WO2014196870A1

WO2014196870A1 - An apparatus for physical rowing exercise

Info

Publication number: WO2014196870A1
Application number: PCT/NO2014/050092
Authority: WO
Inventors: Ziad Badarneh
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-06-04
Filing date: 2014-06-04
Publication date: 2014-12-11
Anticipated expiration: 2015-12-04

Abstract

A three dimensional motioning apparatus designed for rowing exercises and balance training, comprising a base frame configured to be placed on a floor, and with an upper frame with a seat and oars. The upper frame has a configuration for tilt and vertically motion whereas the apparatus has a system utilizing magnetic resistance fluid dampers and voice coil actuator for producing resistance in the oars and controlled instability of the upper frame, also with an actuator and means for vertical motion. The computer of the apparatus runs on software which controls the means for tilt and vertical motion and resistance on oars according to a training programme or from values set by the user. A graphical user interface and animation or film of the training session and water environment of which is part of a chosen training session is shown on a screen and user interface consol.

Description

AN APPARATUS FOR PHYSICAL ROWING EXERCISE

Fi e l d of th e I nve nti o n The present invention relates to an apparatus for performing rowing exercises and in particular for training and controlling balance. As part of the invention is an interactive user interface, graphically displayed on a screen of the apparatus, the interface communicates online with an internet site. Ba c kg ro u n d of th e I nve ntio n

The benefits of regular aerobic exercise are well established and accepted.

Because the major population in the western world live close together in towns and cities, far from the countryside or the sea and because of inclement weather, time constraints and for other reasons, various types of indoor exercise equipment have been developed.

Rowing is a classic sport and an Olympic event. Amongst exercise equipment for use in gyms, at health and fitness studios and at home, there are types of rowing apparatus for regular aerobic exercise and training for rowing a boat.

Reference is made to publication WO 2004/112918, Badarneh, who is the inventor of present invention, which discloses a rower exerciser with sideway instability allowing simulation of natural rowing in water. A hydraulic system is connected to centrifugal fans which produce counterforce when the user applies force to the oars, the system also being designed such that the use of the oars results in motion and balance of the "boat". B ri ef S u m ma ry of t he I nve nti o n

It is an object of the present invention to provide an improved apparatus for rowing exercise with three dimensional motion, herein defined as 3D motion, and especially to provide for a natural and real feeling of rowing in water, including provision of graphical interaction.

This object is achieved in an apparatus according to the appended claims. In a first embodiment the rower apparatus of the present invention utilizes hydraulics in order to control instability and to simulate real rowing in water. However, and unlike mentioned prior art, the apparatus hydraulic system is assisted by eddy current units or powered by use of electric motors. A second embodiment shows a solution utilizing magnetic resistance fluid dampers and voice coil actuator.

Motors, actuators and sensors of all embodiments of the inventive rower apparatus are connected with a computer which controls the motion of the apparatus according to a chosen program. There is also a screen, preferably a touchscreen, which will show 3D animations and a graphical user interface for interactive communication and feedback between user and apparatus.

B r i e f D e s c r i p t i o n o f t h e D r a w i n g s

The features of the invention, and the inherent improvements over the prior art, will be described with reference to the accompanying drawings, which illustrate preferred embodiments of the invention by example and in which :

Fig. 1 shows a perspective view of a first embodiment of the inventive exercise apparatus, namely a rowing apparatus with real simulation of rowing in water and with 3D interactive motion,

Figs. 2a and 2b show the apparatus from the side and from above,

Figs. 3a and 3b show the apparatus from the rear and the front,

Fig. 4 shows a schematic diagram for the hydraulic system of the apparatus,

Fig. 5 shows a schematic diagram of the first embodiment's interface system and functions,

Fig. 6 shows a perspective view of a second embodiment of the inventive rowing apparatus,

Fig. 7 shows the apparatus from the side,

Fig. 8 shows the apparatus from above,

Figs. 9a and 9b show the apparatus from the rear and the front,

Figs. 10a and 10b show schematically motion of voice coil and upper frame, Fig. 11 shows a perspective view of voice coil and bracket,

Figs 12a and 12b show details of oars and joints,

Fig. 13 shows a perspective view of a third embodiment of the inventive rowing apparatus,

Figs. 14 and 15 show the apparatus from the side and above,

Fig. 16 shows a schematic diagram of the second embodiment's interface system and functions, D e t a i l e d D e s c r i p t i o n o f t h e I n v e n t i o n

The invention will present solutions for a rower apparatus which provide simulation of rowing in water together with a graphical user interface and 3D animation. The object is to provide means which allow optimal simulation of real rowing conditions. The rower apparatus will simulate resistance in water and provide instability to the user similar to what experienced in a real rowing situation. Thus, the apparatus includes a base frame and an upper frame suspended in the base frame. On the upper frame there is mounted a seat slidable along a track, oars, footrests and a console with a display screen.

