GB2396567A

GB2396567A - A computer controlled exercise machine

Info

Publication number: GB2396567A
Application number: GB0216363A
Authority: GB
Inventors: Colin Lawrence Amess
Original assignee: Individual
Current assignee: Individual
Priority date: 2002-07-13
Filing date: 2002-07-13
Publication date: 2004-06-30
Anticipated expiration: 2022-07-13
Also published as: GB0216363D0; GB2396567B

Abstract

An exercise machine which may be used for a range of exercises is driven by an electric motor. The speed or resistance of the machine is controlled by a computer into which information about the user may be input. Information may also be gathered by the computer from the actions of the user, and the exercise program updated accordingly. A specific action may be copied by the computer and replicated by the machine.

Description

RESPONSIVE EXERCISE MACHINE

This invention relates to a responsive exercise machine Physical exercise machines are commonly used whereby the exercise obtained is by way of physical exertion against an opposing force. Weights springs and gas dampers are well known opposing force devices, there is Ciao another category of physical exercise machine where the resistance is provided by an electric motor or Electric brake.

In the category of exercise machines employing an electric motor, simple devices exists to power treadmills at programmable speeds as well as motor driven machines to provide programmable forces though a pre-defined range of body movement. In this category of machines it h believed that the control loop providing the characteristic or personality response of these machines is limited or simple.

This class of machines responses are limited to providing a selectable constant resistance or linear resistance profile. These machines employ substantially constant current control systems to determine motor torque (and hence the required force) exerted on the forward and return strokes required by a particular exercise.

According to the present invention there is provided a physical exercise machine which uses an electric motor and a programmable multi-term feedback control system. The machine is able to provide an emulation of a range of conventional and adaptive exercise equipment. The exercise machine is able to provide multi-mode emulation of weights and pulleys, springs, viscous friction devices, gas dampers or any combination thereof.

It is believed that the machine described below will provide a means for safe remedial exercise as well as for general use.

Response is achieved by way of a multi term feedback control loop, which, according to the desired programming, will respond in real time, to the exertions of the user. The control loop processes the exertions of the user and according to the desired programmed response, is able to alter the dynamics of the power provided to the electric motor thereby changing the torque output by the motor which is linked to the transmission system.

L

< Different dynamics of force may be applied in response to the inter - r oq off, or provided to the equipment, by selecting the required response program. As described above, to motor will be driven with the appropriate power so as to alter the resistance and/or the dynmcs of the bronco, which is applied to the actuating mechanism that in turn is transmitted to the exercise ate Rho response program may be selected from a number of response profiles held in the micro controllers memory. Additionally, the machine can be set to memorise the stroke displacements time profile of an else movement without the exercise machine providing resistance. The memorised strokettime profile may then be used by the micro controller to set the limits for stroke travel and the preferred speed profiles at which the exercise is to be carried out.

The memorized strolettime profile may also be used by the mu to controller to set the maximum speed profiles at which the exercise is to be carried out. In this way any attempt by the person exercisug, to complete the stroke faster then the learnt' stroke speed profile, will be countered by the exercise machine.

The result of this counter resistance would never be greater than the opposite effort provided by the user. The user will therefore never be subjected to a resistance greater than their own effort. In this way the machine can be programmed not to snatch or jerk against the operator. The exercise Maine is responsive to the applied effort input by the operator. This response may be further programmed to be adaptive. There are also provided additional inhey safe mechanisms to restrict the speed of movements or distance of travel of the machine in the event that the operator should release their grip or relax their resistance to the exercise machine, thus providing a means for safe remedial exercise as well as for general use.

The exercise machine may also be programmed to provide a motive force instead of a restive force. When the machine provides a motive force, the machine may articulate the user who could be paralysed but may benefit from such articulation The physical exercise machine is able to accept attachments further extending the range of exercise performed on the machine. The exercise machine is also able to he oriented so as to vary the axis of resistance that the machine provides in order to suit the exercise required.

Because a mat of the work done by the machine in opposing movement by the person denying exercise from the machine can be derived from the motor current, positional data and time intervals, the power or ergometric output profiles may be recorded and processed to provide the user with ACCURATE information as to the level of their performance and performance history. Furthermore, as the ergometric

performance information is continuously derived in leaf time, in this way, the machine has the capacity to provide performance data that Can be correlated against a heart pulse monitor and/or repirotory monitor.

PrDnson Is made for the machine to capture the users Neal EC(; and reppiratoryfimchons.

Provision is also my to output vital and ergometric data to a personal computer or modem.

A - Tic embodiment of a ven,tion will now be de.$cii!ped. by way of ex, 6n1e wits, te,feteace th. e accompanying drawings. In figure I the machine comprises of a frame supporting a geared transgression system driven by an electric motor (2) and gearbox (3). At least one attachment eye is fixed to pulley/dmg belt (6) so that the attachment eye is Capable of liner motion between the range if the two suppordug pulleys.

