TWI612987B - Fitness equipment for two-dimensional movement - Google Patents

Abstract

An exercise machine for performing two-dimensional exercise, the exercise device comprises a force measurement and control device, a motion mode input device, a two-dimensional linear power device, and an output correction module, and the force measurement and control device receives the user's force to generate a two-dimensional direction The first force signal and the second force signal, the motion mode input device is configured to input a specific track motion mode that the force measurement and control device should follow, and the two-dimensional linear power device receives the first force signal and the second force signal Executing the force measurement and control device to operate according to the motion trajectory corresponding to the input motion mode, and the output correction module will feedback the correction according to the difference between the motion trajectory to be followed and the actual motion trajectory, so that the force measurement and control device follows the Enter the motion trajectory corresponding to the motion mode.

Description

Exercise machine for 2D exercise

The present invention relates to an exercise machine, and more particularly to an exercise machine for performing two-dimensional exercise.

With the improvement of the standard of living of the people, people realize the importance of health, and all kinds of fitness machines are born to make people exercise, fitness, or rehabilitation without being affected by the weather.

In the case of hand fitness equipment, weightlifting, chest expansion, and pulling are considered to be more common exercise devices. Most of the products seen on the market use traditional mass or physical springs to exercise muscles. The volume is often large, and it is also necessary to prepare for the replacement of the mass.

In addition, the movement mode of such equipment is often in the form of straight lines and rotations. The plane movement of one-dimensional direction or fixed trajectory often only trains part of the muscles, which will cause many muscles to not fully stretch, resulting in less satisfactory exercise effects. Or make the training or rehabilitation of the muscles incomplete. However, the current fitness device is limited by the mechanical design, making the movement track difficult to adjust, and the demand for other motion track modes is difficult to fully satisfy. If the demand for the special motion track is required, the fitness machine is often required to be expensive, and Even if it is a custom fitness machine, the functionality is still limited, and the usage rate and usability are quite unsatisfactory.

Accordingly, it is a primary object of the present invention to provide an exercise machine for performing two-dimensional motion to solve the above problems.

The object of the present invention is to provide an exercise machine for performing two-dimensional motion, which can not only perform a plurality of two-dimensional trajectories, but also can detect the difference between the trajectory to be followed and the actual trajectory, and feedback The trajectory follows the trajectory that should be produced by the input motion mode.

The invention relates to an exercise machine for performing two-dimensional exercise, which comprises a force measurement and control device, a processing unit, a motion mode input device, a two-dimensional linear power device, and an output correction module.

The force measuring and controlling device receives the force applied by the user to generate the first force signal and the second force signal which are two-dimensionally oriented and orthogonal.

The processing unit signal is connected to the force measurement and control device for receiving the first force signal and the second force signal, and generating the first driving signal and the second driving according to the first force signal and the second force signal Signal.

The motion mode input device signal is connected to the processing unit for inputting one of a plurality of motion modes, and each of the motion modes corresponds to a motion trajectory that the force measurement and control device should follow.

The two-dimensional linear power unit includes a driver, a first motor and a second motor, and a first linear screw and a second linear screw. The driver signal is coupled to the processing unit and coupled to the first motor and the second motor, the first linear screw and the second linear screw respectively comprise a screw and a slider, the first motor is connected to the screw of the first linear screw, and the second The motor is connected to the screw of the second linear screw. The screws are respectively rotated by the output of the first motor and/or the second motor, and the slider is sleeved on the screw, and is rotated by the screw to move along the axial direction of the screw, and the second linear screw is fixed to the first linear screw. On the slider, the force measuring and controlling device is fixed on the slider of the second linear screw.

After the driver receives the first driving signal and the second driving signal, the first motor and the second motor are respectively driven by the first power and the second power, so that the force measuring and controlling device follows the motion track corresponding to the input motion mode.

The output correction module signal is connected to the processing unit, and the difference between the motion track and the actual motion track that the force measurement and control device should follow is used to feedback and correct the first driving signal and the second driving signal, and the force measurement and control is continued. The device follows the motion trajectory corresponding to the input motion mode.

