isotonic exercise. The user may then perform a repetition of the exercise (6100) at the constant velocity or force. Near the end position of the motion, the motor may ramp down the cable from the constant velocity to zero or a minimum velocity (block 6111), e.g. for the isokinetic exercise; or ramp down the cable from the constant force to zero or a minimum force (block 6112), e.g. for an isotonic exercise. Finally, blocks 691-6111 may be repeated for a selected number of repetitions, and the workout completed. In various embodiments, specific ramp up and ramp down times may be selected by the user, set by the manufacturer, and/or changed according to the associated exercise; and may be set to between 0.5 and 3 seconds, and more preferably, between 1 and 2 seconds. Furthermore, additional smoothing, such as S-curve smoothing, may be applied to the motion profile of the cable during either ramp up or ramp down procedures.
In some embodiments, the machine may feature a Pull-in Slack mode that is designed to retract the cables when no longer in use. Accordingly, the method 600 may include the motor retracting the cable to the docking position at a minimum force or minimum velocity if/when certain conditions are met. According to an embodiment, the Pull-In Slack mode may be activated if/when the cable is not in the docking position and no resistance has been detected by the machine controller for between 5 and 15 seconds and, more preferably, between 8 and 12 seconds. In the same or other embodiments, the Pull-in Slack Mode may be deactivated (and the retraction ceased) if, during retraction, a resistance is detected in the cables. It may be understood that Pull-in Slack mode may also be activated in other circumstances, and may be activated for a single cable at a time or both cables concurrently.
In some embodiments, the machine may further feature any number of safety protocols designed to protect the user and/or the machine when dangerous activity is detected or when certain limits are exceeded. In such embodiments, the machine may enter a Non-workout Mode, wherein no resistance is exerted by one or both motors. In the same or other embodiments, the Non-workout Mode may be followed by the Pull-in Slack Mode in order to reset the machine. For example, the machine may enter the Non-workout Mode if, in the course of an exercise: a force exceeding between 300 and 700 pounds or, more preferably, 500 pounds is exerted on either motor; a repetition exceeds between 6 and 14 seconds or, more preferably, 10 seconds; or either or both knobs are within between 0.5 and 2 inches or, more preferably 1 inch of the docking position. In such circumstances, the motor may cease providing resistance, followed by a brief pause, and then begin retraction through the Pull-in Slack mode. As discussed above, the machine may further utilize the load cells to enable additional safety protocols, in combination with or independent of the above conditions. For example, the Non-workout Mode may be activated if the cable is not in the docking position and one or more load cells detect an unsafe user balance, or if the user is standing to close to an edge of the base.
Furthermore, in some or all of the above embodiments, a corresponding status or alert may be communicated to the user through the HMI, informing the user of the type, cause, and/or remedy to an encountered problem. It should be understood that the above conditions and protocols are exemplary only, that other conditions or sets of conditions may be programmed to activate the Non-workout Mode, that periods of time other than the above may be necessary or sufficient to activate the Non-workout Mode, and that other procedures may be activated by the machine as part of various safety protocols without departing from the scope of the present disclosure.
Turning now to
Next, in block 750, the machine may generate feedback pertaining to the user's form from some or all of the above data received by the motors and the load cells; and, in block 760, the machine may generate feedback pertaining to the user's balance from some or all of the above. As previously discussed, no limitation is intended herein for the algorithms or strategies by which insights may be extracted from the underlying data. Finally, the machine may display the user form and user balance feedback through the HMI through any number of means known in the art, such as but not limited to a GUI, graphs, charts, tables, simulations, audio cues, and the like (block 7100). In some embodiments, the machine controller may specifically generate a visual representation of the user's form and balance (block 790), such as but not limited to a 3D model, a color-coded display of active muscle groups, a distribution of left-side and right-side forces, and many other possibilities, which may improve a comprehension and/or enjoyment for the user.
In some embodiments, the above feedback information may also be used to activate safety protocols. As seen in block 780, if unsafe user activity is detected, the machine may enter a Non-workout Mode, wherein the motors may cease to apply resistance. In the same or other embodiments, appropriate alerts, such as visual or audio cues, may further be communicated to the user through the HMI 10. However, it should be understood that other safety triggers and other resulting actions are also possible and envisioned.
Referring now to the drawings and with specific reference to
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The power supply may receive electrical power from an external supply and may provide electrical power to some or all of the other electronic components of the machine 100, where wattage ratings may be determined by specific application requirements. In some embodiments, such as the one shown in
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The right gear system may be operably coupled a right linear actuator, which switches the right gear system to from smaller gear to a higher gear in the isokinetic mode and switches the from a smaller gear to a lower gear in the isotonic mode or calibration mode. The higher gear forces the right motor system achieve a higher force and slower speed on the right cable, while the lower gear forces the right motor system achieve a lower resistive force on the cable allowing for a higher speed of the right cable.
In one embodiment, the constant force mode or isotonic mode is when the handle moves at a constant force regardless of how fast or slow the user moves the handles during their workout. The max force at the handle is about 500 lbs/handle and the max velocity at the handle is about 3 ft/0.5 seconds. In another embodiment, the constant velocity mode or the isokinetic mode is when the handle moves at a constant velocity regardless of how much force the user puts on the handles during the workout. The max force in the isokinetic mode is about 1000 lbs/handle and the max velocity at the handle is about 10 inch/1.0 seconds. The pull in/slack mode is for calibration and is how the handle function when the user is not in a workout and the tension on the handle is under constant light tension. The calibration mode has a max force of about 20 lbs/handle and a max velocity of about 3 ft/0.5 seconds.