(8 and 9) It should be noted that the frame and belt Can be rotated about an axis parallel to the power shaft (1).

In this way the angle of travel of the attachment eye (4) can be varied from horizontal through intermediate angles to the vertical Although fig Ishows the angle of rotation of the belt and frame to be fixed by the insertion of the angle set key (10). There are many other ways to select the angle of rotation including frictional locks. It is also possible to provide for angled gear mechanisms between the motor and gearbox or gearbox add drive gear. When the path of travel of the attachment eye is in the horizontal plane, a T bar (5) and hook and cable (6) can he fixed to the eye to provide a simulated rowing exercise. If the Dame is rotated so that the direction of travel of the attachment eye is in the vertical plane, a pull down or push up exercise can be performed. A fixed or rigid linkage can also be attached to the attachment eye. Furthermore, the power transmission mechanism may rotationally coupled to provide a rotational as well as linear displacement In this example the motor control structure is shown in fig 2, fig 3 and fig 4 a number of multi- termed, multi-

loop transfer functions are stored in a micro controller memory to be accessed from memory to act as real time process controllers. The microcontroller (24) accepts belt (6) positional and direction displacement information from the Line Counter/Direction Sensors (21,22) and calculates the direction, displacement, velocity and acceleration of the belt. If required, further terms can be calculated by taking successive derivatives. The microcontroller computes the required drive signal to send to the demand buffer (13) with respect to the selected transfer function accessed from memory (26). The memory may be pre-loaded with a library of transfer functions, which may be selected by means of a keypad (28). The memory may also be updated by information obtained through the personal computer interface or modem interface (29)

Learnt" responses or transfer funcd.ons may be written into memory as a computed algorithm derived from the belt position/time information presented to the microcontroller. The response profile may also be written into manory as a matrix opposition, forge, and time values Item bee seen thstiftlelimit swipes (IQand20)areconfigued or slaved es to present themselves as a switches (IS, 16). in series with the popover amplifier and the motor, then the pulley belt will be prevented from beu!g powe,,red, farther then a safe distance of travel. Signals are also taken from the limit switches to a limit control function (17) and the microcoltroller in order for regular Zero setting" to avoid cumulative offset errors from the displacement up/down counter (22}. Additionally, there is an input (27) to the mimoconboller to detect a small low voltage current path through the users body while gripping the exercise hoe (5) attac,,hed, to the, exercise machine. If it is detected that the user has released the handle, then a number of se, fety actions can be invoked. The power may be removed or the belt position may be maintained subject to a very low motive force or holding force.

Claims

Clauns I An exercise machine that uses an electric motor and a

programmable raulti-term feedback control system Mob, the machine to provide an emulation of a range of conventional and ave exercise equipment.

The exercise machine provides emulation of weights and pulleys, springs, viscous friction devices, gas dampers or any combination thereof. Provision is made for inherently safe mechanisms to restrict the speed of movements or distance of travel of the machine in the event that the operator should release their grip or relax their resistance to the exercise machine
2 An-exercise machine as clowned in claim I whereby the machine can be programmed not to snatch orjerk against the operator. Response to the applied effort input by the operator is provided by the microcontroller response algorithm or transfer fusions Alternatively there is provided a "reaming mode." In "learning mode" The machine can be set to memorise the stroke displacement/ time profile of an exercise movement without the exercise machine providing resistance to the user. The memorized st-rohttime profiles may then be used by the microcontroller to control the machines resistance against the users efforts.
An exercise machine as claimed in claim I or claim 2 whereby when the machine is placed in "learning mode" The machine can be set to memorise the stroke displacement/ time profile of an exercise movement, or to import equivalent information via a Personal computer or modem. The micro controller then sets the limits for stroke travel and the preferred speed and force profiles at which the exercise is to be carried out. The exercise machine then provides the motive power to exercise or articulate the user according to the "learnt" exercise profile.
4 An exercise machine as claimed in claim 1 or claim 2 or claims whereby the physical exercise machine is able to accept attachments further extending the range of exercise performed on the machine. The exercise machine is also able to he oriented so as to vary the axis of resistance that the machine provides in order to suit the exercise required.

- '
5 An exercise machine as claimed in any proceeding claun whereby the physical exercise machine has provision for &e machine to captious the uses vial ECG and respiratory functions where ECG and respiratory sensors send tither analogue. measurements to the ADC ports of the micro controller, or, digital- information to any digital port of the micro controller.
6 An exercise machine as claimed in claim 5. Whereby ergometric performance information is continuously derived in real time from the motor power control looped provision is made whereby the micro controller correlates and stores.the user performance data Additionally, the micro controller may correlate the users physical performance data against information derived from users ECG /or respiratory profiles.
7 An- exercise machine as claimed in any proceeding claun whereby a communications link to output data to a display and/or modem or personal. computer is provided by way of a serial or parallel output from the micro controller in order to provide additional means of exporting the users dynamic performance data for display, archiving or further analysis.