CONTROL METHOD FOR FORCE OUTPUT DEVICE, COMPUTER DEVICE, AND STORAGE MEDIUM

Abstract

The present application relates to the field of device control. Provided are a control method for a force output device, a computer device, and a storage medium. The method includes: controlling an electric motor to output resistance during at least one of a process of outputting a cable by the force output device or a process of retracting the cable by the force output device.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of International Patent Application No. PCT/CN2025/087617, filed on April 7, 2025, which claims priority to Chinese Patent Applications No. 202410173931.5, filed on February 7, 2024, No. 202410174308.1, filed on February 7, 2024, No. 202410175881.4, filed on February 7, 2024, No. 202410173991.7, filed on February 7, 2024, and No. 202510423804.0, filed on April 3, 2025, the entire contents of these applications are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the technical field of device control, and in particular to a control method for a force output device, a computer device, and a storage medium.

BACKGROUND

When a training device is in use, a user may interact with the training device and may perform exercise by overcoming resistance output by the training device. In the related art, the training device features a relatively single force output mode, and a force output manner of the training device may fail to meet user requirements in some cases during the user's exercise, thus compromising the user's workout efficiency and usage experience.

SUMMARY

In a first aspect, the embodiments of the present disclosure may provide the control method for the force output device. The method may include the following operation.

An electric motor may be controlled to output resistance during at least one of a process of outputting a cable by the force output device or a process of retracting the cable by the force output device.

In a second aspect, the embodiments of the present disclosure may further provide the computer device. The computer device may include a processor, a memory, and a computer program stored in the memory and executable by the processor. The computer program may be configured to be executed by the processor to implement an operation of the control method for the force output device in the embodiments of the present disclosure.

In a third aspect, the embodiments of the present disclosure may further provide the computer-readable storage medium. The computer-readable storage medium may be configured to store a computer program. The computer program may be configured to be executed by a processor to implement an operation of the control method for the force output device in the embodiments of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for describing the embodiments may be briefly introduced below. Obviously, the drawings in the following description may be some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings may also be obtained based on these drawings without creative work.

FIG. 1 is a schematic flow chart of a control method for a force output device according to some embodiments of the present disclosure.

FIG. 2 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure.

FIG. 3 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure.

FIG. 4 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure.

FIG. 5 is a schematic scenario view of a basic weight adjustment method according to some embodiments of the present disclosure.

FIG. 6 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure.

FIG. 7 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure.

FIG. 8 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure.

FIG. 9 is a schematic graph of a predetermined cable length versus resistance according to some embodiments of the present disclosure.

FIG. 10 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure.

FIG. 11 is a schematic graph of a predetermined cable length versus resistance according to some embodiments of the present disclosure.

FIG. 12 is a schematic graph of the predetermined cable length versus resistance according to some embodiments of the present disclosure.

FIG. 13 is a schematic structural block view of a computer device according to some embodiments of the present disclosure.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present disclosure may be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments may be part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present disclosure.

The flowcharts shown in the accompanying drawings may merely be illustrative and may not include all contents and operations/blocks, nor are the operations/blocks required to be executed in the described order. For example, some operations/blocks may be decomposed, combined, or partially merged, so that an actual execution order may be adjusted based on actual conditions.

Embodiments of the present disclosure may provide a control method for a force output device, a computer device, and a storage medium.

Some embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments may be combined with each other.

As shown in FIG. 1, FIG. 1 is a schematic flow chart of a control method for a force output device according to some embodiments of the present disclosure.

As shown in FIG. 1, the control method for the force output device may include an operation executed by the following block.

At block S001, an electric motor may be controlled to output resistance during at least one of a process of outputting a cable by the force output device or a process of retracting the cable by the force output device.

In some embodiments, the force output device includes the electric motor, a cable winding mechanism connected to the electric motor, and a cable disposed on the cable winding mechanism. The electric motor may be configured to generate the output resistance to overcome an external force on the cable.

In the related art, a traditional training device may usually rely on a physical weight (e.g., a dumbbell plate and a barbell plate) or a mechanical device (e.g., a spring and a friction plate) for resistance adjustment. An adjustment process may be cumbersome and not sufficiently precise. In addition, the traditional training device may have a large weight and volume, may occupy significant space, and may not be conducive to carrying and installation. Moreover, a function of the traditional training device may be relatively single, and the traditional training device may usually only perform a specific training action, making the traditional training device difficult to provide diversified training modes. In order to solve these problems, the control method for the force output device provided by the embodiments of the present disclosure may control the electric motor to output the resistance, and the resistance output by the electric motor may act on the cable. The user may perform strength training by overcoming the resistance output by the electric motor, thereby mitigating the above problems existing in the traditional training device.

In some embodiments, the force output device may be referred to as a training device. The cable winding mechanism may be referred to as a cable winding assembly or a wire winding mechanism. The cable may be referred to as a rope.

As shown in FIG. 2, FIG. 2 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure.

As shown in FIG. 2, the operation at block S001 may include a sleep control method for the force output device provided by operations executed by block S101 to block S104.

It can be understood that, in order to reduce the energy consumption of the force output device, the force output device may actively enter a sleep state when no user usage behavior is detected within a certain period of time. Of course, the embodiments of the present disclosure may not be limited thereto. The user may issue an instruction to control the force output device to passively enter the sleep state, which is not limited herein.

When the force output device enters the sleep state, the resistance output by the electric motor may decrease. When there is an accessory attached to the cable at this time, the accessory may fall because the output resistance is insufficient to support a weight of the accessory. In order to avoid such a situation, the embodiments of the present disclosure may provide a control method for the force output device.

At block S101, whether the force output device meets a predetermined sleep condition may be detected.

In some embodiments, at least one sleep condition may be predetermined. When the force output device meets one or more sleep conditions, it may be determined that the force output device needs to enter the sleep state. The predetermined sleep condition may reflect that the user has not used the force output device for a certain period of time, and that entering the sleep state may not affect user usage. Alternatively, the predetermined sleep condition may reflect that the user actively controls the force output device to enter the sleep state based on his/her own requirements.

In some embodiments, the predetermined sleep condition may include whether a static duration of the force output device reaches a predetermined duration. The static duration may refer to a duration during which the cable remains in a static state.

In some embodiments, the static duration may be configured to reflect a duration for which the user pauses use of the force output device. The static duration may refer to the duration during which the cable of the force output device remains in a static state. Since the cable is wound around the cable winding mechanism, the force output device may output or retract the cable via a rotation of the cable winding mechanism. A state of the cable may be determined by detecting a rotational angular velocity of the cable winding mechanism. The cable may be determined to be in the static state when the rotational angular velocity is less than a predetermined angular velocity threshold. For example, the cable may be determined to be in the static state if the rotational angular velocity is 0. Of course, the embodiments of the present disclosure may not be limited thereto.

In some embodiments, the predetermined duration may include at least one of a first predetermined duration, a second predetermined duration, or a third predetermined duration. The operation of detecting whether the force output device meets the predetermined sleep condition may include at least one of the following.

It may be determined that the force output device meets the predetermined sleep condition when a static duration after the force output device receives a sleep instruction is greater than the first predetermined duration.

It may be determined that the force output device meets the predetermined sleep condition when a static duration after the force output device is powered-on is greater than the second predetermined duration.

It may be determined that the force output device meets the predetermined sleep condition when a static duration after the force output device interacts with the user is greater than the third predetermined duration.

The first predetermined duration may be less than the second predetermined duration. The second predetermined duration may be less than the third predetermined duration.

In some embodiments, in order to align the sleep condition more with user usage habits, different predetermined durations may be set for different situations. That is, the force output device may be determined to meet the predetermined sleep condition when the static duration reaches corresponding predetermined durations for different situations.

For example, the force output device may be determined to meet the predetermined sleep condition when the static duration of the force output device after the user issues a sleep instruction reaches the first predetermined duration. In this case, since the user intends to actively put the force output device into the sleep state, the first predetermined duration may be set to a duration of, for example, 3 seconds. That is, the force output device may be determined to meet the predetermined sleep condition if the static duration of the force output device after receiving the sleep instruction reaches 3 seconds. On the contrary, if the user is detected still using the force output device within 3 seconds after the force output device receives the sleep instruction, the sleep instruction may be deemed to be triggered by a misoperation, and the force output device may not be controlled to enter the sleep state. It can be understood that by detecting whether the cable of the force output device is in a static state within the first predetermined duration after the force output device receives the sleep instruction, sleep state triggered by accidental touch may be prevented, and the fault tolerance of controlling the force output device may be improved.

For example, the force output device may be determined to meet the predetermined sleep condition when the static duration of the force output device after the user starts the force output device reaches the second predetermined duration. In this case, the user starts the force output device but leaves the force output device unused, and when a duration during which the user does not use the force output device after starting the force output device reaches the second predetermined duration, it may indicate that the user has no immediate intention to use the force output device or that a startup operation was triggered by a user misoperation. The second predetermined duration may be set to a duration longer than the first predetermined duration, for example, 30 seconds. That is, the force output device may be determined to meet the predetermined sleep condition if the cable remains in a static state for 30 seconds after the force output device is powered-on. On the contrary, if a user usage operation is detected within 30 seconds after the force output device is powered-on, the force output device may be deemed to be in a powered-on and normally operating state, and thus may not be controlled to enter the sleep state. It can be understood that by detecting whether the cable of the force output device is in a static state within the second predetermined duration after the force output device is powered-on, energy consumption caused by an accidentally triggered startup may be prevented, and the fault tolerance of the force output device's startup operation may be improved.

For example, the force output device may be determined to meet the predetermined sleep condition when the static duration of the force output device during user operation reaches the third predetermined duration. In this case, the user may have an ongoing usage demand but interrupts the training due to various reasons, and may be thus likely to resume using the force output device shortly after the pause. Therefore, the third predetermined duration may be set to a duration of, for example, 10 minutes. That is, the force output device may be determined to meet the predetermined sleep condition if the user pauses using the force output device for 10 minutes. On the contrary, if the user is detected resuming use of the force output device within 10 minutes after pausing, the user may be deemed to have re-entered a training state, and the force output device may not be controlled to enter the sleep state. It can be understood that if the user's usage demand is high, a frequency of the force output device entering the sleep state may be reduced, the continuity of the force output device's use may be enhanced, and thus the user's usage experience may be improved.

At block S102, a traction force of the accessory attached to the cable on the cable may be detected when the force output device meets the predetermined sleep condition.

In the related art, the force output device may usually be directly controlled to enter the sleep state once the sleep condition is detected to be met. However, this control method may ignore the possibility that an accessory is attached to the cable, thereby creating potential safety hazards for the operation of the force output device.

In the control method for the force output device provided by the embodiments of the present disclosure, after detecting that the sleep condition is met, the traction force on the cable may first be detected to determine whether an accessory of a certain weight is attached to the cable, and the accessory may be released before the force output device enters the sleep state.

At block S103, when the traction force is greater than a predetermined resistance, the electric motor may be controlled to adjust the output resistance to a first target resistance until the traction force disappears, and the force output device may be controlled to enter the sleep state.

In some embodiments, a magnitude of the predetermined resistance may be set based on an actual requirement. When the traction force of the accessory attached to the cable is greater than the predetermined resistance, it may indicate that the force output device is unable to provide sufficient resistance to support the accessory after entering the sleep state. The output resistance of the electric motor may need to be adjusted to the first target resistance, such that the accessory may slowly descend under an action of gravity with the first target resistance until the traction force of the accessory disappears, indicating that the accessory has safely landed on the ground, and then the force output device may subsequently be controlled to enter the sleep state.

In some embodiments, a force sensor may be provided to detect whether the traction force on the cable has disappeared, so as to determine whether the accessory has landed on the ground. Of course, the embodiments of the present disclosure may not be limited thereto. The landing situation of the accessory may also be determined based on an output speed of the cable. For example, when the speed of the cable is 0, the traction force may be determined to have disappeared and the accessory to have reached the ground, which is not limited herein.

In some embodiments, the operation of controlling the electric motor to adjust the output resistance to the first target resistance until the traction force disappears, and controlling the force output device to enter the sleep state may include the following.

An output speed of the cable may be detected during the electric motor is controlled to output the first target resistance.

The traction force may be determined to have disappeared when the output speed is less than or equal to a predetermined speed threshold.

In some embodiments, the output speed of the cable may also be determined based on the rotational angular velocity of the cable winding mechanism. When the output resistance of the electric motor is set to the first target resistance, the accessory may descend under gravity and generate a certain linear velocity that drives the cable winding mechanism for winding the cable to rotate to output the cable, resulting in both the cable and the cable winding mechanism having a corresponding speed. When the accessory lands on the ground, the accessory may remain stationary on the ground, and the cable connected to the accessory may also be in a static state. At this time, the speeds of both the cable and the cable winding mechanism may be less than or equal to the predetermined speed threshold (e.g., 0). A magnitude of the predetermined speed threshold may be set based on an actual requirement, which is not limited herein.

In some embodiments, the first target resistance may be less than the traction force. A magnitude of the first target resistance may be determined based on the traction force. Alternatively, the magnitude of the first target resistance may be set to a predetermined accessory release resistance.

In some embodiments, in order to allow the accessory to descend under the action of gravity, the magnitude of the first target resistance may be set to be less than a gravitational force acting on the accessory. That is, the magnitude of the first target resistance may be less than a magnitude of the traction force of the accessory during suspension, as detected by the operation at block S102.

In some embodiments, the magnitude of the first target resistance may be determined based on the magnitude of the traction force of the accessory. For example, the magnitude of the first target resistance may be obtained by subtracting a predetermined force difference from the detected traction force of the accessory. This ensures a constant predetermined force difference between the gravitational force acting on the accessory and the first target resistance during the accessory's descent, allowing the accessory to land on the ground with a constant acceleration. A magnitude of the predetermined force difference may be set based on an actual requirement. In order to prevent injury to people who may pass by or objects that may be placed beneath the accessory due to the accessory's descent, the predetermined force difference may be set to a value smaller than a weight of the accessory, so as to improve the safety of the accessory's descent.

In some embodiments, the magnitude of the first target resistance may also be set to the predetermined accessory release resistance. For example, a first accessory release resistance that is less than the traction force of the accessory may be predetermined, such that most accessories may descend due to a force difference between the gravitational force acting on the accessory and the first accessory release resistance, while the output speed of the cable may be detected simultaneously. When the output resistance is set to the first accessory release resistance and the cable remains in the static state, it may indicate that the first accessory release resistance may be insufficient to cause the accessory to descend. In this case, the output resistance may be adjusted to a second accessory release resistance that is less than the first accessory release resistance, and the output speed of the cable may continue to be detected. Such process may be repeated until the accessory may generate a linear velocity of descent under the action of the predetermined accessory release resistance.

At block S104, when the traction force is less than or equal to the predetermined resistance, the force output device may be controlled to enter the sleep state.

In some embodiments, when the traction force of the accessory on the cable is less than or equal to the predetermined resistance, it may indicate that no accessory is attached to the cable, or that the force output device may provide sufficient resistance to support the accessory after entering the sleep state. In this case, there is no need to release any accessory attached to the cable, and the force output device may be directly controlled to enter the sleep state.