In one embodiment, the gear ratio of the lower gear to the higher gear is 1:16, 1:15, 1:14, 1:13, 1:12, 1:11, 1:10, 1:9, 1:8, 1:7, 1:6, 1:5, 1:4, 1:3, 1:2, or 1:1. The right motor system 255B may feature any number of modular and interchangeable gear stages when adding additional motors to the right motor system and the left motor system, such as one gear, two gears, three gears, and the like. Without limitation, the motor systems 255 may further include any number of coupling components required to integrate additional motors and their shaft to the gears with the pulley system 201. The first right motor 1360B and the second right motor 1370B achieve a resistive force of at least about 100 lbs to about 500 lbs. The right motor system 255B and a left motor system 255A work in parallel and are controlled by the machine controller 250.
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The motor encoder may be an AC servo drive with 16-bit high resolution feedback and motor monitor functions. The motor encoder may include a 4-wire high speed serial encoder bus, with 8-bit security code, a graphical interface, Adaptive Tuning Technology, Single/Three-Phase 110˜240 VAC+10% 50/60 Hz input, standard Position, Velocity, Torque servo modes; Serial [UART,SPI], Pulse/Sign, CW/CCW, A/B Quadrature, and Analog Command; A/B/Z Quadrature incremental encoder output; Motor Current, Absolute Position, Position Error Monitor Outputs; RS232/Modbus RS485/CAN Communication; and Integrated Point to Point S-curve motion, linear & circular coordinated motion.
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The second operating system 3200 includes a device maintenance database 3210, a console manager 3220, an Ethernet data/stream process 3230, a core manager 3540, a motor drive manager 3250, a sensor manager 3260, and a wireless button manager 3270. The device maintenance database 3210 sends and receives data from the core manager 3540. The core manager 3540 sends and receives data from the console manager 3220, the motor drive manager 3250, the sensor manager 3260, and the wireless button manager 3270. The Ethernet data stream process 3230 sends and receives data from the event handler 3120 and the workout manager 3130 from the first operating system 3100. The wireless button manager 3270 sends and receives data from the wireless workout button 3280.
The second operating system 3200 sends commands to the first operating system 3100, which are topics for any particular module. The first operating system 3100 populates events that are processed by the second operating system 3200. The second operating system 3200 processes streams, which are topics continuously populated data stream from the first operating system 3100. The first operating system 3100 and the second operating system 3200 process responses for commands or acknowledgements of data, such as errors or critical events. The first operating system 3100 and the second operating system 3200 provide a Calibration of the resistance training machine, which is the procedure of setting min and max values relative to home position for movement and determines the positions between which the movement takes place. The first operating system 3100 and the second operating system 3200 process Movement Data, which is the process of motor rotation in and out to pull in and release cables between defined positions during calibration or loaded from the database. The second operating system 3200 process data relating to Accessories attached resistance training machine, which are devices which are connected to second operating system 3200 using wireless or Bluetooth, to provide UI control movements and calibration of the motor.
Motor ProtocolThe modes that the motor system may implement include a Nemesis Mode, a Standard Mode, an Exocentric Mode, an Isokinetic Mode, an Isotonic Mode, a Concentric mode, an Eccentric Mode. The Nemesis Mode is the movement mode in which the user is able to do an Isokinetic movement in both directions. The Standard Mode is the movement mode in which the user is able to do an Isotonic movement in both directions. The Excentric Mode is the movement mode in which the user is able to do an Isokinetic movement in the eccentric direction. The Isokinetic mode is Constant velocity movement, where the motor is more powerful than the user. The Isotonic Mode is Constant force movement, where the motor is less powerful than the user. The Concentric mode is the upward portion of a movement. The Eccentric mode is the downward portion of a movement. The modes may be set, calibrated, and executed by motor protocols.
The motor protocol is used for both the left and right motor system and the motor protocol is for receiving data from the second operating system about moving status and moving direction for the motor system. The motor protocol is updated on every change in motor movement or change in motor direction. The motor protocol includes a homed protocol, a command protocol, a response protocol, and an error protocol. The homed protocol contains information about the homing status of a motor and updates on change in the home status. The command protocol is used to send commands to the second operating system. The motor command may include: get relative position to home position and get actual position relative to actual home position. The response protocol contains the response data from second operating system and response for each command received by the second operating system. The error protocol is used by the first operating system for receiving error data from motors, for example SDK error, parameters set error, a number of error from list, including motor unexpected stop.
The movement protocol includes a calibration procedure used to establish the movement thresholds to be used during a workout, from where to where the motors will move. The resulting Minimum and Maximum values will be stored by the first operating system and must be passed to the second operating system using a command movement/setMovementData/along with the rest of the movement parameters.
The first operating system sends the communication/movement/calibration/launch Calibration/. The first operating system receives the communication Status/. The first operating system sends the/movement/calibration/calibration/movement/calibration/get Calibration/. The first operating system receives the communication/movement/calibration/actual Calibration/{1 min, 1 max . . . }.
The first operating system will receive several/stream/messages from the second operating system during motor movements approximately every 250 ms. The first operating system will receive from the second operating system all/motor/events, plus/accessories/event/. The first operating system may receive the motor protocol for the right and left motor, the stream, or the accessories events.
The get calibration protocol is used for sending a command to the second operating system and receiving actual calibration data. The second operating system may also request actual calibration from the device.
The actual calibration protocol is used for sending actual calibration from the second operating system to the first operating system, and when EM receive command from API.
The actual calibration protocol may send the minimum point in meters relative to home position for left motor, may send the maximum point in meters relative to home position for left motor, may send the minimum point in meters relative to home position for right motor, and may send the maximum point in meters relative to home position for right motor.