The upper frame is suspended in the base frame along a longitudinal axis allowing the upper frame to tilt. The upper frame is also suspended along a transversal axis, with frame sections to be described later, that allows the upper frame to move in a vertical direction. The oars include means for providing a progressive resistance when pulling the oars. The resistance means will serve to simulate "resistance in the water", i.e. it will resemble the resistance that would be encountered on the displacement of water during the movement of a rowing boat in water. The apparatus will also challenge the user to maintain the balance during the exercise. This is achieved with the means for sideways tilting movement transverse to the upper frame and the seat's direction. As is well known, an uneven pull on the oars in a real rowing boat will result in tilting movements, i.e. the rowing boat heels. In the invention, if the user does not pull with the same force on both oars

simultaneously, the upper frame will tilt to the side on which least force is exerted. The invention also includes means, such as an actuator, for tilting the upper frame by an external force simulating waves. The invention also includes an actuator for introducing a vertical movement simulating the lift that occurs when pulling the oars in a real rowing boat. Lastly, during training the user will face a display screen illustrating a body of water with surrounding landscape, waves etc. on which the user apparently is rowing.

With reference to figs. 1, 2a, 2b, 3a, and 3b, showing a first embodiment of the invention, the rower apparatus has a base frame 1 configured to be placed on a floor surface, which at rear and front has frame sections 2, 3 supporting an upper frame 4. The frame sections are rotary connected with the base frame and upper frame in order to perform a swing motion as illustrated by arrow 8, 9, which will vary the position (in particular introduce a vertical motion) of the upper frame. The front section 2 is connected to an actuator 10, with motor 11 located on the base frame 1, for activation of the swing motion of section 2 and the motion of the apparatus' upper frame. The upper frame 4 and sections 2, 3 are joined by frame pieces 12, 13, the upper frame being supported by rotatable axles 14, 15 which allows a tilt motion of upper frame relative to the frame sections and the base frame along the longitudinal axis of the upper frame. For support and control of the tilt motion, hydraulic stabilizer cylinders 17, 18 and springs 19, 20 are fastened to and at the rear position of frame 1 and on each side of, and to the upper frame 4. Oars 24, 25 are connected through ball joints 22, 23 to support arms 26, 27 which are fixed on to each side of the upper frame 4. At one end of the oars, hydraulic piston cylinders 28, 29 are connected, while the other ends include handles. The cylinders are at the other end connected to pivot points on the support arms 26, 27. A seat 30 is located on upper frame, slideable along tracks 32, 32'. Support platforms 36, 37 are fixed at the front end for support of the user's feet during use. A pair of fans 38, 39 is located at the front end facing the user. They are each connected with flywheels which are powered by turbines which again are powered from the hydraulic system as further disclosed below with reference to fig. 4. The flywheels are made of iron and their rotation is controlled by an electro magnet, thus configuration being of an eddy-current type. The fans are connected for free rotation which means they continue rotating even if the flywheel rotation is reduced or stopped. Numeral 67 denotes a screen and/or interface console, numeral 68 showing a power/adjustment knob. Fig. 4 is a schematic illustration of the invention's hydrau lic system. When operating the oars, piston cylinders 40, 41 (28, 29) will displace hydraulic fluid through the system. Operating both oars with the same force produces the same flow and pressure in the stabilizer cylinders 42, 43 (17, 18), keeping the upper frame in balance. Uneven rowing will tilt the frame. The flow of hydraulic fluid also drives turbines 46, 47, which produces some resistance, fans 48, 49 (38, 39) and flywheels 50, 51. The brake unit of the eddy-current configuration is illustrated by numerals 52, 53. The amount of fluid and flow within the system is regulated by check valves 54, 55 and fluid reservoir 56. The eddy-current or motor configuration is set up in a system with a computer in order to simulate different situations of natural rowing in water, as further described below with reference to figs. 5 and 13. An alternative embodiment of the invention is also disclosed in fig. 4 where the hydraulic turbines and eddy-current system are replaced with electric motors and pumps, illustrated by numerals 59, 60. The flow of the fluid may then be regulated in order to affect the sensation on the oars when rowing, thus simulating different water conditions. The fans are in this situation powered by independent electric motors 61, 62.