In some embodiments, the operation of controlling the force output device to enter the sleep state may include: controlling the electric motor to adjust the output resistance to a second target resistance. The second target resistance may be determined based on the predetermined resistance.

In some embodiments, the electric motor of the force output device may be configured to output a certain resistance, so as to simulate a counterweight of a certain weight via the resistance when the user performs strength training. Therefore, when the force output device enters the sleep state, the energy consumption of the electric motor may be reduced by lowering the resistance output by the electric motor, thereby reducing the overall energy consumption of the force output device. The second target resistance may be determined based on the predetermined resistance.

In some embodiments, the force output device may further include a display screen. The operation of controlling the force output device to enter the sleep state may further include: reducing a brightness of the display screen. Of course, the embodiments of the present disclosure may not be limited thereto. The operation of controlling the force output device to enter the sleep state may further include: controlling the force output device to issue a sleep prompt sound, etc., which is not limited herein.

In some embodiments, the second target resistance may be greater than or equal to the predetermined resistance.

In some embodiments, a magnitude of the second target resistance output by the electric motor in the sleep state may be set based on an actual requirement. The second target resistance may be able to support the accessory with the traction force less than the predetermined resistance. Therefore, the second target resistance may be greater than or equal to the predetermined resistance.

In some embodiments, the electric motor may be controlled to output a certain resistance even when the force output device is in the sleep state, such that the cable of the force output device may be able to support a low-weight accessory even when the force output device is in the sleep state. Moreover, when the user attempts to resume strength training by pulling the cable while the force output device is in the sleep state, the second target resistance may be able to buffer the user's pulling force to prevent the user from being injured, thereby enhancing the safety of the force output device.

As shown in FIG. 3, FIG. 3 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure.

As shown in FIG. 3, when the force output device meets any one of the predetermined sleep conditions, the traction force on the cable may be detected, and the traction force may be compared with the predetermined resistance. When the traction force is less than or equal to the predetermined resistance, the force output device may be directly controlled to enter the sleep state. On the contrary, when the traction force is greater than the predetermined resistance, the first target resistance may be output to cause the accessory generating the traction force to descend until the traction force disappears, and then the force output device may be controlled to enter the sleep state.

In the control method for the force output device provided by the above embodiments, whether the force output device meets the predetermined sleep condition may be detected. When the force output device meets the predetermined sleep condition, the traction force of the accessory attached to the cable on the cable may be detected. When the traction force is greater than the predetermined resistance, the electric motor may be controlled to adjust the output resistance to the first target resistance until the traction force disappears, and the force output device may be controlled to enter the sleep state. When the traction force is less than or equal to the predetermined resistance, the force output device may be controlled to enter the sleep state. Whether an accessory is attached to the cable before the force output device enters the sleep state may be detected via the traction force. When an accessory is attached to the cable, the first target resistance may be output to release the accessory before the force output device enters the sleep state, thereby preventing the accessory from falling due to insufficient output resistance when the force output device enters the sleep state, and improving the safety of the force output device.

As shown in FIG. 4, FIG. 4 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure. The control method for the force output device provided by the embodiments of the present disclosure may be applied to the force output device. The force output device includes the electric motor, the cable winding mechanism connected to the electric motor, and the cable disposed on the cable winding mechanism. The electric motor of the force output device may be configured to generate resistance to simulate a counterweight of a certain weight. When the user performs strength training with the force output device, the user may pull the cable out a certain distance by overcoming the output resistance of the electric motor, so as to simulate a scenario of overcoming gravity to lift the counterweight during strength training with physical counterweights.

It can be understood that the physical counterweights may inherently have a certain inertia during use, whereas the force output device in the embodiments of the present disclosure may simulate a pulling force of the counterweight on the cable by outputting resistance via the electric motor, and thus may have no such inertia. Compared with a traditional strength training scenario, the output resistance of the force output device may offer higher predictability, which may prevent injury to the user caused by inertia during training. However, inertia may be necessary for some types of strength training, such as lifting heavy objects to a certain height by leveraging inertia. By contrast, a force output device in the related art may not accurately simulate the inertia of the counterweight. Therefore, the embodiments of the present disclosure may provide the control method for the force output device, so as to simulate the effect of inertia by controlling the resistance output by the electric motor of the force output device.

In some embodiments, the user may set the force output device to a normal mode or an inertia mode. In the normal mode, the resistance output by the electric motor may be configured solely to simulate the pulling force of the counterweight on the cable. That is, the magnitude of the resistance output by the electric motor may depend only on basic weight. In the inertia mode, in addition to outputting the resistance configured to simulate the pulling force of the counterweight, the electric motor may also need to increase or decrease the resistance on this basis to simulate the effect of inertia. Therefore, for the same basic weight, the resistance output in the inertia mode may be greater than, less than, or equal to the resistance output in the normal mode.

As shown in FIG. 4, the control method for the force output device may include operations executed by block S201 to block S203.

At block S201, acceleration of the cable may be obtained when retracting the cable or outputting the cable.

In some embodiments, the inertia of an object may depend on a mass of the object. However, when the physical counterweights are used for strength training, the pulling force of the counterweight on the cable may be related not only to a mass of the counterweight but also to an acceleration of the counterweight. Therefore, in order to enable the electric motor to simulate the effect of inertia more accurately, it is necessary to obtain the acceleration of the cable in real time when retracting the cable or outputting the cable. The acceleration may include an acceleration magnitude and an acceleration direction.

In some embodiments, the cable may be wound around the cable winding mechanism. Retracting the cable or outputting the cable may drive the cable winding mechanism to rotate in different directions. Therefore, the acceleration magnitude and the acceleration direction of the cable when retracting the cable or outputting the cable may be determined based on a rotational angular acceleration of the cable winding mechanism. A conversion method between the angular acceleration of the cable winding mechanism and a linear acceleration of the cable may not be described herein. Of course, the embodiments of the present disclosure may not be limited thereto. The acceleration of the cable may also be determined by other means. For example, a speed sensor may be provided to detect a moving speed of an end of the cable, thereby obtaining the acceleration of the cable. The method for obtaining the acceleration may not be limited herein.

It can be understood that the acceleration direction of the cable may be correlated to a speed variation. For example, when a speed of the cable decreases, that is, the speed variation of the cable is negative, the acceleration direction of the cable may be represented by a negative value. When the speed of the cable increases, that is, the speed variation of the cable is positive, the acceleration direction of the cable may be represented by a positive value.

At block S202, inertia weight configured to simulate an inertia effect may be determined based on the acceleration.

It can be understood that in a traditional strength training scenario, the pulling force of the counterweight that the human body actually feels may be correlated to the acceleration of the counterweight due to inertia. For example, when the acceleration of the counterweight is upward, such as the counterweight moving upward with acceleration or moving downward with deceleration, the counterweight may be in an "overweight" state, and the pulling force of the counterweight that the human body feels may be greater than an actual gravitational force acting on the counterweight. On the contrary, when the acceleration of the counterweight is downward, such as the counterweight moving upward with deceleration or moving downward with acceleration, the counterweight may be in a "weightless" state, and the pulling force of the counterweight that the human body feels may be less than the actual gravitational force acting on the counterweight. In the scenario of performing strength training with the force output device provided by the embodiments of the present disclosure, the user may simulate the downward movement or upward movement of the counterweight via retracting the cable or outputting the cable. Therefore, in order to simulate inertia, a magnitude of resistance felt by the user may need to be correlated to the acceleration of the cable.

In some embodiments, the operation of determining the inertia weight configured to simulate the inertia effect based on the acceleration may include the following.

Inertia force configured to simulate the inertia effect may be determined based on the basic weight and the acceleration.

The inertia weight may be determined based on a ratio of the inertia force to gravitational acceleration.

In some embodiments, the basic weight may be configured to determine a mass magnitude of the counterweight to be simulated by the electric motor. Since the magnitude of inertia is correlated to the mass, and a magnitude of the pulling force that the human body feels is correlated to the acceleration, the inertia force may be determined based on the basic weight and the acceleration.

In some embodiments, the electric motor of the force output device may output the resistance based on the weight information. Therefore, it may be necessary to convert the inertia force into the inertia weight. That is, the inertia force may be divided by the gravitational acceleration to obtain the inertia weight. A value of the gravitational acceleration may be set based on an actual requirement. For example, the value of the gravitational acceleration may be set to a gravitational acceleration constant (e.g., 9.8 m/s² or 10 m/s²). Alternatively, the magnitude of the gravitational acceleration may be adjusted based on a latitude where the force output device is located, which is not limited herein.

In some embodiments, the operation of determining the inertia force configured to simulate the inertia effect based on the basic weight and the acceleration may include the following.

The inertia force configured to simulate the inertia effect may be determined based on a product of the basic weight and the acceleration.

In some embodiments, the inertia force may be determined based on the product of the basic weight and the acceleration. The basic weight may include the mass magnitude of the counterweight to be simulated by the electric motor of the force output device. The basic weight may be set by the user via an instruction. Alternatively, the basic weight may be obtained by other means. For example, the basic weight may be preset based on the user's training habits, which is not limited herein.

In some embodiments, the operation of determining the inertia force configured to simulate the inertia effect based on the product of the basic weight and the acceleration may include the following.

A predetermined inertia coefficient may be obtained. The inertia coefficient may be configured to indicate a strength of the inertia effect.

The magnitude of the inertia force may be determined based on a product of the basic weight, the acceleration, and the inertia coefficient.

In some embodiments, the user may adjust the intensity of the inertia effect by adjusting the inertia coefficient based on an actual requirement. A magnitude of the inertia coefficient may be any value between 0 and 100%. If the inertia coefficient is 0, it may indicate that the electric motor only needs to output resistance configured to simulate the gravitational force of the counterweight based on the basic weight, without the need for additional inertia weight configured to simulate the inertia effect. If the inertia coefficient is 100%, it may indicate that the electric motor fully simulates the influence of the inertia effect on the resistance felt by the human body on the basis of the basic weight. Of course, the embodiments of the present disclosure may not be limited thereto. The inertia coefficient may also be greater than 100%, which is not limited herein.

At block S203, a target control parameter of the electric motor may be determined based on the inertia weight and predetermined basic weight, and the electric motor may be controlled to output the resistance based on the target control parameter.

In some embodiments, on the basis of the predetermined basic weight, the target control parameter may be obtained by increasing or decreasing the basic weight based on the inertia weight. The target control parameter may be configured to indicate a mass magnitude to be simulated (i.e., a mass magnitude actually felt by the human body) when the electric motor actually outputs resistance.

In some embodiments, the operation of determining the target control parameter of the electric motor based on the inertia weight and the predetermined basic weight, and controlling the electric motor to output the resistance based on the target control parameter may include the following.

When a direction of the acceleration is consistent with a movement direction of the cable, a target weight value may be determined based on a sum of the inertia weight and the basic weight.

When the direction of the acceleration is inconsistent with the movement direction of the cable, the target weight value may be determined based on a difference between the inertia weight and the basic weight.

The target control parameter may be determined based on the target weight value, so as to control the electric motor to output resistance corresponding to the target weight value based on the target control parameter.

In some embodiments, the movement direction of the cable may include a direction of retracting the cable and a direction of outputting the cable. For example, the direction of retracting the cable may be defined as a first direction, and the direction of outputting the cable may be defined as a second direction. When both the direction of the acceleration and the movement direction of the cable are the first direction, that is, the cable is in a process of accelerating outputting, the target weight value may be obtained by adding the inertia weight to the basic weight to simulate an "overweight" state of the counterweight. On the contrary, when the direction of the acceleration is the second direction and the movement direction of the cable is the first direction, that is, the cable is in a process of decelerating outputting, the target weight value may be obtained by subtracting the inertia weight from the basic weight to simulate a "weightless" state of the counterweight. Cases of accelerating winding of the cable and decelerating winding of the cable may be deduced similarly, which are not described herein.

In some embodiments, the electric motor of the force output device may be instructed to output the resistance magnitude corresponding to the target weight value based on the target control parameter.

As shown in FIG. 5, FIG. 5 is a schematic scenario view of a basic weight adjustment method according to some embodiments of the present disclosure.

As shown in FIG. 5, in some embodiments, the method may further include the following.

In response to a sliding operation on a first control in a weight adjustment interface, the basic weight may be determined.

And/or, in response to a click operation on a second control in the weight adjustment interface, the basic weight may be determined.

In some embodiments, the basic weight may be predetermined by the user based on his/her own training requirements. For example, in the weight adjustment interface shown in FIG. 5, the user may adjust the weight of the counterweight simulated by the force output device in a clear and intuitive manner by sliding the first control 210. However, in practical applications, it may be usually difficult to precisely control a sliding distance of the first control 210, which is prone to a problem of excessive or insufficient adjustment amount and thus causes inconvenience for the user during operation.

Therefore, in the control method for the force output device provided by the embodiments of the present disclosure, the weight of the counterweight simulated by the force output device may also be adjusted by clicking the second control 220 in the weight adjustment interface. It can be understood that in a scenario of performing strength training using physical counterweights, the adjustment of the weight of the counterweight may be discontinuous. For example, the user may add or remove a counterweight of a certain mass. Similarly, when the basic weight of the force output device is adjusted via the click operation on the second control 220, the change of the basic weight may also be discontinuous and precise. Adjusting the basic weight of the force output device in this manner may better simulate the physical counterweight, improve the simulation effect of the force output device, and allow the user to precisely adjust a value of the basic weight, thereby improving the user experience.

In some embodiments, the operation of determining the basic weight in response to the sliding operation on the first control in the weight adjustment interface may include the following.

The basic weight may be determined based on a relative displacement amount of the sliding operation and a first step corresponding to the first control.

The operation of determining the basic weight in response to the click operation on the second control in the weight adjustment interface may include the following.

The basic weight may be determined based on a second step corresponding to the second control.

In some embodiments, when the basic weight is adjusted by sliding the first control 210, a weight adjustment amount may be determined based on the relative displacement amount of the first control 210 and the predetermined first step. A weight adjustment amount corresponding to the movement of the first control 210 by a unit distance may be predetermined as the first step. The basic weight may be determined based on historical weight information, in accordance with the first step and the relative displacement amount. For example, the first step corresponding to the unit distance may be 0.1 kg, and the user may slide the first control 210 upward or downward by n unit distances to increase or decrease the historical weight information by n×0.1 kg.

In some embodiments, when the basic weight is adjusted by clicking the second control 220, a weight adjustment amount may be determined based on the predetermined second step. A weight adjustment amount corresponding to each click on the second control 220 may be predetermined as the second step. The basic weight may be obtained by adding or subtracting the weight adjustment amount corresponding to the second step on the basis of the historical weight information. The second control 220 may include a second increment control 221 and a second decrement control 222. The basic weight may be increased by clicking the second increment control. The basic weight value may be decreased by clicking the second decrement control. The second increment control and the second decrement control may correspond to the same second step or different second steps, which are not limited herein.