If the machine isn't calibrated, then an invalid calibration value is sent to the second operating system.
The set calibration protocol is used to send calibration values from the first operating system to the second operating system. These values set the calibration minimum and maximum for the motors for the subsequent movement. This set calibration protocol should be used for every movement, or the calibration will be in an invalid state. After setting calibration, the second operating system should use the get calibration protocol to get calibration and check for set values.
The launch calibration protocol is used to send command to the second operating system to launch or stop calibration procedure. The status of calibration can be received in the calibration status protocol.
The calibration status protocol is used to receive info from the second operating system about the calibration status. For example, after sending command launch Calibration protocol. The calibration status protocol may include not calibrated, maximum calibration in progress, maximum calibration completed, minimum calibration in progress, minimum calibration completed, and calibration completed
The calibration error protocol is used to receive info from second operating system about calibration error status. For example, after sending command launch calibration protocol.
The set Movement Data protocol is used to set typical movement values. The set movement protocol includes the number of repetitions for movement based on the type of the accessory to process events from the isokinetic, isotonic, eccentric, and mixed modes.
The set movement protocol includes the minimum calibration value for movement in meters for the left side only for isokinetic and mixed modes; the maximum calibration value for movement in meters for the left side only for isokinetic and mixed modes; the minimum calibration value for movement in meters for the right side only for isokinetic and mixed modes; the maximum calibration value for movement in meters for the ride side only for isokinetic and mixed modes; the position for start of movement only for isokinetic and mixed, optionally the top from max point or the bottom for minimum point; which motor is used in movement, optionally left motor system, right motor system, or both motor systems, where calibration uses this value as calibration target; the time for the upward movement; the time for the downward movement only for isokinetic and mixed modes; the force in pounds for the upward movement only for the isotonic mode; the force in pounds for the downward movement only for the isotonic mode.
The movement command protocol is used to send movement commands to the second operating system. To check the status of the movement command protocol, the movement status protocol is used for the response. The movement command protocol includes a start movement, an end movement, a pause movement, and a resume movement.
The movement status protocol is used to receive event status of movement, it also can be a response to the movement command protocol. The movement status protocol is a response and an event, since the movement status can change by both the first and the second operating system (via Bluetooth buttons) interaction. The movement status protocol includes a movement started, a movement paused, a movement resumed, and a movement finished.
The movement error protocol is used by the first operating system to receive an event about movement error. The movement error protocol includes an invalid movement command, a can't start workout due to calibration is not set, an invalid state transition, a hall sensor triggered, and an unable to set movement data.
The movement error acknowledgment is used for send acknowledge about receiving error from the first operating system to the second operating system.
The sensor status protocol is used to receive events about hall sensor status change. The sensor status protocol includes a status of left hall sensor, a status of right hall sensor, a status of motor safety circuit and whether it is enabled or the safety is triggered.
Point to Point Movement (S-Curve)Max Acceleration, Max Speed, and Gear Number are important data parameters for generating the S-Curve in the motor protocol. The motor drive also applies a smoothing filter to the acceleration profile to generate best S-Curve performance.
The S-Curve profile is calculated as the following,
S-Curve: Acceleration Time=0.104 s; Distance During Acceleration=1.72 rev; Constant Speed Travel Time=0.154 s; Total S-Curve Time=0.362 s.
AccessoriesMore specifically, the resistance training machine 100 may comprise a number of hardware features which improve its ease of use and its customizability. In the embodiment shown in
Returning now to
The method and software for controlling a resistance training machine provides varying force and velocity levels for isokinetic and isotonic exercises, respectively, for a user. Furthermore, the method and software for controlling a resistance training machine measures and communicates form feedback and balance feedback during some or all exercises performed on the machine, thereby improving workout efficacy and safety for the user. The resistance training machine may be the one described in commonly assigned PCT application serial no. PCT/US22/47441, filed Oct. 21, 2022, herein incorporated by reference in its entirety. Generally speaking, the resistance training machine comprises a platform or base with load cells, a motor and a sensor operably coupled to cables, cables operably coupled to a pulley system, a controller operatively coupled to the sensors, load cells, motors, and human machine interface (HMI). The method of providing feedback on user form and user balance while exercising on the resistance training machine comprise providing resistance supplied by the motors to perform an isokinetic exercise or an isotonic exercise. During the exercise, the method receives position data as a function of time from the motor, and the main module receive current, torque, and/or force data as a function of time from the motor. In an embodiment, the main module receives force data, weight data, force distribution data and/or weight distribution from the load cells.
As shown in
The alternative embodiment in
The main module 110 is the main loop and device's state machine controlling the operation and software of the method 100. The main module 110 reads out a plurality of settings on the exercise machine startup. The main module 110 stores the calibration data. The main module 110 distributes the sensors data to the UI module 120 and the BLE communication module 130. The main module 110 manages the haptic or button presses received from BLE enabled buttons. The main module sets the color and glowing mode from the LED string control module 180. The main module 110 manages the information received from Phidget Bridge communication module 190. The main module 110 calls methods from Audio control module 200 when needed. The main module operates a plurality of states including an Initialize state, a Calibration state, a Workout state, a Stop state, an Idle state, a Pull in Slack state. In one embodiment, there is a tracking motor current state and a hall sensor check state.
The initialize state is configured to ramp up to or ramp down from a given velocity, e.g. during an initial or ending phase of an isokinetic exercise; or the motor may be configured to ramp up to or ramp down from a given force, torque, or current, e.g. during an initial or ending phase of an isotonic exercise. In the same or other embodiments, the motor may be configured to implement independent S-curve smoothing; and/or may be configured to operate at constant accelerations, operate within minimum and/or maximum velocities, operate within minimum and/or maximum accelerations, and yet other kinematic controls, which further improve a perceived smoothness and overall safety for the user.