Wherein, the force measuring and controlling device further comprises a substrate, four load cells and a four-way link. The substrate is fixed on the slider of the second linear screw, the four load cells are annularly 90 degrees, the radiation is arranged uniformly on the substrate, and the four-way linkage is fixed on the ends of the four load cells adjacent to each other, four directions The connecting rod is configured to directly receive the force applied by the user, wherein the four load cells are capable of generating the first force signal and the second force signal in the two-dimensional direction and orthogonal.

Further, as described in the foregoing exercise machine, wherein the motion trajectory is divided into a two-dimensional first trajectory component and a second trajectory component, and the output correction module extracts the first trajectory component and the actual motion trajectory that the force measurement and control device should follow. a first difference between the first trajectory components of the motion trajectory, and taking a second difference between the second trajectory component of the motion trajectory that the force measurement and control device should follow and the second trajectory component of the actual motion trajectory The input layer data of the neuro-analysis is used to generate the feedback-corrected first driving signal and the second driving signal.

In addition, the input layer data of the neurological analysis may further include a first difference variable that differentiates the first difference, and a second difference variable that differentiates the second difference, and the result is better.

Therefore, the exercise device for performing two-dimensional motion according to the present invention can not only perform a plurality of two-dimensional trajectories by using a two-dimensional linear power device, but also can detect and follow in the detection by the output correction module. After the difference between the motion trajectory and the actual motion trajectory, the feedback correction causes the motion trajectory to follow the motion trajectory that should be generated by the input motion mode.

The advantages and spirit of the present invention will be further understood from the following detailed description of the invention.

10‧‧‧ Fitness machine

30‧‧‧Power measurement and control device

3002‧‧‧Substrate

3004‧‧‧ load weight

3006‧‧‧ four-way linkage

32‧‧‧Two-dimensional linear power unit

3202‧‧‧First motor

3204‧‧‧second motor

3205‧‧‧ drive

3206‧‧‧First linear screw

3208‧‧‧Second linear screw

34‧‧‧Processing unit

36‧‧‧Sport mode input device

38‧‧‧Output correction module

40‧‧‧ screw

42‧‧‧ Slider

1 is a schematic view showing the appearance of the exercise machine of the present invention; and FIG. 2 is a schematic diagram showing the function of the exercise machine of the present invention.

Please refer to FIG. 1. FIG. 1 is a schematic view showing the appearance of the exercise machine 10 of the present invention. The present invention is directed to an exercise machine 10 for performing two-dimensional motion, in which the fitness device 10 is shown to include a force measurement and control device 30 and a two-dimensional linear power device 32.

The force measurement and control device 30 receives the force applied by the user to generate a first force signal and a second force signal that are two-dimensionally oriented and orthogonal. The force measurement and control device 30 further includes a substrate 3002, four load cells 3004, and a four-way link 3006.

The four load cells 3004 are circumferentially spaced 90 degrees apart and are disposed on the substrate 3002 in a uniform orientation with radiation. The four-way link 3006 is fixed above the ends of the four load cells 3004 adjacent to each other, and the upper portion of the four-way link 3006 is a grip bar, and the grip bar is directly received by the user to receive and transmit the force, and the four-way link 3006 The lower part is a connecting structure, and the connecting structure has four extending structures, and the four extending structures are respectively fixedly connected above the ends of the four load cells 3004 adjacent to each other. Therefore, when the grip of the four-way link 3006 is subjected to the force applied by the user, the force is transmitted to the four load cells 3004 through the connection structure, and the force value is sensed by the four load cells 3004 respectively. The decomposition calculation is performed to generate the first force signal and the second force signal in the two-dimensional direction and orthogonal.

The two-dimensional linear power unit 32 can be seen to include a first motor 3202 and a second motor 3204, and a first linear screw 3206 and a second linear screw 3208. The first linear screw 3206 and the second linear screw 3208 respectively include Screw 40 and slider 42.

The first motor 3202 is coupled to the screw 40 of the first linear screw 3206, and the second motor 3204 is coupled to the screw 40 of the second linear screw 3208. The screws 40 are respectively rotated by the output of the first motor 3202 and/or the second motor 3204. The slider 42 is sleeved on the screw 40 and is rotated by the screw 40 to move in the axial direction of the screw 40. The second linear screw 3208 is fixed to the slider 42 of the first linear screw 3206, and the substrate 3002 of the force measuring and controlling device 30 is fixed to the slider 42 of the second linear screw 3208.