In some embodiments, the second step may be set by the user to simulate the mass of the counterweight that the user may add or remove each time when using the physical counterweight. The user may set a value of the second step to 0.5 kg, 1 kg, or 2 kg based on an actual requirement. Of course, the embodiments of the present disclosure may not be limited thereto.

In the control method for the force output device provided by the above embodiments, the acceleration of the cable when retracting the cable or outputting the cable may be obtained, the inertia weight configured to simulate the inertia effect may be determined based on the acceleration, the target control parameter of the electric motor may be determined based on the inertia weight and the predetermined basic weight, and the electric motor may be controlled to output the resistance based on the target control parameter. A magnitude of the inertia weight configured to simulate the inertia effect under acceleration may be determined based on the acceleration magnitude of the cable as pulled by the user, thereby controlling the electric motor to output the resistance to simulate both the gravitational force of the basic weight and the inertia corresponding to the basic weight. By simulating the existence of inertia, the simulation performance of force output may be improved, and thus the user's training effect and training experience may be improved.

As shown in FIG. 6, FIG. 6 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure. The control method for the force output device may be applied to a server or a training device. The control method for the force output device may be configured for the user to determine a target factor via an operation, thereby obtaining each motion parameter value corresponding to the target factor and an output resistance value corresponding to each motion parameter value, and generating a cable output resistance curve based on the motion parameter value and the output resistance value, so as to control the electric motor to output the resistance.

As shown in FIG. 6, the control method for the force output device may include operations executed by block S301 to block S304.

At block S301, a target factor may be determined from resistance-related factors based on a first user operation.

The resistance-related factors may include a cable output length, a cable output speed, and a force output interval.

In some embodiments, the first user operation may refer to a first operation received via a screen display device of the training device and triggered by the user. The target factor currently selected by the user may be determined based on the first user operation. The screen display device may be a device of the training device itself, or a device (e.g., a mobile phone, a tablet, a television, etc.) connected to the training device used by the user in a wired manner or a wireless manner.

In some embodiments, the first user operation may be the user clicking a control displayed on the screen display device or inputting the target factor on the screen display device. The target factor selected by the user may be determined by clicking the control or inputting content. Controls may be in one-to-one correspondence with the resistance-related factors. After determining the control clicked by the user, the resistance-related factor corresponding to the control may be obtained as the target factor.

It can be understood that the resistance-related factors may be factors affecting the resistance output by the electric motor of the training device. The resistance-related factors may be predetermined by the user in a system of the training device as needed. The resistance-related factors may include the cable output length, the cable output speed, and the force output interval. Alternatively, the resistance-related factors may include other factors set by the user.

In some embodiments, the first user operation may also include an instruction generated by the user's voice or gesture, or an instruction generated by a combination of the user's voice and gesture, etc.

At block S302, at least one motion parameter value may be determined based on a second user operation and the target factor, and a cable output resistance value corresponding to the motion parameter value may be determined.

In some embodiments, the second user operation may be the user setting resistance adjustment points corresponding to the target factor via the screen display device. Each resistance adjustment point may include a motion parameter value and a cable output resistance value. The user may input at least one motion parameter value and the cable output resistance value corresponding to the motion parameter value via the screen display device. Alternatively, the user may modify values based on existing motion parameter values and cable output resistance values to accelerate the setup speed and save time.

In some embodiments, the motion parameter value may include a value of a motion parameter corresponding to the target factor. For example, when the target factor is the cable output length, a cable output length value may be the motion parameter value. When the target factor is the cable output speed, a cable output speed value may be the motion parameter value. When the target factor is the force output interval, a cable length interval may function as the motion parameter value.

In some embodiments, when the target factor is the cable output length, a cable output length value set by the user in the second user operation and a cable output resistance value corresponding to each cable output length value may be obtained. When the target factor is the cable output speed, a cable output speed value set by the user in the second user operation and a cable output resistance value corresponding to each cable output speed value may be obtained. When the target factor is the force output interval, a cable length interval set by the user in the second user operation and a cable output resistance value corresponding to each cable length interval may be obtained.

At block S303, curve fitting may be performed based on the motion parameter value and the cable output resistance value to generate a cable output resistance curve.

In some embodiments, the motion parameter value and the cable output resistance value may be in one-to-one correspondence to generate at least one two-dimensional coordinate point, i.e., the resistance adjustment point. The curve fitting may be performed based on all the resistance adjustment points to generate the cable output resistance curve.

In some embodiments, if the motion parameter value is 1.5 meters and the cable output resistance value is 1 pound, the resistance adjustment point may be represented as (1.5, 1).

In some embodiments, the curve fitting may refer to a process of fitting a curve based on a plurality of data points. In the embodiments of the present disclosure, the curve fitting may refer to performing a fitting operation based on a plurality of resistance adjustment points to generate the cable output resistance curve. It can be understood that the curve fitting method may include linear fitting, B-spline curve fitting, least squares fitting, or other fitting methods selected by the user as required.

In some embodiments, the cable output resistance curve may be a curve representing the variation of resistance with the motion parameter value corresponding to the target factor.

After the operation at block S303, the method may further include: invoking a curve testing module to collect the motion parameter value during the user's movement based on a third user operation; controlling the electric motor to output the resistance based on the motion parameter value and the cable output resistance curve, so that the user may adjust the cable output resistance curve based on the output resistance.

In some embodiments, the third user operation may be the user selecting to test the cable output resistance curve via the screen display device. When the user selects to test the cable output resistance curve, the curve testing module may be powered-on. The curve testing module may be a module provided in the training device, or a module connected to the training device in a wired manner or a wireless manner.

In some embodiments, the user's movement may include the user's cable pulling operation during the test. The curve testing module may collect the motion parameter value during the user's movement. The cable output resistance value may be determined from the cable output resistance curve based on the motion parameter value. The electric motor may output the resistance based on the cable output resistance value. The user may obtain the actual movement feeling corresponding to the current cable output resistance curve. When the user thinks that a current state does not meet his/her requirements, the predetermined motion parameter value and the cable output resistance value corresponding to each motion parameter value may be adjusted, and curve fitting may be performed again to obtain a new cable output resistance curve.

The motion parameter value may be collected by a collection unit of the curve testing module. Alternatively, the motion parameter value may be collected by a collection unit in the training device invoked by the curve testing module.

At block S304, the electric motor may be controlled to output the resistance based on the cable output resistance curve.

In some embodiments, the motion parameter value during the user's exercise may be collected. The cable output resistance value corresponding to the motion parameter value may be determined from the cable output resistance curve. The electric motor may be controlled to output the resistance based on the cable output resistance value. The resistance may be a force exerted by the electric motor on the cable. The force may be opposite to a direction of the user's pulling force.

In some embodiments, when the target factor is the cable output length, the cable output length value during the user's movement may be detected. The cable output resistance value corresponding to the cable output length value may be determined from the cable output resistance curve. The cable output resistance curve may be a curve with the cable output length value as an independent variable and the cable output resistance value as a dependent variable. When the target factor is the cable output speed, the cable output speed value during the user's movement may be detected. The cable output resistance value corresponding to the cable output speed value may be determined from the cable output resistance curve. The cable output resistance curve may be a curve with the cable output speed value as an independent variable and the cable output resistance value as a dependent variable. When the target factor is the force output interval, the cable output length value during the user's movement may be detected. The cable output length value may be compared with the predetermined cable length interval, so as to determine the cable length interval where the cable output length value is located. The cable output resistance value corresponding to the cable length interval may be determined from the cable output resistance curve. The cable output resistance curve may be a curve with the force output interval as an independent variable and the cable output resistance value as a dependent variable.

The above embodiments may provide the method for the force output device. The target factor may be determined from the resistance-related factors based on the first user operation, at least one motion parameter value may be determined based on the second user operation and the target factor, the cable output resistance value corresponding to the motion parameter value may be determined, the curve fitting may be performed based on the motion parameter value and the cable output resistance value to generate the cable output resistance curve, the electric motor may be controlled to output the resistance based on the cable output resistance curve. In the above manner, the embodiments of the present disclosure may determine the target factor from the resistance-related factors based on the first user operation, obtain the resistance value corresponding to each motion parameter value of the target factor based on the second user operation, and fit the motion parameter value and the resistance value to generate the cable output resistance curve, thereby meeting the user's customized requirements. The user may perform an operation based on an actual requirement and select a training mode corresponding to different exercise requirements, so as to generate the cable output resistance curve meeting the requirements. The electric motor of the training device may be controlled to adjust the cable output resistance based on the cable output resistance curve to achieve different exercise effects, thereby improving the flexibility and practicality of the training device.

The control method for the force output device may be applied to a server or a training device. The control method for the force output device may be configured to obtain the cable output length value and the cable output resistance value corresponding to each cable output length value when the user determines the cable output length as the target factor, so as to generate the cable output resistance curve.

The operation at block S302 of the control method for the force output device may include: taking the cable output length value as the motion parameter value when the target factor is the cable output length; obtaining at least one cable output length value and the cable output resistance value corresponding to each cable output length value based on the second user operation.

In some embodiments, the motion parameter value may be the value of the motion parameter corresponding to the target factor. When the target factor is the cable output length, the motion parameter may be the cable output length, and the cable output length value may be the motion parameter value.

In some embodiments, the second user operation may be the user setting at least one resistance adjustment point corresponding to the cable output length via the screen display device, that is, setting at least one cable output length value and the cable output resistance value corresponding to each cable output length value. The setting of the resistance adjustment point may be the user inputting at least one cable output length value and the cable output resistance value corresponding to each cable output length value via the screen display device.

In some embodiments, the user may modify the values based on existing cable output length values and the cable output resistance values to accelerate the setup speed and save time. In some embodiments, after the user logs in to the system of the training device, the user's identity information may be obtained. The user's identity information may be matched with a database, and whether a predetermined cable output length value and cable output resistance value of the user already exist in the database may be determined. When predetermined information of the user exists in the database, the predetermined cable output length value and cable output resistance value may be extracted and displayed to the user. The user may modify the predetermined cable output length value and cable output resistance value based on current exercise requirements to obtain a new cable output length value and cable output resistance value.

In some embodiments, the operation at block S303 may include the following operations.

A resistance level corresponding to each cable output length value may be determined based on a predetermined length threshold and a corresponding cable output length value.

In some embodiments, the length threshold may be predetermined by the user in the system of the training device, or may be set by the user each time the training device is used. Each length threshold may correspond to one resistance level. It can be understood that a corresponding relationship between the resistance level and the length threshold may be predetermined by the user in the system of the training device, or may be set by the user each time the training device is used.

In some embodiments, the length threshold may include a plurality of thresholds, such as a first length threshold of 1 meter, a second length threshold of 2 meters, and a third length threshold of 3 meters. The resistance level corresponding to the first length threshold may be level 1. The resistance level corresponding to the second length threshold may be level 2. The resistance level corresponding to the third length threshold may be level 3.

In some embodiments, the resistance level may refer to a level of the output resistance. Whether the output resistance increases or decreases with an increase in the level may be set by the user as required, which is not limited herein.

In some embodiments, each cable output length value set by the user may be compared with the length threshold in turn. When the cable output length value is greater than or equal to one of the length thresholds, a resistance level corresponding to the one of the length thresholds may function as the resistance level corresponding to the cable output length value.

In some embodiments, assume that the first length threshold is 1 meter, the second length threshold is 2 meters, the third length threshold is 3 meters, and the resistance levels corresponding to the first length threshold, the second length threshold, and the third length threshold are level 1, level 2, and level 3, respectively. If a specific cable output length value set by the user is 1.5 meters, and 1 meter < 1.5 meters < 2 meters, the resistance level corresponding to the specific cable output length value may be level 1.

Curve fitting may be performed on the cable output length value and the cable output resistance value based on the resistance level to generate the cable output resistance curve.

In some embodiments, after determining resistance levels corresponding to all the cable output length values set by the user, cable output length values with the same resistance level may be classified into one category. A predetermined resistance increase value may be added to the cable output resistance values corresponding to the cable output length values in the same category respectively. The predetermined resistance increase value may be set by the user as needed.

In some embodiments, assume that a predetermined resistance increase value corresponding to resistance level 1 is 1 pound, and a predetermined resistance increase value corresponding to resistance level 2 is 2 pounds. 1 pound may be added to the cable output resistance value corresponding to each cable output length value with resistance level 1. 2 pounds may be added to the cable output resistance value corresponding to each cable output length value with resistance level 2. For example, assume that a cable output length value predetermined by the user is 1.5 meters, and the cable output resistance value is 1 pound, a resistance level corresponding to the cable output length value may be level 1, and 1 pound may be added to the cable output resistance value. Therefore, if the cable output length value is 1.5 meters, the cable output resistance value may be 2 pounds, and the resistance adjustment point may be defined as (1.5, 2).

The control method for the force output device may be applied to a server or a training device, and may be configured to obtain the cable output speed value and the cable output resistance value corresponding to each cable output speed value when the user determines the cable output speed as the target factor, so as to generate the cable output resistance curve.

The operation at block S302 of the control method for the force output device may further include: defining the cable output speed value as the motion parameter value when the target factor is the cable output speed; obtaining at least one cable output speed value and the cable output resistance value corresponding to each cable output speed value based on the second user operation.

In some embodiments, the motion parameter value may refer to a value of a motion parameter corresponding to the target factor. When the target factor is the cable output speed, the motion parameter may be the cable output speed, and the cable output speed value may be the motion parameter value.

In some embodiments, the second user operation may be the user setting a resistance adjustment point corresponding to the cable output speed, i.e., at least one cable output speed value and the cable output resistance value corresponding to each cable output speed value, via the screen display device. The setting of the resistance adjustment point may be the user inputting at least one cable output speed value and the cable output resistance value corresponding to each cable output speed value via the screen display device.

In some embodiments, the user may modify the values based on existing cable output speed values and the cable output resistance values to accelerate the setup speed and save time. In some embodiments, after the user logs in to the system of the training device, the user's identity information may be obtained. The user's identity information may be matched with a database, and whether a predetermined cable output speed value and cable output resistance value of the user already exist in the database may be determined. When predetermined information of the user exists in the database, the predetermined cable output speed value and cable output resistance value may be extracted and displayed to the user. The user may modify the predetermined cable output speed value and cable output resistance value based on current exercise requirements to obtain a new cable output speed value and cable output resistance value.

The control method for the force output device may be applied to a server or a training device, and may be configured to obtain the cable length interval and the cable output resistance value corresponding to each cable length interval when the user determines the force output interval as the target factor, so as to generate the cable output resistance curve.

The operation at block S302 of the control method for the force output device may further include: defining the cable length interval as the motion parameter value when the target factor is the force output interval; obtaining at least one cable length interval and the cable output resistance value corresponding to each cable length interval based on the second user operation.

In some embodiments, the motion parameter value may refer to a value of a motion parameter corresponding to the target factor. When the target factor is the force output interval, the motion parameter may be the force output interval, and the cable length interval is the motion parameter value.

In some embodiments, the force output interval may refer to the cable length interval of the output resistance. When a length of the cable pulled by the user is in a specific cable length interval, the electric motor may output resistance corresponding to the specific cable length interval.