The Calibration state is calibrating one or more exercises, wherein each exercise having a relative beginning position and a relative end position. More specifically, the main module 110 selects the relative beginning position by extending or retracting one or both cables to a first position, without resistance, and allows for the holding the first position for 2-5 seconds. The main module 110 may then select the relative end position by extending or retracting one or both cables to a second position, without resistance, and allowing for the holding the second position for 2-5 seconds. In some embodiments, it may be understood that the ‘relative’ beginning and ‘relative’ end positions may be used merely to define a length of travel for the cable. For example, various exercises may be started from any cable position, and the difference between the calibrated beginning and end positions may be used to determine a length of travel until the end position of the exercise. It may further be appreciated that some or all exercises may require calibration of only one of or both of the left and right cables. In some embodiments, the main module 110 is programmed to include a Calibration Mode incorporating the above steps, where said steps may be facilitated through the display, an input mechanism, or a database. In the same or other embodiments, recalibration of an exercise may be performed at any time by entering the Calibration state. The Calibration state may optionally sense the attachment or detachment of an accessory to one or both cables.
The workout state selects an exercise from among the one or more calibrated exercises. In various embodiments, the main module 110 allows the user to select to perform the exercise using the left cable only, the right cable only, or using both the left and right cables; the user may select a number of repetitions for the exercise; and/or the user may select an exercise mode, such as an isokinetic mode or an isotonic mode. If an isokinetic mode is selected, the user may further select a constant velocity to be outputted by the machine; or, if an isotonic mode is selected, the user may further select a constant force to be outputted by the machine.
The Stop state is the main module activates the sensor and switch module to stop the cables and the motors.
The Pull in Slack state operates the main module to retract the cables when no longer in use. Accordingly, the main module 110 operates the motor to retract the cable to the docking position at a minimum force or minimum velocity if/when certain conditions are met. According to an embodiment, the Pull-In Slack state may be activated by the main module 110 if/when the cable is not in the docking position and no resistance has been detected by the machine controller for between 5 and 15 seconds and, more preferably, between 8 and 12 seconds. In the same or other embodiments, the Pull-in Slack state may be deactivated by the main module 110 (and the retraction ceased) if, during retraction, a resistance is detected in the cables. It may be understood that Pull-in Slack state may also be activated by the main module 110 in other circumstances, and may be activated for a single cable at a time or both cables concurrently.
In some embodiments, the main module 110 may further feature any number of safety protocols designed to protect the user and/or the machine when dangerous activity is detected or when certain limits are exceeded. In such embodiments, the main module 110 enters an Idle state, wherein no resistance is detected by one or both motors. In the same or other embodiments, the Idle state may be followed by the Pull-in Slack state in order to reset the machine. For example, the main module enters the Idle state if, in the course of an exercise: a force exceeding between 300 and 700 pounds or, more preferably, 500 pounds is detected on either motor; a repetition exceeds between 6 and 14 seconds or, more preferably, 10 seconds; or either or both knobs are within between 0.5 and 2 inches or, more preferably 1 inch of the docking position. In such circumstances, the main module 110 may instruct the motor to cease providing resistance, followed by a brief pause, and then begin retraction through the Pull-in Slack mode. As discussed above, the main module communicates with the load cells to enable additional safety protocols, in combination with or independent of the above conditions. For example, the Idle state may be activated by the main module 110 if the cable is not in the docking position and one or more load cells detect an unsafe user balance, or if the user is standing to close to an edge of the base.
The tracking motor current state tracks the current provided in the motor modules and operates the main module for ensuring calibration and safety protocols are maintained. The hall sensor check state operates to ensure the platform sensors and the handle sensors are operating and able to turn off the machine.
ModulesThe UI module 120 handles UI transitions and user actions. The UI module 120 sends important events to the main module 110. The UI module sends a selected training program, a request training history and the like. In one embodiment, the UI API includes data communicable with an API for a cloud communication. In some embodiments, the UI module 120 generate a graphic user interface (GUI) displayed by the HMI. The GUI is configured by the UI module to receive a user's selection of exercise type, exercise mode, exercise velocity, exercise force, exercise repetitions etc. Furthermore, the UI module may display feedback regarding the user's form and balance, and/or the GUI may alert the user when unsafe practice are detected. For example, during an ongoing exercise, the UI module may display a visual representation on the HMI as a simulated user form, a relative position of the cable, a force distribution between the left and right sides of the user's body, a weight distribution across the base, a simulated user stance, and yet other possibilities. Indeed, no limitation is intended herein for the means by which the UI module may receive selections from the user, nor for the means by which feedback on user balance and form may be displayed by the UI module.
The BLE communication module 130 handles the connection third party devices. In one embodiment, BLE communication module connects with an Android Tablet or Phone. The BLE communication module 130 updates the service and characteristics data. In one embodiment, the BLE communication module 130 communicates with a BlueZ 132, headphones, or third party devices. The third party devices may include software applications (so-called apps) for smart-phones, personal digital assistants, music players, watch based devices, portable (laptop, tablet, etc.) computers, etc. can provide various visual and audio feedback and cues to a user. Feedback can be provided by way of audio, tactile, or electronic indicator, or by way of a connection to a smart-phone, personal digital assistant, portable (laptop, tablet, etc.) computer, etc. The sensors can also be integrated into various forms of sports or safety equipment, such as a soccer shin pad or football shoulder pads. The sensors can also be integrated into various devices configured to be attached to or placed within a shoe.