Referring to FIG. 2, FIG. 2 is a schematic diagram showing the function association of the exercise machine 10 of the present invention. The exercise machine 10 of the present invention includes a processing unit 34, a motion mode input device 36, and an output correction module 38 in addition to the aforementioned force measurement and control device 30 and the two-dimensional linear power device 32.

The processing unit 34 is connected to the force application and control device 30 for receiving the first force signal and the second force signal from the force measurement and control device 30, and generating the first force signal and the second force signal according to the first force signal and the second force signal. The first driving signal and the second driving signal. The first driving signal represents the magnitude of the current that should be input to the first motor 3202, or the torque that should be generated by the first motor 3202, and the second driving signal represents the amount of current that should be input to the second motor 3204, or It can also represent the torque that should be generated by the second motor 3204.

The motion mode input device 36 is connected to the processing unit 34 for inputting one of a plurality of motion modes, each of which corresponds to a motion trajectory that the force measurement and control device 30 should follow, such as a circle, an ellipse, a diamond. ...the two-dimensional motion trajectory of the plane.

The two-dimensional linear power unit 32 further includes a driver 3205. The driver 3205 is connected to the processing unit 34 and coupled to the first motor 3202 and the second motor 3204. After the driver 3205 receives the first driving signal and the second driving signal, the first motor 3202 and the second motor 3204 are driven by the first power and the second power, respectively, and the first motor 3202 and the second motor are driven. The motor 3204 is pushed by the screw 40 and the slider 42, that is, the second linear screw 3208 is pushed by the first linear screw 3206, and the second linear screw 3208 is pushed to the force measuring and controlling device 30, so that the force measuring and controlling device 30 can follow the input. The motion trajectory corresponding to the motion mode.

The output correction module 38 signal is connected to the processing unit 34, and the difference between the motion track and the actual motion track that the force measurement and control device 30 should follow is used to feedback and correct the first driving signal and the second driving signal, so as to continue The force measurement and control device 30 follows the motion trajectory corresponding to the input motion mode.

According to the motion mode input device 36, the force measurement and control device 30 follows the motion trajectory corresponding to the input motion mode, but the machine has a congenital limitation of its operation, for example, the screw 40 has a start dead zone, and the slider 42 has a slide rail. Various uncertain parameters, such as the friction between the slider 42 and the sliding rail, etc.; and, for example, the uncertainty of the applied load variation, such as the type of the user's applied force and the frictional interference, so the fitness device 10 of the present invention has The uncertainty of the linear system parameters needs to be overcome, meaning that the motion trajectory that should occur in the exercise machine 10 is different from the actual motion trajectory. The output correction module 38 is a self-learning correction using a neural-like analysis or even a fuzzy-like neural analysis to improve the above problem.

For the operation of the output correction module 38, the motion trajectory is divided into a two-dimensional first trajectory component and a second trajectory component in units of distances, and the output correction module 38 is adapted to follow the force measurement and control device 30. The first difference between the first trajectory component of the motion trajectory and the first trajectory component of the actual motion trajectory, and the second trajectory component of the motion trajectory that the force measurement and control device 30 should follow and the actual motion trajectory The second difference between the two trajectory components is used as the input layer data of the neurological analysis. The first driving signal and the second driving signal can be the current value or the torque value as the output layer data of the neurological analysis. After performing the nerve-like training with the basic motion trajectory, for example, pushing 100 times as a training sample with a standard diamond shape, as the basis for starting the force measurement and control device 30, the user can then synchronize when the user applies the force. Output The correction module 38 continuously recursively corrects the first driving signal and the second driving signal of the feedback correction by continuously optimizing the weight or parameter.

In addition, the input layer data of the neuro-analysis may further comprise a first difference variable that differentiates the first difference, and a second difference variable that differentiates the second difference, the first difference, the first difference variable The second difference value and the second difference variable are used as input layer data of the neurological analysis. Thus, the analyzed first drive signal and the second drive signal of the feedback correction are more correct.