In some embodiments, the second user operation may be the user setting a resistance adjustment point corresponding to the force output interval via the screen display device, that is, setting at least one force output interval and the cable output resistance value corresponding to each force output interval. The setting of the resistance adjustment point may be the user inputting at least one cable length interval and the cable output resistance value corresponding to each cable length interval via the screen display device.

In some embodiments, the user may set a first cable length interval of [0, 1], an output resistance value corresponding to the first cable length interval of 1 pound, a second cable length interval of (1, 2], and an output resistance value corresponding to the second cable length interval of 2 pounds. During curve fitting, each cable length interval may be labeled to generate the resistance adjustment point. For example, the first cable length interval may be labeled as 1, and the second cable length interval may be labeled as 2. A resistance adjustment point generated by the first cable length interval and the corresponding output resistance value may be (1, 1). A resistance adjustment point corresponding to the second cable length interval and the corresponding output resistance value may be (2, 2). During the user's movement, the cable length interval may be determined based on a length of the cable pulled by the user. A label corresponding to the cable length interval may be queried. A cable output resistance value corresponding to the label may be obtained based on the cable output resistance curve. For example, if a current cable length pulled by the user is detected to be 1.5 meters during the user's movement, since 1 < 1.5 < 2, a current cable length interval may be the second cable length interval, and a corresponding label may be 2. The corresponding cable output resistance value may be obtained based on the cable output resistance curve.

In some embodiments, the user may modify the values based on existing cable length intervals and the cable output resistance values to accelerate the setup speed and save time. In some embodiments, after the user logs in to the system of the training device, the user's identity information may be obtained. The user's identity information may be matched with a database, and whether a predetermined cable length interval and cable output resistance value of the user already exist in the database may be determined. When predetermined information of the user exists in the database, the predetermined cable length interval and cable output resistance value may be extracted and displayed to the user. The user may modify the predetermined cable length interval and cable output resistance value based on current exercise requirements to generate a new cable length interval and cable output resistance value.

As shown in FIG. 7, FIG. 7 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure. The control method for the force output device may be applied to a training device, and is configured to realize various force output modes of the training device based on a resistance output strategy of the electric motor, thereby improving the user's fitness efficiency and usage experience.

As shown in FIG. 7, the control method for the force output device may include operations executed by block S401 to block S404.

At block S401, the resistance output strategy of the electric motor may be determined.

Before performing fitness using the training device, the user may select a fitness mode of the training device via a button, a gesture, a voice, etc. The resistance output strategy of the electric motor of the training device may be determined based on the selected fitness mode. The fitness mode may include a reverse elastic force mode, an elastic force mode, etc.

In some embodiments, the resistance output strategy may include that the longer the cable output length of the cable, the smaller the output resistance of the electric motor, which may correspond to the reverse elastic force mode of the training device. For example, the user may select the resistance output strategy of the electric motor of the training device by means of the button. The user may select the fitness mode by clicking the fitness mode via the display screen of the training device, and may select the reverse elastic force mode in the fitness mode. After selecting the reverse elastic force mode, the resistance output strategy of the electric motor of the training device may be determined as the longer the cable output length of the cable, the smaller the output resistance of the electric motor.

In addition, the user may also select the fitness mode of the training device by means of voice, and the resistance output strategy of the electric motor may be determined. For example, the user may issue a voice instruction, e.g., "xiao A, xiao A, please select the reverse elastic force mode". After receiving the voice instruction issued by the user, the training device may automatically determine the reverse elastic force mode as the fitness mode. The resistance output strategy of the electric motor of the training device may be determined as the longer the cable output length of the cable, the smaller the output resistance of the electric motor based on the reverse elastic force mode.

It should be noted that the user may also select the elastic force mode in the fitness mode based on his/her own fitness requirements. Another resistance output strategy of the electric motor may be determined based on the elastic force mode. The another resistance output strategy may be that the longer the cable output length of the cable, the larger the output resistance of the electric motor. The operation of determining another resistance output strategy of the electric motor based on the elastic force mode may be similar to the operation of determining the resistance output strategy of the electric motor based on the reverse elastic force mode described above, which is not described herein.

It should be noted that the fitness mode also may include a constant force mode and other modes disclosed herein. The fitness mode selected by the user during fitness and the resistance output strategy of the electric motor determined based on the selected fitness mode may be reasonably set based on specific conditions, which is not limited herein.

At block S402, a current cable output length of the cable on the cable winding mechanism may be obtained.

Before or during the user performs fitness, the user may issue the voice instruction, e.g., "what is the current cable output length of the cable?", to the training device. After receiving the voice instruction issued by the user, the training device may obtain the current cable output length of the cable on the cable winding mechanism by directly measuring the cable length or calculating the cable length based on rotation angle information of the electric motor. A length value corresponding to the current cable output length may be sent to the user.

In some embodiments, the operation of obtaining the current cable output length of the cable on the cable winding mechanism may include: obtaining the rotation angle information of the electric motor; determining the current cable output length of the cable on the cable winding mechanism based on the angle information.

The angle information may refer to a rotation angle when the electric motor rotates. The current cable output length of the cable on the cable winding mechanism may be determined based on the rotation angle when the electric motor rotates.

In some embodiments, the operation of obtaining the rotation angle information of the electric motor may include: determining the rotation angle information of the electric motor based on an angle sensor. The angle sensor may include at least one of a resolver or an optical encoder.

In some embodiments, a circumference of the cable winding mechanism of the training device may be fixed. That is, a length of the cable on the cable winding mechanism connected to the electric motor wound around the cable winding mechanism for one circle may be fixed. If angle information corresponding to one rotation of the electric motor obtained by the angle sensor connected to the electric motor is 2π, a current cable output length of the cable wound around the cable winding mechanism connected to the electric motor for one circle may be obtained based on the rotation angle 2π of the electric motor. Similarly, when the rotation angle of the electric motor is any other angle value, a current cable output length of the cable under a corresponding rotation angle may be obtained based on the angle information of the electric motor. For example, if the angle information of the electric motor detected by the angle sensor is 2π, that is, the electric motor rotates a circle, a corresponding current cable output length of the cable may be 0.2 m. If the angle information of the electric motor detected by the angle sensor is π, that is, the electric motor rotates half a circle, a corresponding current cable output length of the cable may be 0.1 m. Similarly, when the electric motor rotates, any angle information of the electric motor may be detected by the angle sensor. The current cable output length of the cable under corresponding angle information may be determined based on the angle information.

It should be noted that the above angle information, including 2π and π, and the current cable output length of the cable, including 0.2 m and 0.1 m, may be merely for illustrative purposes, and the embodiments of the present disclosure may not be limited thereto.

At block S403, a target resistance corresponding to the current cable output length may be determined based on the current cable output length.

After determining the current cable output length of the cable on the cable winding mechanism based on the rotation angle information of the electric motor, the target resistance corresponding to the current cable output length may be determined based on a predetermined graph of force versus cable length on the graph.

In some embodiments, the predetermined graph of force versus cable length may be set when the training device leaves the factory. Alternatively, the predetermined graph of force versus cable length may be reasonably set based on the user's actual fitness requirements during the user's use of the training device, which is not limited by the embodiments of the present disclosure.

In some embodiments, the operation of determining the target resistance corresponding to the current cable output length based on the current cable output length may include: determining a first predetermined length and a second predetermined length of the cable; determining variable first resistance as the target resistance corresponding to the current cable output length when the current cable output length is greater than or equal to the first predetermined length and less than or equal to the second predetermined length.

When the user selects a corresponding fitness mode of the training device, the first predetermined length may be a length of the cable when the current cable output length is the shortest, and the second predetermined length may be a length of the cable when the current cable output length is the longest. The first predetermined length may be smaller than the second predetermined length.

In some embodiments, when the user selects the reverse elastic force mode of the training device, the first predetermined length and the second predetermined length may be determined based on the predetermined graph of force versus cable length. A magnitude relationship among the current cable output length, the first predetermined length, and the second predetermined length may be determined based on the determined current cable output length. When the current cable output length is greater than or equal to the first predetermined length and less than or equal to the second predetermined length, the target resistance corresponding to the current cable output length may be determined as the variable first resistance. In the reverse elastic force mode of the training device, a variation law of the first resistance may be that the first resistance decreases as the current cable output length increases.

It should be noted that the user may also select other fitness modes, such as the elastic force mode and the constant force mode of the training device. The variation of the target resistance obtained by selecting different fitness modes of the training device may be different. When the user selects the elastic force mode of the training device, the target resistance corresponding to the current cable output length may be determined as the variable first resistance based on the current cable output length when the current cable output length is greater than or equal to the first predetermined length and less than or equal to the second predetermined length. In the elastic force mode, a variation law of the variable first resistance may be that the first resistance increases as the current cable output length increases.

In some embodiments, if the first predetermined length is 0.5 m and the second predetermined length is 2 m, and the current cable output length of the cable on the cable winding mechanism has been determined to be 1 m based on the rotation angle information of the electric motor, the current cable output length of 1 m may be greater than the first predetermined length of 0.5 m and less than the second predetermined length of 2 m. A target resistance corresponding to the current cable output length of 1 m may be the first resistance. In the reverse elastic force mode, the first resistance decreases as the current cable output length increases. If the current cable output length is 2.3 m, the current cable output length of 2.3 m may be greater than the second predetermined length of 2 m, and a target resistance corresponding to the current cable output length of 2.3 m may not be the variable first resistance. If the current cable output length is 0.3 m, the current cable output length of 0.3 m may be less than the first predetermined length of 0.5 m, and a target resistance corresponding to the current cable output length of 0.3 m may not be the variable first resistance.

It should be noted that the specific values of the above current cable output length, the first predetermined length, and the second predetermined length may be merely for illustrative purposes, and the embodiments of the present disclosure may not be limited thereto.

It can be understood that the specific value of the above first resistance may be merely for illustrative purposes, and the embodiments of the present disclosure may not be limited to the value of the first resistance.

At block S404, the electric motor may be controlled to output the target resistance to the cable based on the resistance output strategy.

In the reverse elastic force mode, the resistance output strategy may include that the longer the cable output length of the cable, the smaller the output resistance of the electric motor. The electric motor may be controlled to output the target resistance to the cable based on the resistance output strategy.

In some embodiments, the operation of controlling the electric motor to output the target resistance to the cable based on the resistance output strategy may include: generating a resistance control instruction based on the resistance output strategy within a length range composed of the first predetermined length and the second predetermined length; sending the resistance control instruction to the electric motor, so that the electric motor may output the first resistance to the cable based on the resistance control instruction.

In some embodiments, the resistance control instruction may include at least one of a voice instruction or a gesture operation instruction.

In some embodiments, if the first predetermined length is 1 m and the second predetermined length is 2.8 m, the length range composed of the first predetermined length and the second predetermined length may be 1 m to 2.8 m. Within the length range of 1 m to 2.8 m, the user may select the reverse elastic force mode in the fitness mode. When the user wants to increase the first resistance output by the electric motor of the training device, the user may issue a voice instruction, e.g., "Please increase the first resistance to 2 lb", to the training device based on the resistance output strategy. After receiving the above voice instruction, the training device may send a resistance control instruction configured to increase the first resistance to the electric motor. After receiving the resistance control instruction configured to increase the first resistance, the electric motor may appropriately reduce the angle information when the electric motor rotates, thereby reducing the current cable output length of the cable on the cable winding mechanism connected to the electric motor, and increasing the first resistance output to the cable to 2 lb. Finally, the user may perform fitness based on the first resistance of 2 lb for the cable.

Similarly, within the length range of 1 m to 2.8 m composed of the first predetermined length and the second predetermined length, when the user wants to reduce the first resistance output by the electric motor of the training device, the user may issue a similar voice instruction to the training device based on the resistance output strategy, so as to achieve the purpose of reducing the first resistance output by the electric motor of the training device, which is not described in detail herein.

In addition, the user may also issue a gesture to the training device. For example, a gesture of opening the palm with the palm facing vertically upward may indicate sending a resistance control instruction configured to increase the first resistance to the training device. A gesture of opening the palm with the palm facing vertically downward may indicate sending a resistance control instruction configured to reduce the first resistance to the training device. For example, when the user wants to increase the first resistance, the user may perform the gesture of opening the palm with the palm facing vertically upward. After receiving the gesture, the electric motor of the training device may perform a corresponding operation of increasing the first resistance. The user may perform fitness based on a slowly increasing first resistance output by the electric motor to the cable. When there is no need to increase the first resistance, the user may issue a gesture of closing the palms to the training device. After receiving the gesture, the electric motor of the training device may stop performing the operation of increasing the first resistance, and the user may continue to perform fitness based on a determined first resistance after stopping the operation of increasing the first resistance.

In some embodiments, if the first resistance corresponding to the current cable output length of 2.8 m is 6.25 lb during the user's fitness within the length range of 1 m to 2.8 m composed of the first predetermined length and the second predetermined length, to increase the first resistance, the user may issue the gesture of opening the palm with the palm facing vertically upward to the training device. After receiving the gesture, the training device may send the resistance control instruction configured to increase the first resistance to the electric motor. After receiving the resistance control instruction configured to increase the first resistance, the electric motor may gradually reduce the rotation angle information of the electric motor, so as to reduce the current cable output length of the cable on the cable winding mechanism. Based on the reverse elastic force mode, as the current cable output length decreases, the first resistance will increase. In a process of reducing the rotation angle information of the electric motor, the current cable output length may be reduced to 2.5 m, 2 m, 1.5 m ... in turn, and a corresponding value of the first resistance may be gradually increased to 1.41 lb, 3.36 lb, 4.81 lb ... until the first resistance desired by the user during fitness is reached. In this case, it is assumed that the first resistance of the cable desired by the user during fitness is 6 lb, and the corresponding current cable output length is 0.8 m. If the value of the first resistance gradually increases to 6 lb during the process of reducing the rotation angle information of the electric motor, the user may issue the gesture of closing the palms to the training device. After receiving the gesture, the training device may send a resistance control instruction configured to stop increasing the first resistance to the electric motor. After receiving the resistance control instruction configured to stop increasing the first resistance, the electric motor may stop rotating. Finally, the user may continue to perform fitness with the first resistance of 6 lb of the cable corresponding to the current cable output length of 2 m.

It should be noted that during the above process of increasing the first resistance, the user may perform fitness under an initial fixed first resistance or an increased fixed first resistance. Alternatively, the user may also perform fitness during the process of increasing or decreasing the first resistance, which is not limited by the embodiments of the present disclosure.

It should be noted that the operation of the user issuing the gesture of opening the palm with the palm facing vertically downward to enable the training device to perform the operation of reducing the first resistance may be similar to the operation of the user issuing the gesture of opening the palm with the palm facing vertically upward to enable the training device to perform the operation of increasing the first resistance, which may not be described in detail herein.

In some embodiments, the operation of determining the target resistance corresponding to the current cable output length based on the current cable output length may further include: determining constant second resistance as the target resistance corresponding to the current cable output length when the current cable output length is less than the first predetermined length; determining constant third resistance as the target resistance corresponding to the current cable output length when the current cable output length is greater than the second predetermined length.