The training program module 140 communicates and controls the drive system module 150 and the statistics module 170. The training program module 140 runs selected training programs taking into an account mode and the number of motors involved. The account mode comprises an isotonic exercise training mode, an isokinetic exercise training mode, or a pull in slack mode. The number of motors may be one motor, two motors, or more than two motors. The training program module 140 controls the transitioning between a plurality of training sets. The training program module 140 request sensors data within a pre-defined period and passes the sensor data to the statistics module 170 and main module 110.
The data and analysis by the controller includes the type of exercise being performed, the mode of the exercise (e.g. isokinetic or isotonic), the specified velocity or force levels outputted by the motors, the number of repetitions, the motion profile executed by the motor, and yet other factors; and may further depend on a sampling frequency of the motor and/or the controller. For one embodiment, during an isokinetic and isometric exercise, the controller may utilize the position feedback from the motors to determine a kinematic motion of the user throughout his or her range of motion. Likewise, during an isotonic and isometric exercise, the controller may utilize the current feedback from the motors to determine a force applied by the user throughout his or her entire range of motion. In the above embodiments, it may be determined that the user's physical motion or force output is sufficiently balanced between the left and right sides of the body, or alternatively, that an unbalanced distribution has occurred. Such analysis by the main module may then be communicated to the user through the display and/or, in some circumstances, may lead to the activation of certain safety protocols, such as the Safe state.
The drive system module 150 is operable and communicates with the training program module 140 and a Phoenix SDK 152. The drive system module 150 sets the mode of the drive system. In one embodiment, the drive system module 150 sets and removes the resistance force for both motors. The drive system module 150 sets the target velocity. The drive system module 150 sets and checks the target distance for each repetition. The drive system module 150 provides the sensors data upon request. The Phoenix SDK is operably coupled and communicable with a socketCAN 154. The Phoenix SDK provides the programming framework for controlling the hardware contained in the drive system. The socket can The SocketCAN is an implementation of CAN protocols (Controller Area Network) for Linux. CAN is a networking technology and SocketCAN uses the Berkeley socket API, the Linux network stack and implements the CAN device drivers as network interfaces. The CAN socket includes an API.
After an exercise and its parameters are selected, the user may then begin the exercise and move the cable to a beginning position, without resistance from the motors. More specifically, the user may enter a GO command into the UI module, after which a period of time is allocated for the user to freely move the cable to the desired beginning position, such as between about 1 and about 10 seconds and, more preferably, between about 4 and about 6 seconds. As previously discussed, this beginning position is used by the main module to define the end position of the exercise, based on the difference between the relative beginning and the relative end that was calibrated for the exercise.
The drive system module drives the motor to ramp up the cable to a constant velocity, e.g. for an isokinetic exercise, or ramp up the cable to a constant force, e.g. for an isotonic exercise. The user may then perform a repetition of the exercise at the constant velocity or force. Near the end position of the motion, the drive system module drives the motor to ramp down the cable from the constant velocity to zero or a minimum velocity (block 6111), e.g. for the isokinetic exercise; or ramp down the cable from the constant force to zero or a minimum force, e.g. for an isotonic exercise. Finally, the training module may repeat the exercise for a selected number of repetitions, and the workout completed. In various embodiments, specific ramp up and ramp down times may be selected by the user, set by the manufacturer, and/or changed according to the associated exercise; and may be set to between about 0.5 and about 3.0 seconds, and more preferably, between about 1.0 and about 2.0 seconds. Furthermore, additional smoothing, such as S-curve smoothing, may be applied to the motion profile of the cable during either ramp up or ramp down procedures.
The statistics module 170 is operably with the training program module and the statistics module 170 collects sensors data and calculates the statistical data. The statistical data includes the minimum repetition, the maximum repetition, the average user force, the repetition time, the set average force and total time. In one embodiment, the statistics module is operable and communicable with a database to log all statistics and personal data. In one embodiment, the database is a cloud based server running NoSQL or SQLite. It may be understood, however, that the statistics module may track data in only one or both cables, track data related to functional symmetry, i.e. alternating left and right cables; track data relating to a specific number or range of repetitions; track data for different exercises in a specific exercise mode only; track data on different exercises in a specific number or range of velocity and force; and/or track data for different exercises preprogrammed into the main module. Indeed, no limitation is intended herein for the specific data tracked by the statistics module related to exercise type, handedness, symmetry, repetitions, exercise mode, and/or range of exertions that may be provided by the machine.
The LED string module 180 is controlled by the main module 110 and sets the RGB color, ON/OFF the lights, Blink, fade lights depending on the Device status (uses some state machine for LED indication).
The audio control module 200 is controlled by the main module 110 and plays audio using some schedule or commands from the Main module, change volume level, etc. The audio control module 200 play audio or is coupled by the BLE for headphone playback.
The sensor and switch monitor module 160 is operable and communicable with the main module 110. The sensor and switch monitor module 160 reads the hall sensors and the switch status and reports to Main module. In one embodiment, the sensor and switch monitor module 160 is combined with the main module 110. In one embodiment, the sensor and switch module 160 reads both sets of hall sensors, the handle sensors and the platform folding sensors. In one embodiment, the sensor and switch module 160 manages the logic signals similarly by reading General-Purpose Input/Output (GPIOs).
The Phidget Bridge communication module 190 is operable and communicable with the main module 110. The Phidget Bridge communication module 190 reads out data from 4 load cells, calculates weight and position by weight disbalancing, and reports these data to the Main module. In one embodiment, the Phidget Bridge communication module 190 is only operable during a workout loop or a setup loop. In another embodiment, the training program module 140 reads out data from 4 load cells, calculates weight and position by weight disbalancing, and reports these data to the Main module. The Phidget Bridge communication module 190 is operable outside the Training program module for configuration/calibration purposes.