Therefore, when the user moves in, for example, a diamond shape, since the two-dimensional linear power unit 32 is driven by following the diamond-shaped trajectory, there is a diamond-shaped trajectory which is a trajectory that the user can easily push the urging and measuring device 30, so if the trajectory is detached from the trajectory The two-dimensional linear power unit 32 gives the user great resistance. Subsequently, for the difference between the diamond-shaped trajectory pushed by the user and the diamond-shaped trajectory of the exercise machine 10, the output correction module 38 continuously learns and corrects itself to achieve the best diamond-shaped trajectory motion effect.

Therefore, by using the two-dimensional linear power device 32, the exercise machine 10 for performing two-dimensional motion can perform not only the movement of a plurality of two-dimensional trajectories, but also the output correction module 38. After detecting the difference between the motion trajectory to be followed and the actual motion trajectory, the feedback correction causes the motion trajectory to follow the motion trajectory that should be generated by the input motion mode.

The features and spirit of the present invention will be more apparent from the detailed description of the preferred embodiments. On the contrary, the intention is to cover various modifications and equivalents within the scope of the invention as claimed.

10‧‧‧ Fitness machine

30‧‧‧Power measurement and control device

32‧‧‧Two-dimensional linear power unit

3202‧‧‧First motor

3204‧‧‧second motor

3205‧‧‧ drive

3206‧‧‧First linear screw

3208‧‧‧Second linear screw

34‧‧‧Processing unit

36‧‧‧Sport mode input device

38‧‧‧Output correction module

Claims (3)

An exercise machine for performing two-dimensional exercise, the exercise machine comprising: a force measuring and controlling device, receiving a force applied by a user to generate a first force signal and a second force applied in a two-dimensional direction and orthogonal a signal processing unit, wherein the signal is connected to the force application device for receiving the first force signal and the second force signal, and according to the first force signal and the second force signal Generating a first driving signal and a second driving signal; a motion mode input device, wherein the signal is connected to the processing unit, and is configured to input one of a plurality of motion modes, each of the motion modes respectively corresponding to the one of the force measurement and control a trajectory to be followed by the device; a two-dimensional linear power device comprising a driver, a first motor and a second motor, and a first linear screw and a second linear screw, the driver signal being coupled to the processing unit And coupling the first motor and the second motor, the first linear screw and the second linear screw respectively comprise a screw and a slider, the first motor is connected a screw of the first linear screw, the second motor is connected to the screw of the second linear screw, and the screws are respectively rotated by the output of the first motor and/or the second motor, and the slider is sleeved on The screw is rotated by the screw to move along the axial direction of the screw, and the second linear screw is fixed to the slider of the first linear screw, and the force measuring and controlling device is fixed to the sliding of the second linear screw Blocking, wherein the driver receives the first driving signal and the second driving signal, respectively driving the first motor and the second motor with a first power and a second power, respectively, so that the force measuring and controlling device follows Inputting a motion track corresponding to the motion mode; and an output correction module, wherein the signal is connected to the processing unit, and the difference between the motion track and the actual motion track that the force measurement and control device should follow is taken to correct the One drive And the second driving signal, wherein the force measuring and controlling device follows the motion trajectory corresponding to the input motion mode; wherein the motion trajectory is divided into a first trajectory component and a second trajectory component, and the output is The correction module captures a first difference between the first trajectory component of the motion trajectory that the force measurement and control device should follow and the first trajectory component of the actual motion trajectory, and extracts the following deviation from the force measurement and control device a second difference between the second trajectory component of the motion trajectory and the second trajectory component of the actual motion trajectory as the input layer data of the neuro-analysis to generate the feedback-corrected first driving signal and the The second drive signal. The exercise device of claim 1, wherein the force measurement and control device comprises a substrate, a four-load weight element and a four-way link, the substrate is fixed on the slider of the second linear screw, the four The load cell is 90 degrees annularly disposed on the substrate in a uniform orientation, and the four-way link is fixed on an end of the four load cells adjacent to each other, and the four-way link is used to directly accept the user a force, wherein the four load cell is capable of generating a first force signal and a second force signal in the two-dimensional direction and orthogonal. The exercise device of claim 1, wherein the input layer data of the neural analysis further comprises a first difference variable that differentiates the first difference, and a second difference that differentiates the second difference. Value variable.