In the reverse elastic force mode with the first predetermined length being 1 m and the second predetermined length being 2.8 m, within the length range of 1 m to 2.8 m composed of the first predetermined length and the second predetermined length, when the training device sends a resistance control instruction to the electric motor to increase the first resistance, the current cable output length of the cable gradually decreases, and the electric motor has not received a resistance control instruction to stop increasing the first resistance, the first resistance may reach a maximum when the current cable output length of the cable decreases to a minimum first predetermined length, i.e., the current cable output length decreases to 1 m. A corresponding scenario may be that the rotation angle of the electric motor of the training device may be almost 0. The current cable output length (e.g., 1 m) indicates that a portion of the cable has extended out of the training device, while a remaining portion of the cable is located inside the training device. If the current cable output length is less than 1 m, it may indicate that the current cable output length is completely inside the training device, and the rotation angle of the electric motor of the training device is 0 or very close to 0. A target resistance corresponding to the current cable output length less than 1 m may be the constant second resistance. A value of the second resistance may be any small value such as 0 lb or 0.1 lb, which is not limited herein. When the target resistance is the constant second resistance, the training device may be in a leisure mode.

Similarly, in the reverse elastic force mode with the first predetermined length being 1 m and the second predetermined length being 2.8 m, within the length range of 1 m to 2.8 m composed of the first predetermined length and the second predetermined length, when the training device sends a resistance control instruction to the electric motor to decrease the first resistance, the current cable output length of the cable gradually increases, and the electric motor has not received a resistance control instruction to stop decreasing the first resistance, the first resistance may reach a minimum when the current cable output length of the cable increases to a maximum second predetermined length, i.e., the current cable output length increases to 2.8 m. A corresponding rotation angle of the electric motor of the training device may be 2π or very close to 2π, and the current cable output length may be almost completely in an unfolded state. If the current cable output length of the cable continues to increase and exceeds 2.8 m, the corresponding cable on the cable winding mechanism may be in a fully extended state. In this case, the target resistance corresponding to the current cable output length may be the constant third resistance. A value of the third resistance may be any small value, such as 0 lb or 0.1 lb, which is not limited herein. In this case, the training device may be in another leisure mode.

It should be noted that the value of the second resistance may not be exactly the same as the value of the third resistance. The values of the second resistance and the third resistance may be reasonably set based on actual conditions, which are not limited herein.

The control method for the force output device provided by the above embodiments may determine the resistance output strategy of the electric motor (the resistance output strategy may include that the longer the cable output length of the cable, the smaller the output resistance of the electric motor), obtain the current cable output length of the cable on the cable winding mechanism, determine the target resistance corresponding to the current cable output length based on the current cable output length, and after determining the target resistance corresponding to the current cable output length based on the current cable output length of the cable, control the electric motor to output different target resistances to the cable by adjusting the current cable output length of the cable on the electric motor based on actual fitness requirements. The target resistance of the electric motor may be increased by reducing the cable output length, or may be decreased by increasing the cable output length, so as to achieve various force output modes of the training device and improve the user's experience. Moreover, various force output modes of the training device may be flexibly switched by adjusting the current cable output length of the cable on the electric motor, which solves the problem of relatively single force output mode of the training device in the related art, meets different fitness requirements of users, and improves the user's fitness efficiency.

In some embodiments, taking the user's use of a strength trainer as an example, an implementation process of the control method for the force output device may be described in detail. As shown in FIG. 8, FIG. 8 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure. The method may include operations executed by block S410 to block S440 as follows.

At block S410, the resistance output strategy of the electric motor may be determined.

Before performing fitness using the strength trainer, the user may pre-select a fitness mode on the strength trainer via voice, a button, etc. Based on the selected fitness mode, a resistance output strategy of the electric motor on the strength trainer may be determined. The fitness mode on the strength trainer may include a reverse elastic force mode. The resistance output strategy of the electric motor corresponding to the reverse elastic force mode may be that the longer the cable output length of the cable, the smaller the output resistance of the electric motor.

In addition, other fitness modes on the strength trainer may be switched to during the user's fitness. A resistance output strategy of the electric motor on the strength trainer corresponding to the other selected fitness mode may be determined based on the other selected fitness mode. The fitness mode on the strength trainer may also include an elastic force mode, a variable force mode, etc. A resistance output strategy of the electric motor corresponding to the elastic force mode may be that the longer the cable output length of the cable, the larger the output resistance of the electric motor. A resistance output strategy of the electric motor corresponding to the variable force mode may be other output strategies based on exercise requirements except the resistance output strategy corresponding to the reverse elastic force mode and the resistance output strategy corresponding to the elastic force mode, and the resistance output strategy of the electric motor corresponding to the variable force mode may not be limited herein.

In some embodiments, before performing fitness using the strength trainer, the user may need to select a fitness mode based on his/her own fitness requirements. The user may issue a voice instruction, e.g., "xiao A, xiao A, please select the reverse elastic force mode", to the strength trainer via voice. After receiving the voice instruction issued by the user, the strength trainer may switch from the leisure mode to the fitness mode and select the reverse elastic force mode in the fitness mode. After selecting the reverse elastic force mode, the resistance output strategy of the electric motor in the strength trainer may be determined as that the longer the cable output length of the cable, the smaller the output resistance of the electric motor.

It should be noted that the user may select a fitness mode based on requirements during the use of the strength trainer for fitness. The embodiments of the present disclosure may not limit the fitness modes on the strength trainer herein.

At block S420, the current cable output length may be obtained.

When the user starts fitness using the strength trainer, a voice instruction, e.g., "xiao A, xiao A, what is the current cable output length?", may be issued to the strength trainer. After receiving the voice instruction issued by the user, the strength trainer may obtain rotation angle information of the electric motor inside the strength trainer. The current cable output length of the cable on the cable assembly connected to the electric motor may be determined based on the rotation angle information of the electric motor. The rotation angle information of the electric motor may be the rotation angle of the electric motor.

In some embodiments, after receiving the voice instruction issued by the user, the strength trainer may read an angle value on an angle sensor via the angle sensor connected to the electric motor. The rotation angle information of the electric motor may be determined based on the angle value on the angle sensor. The angle sensor may include at least one of a resolver or an optical encoder.

At block S430, the target resistance corresponding to the current cable output length may be determined based on the current cable output length.

After the user selects the fitness mode, the target resistance corresponding to the current cable output length may be directly determined based on the current cable output length and a predetermined graph of cable length versus resistance or a predetermined formula of cable length versus resistance on the strength trainer.

In some embodiments, when the reverse elastic force mode in the fitness modes of the strength trainer is selected, the predetermined graph of cable length versus resistance on the strength trainer may be as shown in FIG. 9. It may be seen from FIG. 9 that a target resistance corresponding to a cable length of 0.5 m may be 4 lb. A target resistance corresponding to a cable length of 2.5 m may be 0 lb. That is, the first predetermined length of the cable when the current cable output length is the shortest may be 0.5 m. The second predetermined length of the cable when the current cable output length is the longest may be 2.5 m. If the current cable output length is greater than or equal to the first predetermined length of 0.5 m and less than or equal to the second predetermined length of 2.5 m, the target resistance corresponding to the current cable output length may be the variable first resistance, and the first resistance may decrease as the current cable output length increases. If the current cable output length is less than the first predetermined length of 0.5 m, corresponding second resistance may be 0. If the current cable output length is greater than the second predetermined length of 2.5 m, corresponding third resistance may be 0.

In the strength trainer, the rotation angle information of the electric motor may be directly read via the angle sensor connected to the electric motor. If a cable output length corresponding to one rotation of the electric motor is 2.5 m, i.e., a cable output length corresponding to the rotation angle information of the electric motor of 2π is 2.5 m, a first resistance corresponding to the cable output length of 2.5 m may be 0 lb based on the above graph. If the rotation angle of the electric motor is π, a corresponding cable output length is 1.25 m, and a first resistance corresponding to the cable output length of 1.25 m may be 3.4 lb based on the above graph. The first resistance output by the electric motor may increase as the cable output length decreases. Alternatively, the angle information of the electric motor may be obtained based on any other reading of the rotation angle information of the electric motor on the angle sensor. Based on the angle information of the electric motor, the current cable output length of the cable on the cable winding mechanism connected to the electric motor may be determined. The target resistance corresponding to the current cable output length may be determined based on the current cable output length. Within a length range composed of the first predetermined length of 0.5 m and the second predetermined length of 2.5 m, the target resistance may be the variable first resistance. On the contrary, based on the predetermined graph of cable length versus resistance on the strength trainer, if a current cable output length is less than the first predetermined length of 0.5 m or greater than the second predetermined length of 2.5 m, a corresponding resistance value may be very small, such as 0 lb, 0.1 lb, or any other small value, which is not limited herein.

The above angle information of the electric motor of π and 2π, a value corresponding to each first resistance, the first predetermined length of 0.5 m, and the second predetermined length of 2.5 m may be merely for illustrative purposes. In practical applications, an appropriate first predetermined length, an appropriate second predetermined length, and a target resistance corresponding to the current cable output length may be determined based on the predetermined graph of cable length versus resistance on the strength trainer, which is not limited by the embodiments of the present disclosure.

It should be noted that the angle sensor may include at least one of a resolver or an optical encoder.

It should be noted that the above predetermined graph of cable length versus resistance on the strength trainer as shown in FIG. 9 may be merely for illustrative purposes. In practical applications, other preset graphs of cable length versus resistance as described herein may be reasonably set based on actual requirements, which is not limited by the embodiments of the present disclosure.

In some embodiments, the target resistance corresponding to the current cable output length may also be determined based on the predetermined formula of cable length versus resistance on the strength trainer. The predetermined formula of cable length versus resistance may be: F = 4 - (L-0.5)². 0.5 < L < 2.5. F may represent the target resistance. L may represent the current cable output length. Based on the predetermined formula of cable length versus resistance in the strength trainer, the first predetermined length may be 0.5 m, and the second predetermined length may be 2.5 m. When the current cable output length is greater than or equal to the first predetermined length of 0.5 m and less than or equal to the second predetermined length of 2.5 m, the target resistance corresponding to the current cable output length may be variable first resistance. If a current cable output length is 1 m, the current cable output length may be greater than the first predetermined length of 0.5 m and less than the second predetermined length of 2.5 m, and variable first resistance corresponding to the current cable output length may be 3.75 lb based on the predetermined formula of cable length versus resistance. If a current cable output length is 1.5 m, the current cable output length may be greater than the first predetermined length of 0.5 m and less than the second predetermined length of 2.5 m, and variable first resistance corresponding to the current cable output length may be 3 lb based on the predetermined formula of cable length versus resistance.

On the contrary, if a current cable output length is 0.25 m, the current cable output length may be less than the first predetermined length of 0.5 m, and a target resistance corresponding to the current cable output length of 0.25 m may not be determined as the variable first resistance. In this case, the target resistance corresponding to the current cable output length of 0.25 m may be constant second resistance. The second resistance of the cable corresponding to the current cable output length of 2.5 m may be very small, and a corresponding scenario may be that the user has just started using the strength trainer for exercise.

Similarly, when a current cable output length is 2.7 m, the current cable output length may be greater than the second predetermined length of 2.5 m, which may not meet a condition of the predetermined formula of cable length versus resistance. A target resistance corresponding to the current cable output length of 2.7 m may not be determined as the variable first resistance. The target resistance corresponding to the current cable output length of 2.7 m may be constant third resistance. A corresponding scenario may be that the cable on the cable winding mechanism in the strength trainer is in a fully unfolded state, and there is no remaining cable on the cable winding mechanism.

It should be noted that the above predetermined formula of cable length versus resistance may be merely for illustrative purposes, and may be reasonably set based on actual conditions in practical applications, which is not limited by the embodiments of the present disclosure.

At block S440, the electric motor may be controlled to output the target resistance to the cable based on the resistance output strategy.

When the user selects the reverse elastic force mode in the strength trainer, the corresponding resistance output strategy may include that the longer the cable output length of the cable, the smaller the output resistance of the electric motor. The electric motor may be controlled to output the target resistance to the cable based on the resistance output strategy.

It should be noted that the user may also select other fitness modes, such as the elastic force mode, the constant force mode, and the variable force mode for exercise, based on actual fitness requirements, and a resistance output strategy under the corresponding fitness mode may be determined, which is not limited by the embodiments of the present disclosure.

In some embodiments, within the length range composed of the first predetermined length and the second predetermined length, a resistance control instruction may be generated based on the resistance output strategy. The resistance control instruction may be sent to the electric motor, so that the electric motor may output the first resistance to the cable based on the resistance control instruction. The resistance control instruction may include at least one of a voice instruction or a gesture operation instruction.

In some embodiments, if the first predetermined length is 0.5 m and the second predetermined length is 2.5 m, within a length range composed of the first predetermined length of 0.5 m and the second predetermined length of 2.5 m, i.e., the length range from 0.5 m to 2.5 m, a resistance control instruction may be generated based on the resistance output strategy corresponding to the reverse elastic force mode (i.e., the longer the cable output length of the cable, the smaller the output resistance of the electric motor) in the strength trainer. Before fitness, based on his/her own fitness requirements, the user may send a voice instruction, e.g., "xiao A, xiao A, please set the target resistance to 3 lb", to the strength trainer. After receiving the above voice instruction, the strength trainer may increase the rotation angle information of the electric motor, so as to increase the current cable output length. When the current cable output length increases to the first predetermined length, a corresponding target resistance may be the maximum. The electric motor of the strength trainer may continue to rotate to further increase the rotation angle information of the electric motor. During a process of increasing the rotation angle information of the electric motor, the current cable output length may also increase. Within the length range of 0.5 m to 2.5 m composed of the first predetermined length and the second predetermined length, the strength trainer may continuously obtain a target resistance based on the predetermined graph of cable length versus resistance or the predetermined formula of cable length versus resistance on the strength trainer. If a target resistance is determined to be 3 lb, a controller in the strength trainer may send an instruction to stop rotating to the electric motor. After receiving the instruction to stop rotating sent by the controller in the strength trainer, the electric motor may stop rotating. Finally, the target resistance of the cable during the user performs fitness using the strength trainer may be 3 lb. In this case, the current cable output length may be greater than or equal to the first predetermined length and less than or equal to the second predetermined length, and a corresponding target resistance may be the variable first resistance.

It should be noted that the user may also determine other target resistances, such as 1.5 lb and 2 lb, for the strength trainer when the current cable output length is greater than or equal to the first predetermined length and less than or equal to the second predetermined length based on actual fitness requirements. The operations may be similar to the above operations of determining the target resistance to 3 lb, which is not described in detail herein.