The MQTT client 220 gets information from Puck.js and one of the options to communicate with Puck.js BLE devices mounted into the handles. The MQTT client 220 does not conflict with BLE communication module by using mutex, and communicates directly with Puck.js device. The MQTT client 220 is any device (from a micro controller up to a full-fledged server) that runs an MQTT library and connects to an MQTT broker over a network.
The main module generates feedback pertaining to the user's form from some or all of the above data received by the drive system module, MQTT client, and the Phidget Bridge communication module; and, the main module generates feedback pertaining to the user's balance from some or all of the above. Finally, the main module may display the user form and user balance feedback through the UI module through any number of means known in the art, such as but not limited to a GUI, graphs, charts, tables, simulations, audio cues, and the like. In some embodiments, the main module may specifically generate a visual representation of the user's form and balance, such as but not limited to a 3D model, a color-coded display of active muscle groups, a distribution of left-side and right-side forces, and many other possibilities, which may improve a comprehension and/or enjoyment for the user. As previously discussed, no limitation is intended herein for the algorithms or strategies by which insights may be extracted from the underlying data.
As shown in
The Phidget Bridge with a plurality of load cells 320 is an electric board measuring the output from a load cell. The load cells send the load data rate and gain values, which are configured and analyzed in the controller 310. A load cell is a force sensing module with small elements called strain gauges mounted in precise locations on the structure. Load cells measure a specific force, and ignore other forces being applied. The electrical signal output by the load cell is very small and requires specialized amplification. The Phidget Bridge perform all the amplification and measurement of the electrical output from the load cell. The load cell may be, without limitation, a single point load cell, digital load cell, beam load cell, canister load cell, and the like, and may operatively measure a force, force distribution, weight and/or weight distribution of a user working out on top of the platform. In the embodiment shown, the machine may specifically comprise four load cells spaced evenly across the four quadrants of the base, although other quantities and distributions are also possible. And in another embodiment, the load cells may specifically be placed in a middle section of the platform.
The LED string driver 330 is operably connected to the controller 310 and the LEDs 332. In one embodiment, the LED's are red, green, blue LED's or a combination thereof. The audio amplifier 340 is operably connected to the controller 310 and a speaker 312.
The CAN converter module 350 is operably connect to the controller 310 and the first motor/sensor 360 and the second motor/sensor 370. The first motor/sensor 360 is operably coupled to a first gear box 362, and the first gear box 362 is operably coupled to a first cable reel 364, and the first cable reel is operably coupled to a first cable 366. The second motor/sensor 370 is operably coupled to a second gear box 372, and the second gear box 372 is operably coupled to a second cable reel 374, and the second cable reel 374 is operably coupled a second cable 376. The first motor/sensor 360 and the second motor/sensor 370 are powered by a power supply 378. The first cable 366 and the second cable 376 are operably coupled to the hall sensors 380 for zeroing. The hall sensors 380 are operably coupled to the controller 310.
The platform hall sensor 390 is operably coupled with the controller 310 and senses when the platform is folded in the down position or the up position. The motor power switch 400 is operably coupled with the controller 410 and switches off the first motor/sensor 360 and the second motor/sensor 370 upon a safety signal. The display 410 is operably coupled with the controller 310 and the display 410 includes a touch screen, HMI, or an Application Programming Interface (API) for the user to input data, information, and training programs. A phone 430 may be operably coupled with the controller 310 via wireless technology, such as Bluetooth. The wireless buttons 420 are operably coupled with the controller 310 and send the safety signal as to activate the motor power off switch 400.
As shown in
As shown in
The general settings 610 include a minimum calibration setting, a maximum calibration setting, a timeout setting, a minimal velocity setting, a minimal resistance setting, a pull in slack current setting, a ramp up setting, a ramp down setting, a max repetition duration setting, a isokinetic speed setting, a demo training repetition setting, a demo training sets setting, a timeout second setting, and a settings verification. The workout settings 620 include a workout code, a workout name, a workout type, a workout start position, a calibration minimum, and a calibration maximum. The training 630 include a timestamp, an end timestamp, a workout code, a workout name, a workout type, a number of sets, a number of repetitions, a minimum force, a maximum force, an average force, a minimum velocity, a maximum velocity, and an average velocity. The raw data 640 includes a timestamp, a velocity, and force.
The method and software for controlling the isokinetic and isotonic exercise machine may implement algorithms and/or additional processes which perform an analysis on the data from the database and provide user form feedback and user balance feedback for future use. No limitation is intended herein for the type and number of data from the database which may be derived by the machine controller, nor for the algorithms and mechanisms by which feedback is extracted from the motors and the subsequent analysis performed from the database.
In some embodiments, the above feedback information may also be used to activate safety protocols. If unsafe user activity is detected, the controller may enter a Non-workout Mode, wherein the motors may cease to apply resistance. In the same or other embodiments, appropriate alerts, such as visual or audio cues, may further be communicated to the user through the UI module. However, it should be understood that other safety triggers and other resulting actions are also possible and envisioned.
Furthermore, it should be understood that some or all of the above steps may be obviated, may be performed in a different order, and/or may be performed concurrently, without departing from the scope of the present disclosure.
SystemAs used in this application, the terms “component” and “system” are intended to refer to a computer-related entity, either hardware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a server and the server can be a component. One or more components can reside within a process and/or thread of execution, and a component can be localized on one computer and/or distributed between two or more computers.