In addition, during the user's fitness, if the target resistance of the cable of 3.5 lb may not meet the user's fitness requirements, the user may send a voice instruction, e.g., "xiao A, xiao A, please increase the target resistance to 4 lb" or "xiao A, xiao A, please decrease the target resistance to 3 lb", to the strength trainer based on actual fitness requirements. After receiving the above voice instruction, the electric motor of the strength trainer may execute the corresponding operations of increasing or decreasing the target resistance. For example, when the user sends a voice instruction, e.g., "xiao A, xiao A, please increase the target resistance to 4 lb", to the strength trainer, the strength trainer may reduce the rotation angle information of the electric motor on the strength trainer after receiving the voice instruction. Within the length range of 0.5 m to 2.5 m composed of the first predetermined length and the second predetermined length, the current cable output length of the cable may decrease. The strength trainer may continuously obtain the target resistance as 3.6 lb, 3.7 lb, 3.8 lb, ... , 4 lb based on the predetermined graph of cable length versus resistance or the predetermined formula of cable length versus resistance on the strength trainer. If the strength trainer obtains the target resistance of 4 lb, the controller in the strength trainer may send an instruction to stop rotating to the electric motor. After receiving the instruction to stop rotating sent by the controller in the strength trainer, the electric motor may stop rotating, so that the rotation angle information of the electric motor may be maintained at angle information corresponding to the target resistance of 4 lb. Finally, the user may perform fitness if the target resistance of the cable output by the strength trainer is 4 lb. When the user sends a voice instruction, e.g., "xiao A, xiao A, please decrease the target resistance to 3 lb", to the electric motor of the strength trainer, corresponding operations of decreasing the target resistance to 3 lb may be similar to the above operations of increasing the target resistance to 4 lb, which may not be described in detail herein.

It should be noted that during the user's fitness, the user may also issue any target resistance values to the training device, such as increasing the target resistance to 3.6 lb, 3.7 lb, 3.8 lb, or decreasing the target resistance to 3 lb, 3.2 lb, 3.3 lb. The target resistance value to be increased or decreased may be reasonably set based on actual conditions, which is not limited by the embodiments of the present disclosure.

As shown in FIG. 10, FIG. 10 is a schematic flow chart of the control method for the force output device according to some embodiments of the present disclosure. The force output device includes the electric motor, the cable winding mechanism connected to the electric motor, and the cable disposed on the cable winding mechanism. It can be understood that the user may perform strength training by overcoming the output resistance of the electric motor. The force output device may be defined with various training modes. In the force output device provided by the embodiments of the present disclosure, the force output device may simulate a flywheel-type training device through the output resistance of the electric motor. Of course, it is not limited thereto, and the force output device may also be defined with other fitness modes as disclosed herein. The user may adjust the training mode to make the output resistance of the electric motor simulate a counterweight, a rowing machine, etc., which is not limited herein.

As shown in FIG. 10, the control method for the force output device may include operations executed by block S501 to block S502.

At block S501, the cable may be output until the cable reaches a target state.

In the related art, a flywheel-type training device may include a flywheel with a certain mass, and a cable may be wound around the flywheel. During using the flywheel-type training device, the user may pull out the cable wound around the flywheel, and the output of the cable may drive the flywheel to rotate. During this process, the user's muscles may undergo concentric contraction. When the cable is fully pulled out, the flywheel may continue to rotate due to inertia, causing the cable to be reversely wound and retracted on the flywheel. The user may overcome resistance of cable retraction, and the user's muscles may undergo eccentric contraction during this process. In a traditional training mode of lifting a heavy object, the intensity of muscle eccentric contraction depends on the weight of the heavy object that may be lifted during a concentric contraction stage, resulting in insufficient eccentric training of the muscles. Since the flywheel-type training device achieves eccentric training by overcoming inertia rather than gravity, the flywheel-type training device may make up for the defects in the traditional training mode and enable more sufficient eccentric training of the muscles. However, the flywheel-type training device may have problems of large weight, large volume, and cumbersome operation. In order to solve these problems, the embodiments of the present disclosure may provide the control method for the force output device, and the force output device may be controlled to simulate a force output logic of the flywheel-type training device via the output resistance of the electric motor.

It can be understood that a cable length of the flywheel-type training device may be an important factor during the user's training, which may determine when the cable starts to be retracted. Different users may have different requirements for the cable length. Therefore, in the control method for the force output device provided by the embodiments of the present disclosure, the target state may be a target output length, that is, a maximum length that the cable of the force output device may output in a flywheel mode. Of course, it is not limited thereto, and the cable reaching the target state may not be limited to the cable output length reaching the target output length. The cable reaching the target state may also be that an energy of the cable during an output process reaches a certain predetermined energy, or a speed of the cable during the output process increases to a certain predetermined speed, which is not limited herein.

When the user pulls out the cable of the force output device, it may simulate a process of the flywheel being pulled in the flywheel-type training device. When the user starts pulling the cable, the flywheel may have inertia to keep stationary, and the force output device may simulate the inertia of the flywheel via a certain output resistance. Since the inertia in the flywheel-type training device depends on a mass of the flywheel, the magnitude of the resistance output by the electric motor of the force output device in this case may depend on the mass of the flywheel simulated by the force output device. The mass of the flywheel simulated by the force output device may be a predetermined default value or set by the user based on his/her own exercise requirements, which is not limited herein.

During the process of the flywheel being pulled in the flywheel-type training device, the flywheel may accelerate to rotate due to a pulling force generated by the user pulling the cable. The force output device may accelerate the cable output by reducing the output resistance during the cable output process to simulate a process of the flywheel accelerating to rotate.

In some embodiments, during the process of outputting the cable by the force output device, a sensor may be configured to detect a motion parameter of the cable and whether the cable reaches the target state, so as to determine a timing when the cable reaches the target state and a motion parameter during a subsequent cable retraction.

In some embodiments, the operation at block S501 of outputting the cable until the cable reaches the target state may include: outputting the cable until an output length of the cable reaches the target output length.

In some embodiments, the target output length may function as the target state. The cable may be determined to reach the target state when the output length of the cable reaches the target output length, so as to simulate a cable of a certain length is wound around the flywheel of the flywheel-type training device. Thus, the equipment may simulate a situation when the cable of an actual flywheel-type training device is fully pulled out during the user use the equipment, thereby improving the simulation performance of the force output device provided by the embodiments of the present disclosure.

In some embodiments, before the operation of outputting the cable until the output length of the cable reaches the target output length, the method may further include the following operation.

The cable may be output, and an output length when the cable stops being output may be the same as or correlated to the target output length.

The control method for the force output device provided by the embodiments of the present disclosure may allow the user to adjust the target output length of the cable, so that the target output length of the cable may be adapted to the user's height or training habits. For example, the user may adjust the target output length based on a distance between his/her position and the force output device during training.

In some embodiments, the target output length may represent a maximum cable output length of the cable in the flywheel mode. That is, the force output device may start to retract the cable when the cable output length of the cable reaches the target output length, and the electric motor of the force output device may start to output the output resistance configured to retract the cable.

In some embodiments, the target output length of the cable may be determined based on the output length of the cable pulled out by the user during a cable length adjustment stage. The target output length may be equal to the output length. Alternatively, the target output length may be correlated to the output length. For example, a certain length may be increased or decreased on the basis of the output length as the target output length.

Through the control method for the force output device provided by the embodiments, the user may pull the cable to a length that makes himself/herself comfortable during a process of adjusting the target output length of the cable. The user may pull out a cable having a length shorter than a target output length to adapt an output length of the cable to his/her requirements, and may stop pulling the cable when the output length of the cable is adapted to his/her requirements, indicating that the user has adjusted the cable length to a suitable output length. At this time, the output length of the cable may function as the target output length.

The output length when the cable stops outputting may be an output length when a cable output speed is less than a predetermined output speed for a duration greater than a predetermined duration.

Through the control method for the force output device provided by the embodiments, the target output length of the cable may be set to any value, and the user may intuitively feel the pulling effect of the cable under the current output length, thereby improving the convenience, flexibility, and intuitiveness of adjusting the target output length.

In some embodiments, before the operation of outputting the cable until the output length of the cable reaches the target output length, the method may further include the following operation.

A predetermined output length may be set, and the target output length may be the same as or correlated to the predetermined output length.

In some embodiments, the target output length may also be directly determined based on the predetermined output length. The predetermined output length may be determined based on a predetermined length gear. Length gears may include "long", "medium", "short", etc. The user may select different length gears. After receiving a length gear selected by the user, the target output length corresponding to the cable may be determined based on a predetermined mapping relationship between the length gear and the predetermined output length.

Alternatively, the predetermined output length may also be determined by a height parameter input by the user. Users of different heights may have different suitable target output lengths. For example, a taller user may need to pull a cable longer, and the taller user may correspond to a larger target output length. Therefore, a predetermined mapping relationship between height and the predetermined output length may be set in advance, and the target output length may be determined based on the predetermined output length. After the user inputs his/her height, a suitable predetermined output length of the user may be determined as the target output length based on the mapping relationship.

Of course, it is not limited thereto, and the predetermined output length may also be a length value directly input by the user, which is not limited herein.

At block S502, the cable may be retracted when the cable reaches the target state, and a motion parameter during a cable retraction process may be the same as or correlated to a motion parameter during the cable output process.

The motion parameter may include at least one of a speed parameter, a pulling force parameter, or an acceleration parameter.

In some embodiments, when the cable reaches the target state, such as the output length of the cable reaches the target output length, the electric motor may be controlled to start outputting an output resistance configured to retract the cable to simulate the change generated when the cable of the flywheel-type training device is fully pulled out.

In the actual flywheel-type training device, after the cable is fully pulled out, the flywheel may continue to rotate due to inertia, causing the cable to be reversely wound on the flywheel. Since the user's hand is still pulling the cable, the user's hand may oppose a force of the reverse winding of the cable, and a kinetic energy of the flywheel may be converted into mechanical energy opposing the user, enabling the user to achieve muscle eccentric training. It can be understood that, due to the law of conservation of energy, in the actual flywheel-type training device, a motion parameter during a cable retraction stage may depend on a motion parameter during a cable pulling-out stage. Therefore, in the control method for the force output device provided by the embodiments of the present disclosure, the motion parameter of the cable at block S502 may be determined by the motion parameter during the process of the user pulling the cable to output the cable at block S501.

In some embodiments, after the operation at block S502 is executed, the user may repeatedly pull the cable, execute the process of outputting the cable at block S501 again, and cyclically execute the control method at block S501 to block S502 to achieve multiple times of training.

In some embodiments, the operation of retracting the cable when the cable reaches the target state, and the motion parameter during the cable retraction process being the same as or correlated to the motion parameter during the cable output process may include the following operation.

During the cable output process, a speed parameter of the cable before reaching the target state may be a first speed parameter. After the cable reaches the target state, the speed parameter of the cable may be switched to a second speed parameter. The first speed parameter and the second speed parameter may have the same magnitude and opposite directions.

It can be understood that, contrary to the operation at block S501, where the user pulls out the cable to convert his/her mechanical energy into the kinetic energy of the cable output, in the operation at block S502, the cable may be retracted to convert accumulated kinetic energy into the mechanical energy of the user's muscles.

It may be illustrated by the actual flywheel-type training device that in the operation at block S501, the user pulls out the cable to convert his/her mechanical energy into the kinetic energy of the flywheel rotation, and in the operation at block S502, the cable is reversely wound due to the flywheel inertia, converting the kinetic energy accumulated by the flywheel into the mechanical energy of the user's muscles. Therefore, during this process, a rotation speed of the flywheel may first continuously increase and then may start to decrease after reaching a maximum value. Correspondingly, an output speed of the cable may first continuously increase, may change to 0 at a moment when the cable is fully pulled out since an end of the cable is fixed on the flywheel, and then may change to a cable retraction speed with the same magnitude and opposite direction as before being fully pulled out.

Therefore, after the output length of the cable reaches the target output length, the speed parameter of the cable may be switched to the second speed parameter with the same magnitude and opposite direction as the first speed parameter.

In some embodiments, the operation of retracting the cable when the cable reaches the target state, and the motion parameter during the cable retraction process being the same as or correlated to the motion parameter during the cable output process may include the following operation.

When the cable reaches the target state, a magnitude of the pulling force parameter during the cable retraction process may be less than or equal to a magnitude of the pulling force parameter during the cable output process, and a direction of the pulling force parameter during the cable retraction process may be opposite to a direction of the pulling force parameter during the cable output process.

In some embodiments, in an ideal case, due to the law of conservation of energy, a pulling force configured to retract the cable in the operation at block S502 and a pulling force used by the user to pull out the cable in the operation at block S501 may have the same magnitude and opposite directions. However, in the actual use of the flywheel-type training device, due to energy loss factors such as friction, air resistance, and elastic deformation, a pulling force of the cable on the user during the cable retraction process may be less than a pulling force of the user on the cable during the cable output process.

In the control method for the force output device provided by the embodiments of the present disclosure, the magnitude of the pulling force parameter during the cable retraction process may be less than the magnitude of the pulling force parameter during the cable output process, so as to simulate the energy loss in the actual flywheel-type training device, improve the simulation degree of the force output device, and improve the actual sense of the user using the force output device.

In some embodiments, the operation of retracting the cable when the cable reaches the target state, and the motion parameter during the cable retraction process being the same as or correlated to the motion parameter during the cable output process may include the following operation.

When the cable reaches the target state, a magnitude of the acceleration parameter during the cable retraction process may be less than or equal to a magnitude of the acceleration parameter during the cable output process, and a direction of the acceleration parameter during the cable retraction process may be opposite to a direction of the acceleration parameter during the cable output process.

In some embodiments, due to a pulling force exerted by the user to accelerate the cable output, an acceleration parameter in the operation at block S501 may cause the cable to accelerate output. While in the operation at block S502, since a force exerted by the user is configured to hinder the cable retraction, an acceleration parameter may cause the cable to decelerate retraction. The acceleration parameter may correspond to the pulling force parameter. That is, the direction of the acceleration parameter during the cable retraction process may be opposite to the direction of the acceleration parameter during the cable output process, and the magnitudes of the acceleration parameter during the cable retraction process and the acceleration parameter during the cable output process may be equal to each other in an ideal case.

It can be understood that due to energy loss, the magnitude of the acceleration parameter during the cable retraction process may be less than the magnitude of the acceleration parameter during the cable output process, thereby improving the simulation degree of the force output device.

It can be understood that, in an ideal case, motion parameters of the cable in the operation at block S501 and the operation at block S502 may be symmetric with respect to a moment when the cable reaches the target state. When controlling the force output device considering an actual factor, a motion parameter in the ideal case may function as a reference. The motion parameter may be appropriately reduced on this basis to simulate energy loss. A reduced value may be a predetermined value. Of course, it is not limited thereto, and it is not limited herein.

In some embodiments, the operation at block S502 of retracting the cable when the cable reaches the target state, and the motion parameter during the cable retraction process are the same as or correlated to the motion parameter during the cable output process may include: controlling the electric motor to output an output resistance configured to oppose the user's pulling force and decelerate the cable during retraction when the cable reaches the target state.

In some embodiments, the force output device may be controlled to output and retract the cable in the manner of operations at block S501 to block S502 via the output resistance of the electric motor, thereby reducing the problems of large weight, large volume, and cumbersome operation of the flywheel-type training device, and improving the diversity of functions of the force output device.

Since in the operation at block S502, the pulling force exerted by the user opposes the force configured to retract the cable, such as the output resistance of the electric motor opposes the user's pulling force, the cable may be decelerated and retracted in the operation at block S502, thereby improving the simulation of the force output device simulating the flywheel-type training device.

The control method for the force output device provided by the embodiments of the present disclosure may include: outputting the cable until the cable reaches the target state; retracting the cable when the cable reaches the target state, and the motion parameter during the cable retraction process being the same as or correlated to the motion parameter during the cable output process. The motion parameter may include at least one of the speed parameter, the pulling force parameter, or the acceleration parameter. When the cable of the force output device reaches the target state, the cable may be retracted based on the motion parameter during the cable output process, thereby enabling the user to perform muscle eccentric training by opposing the output resistance configured to retract the cable, simulating a training logic of the flywheel-type training device, reducing the problems of large weight, large volume, and cumbersome operation of the flywheel-type training device, and improving the diversity of functions of the force output device.

In some embodiments, the method may further include the following operations.

The electric motor may be controlled to output first resistance in a first force output mode during the process of outputting the cable by the force output device. The first resistance may include inertia resistance, damping resistance, elastic band stretching resistance, and/or chain resistance.

The electric motor may be controlled to output second resistance in a second force output mode during the process of retracting the cable by the force output device. The second resistance may include elastic band retraction resistance and/or chain resistance. A direction of the second resistance may be opposite to a direction of the first resistance.

In some embodiments, a traditional rowing machine may be configured to simulate resistance of oars stirring water flow. The control method for the force output device provided by the embodiments of the present disclosure may enable the force output device to simulate resistance of the traditional rowing machine by controlling the electric motor to output resistance. The inertia resistance may be configured to simulate resistance generated by the inertia of water flow. The damping resistance may be configured to simulate resistance generated by water flow as a fluid medium. The elastic band stretching resistance and the elastic band retraction resistance may be configured to simulate resistances added by the traditional rowing machine via an elastic band. The chain resistance may be configured to simulate resistance added by the traditional rowing machine via a chain tension.

In some embodiments, during the process of outputting the cable by the force output device, the pulling force of the user pulling out the cable may be overcome via the first resistance, simulating a rowing process in rowing sports, so that the user's muscles may obtain concentric training. During this process, the user may need to exert force to overcome the inertia resistance, the damping resistance, the elastic band stretching resistance, and/or the chain resistance to simulate a force required for rowing in actual rowing sports.

In some embodiments, during the process of retracting the cable by the force output device, the cable may be retracted via the second resistance, simulating a recovery process in rowing sports, so that the user's muscles may obtain eccentric training. During this process, the user may stop exerting force, and the electric motor may retract the cable via the elastic band retraction resistance and the chain resistance, thereby reducing the inertia resistance and the damping resistance that would otherwise interfere with the smooth retraction of the cable.

In some embodiments, the method may further include the following operation.

The cable may be retracted at a constant speed during the process of retracting the cable by the force output device. A fluctuation range of the constant speed may be ± 0.05 m/s.

In some embodiments, through the control method for the force output device provided by the embodiments, the force output device may retract the cable at a constant speed within a predetermined tolerance during the cable retraction process, thereby improving the controllability of the force output device. A predetermined speed configured to retract the cable may be set in advance. The cable retraction speed may be fluctuated within a certain range by controlling the resistance output by the electric motor. For example, a predetermined speed may be set to 5 m/s, and the constant speed configured to retract the cable may be 5 ± 0.05 m/s.

In some embodiments, the method may further include the following operation.

The resistance output by the electric motor may be increased and/or the rotation speed of the electric motor may be reduced when the cable retraction speed is less than the predetermined speed, enabling the cable retraction speed to match the constant speed.

In some embodiments, the cable retraction speed of the cable may be detected by disposing a speed sensor at a cable outlet. Alternatively, the cable retraction speed may be determined by obtaining the rotation speed of the electric motor, and the electric motor may be connected to the cable winding mechanism configured to wind the cable. Alternatively, the cable retraction speed may be determined by detecting a rotation speed of the cable winding mechanism via a speed sensor.

In some embodiments, a magnitude of the cable retraction speed may be set in advance as the predetermined speed. When the cable retraction speed of the cable is less than the predetermined speed, the resistance output by the electric motor may be increased to increase the cable retraction speed, so that the cable retraction speed may be closer to the predetermined speed or equal to the predetermined speed.

In some embodiments, during the process of retracting the cable by the force output device, the resistance output by the electric motor may be an original resistance. The cable retraction speed of the cable retraction may be obtained. When the cable retraction speed is less than the predetermined speed, the resistance output by the electric motor may be increased from the original resistance to the target resistance. A resistance difference between the target resistance and the original resistance may be determined based on a speed difference between the cable retraction speed and the predetermined speed.

Alternatively, during the process of retracting the cable by the force output device, the rotation speed of the electric motor may be an original rotation speed. The cable retraction speed of the cable retraction may be obtained. When the cable retraction speed is less than the predetermined speed, the rotation speed of the electric motor may be increased from the original rotation speed to a target rotation speed. A rotation speed difference between the target rotation speed and the original rotation speed may be determined based on the speed difference between the cable retraction speed and the predetermined speed.

In some embodiments, a target mapping relationship between the resistance difference and the speed difference may be established in advance. When it is necessary to increase the resistance output by the electric motor, an increased resistance difference may be determined in the target mapping relationship based on the speed difference between the cable retraction speed and the predetermined speed. Alternatively, a target mapping relationship between the rotation speed difference and the speed difference may be established. When it is necessary to increase the rotation speed of the electric motor, an increased rotation speed difference may be determined in the target mapping relationship based on the speed difference between the cable retraction speed and the predetermined speed.

In some embodiments, in order to avoid user strain caused by excessive resistance, when a sum of the original resistance and the resistance difference is greater than a predetermined maximum resistance, the predetermined maximum resistance may function as the target resistance to avoid excessive resistance output by the electric motor.

In some embodiments, in order to avoid user strain caused by sudden changes in the resistance output by the electric motor, when the cable retraction speed is less than the predetermined speed, the resistance output by the electric motor may be increased based on a predetermined algorithm. The predetermined algorithm may be configured to enable the resistance output by the electric motor to slowly change from the original resistance to the target resistance within a predetermined change duration, avoiding the electric motor resistance from suddenly changing from the original resistance to the target resistance at one time. The predetermined algorithm may be a linear gradient function or a non-linear gradient function with a domain of the predetermined change duration and a range of (the original resistance, the target resistance), such as a linear function, a quadratic function, an exponential function, etc.

As shown in FIG. 11 and FIG. 12, FIG. 11 is a schematic graph of a predetermined cable length versus resistance according to some embodiments of the present disclosure, and FIG. 12 is a schematic graph of the predetermined cable length versus resistance according to some embodiments of the present disclosure.

In some embodiments, the method may further include the following operation.

The output resistance of the electric motor of the force output device may increase or decrease as the cable output length increases.

In some embodiments, the magnitude of the output resistance may be positively or negatively correlated with the magnitude of the cable output length, so that the magnitude of the output resistance may simulate more diversified training devices, such as simulating a force output logic of a chain-type training device or a force output logic opposite to the force output logic of the chain-type training device.

In some embodiments, the operation of increasing or decreasing the output resistance of the electric motor of the force output device as the cable output length increases may include the following operation.

The output resistance of the electric motor of the force output device may linearly increase or linearly decrease as the cable output length increases.

It can be understood that the resistance of an actual chain-type training device to the user may depend on a gravitational force received by a chain, and an increase rate or decrease rate of the gravitational force received by the chain may be correlated to the gravitational constant. For each 1 KG increase in the weight of the chain, the gravitational force received by the chain may increase by 9.8 N, and resistance provided to the user may also increase by 9.8 N. Therefore, in order to simulate a resistance change mode of the chain, the output resistance of the electric motor of the force output device may also change linearly.

In some embodiments, the operation of increasing or decreasing the output resistance of the electric motor of the force output device as the cable output length increases may include the following operation.

The output resistance of the electric motor of the force output device may increase or decrease as the cable output length increases within a target cable length range.

In some embodiments, a section of the cable of the force output device may be configured to simulate the chain-type training device. When the cable output length is within the target cable length range, the output resistance of the electric motor may be controlled to increase or decrease as the cable output length increases, so that the cable within the target cable length range may be configured to simulate the chain-type training device.

In some embodiments, the operation of increasing or decreasing the output resistance of the electric motor of the force output device as the cable output length increases may include the following operations.

The electric motor may be controlled to output an output resistance with a magnitude corresponding to an initial resistance when the cable output length of the force output device is an initial length. The initial resistance may be equal to the gravitational force of the chain simulated by the force output device.

When the cable output length of the force output device is within the target cable length range, the electric motor may be controlled to decrease the output resistance based on the increase of the cable output length, until the output resistance reaches the target resistance when the cable output length reaches a target length.

The electric motor may be controlled to output an output resistance corresponding to the target resistance when the cable output length of the force output device is greater than the target length.

The target cable length range may be within a range from the initial length to the target length.

As shown in FIG. 11, the force output device in the related art may be configured to simulate the resistance generated by the chain. It can be understood that when the chain of a traditional chain-type training device is started to be pulled, a portion of the chain may leave the ground, and resistance generated to the user may be equal to the gravitational force of the portion of the chain leaving the ground (i.e., the initial resistance shown in FIG. 11). As the user continues to pull the chain, more portion of the chain may leave the ground, and the resistance generated to the user may also increase accordingly. When the chain completely leaves the ground, the resistance generated to the user may be equal to the gravitational force of the chain, reaching a maximum value (i.e., the target resistance shown in FIG. 11). The resistance output by the chain to the user may be maintained as the target resistance during a subsequent pulling process.

Therefore, the electric motor may be controlled to output resistance based on the graph of cable length versus resistance shown in FIG. 11, so as to simulate the chain-type training device via the force output device. L may represent the magnitude of the cable output length. F may represent the magnitude of the output resistance. In the graph of cable length versus resistance shown in FIG. 11, the initial resistance may be 5 lb, for example, and the target resistance may be 10 lb, for example. Of course, it is not limited thereto, and it is not limited herein.

As shown in FIG. 12, the force output device provided by the embodiments of the present disclosure may be configured to reversely simulate the resistance generated by the chain. When the user starts to pull the cable (i.e., the cable output length is the initial length), the output resistance may be equal to the gravitational force of the chain (i.e., the initial resistance shown in FIG. 12). As the user continues to pull the cable, the cable output length may increase, and the magnitude of the output resistance may decrease. When the cable output length reaches the target length, the output resistance may reach the target resistance. After the cable output length reaches the target length, when the user continues to pull the cable to make the cable output length greater than the target length, the magnitude of the output resistance may always be equal to the target resistance.

In the graph of cable length versus resistance shown in FIG. 12, the initial resistance may be 10 lb, for example, and the target resistance may be 5 lb, for example. In the graph of cable length versus resistance shown in FIG. 12, the initial length may be 0 or 2 m, for example. Of course, it is not limited thereto, and it is not limited herein.

In some embodiments, the method may further include the following operation.

The electric motor may be controlled to output the output resistance equal to the magnitude of the pulling force received by the cable, so as to keep the cable stationary relative to the force output device, and numerical information corresponding to the output resistance may be recorded.

In some embodiments, the control method for the force output device provided by the embodiments of the present disclosure may detect the pulling force on the cable when the cable is stationary relative to the force output device, thereby realizing isometric force measurement. The isometric force measurement may be a test method for evaluating muscle strength, which mainly measures a maximum muscle strength through isometric contraction (i.e., muscle contraction without changing length). In this case, although the muscle is contracting forcefully, a joint angle and the muscle length may remain unchanged.

Therefore, in order to realize the isometric force measurement via the force output device provided by the embodiments of the present disclosure, it is necessary to control the electric motor to output the output resistance equal to the magnitude of the pulling force received by the cable, so as to keep the cable stationary relative to the force output device. The numerical information corresponding to the output resistance may be recorded, so as to display the pulling force received by the cable on the display device of the force output device, enabling the user to know a result of the isometric force measurement. Since the magnitude of the output resistance is equal to the pulling force received by the cable, the output resistance may be directly displayed on the display device, such as displaying a maximum value, an average value, etc., of the output resistance.

In some embodiments, the method may further include the following operations.

When the cable output length is between a first length and a second length, there is a mapping relationship between the cable output length and the output resistance.

The electric motor may be controlled to output resistance based on the mapping relationship between the cable output length and the output resistance.

In some embodiments, in the control method for the force output device provided by the embodiments of the present disclosure, the user may set a length range of the cable by himself/herself. The user may input a first input length and a second input length, thereby scaling a predetermined mapping relationship between the cable output length and the output resistance to between the first input length and the second input length, so that the electric motor may be controlled to output resistance based on the predetermined mapping relationship when the cable output length of the cable is between the first input length and the second output length.

The predetermined mapping relationship between the cable output length and the output resistance may be any mapping relationship, such as the graph of cable length versus resistance shown in FIG. 9, FIG. 11, and FIG. 12. Taking the graph shown in FIG. 9 as an example, the cable length range of the graph shown in FIG. 9 may be between 0 and 2.5 m, and the resistance value may decrease from 4 lb to 0. Assuming the first input length is 5 m and the second input length is 10 m, the cable length range of the graph shown in FIG. 9 may be scaled to between 5 m and 10 m, so that the resistance value corresponding to the cable length range from 5 m to 10 m may decrease from 4 lb to 0. Of course, it is not limited thereto, and the mapping relationship between the cable output length and the output resistance may also be a graph of any form, which is not limited herein.

In some embodiments, the user may input the first input length and the second input length in a form of numerical values, or may pull the cable to a certain length to serve as the first input length and the second input length, which is not limited herein.

In some embodiments, the method may further include the following operation.

The current cable output length may serve as the initial length of the cable when the cable output speed is less than the predetermined speed or equal to zero.

In some embodiments, the initial length of the cable may be 0. When the user does not apply any external force on the cable, the cable may be completely retracted into the force output device and wound on the cable winding mechanism, that is, the cable output length of the cable may be 0.

In the embodiments provided by the present disclosure, the initial length of the cable may also be any length, so that when the user does not apply any external force on the cable, a certain length of the cable may still remain outside the force output device. The cable may start to be output at a position where a distance from the cable outlet of the force output device is the initial length, enabling the user to start pulling the cable from a position with a certain distance from the force output device, and improving the flexibility of training.

In some embodiments, when it is necessary to set the initial length, the user may pull the cable at a certain cable output speed to output the cable at a certain cable output speed. When the cable output length of the cable reaches a length required by the user, the user may stop pulling the cable. When the cable output speed is less than the predetermined speed or equal to zero, a current cable output length may serve as the initial length of the cable. The user may also input the initial length in a form of numerical values, which is not limited herein.