Generally, program modules include routines, programs, components, data structures, etc., that perform particular tasks or implement particular abstract data types. Moreover, those skilled in the art will appreciate that the inventive methods can be practiced with other computer system configurations, including single-processor or multiprocessor computer systems, minicomputers, mainframe computers, as well as personal computers, hand-held computing devices, microprocessor-based or programmable consumer electronics, and the like, each of which can be operatively coupled to one or more associated devices.
The illustrated aspects of the innovation may also be practiced in distributed computing environments where certain tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules can be located in both local and remote memory storage devices.
A computer typically includes a variety of computer-readable media. Computer-readable media can be any available media that can be accessed by the computer and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer-readable media can comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by the computer.
Communication media typically embodies computer-readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism, and includes any information delivery media. The term “modulated data signal” means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, RF, infrared and other wireless media. Combinations of the any of the above should also be included within the scope of computer-readable media.
Software includes applications and algorithms. Software may be implemented in a smart phone, tablet, or personal computer, in the cloud, on a wearable device, or other computing or processing device. Software may include logs, journals, tables, games, recordings, communications, SMS messages, Web sites, charts, interactive tools, social networks, VOIP (Voice Over Internet Protocol), e-mails, and videos.
In some embodiments, some or all of the functions or process(es) described herein and performed by a computer program that is formed from computer readable program code and that is embodied in a computer readable medium. The phrase “computer readable program code” includes any type of computer code, including source code, object code, executable code, firmware, software, etc. The phrase “computer readable medium” includes any type of medium capable of being accessed by a computer, such as read only memory (ROM), random access memory (RAM), a hard disk drive, a compact disc (CD), a digital video disc (DVD), or any other type of memory.
While the preceding text sets forth a detailed description of numerous different embodiments, it should be understood that the legal scope of protection is defined by the words of the claims set forth at the end of this patent. The detailed description is to be construed as exemplary only and does not describe every possible embodiment since describing every possible embodiment would be impractical, if not impossible. Numerous alternative embodiments could be implemented, using either current technology or technology developed after the filing date of this patent, which would still fall within the scope of the claims defining the scope of protection.
Claims
1. A method For Controlling Resistance Training Machine, comprising the steps:
- a. controlling a resistance training machine to measure and communicate form feedback and balance feedback during some or all exercises performed on the resistance training machine by a drive system module, wherein the resistance training machine comprises a platform or base with a plurality of load cells, a motor and a sensor operably coupled to cables, the cables operably coupled to a pulley system, a controller operatively coupled to the sensor, the plurality of load cells, the motor, and human machine interface;
- b. providing resistance supplied by the motors to perform an isokinetic exercise or an isotonic exercise by receiving position data as a function of time from the motor, and a main module is configured to receive current, torque, and/or force data as a function of time from the motor, the main module receives force data, weight data, force distribution data and/or weight distribution from the plurality of load cells; and
- c. operably coupling the main module with a plurality of modules including a Bluetooth Low Energy communication module, a Training program module, the drive system module, a sensor and switch monitor module, an actuator control module, a Phidget Bridge communication module that is a load cell interface which amplifies the signals detected to provide clear digital values, a Logging Module, and an MQTT (Message Queuing Telemetry Transport) client that is a protocol to send and receive messages;
- d. reading out a plurality of settings by the main module; storing a calibration data on a system startup; distributing the sensors data to the main module and the BLE communication module by the main module; managing the haptic or button presses received from a plurality of BLE enabled buttons by the main module; managing the information received from Phidget Bridge communication module by the main module; calling the plurality of settings from main module upon request by the main module; operating a plurality of states including an Initialize state, a Calibration state, a Workout state, a Stop state, an Idle state, a Pull in Slack state, a tracking motor current state, and a hall sensor check state from the sensor or the plurality of load cells.
2. The method of claim 1, further comprising the plurality of modules communicating with the Logging Module to log all the events from the plurality of modules to a terminal and filed to the terminal, logging and providing training history on request; and the MQTT client is operable and communicable with the main module to get information.
3. The method of claim 2, further comprising:
- a. Operating the main module with the BLE communication module, the MQTT client, and controlling the BLE communication module, the MQTT client via a wireless interface;
- b. Operating the main module with the Training program module and the Phidget Bridge communication module;
- c. Operating the main module that communicates with a cloud server; and
- d. Operating the main module with the drive system module and the sensor and switch monitor module.
4. The method of claim 3, wherein the initialize state is configured to ramp up to or ramp down from a given velocity, during an initial or ending phase of the isokinetic exercise; or the motor is configured to ramp up to or ramp down from a given force, torque, or current, during an initial or ending phase of the isotonic exercise; configuring the motor to implement independent S-curve smoothing or configuring the motor to operate at constant accelerations, operate within minimum and/or maximum velocities, operate within minimum and/or maximum accelerations, and kinematic controls to improve a perceived smoothness and overall safety for the user.
5. The method of claim 4, wherein the Calibration state is calibrating one or more exercises, each having a relative beginning position and a relative end position; selecting the relative beginning position by extending or retracting the cables to a first position, without resistance, and allows for the holding the first position for 2-5 seconds by the main module; selecting the relative end position by extending or retracting one or both cables to a second position, without resistance, by the main module; and allowing for the holding the second position for 2-5 seconds.
6. The method of claim 5, wherein the workout state selects an exercise from among the one or more calibrated exercises; the plurality of cables include a left cable and a right cable; allowing a user to select to perform the exercise using the left cable only, the right cable only, or using both the left and right cables; selecting a number of repetitions for the exercise; selecting an exercise mode, an isokinetic mode or an isotonic mode if an isokinetic mode is selected, then selecting a constant velocity to be outputted by the resistance training machine; if an isotonic mode is selected, then selecting a constant force to be outputted by the resistance training machine.
7. The method of claim 6, wherein the Stop state is the main module activates the sensor and switch module to stop the cables and the motors.
8. The method of claim 7, wherein the Pull in Slack state operates the main module to retract the cables when no longer in use; operating the motor to retract the cables to the docking position at a minimum force or minimum velocity if/when certain conditions are met.
9. A computer program product for a Resistance Training Machine, the computer program product comprising a non-transitory computer-readable medium that are executable by a computer having a processor for causing the processor to perform operations of:
- a. controlling the resistance training machine to measure and communicate form feedback and balance feedback during some or all exercises performed on the resistance training machine, wherein the resistance training machine comprises a platform or base with a plurality of load cells, a motor and a sensor operably coupled to cables, the cables operably coupled to a pulley system, a controller operatively coupled to the sensor, the plurality of load cells, the motor, and human machine interface (HMI);
- b. providing resistance supplied by the motor to perform an isokinetic exercise or an isotonic exercise by receiving position data as a function of time from the motor, and a main module receive current, torque, and/or force data as a function of time from the motor, the main module receives force data, weight data, force distribution data and/or weight distribution from the load cells; and
- c. operably coupling a main module with a plurality of modules including an UI module, a BLE (Bluetooth Low Energy) communication module, a Training program module, a drive system module, a sensor and switch monitor module, a statistics module, a LED string control module operably coupled to an LED, a Phidget Bridge communication module that is a load cell interface which amplifies the signals detected to provide clear digital values, an audio control module, a Logging Module, and an MQTT (Message Queuing Telemetry Transport) client that is a protocol to send and receive messages;
- d. reading out a plurality of settings by the main module; storing a calibration data on a system startup; distributing the sensors data to the main module and the BLE communication module by the main module; managing the haptic or button presses received from a plurality of BLE enabled buttons by the main module; managing the information received from Phidget Bridge communication module by the main module; calling the plurality of settings from main module upon request by the main module; operating a plurality of states including an Initialize state, a Calibration state, a Workout state, a Stop state, an Idle state, a Pull in Slack state, a tracking motor current state, and a hall sensor check state from the sensor or the plurality of load cells.
10. The computer program product of claim 9, further comprising the plurality of modules communicating with the Logging Module to log all the events from all modules to a terminal and filed in the terminal, logging and providing training history on request; and the MQTT client is operable and communicable with the main module to get information.
11. A computer program product for a Resistance Training Machine, the computer program product comprising a non-transitory computer-readable medium that are executable by a computer having a processor for causing the processor to perform operations of:
- a. Operating a main module with an UI module, a BLE (Bluetooth Low Energy) communication module, a MQTT client, and an audio control module, and controlling the UI module, BLE communication module, MQTT (Message Queuing Telemetry Transport) client that is a protocol to send and receive messages, and the audio control module via a wireless interface;
- b. Operating the main module with a Training program module and a Phidget Bridge communication module that is a load cell interface which amplifies the signals detected to provide clear digital values;
- c. Operating the main module a Cloud communication module that communicates with a cloud server; and
- d. Operating the main module with a drive system module, a sensor and switch monitor module, a statistics module, a LED string control module operably coupled to an LED;
- e. reading out a plurality of settings by the main module; storing a calibration data on the system startup; distributing the sensors data to the UI module and the BLE communication module by the main module; managing the haptic or button presses received from a plurality of BLE enabled buttons by the main module; managing the information received from Phidget Bridge communication module by the main module; calling the plurality of settings from Audio control module upon request by the main module; operating a plurality of states including an Initialize state, a Calibration state, a Workout state, a Stop state, an Idle state, a Pull in Slack state, a tracking motor current state, and a hall sensor check state.
12. The computer program product of claim 11, wherein the initialize state is configured to ramp up to or ramp down from a given velocity, during an initial or ending phase of an isokinetic exercise; or a motor configured to ramp up to or ramp down from a given force, torque, or current, during an initial or ending phase of an isotonic exercise; configuring the motor to implement independent S-curve smoothing or configuring the motor to operate at constant accelerations, operate within minimum and/or maximum velocities, operate within minimum and/or maximum accelerations, and kinematic controls to improve a perceived smoothness and overall safety for the user.
13. The computer program product of claim 12, wherein the Calibration state is calibrating one or more exercises, wherein each exercise having a relative beginning position and a relative end position; selecting the relative beginning position by extending or retracting the cables to a first position, without resistance, and allows for the holding the first position for 2-5 seconds by the main module; selecting the relative end position by extending or retracting one or both cables to a second position, without resistance, by the main module; and allowing for the holding the second position for 2-5 seconds.
14. The computer program product of claim 13, wherein the workout state selects an exercise from among the one or more calibrated exercises; the cables comprising a left cable and a right cable; allowing the user to select to perform the exercise using the left cable only, the right cable only, or using both the left and right cables; selecting a number of repetitions for the exercise; selecting an exercise mode, an isokinetic mode or an isotonic mode if an isokinetic mode is selected, then selecting a constant velocity to be outputted by the resistance training machine; if an isotonic mode is selected, then selecting a constant force to be outputted by the machine.
15. The computer program product of claim 14, wherein the Stop state is the main module activates the sensor and switch module to stop the cables and the motor.
16. The computer program product of claim 15, wherein the Pull in Slack state operates the main module to retract the left or right cables when no longer in use; operating the motor to retract the cable to the docking position at a minimum force or minimum velocity if/when certain conditions are met.
Type: Application
Filed: May 27, 2025
Publication Date: Nov 20, 2025
Inventors: Daniel Mooney (Lake Zurich, IL), Gregory Tepas (Barrington, IL)
Application Number: 19/218,890