In some embodiments, the operation of detecting the cable output length of the force output device and taking the cable output length as the initial length of the cable when the cable output speed is less than the predetermined speed may include: detecting the cable output length of the force output device and taking the cable output length as the initial length of the cable when the cable output speed is less than the predetermined speed and a duration for which the cable output speed is less than the predetermined speed is greater than a predetermined duration.

In some embodiments, the cable output length serving as the initial length may not only be required to satisfy that the cable output speed is less than the predetermined speed but may also be required to satisfy that the duration for which the cable output speed is less than the predetermined speed is greater than the predetermined duration, so as to avoid taking the cable output length as the initial length when the user pauses for a very short time during a cable pulling process, and improve the rationality for controlling the force output device.

In some embodiments, the above methods may be implemented in a form of a computer program. The computer program may run on a computer device as shown in FIG. 13.

As shown in FIG. 13, FIG. 13 is a schematic structural block view of a computer device according to some embodiments of the present disclosure. The computer device may be the force output device.

As shown in FIG. 13, the computer device may include a processor, a memory, and a network interface, which are connected via a system bus. The memory may include a storage medium and an internal memory.

The storage medium may store an operating system and the computer program. The computer program may include a program instruction. The program instruction may be configured to be executed, enabling the processor to execute any one of the control methods for the force output device.

The processor may be configured to provide computing and control capabilities to support the operation of the entire computer device.

The internal memory may provide an environment for the operation of the computer program in the storage medium. The computer program may be configured to be executed by the processor, enabling the processor to execute any one of the control methods for the force output device.

The network interface may be configured to perform network communication, such as sending an assigned task. Those skilled in the art may understand that the structure shown in FIG. 13 is only a block diagram of a portion of the structure related to the solution of the present disclosure, and does not constitute a limitation on the computer device to which the solution of the present disclosure is applied. The computer device may include components more or fewer than those shown in the drawing, may combine some components, or may have different component arrangements.

It should be understood that the processor may be a central processing unit (CPU). The processor may also be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, a discrete gate or a transistor logic device, or a discrete hardware component, etc. The general-purpose processor may be a microprocessor. Alternatively, the processor may also be any conventional processor, etc.

In some embodiments, the processor may be configured to run the computer program stored in the memory to execute the operations of any one of the embodiments of the present disclosure.

It should be noted that those skilled in the art may clearly understand that for the convenience and brevity of description, an operation process for controlling the force output device described above may refer to a corresponding process in any one of the foregoing control method embodiments of the force output device, which is not described herein.

The embodiments of the present disclosure may also provide a computer-readable storage medium. The computer-readable storage medium may be configured to store a computer program. The computer program may include the program instruction. The method implemented when the program instruction is executed may refer to the various embodiments of the control method for the force output device of the present disclosure.

The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as a hard disk or a memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the computer device.

It should be understood that the terms used in the specification of the present disclosure may be only for the purpose of describing embodiments and may not be intended to limit the present disclosure. As used in the specification and the appended claims of the present disclosure, unless the context clearly indicates otherwise, the singular forms of "a", "an", and "the" may be intended to include the plural forms.

It should also be understood that the term "and/or" used in the specification and the appended claims of the present disclosure may refer to any combination and all possible combinations of one or more of the associated listed items, and may include these combinations. It should be noted that in the description, the terms "include", "comprise", or any other variant thereof may be intended to cover a non-exclusive inclusion, so that a process, method, article, or system including a series of elements not only may include those elements but also may include other elements not explicitly listed, or may further include elements inherent to such a process, method, article, or system. Without more restrictions, an element limited by the sentence "including a..." may not exclude the existence of other identical elements in the process, method, article, or system including the element.

The serial numbers of the embodiments of the present disclosure may be only for description and do not represent the advantages or disadvantages of the embodiments. The above description may be only a specific implementation of the present disclosure, but the protection scope of the present disclosure may not be limited thereto. Any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present disclosure, and these modifications or substitutions should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A control method for a force output device, comprising:

controlling an electric motor to output resistance during at least one of a process of outputting a cable by the force output device or a process of retracting the cable by the force output device.

2. The control method for the force output device according to claim 1, wherein the force output device comprises the electric motor, a cable winding mechanism connected to the electric motor, and the cable disposed on the cable winding mechanism, the electric motor is configured to generate output resistance to overcome an external force on the cable, and the method comprises:

detecting whether the force output device meets a predetermined sleep condition;

detecting a traction force of an accessory attached to the cable on the cable when the force output device meets the predetermined sleep condition;

controlling the electric motor to adjust the output resistance to a first target resistance until the traction force disappears when the traction force is greater than a predetermined resistance, and controlling the force output device to enter a sleep state;

controlling the force output device to enter the sleep state when the traction force is less than or equal to the predetermined resistance.

3. The control method for the force output device according to claim 2, wherein controlling the electric motor to adjust the output resistance to the first target resistance until the traction force disappears, and controlling the force output device to enter the sleep state, comprises:

detecting an output speed of the cable during the electric motor is controlled to output the first target resistance;

determining that the traction force disappears when the output speed is less than or equal to a predetermined speed threshold, and controlling the force output device to enter the sleep state;

wherein the first target resistance is less than the traction force; a magnitude of the first target resistance is determined based on the traction force, or the magnitude of the first target resistance is a predetermined accessory release resistance.

4. The control method for the force output device according to claim 2, wherein controlling the force output device to enter the sleep state, comprises:

controlling the electric motor to adjust the output resistance to a second target resistance, wherein the second target resistance is determined based on the predetermined resistance;

wherein the second target resistance is greater than or equal to the predetermined resistance.

5. The control method for the force output device according to claim 2, wherein the predetermined sleep condition comprises: whether a static duration of the force output device reaches a predetermined duration, the static duration being a duration during which the cable is in a static state; wherein the predetermined duration comprises at least one of a first predetermined duration, a second predetermined duration, or a third predetermined duration; detecting whether the force output device meets the predetermined sleep condition, comprises at least one of: wherein the first predetermined duration is less than the second predetermined duration, and the second predetermined duration is less than the third predetermined duration.

determining that the force output device meets the predetermined sleep condition when a static duration after the force output device receives a sleep instruction is greater than the first predetermined duration;

determining that the force output device meets the predetermined sleep condition when a static duration after the force output device is powered-on is greater than the second predetermined duration; or

determining that the force output device meets the predetermined sleep condition when a static duration after the force output device interacts with a user is greater than the third predetermined duration;

6. The control method for the force output device according to claim 1, wherein the method is applied to the force output device, the force output device comprises the electric motor, a cable winding mechanism connected to the electric motor, the cable winding mechanism is configured to wind the cable, and the method comprises:

obtaining acceleration of the cable when retracting the cable or outputting the cable;

determining inertia weight configured to simulate an inertia effect based on the acceleration;

determining a target control parameter of the electric motor based on the inertia weight and predetermined basic weight, and controlling the electric motor to output resistance based on the target control parameter.

7. The control method for the force output device according to claim 6, wherein determining the inertia weight configured to simulate the inertia effect based on the acceleration, comprises:

determining inertia force configured to simulate the inertia effect based on the basic weight and the acceleration;

determining the inertia weight based on a ratio of the inertia force to gravitational acceleration.

8. The control method for the force output device according to claim 6, wherein determining the target control parameter of the electric motor based on the inertia weight and the predetermined basic weight, and controlling the electric motor to output resistance based on the target control parameter, comprises:

determining a target weight value based on a sum of the inertia weight and the basic weight when a direction of the acceleration is consistent with a movement direction of the cable;

determining a target weight value based on a difference between the inertia weight and the basic weight when the direction of the acceleration is inconsistent with the movement direction of the cable;

determining the target control parameter based on the target weight value, so as to control the electric motor to output resistance corresponding to the target weight value based on the target control parameter.

9. The control method for the force output device according to claim 1, comprising:

determining a target factor from resistance-related factors based on a first user operation;

determining at least one motion parameter value based on a second user operation and the target factor, and determining a cable output resistance value corresponding to the motion parameter value;

performing curve fitting based on the motion parameter value and the cable output resistance value to generate a cable output resistance curve;

controlling the electric motor to output resistance based on the cable output resistance curve;

wherein the resistance-related factors comprise a cable output length, a cable output speed, and a force output interval.

10. The control method for the force output device according to claim 9, wherein determining at least one motion parameter value based on the second user operation and the target factor, and determining the cable output resistance value corresponding to the motion parameter value, comprises:

taking a cable output length value as the motion parameter value when the target factor is the cable output length;

obtaining at least one cable output length value and a cable output resistance value corresponding to each of the at least one cable output length value based on the second user operation;

or,

wherein determining at least one motion parameter value based on the second user operation and the target factor, and determining the cable output resistance value corresponding to the motion parameter value, comprises: taking a cable output speed value as the motion parameter value when the target factor is the cable output speed; obtaining at least one cable output speed value and a cable output resistance value corresponding to each of the at least one cable output speed value based on the second user operation; or, wherein determining at least one motion parameter value based on the second user operation and the target factor, and determining the cable output resistance value corresponding to the motion parameter value, comprises: taking a cable length interval as the motion parameter value when the target factor is the force output interval; obtaining at least one cable length interval and a cable output resistance value corresponding to each of the at least one cable length interval based on the second user operation.

11. The control method for the force output device according to claim 1, wherein the force output device comprises a controller, the electric motor, a cable winding mechanism connected to the electric motor, and the cable disposed on the cable winding mechanism, the electric motor is configured to generate resistance based on a control instruction of the controller to overcome an external force on the cable, and the method comprises:

determining a resistance output strategy of the electric motor, wherein the resistance output strategy comprises that the longer a cable output length of the cable, the smaller the output resistance of the electric motor;

obtaining a current cable output length of the cable on the cable winding mechanism;

determining a target resistance corresponding to the current cable output length based on the current cable output length;

controlling the electric motor to output the target resistance to the cable based on the resistance output strategy.

12. The control method for the force output device according to claim 11, wherein determining the target resistance corresponding to the current cable output length based on the current cable output length, comprises:

determining a first predetermined length and a second predetermined length of the cable;

determining variable first resistance as the target resistance corresponding to the current cable output length when the current cable output length is greater than or equal to the first predetermined length and less than or equal to the second predetermined length;

determining constant second resistance as the target resistance corresponding to the current cable output length when the current cable output length is less than the first predetermined length;

determining constant third resistance as the target resistance corresponding to the current cable output length when the current cable output length is greater than the second predetermined length.

13. The control method for the force output device according to claim 1, wherein the force output device comprises the electric motor, a cable winding mechanism connected to the electric motor, and the cable disposed on the cable winding mechanism, and the method comprises:

outputting the cable until the cable reaches a target state;

retracting the cable when the cable reaches the target state, wherein a motion parameter during a cable retraction process is the same as or correlated to a motion parameter during a cable output process;

wherein the motion parameter comprises at least one of a speed parameter, a pulling force parameter, or an acceleration parameter.

14. The control method for the force output device according to claim 13, wherein retracting the cable when the cable reaches the target state, with the motion parameter during the cable retraction process being the same as or correlated to the motion parameter during the cable output process, comprises:

switching the speed parameter of the cable to a second speed parameter after the cable reaches the target state during the cable output process, wherein a speed parameter of the cable before reaching the target state is a first speed parameter;

wherein the first speed parameter and the second speed parameter have the same magnitude and opposite directions;

or,

wherein retracting the cable when the cable reaches the target state, with the motion parameter during the cable retraction process being the same as or correlated to the motion parameter during the cable output process, comprises: when the cable reaches the target state, a magnitude of a pulling force parameter during the cable retraction process being less than or equal to a magnitude of a pulling force parameter during the cable output process, and a direction of the pulling force parameter during the cable retraction process being opposite to a direction of the pulling force parameter during the cable output process; or, wherein retracting the cable when the cable reaches the target state, with the motion parameter during the cable retraction process being the same as or correlated to the motion parameter during the cable output process, comprises: when the cable reaches the target state, a magnitude of an acceleration parameter during the cable retraction process being less than or equal to a magnitude of an acceleration parameter during the cable output process, and a direction of the acceleration parameter during the cable retraction process being opposite to a direction of the acceleration parameter during the cable output process; or, wherein retracting the cable when the cable reaches the target state, with the motion parameter during the cable retraction process being the same as or correlated to the motion parameter during the cable output process, comprises: controlling the electric motor to output the output resistance when the cable reaches the target state, wherein the output resistance is configured to oppose a user's pulling force and decelerate the cable during retraction.

15. The control method for the force output device according to claim 1, further comprising:

controlling the electric motor to output first resistance in a first force output mode during the process of outputting the cable by the force output device, wherein the first resistance comprises at least one of inertia resistance, damping resistance, elastic band stretching resistance, or chain resistance;

controlling the electric motor to output second resistance in a second force output mode during the process of retracting the cable by the force output device, wherein the second resistance comprises at least one of elastic band retraction resistance or the chain resistance, and a direction of the second resistance is opposite to a direction of the first resistance.

16. The control method for the force output device according to claim 1, wherein the method further comprises at least one of the following:

retracting the cable at a constant speed during the process of retracting the cable by the force output device, wherein a fluctuation range of the constant speed is ± 0.05 m/s;

increasing the resistance output by the electric motor when a cable retraction speed is less than a predetermined speed, enabling the cable retraction speed to match the constant speed;

reducing a rotation speed of the electric motor when a cable retraction speed is less than a predetermined speed, enabling the cable retraction speed to match the constant speed;

controlling the electric motor to output an output resistance equal to a magnitude of the pulling force received by the cable to keep the cable stationary relative to the force output device, and recording numerical information corresponding to the output resistance;

controlling the electric motor to output resistance based on a mapping relationship between the cable output length and the output resistance when a cable output length is between a first length and a second length; or

taking a current cable output length as an initial length of the cable when a cable output speed is less than a predetermined speed or equal to zero.

17. The control method for the force output device according to claim 1, further comprising:

increasing or decreasing the output resistance of the electric motor of the force output device as a cable output length increases.

18. The control method for the force output device according to claim 17, wherein increasing or decreasing the output resistance of the electric motor of the force output device as the cable output length increases, comprises:

controlling the electric motor to output an output resistance with a magnitude corresponding to an initial resistance when the cable output length of the force output device is an initial length, wherein the initial resistance is equal to a gravitational force of a chain simulated by the force output device;

controlling the electric motor to decrease the output resistance based on the increase of the cable output length when the cable output length of the force output device is within a target cable length range, until the cable output length reaches a target length and the output resistance reaches a target resistance;

controlling the electric motor to output an output resistance with a magnitude corresponding to the target resistance when the cable output length of the force output device is greater than the target length;

wherein the target cable length range is between the initial length and the target length.

19. A computer device, comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the computer program is configured to be executed by the processor to implement an operation of a control method for a force output device, and the method comprises:

controlling an electric motor to output resistance during at least one of a process of outputting a cable by the force output device or a process of retracting the cable by the force output device.

20. A computer-readable storage medium, configured to store a computer program, wherein the computer program is configured to be executed by a processor to implement an operation of a control method for a force output device, and the method comprises:

controlling an electric motor to output resistance during at least one of a process of outputting a cable by the force output device or a process of retracting the cable by the force output device.