The following will disclose the invention's electronic and computer interface system . Fig. 5 shows a block schematic of the invention which has an interface and control console 70, including a computer unit 71, a display unit/screen 72 and input means 73. The display unit may be of a touchscreen type and thus also representing input means for the user. There may also be buttons, switches, joystick or alike for start/stop and other input from the user. Figs. 1, 2 and 3 show a switch 68 which may operate master power and a basic resistance control. The computer will be especially programmed for controlling the motors to interact with training programs, as read directly from storage means, such as a CD, a USB memory stick or other memory card, or from a portable hard drive, all illustrated by numeral 74. Also the apparatus may use programs from a remote server, either locally or through the Internet, 75 which provides for online training interactively with other users and or for interactively training anywhere on the globe through map and GPS services online.

Numeral 80 represent the power controller which is controlled by the computer 71 for distribution of power and signals to the apparatus, the power being delivered from the mains 81 or from batteries 82.

Numerals 84, 85 illustrate motors/pump/eddy-current system which can be activated for adjustment of pressure in the hydraulic system thus affecting the motion of oars and cylinder dampers 86, 87 and stabilizer cylinder dampers 88, 89. Actuator and motor 90 (10), 91 (11) are activated for vertical motion of the front end of the apparatus' upper frame 94 (4) and lower frame illustrated by numeral 95 (1). A sensor 96 is present for registration of vertical motion. Any sensor for analogue or digital detection of changes in angle or rotation may be used although in most cases Hall sensors (magnetic field sensors) are preferred. Optical sensors may also be used for detection of motion. The motors are connected to the computer 71 of the interface console 70, which runs software presented on a display 72 for user friendly adjustments via buttons, keyboard or preferably a touch screen. The computer software 74 includes programs for the apparatus to run exercise programs and simulation of different environments. The screen will show images of a body of water, lake, sea or river as animated graphics or film. The computer will read sensors and activate motors and actuators for motion feedback on oars and upper frame.

The computer will use programs or data from services on websites which have typographical data, man-made or from actual geographical locations on the globe, the weather and water/sea/river being graphically shown on a screen. Conditions will vary with regard to weather, which will create waves and conditions in the water as currents and especially rapids found in rivers. The invention is thus made to motion according to the water conditions shown graphically on the screen to provide an interactive exercise experience for the user.

Fans powered by electric motors are illustrated with numbers 97, 98, which can be activated by the user for cooling, or controlled by a running computer programme, for example a programme which simulates rowing on a sea under windy conditions and with rocky waves.

The following will disclose a second embodiment of the inventive rower apparatus.

Figs. 6, 7, 8, 9a and 9b, show another embodiment of the inventive rower apparatus with a base frame 100 configured to be placed on a floor surface, which at rear and front has frame sections (middle sections) 102, 103 supporting an upper frame 101. The sections 102, 103 are rotary connected to the base frame at their lower end by axles 104, 105 with axis' 104', 105', perpendicular to the longitude of the apparatus frame, in order to perform a swing motion as illustrated by arrows 108,109 which will vary the position of the upper frame 101. This is enabled by the rear section 103 being connected to an actuator 110, with a motor 111 located on the frame 100 which activates the swing motion of section 103 and thus motion of the apparatus upper configuration and section 102.

The upper frame 101 is connected to axles 114, 115, fixed to the midsections 102, 103, allowing a tilt motion of frame transverse of the longitude of the apparatus.

For support and control of the tilt motion, the upper frame is connected with a cylindrical voice-coil motor/actuator 120, for example from the manufacturer Moticont or BEI Kimco. The voice-coil is placed with direction of motion

perpendicular to the longitude of the upper frame whereas the inner part of the voice-coil 121 is fixed with brackets 123, 123' to axle part 105, whereas the outer part of the voice-coil 122 is connected to the upper frame 101, as further disclosed in figs. 10a and 10b. Upon activating, the voice-coil's outer part will be set in motion along the magnetic field of the coil and will tilt the upper frame from side to side around axis 116-117' (fig 8) and axles 116, 117.

Fig. 11 shows perspective details of voice-coil 120 with brackets 123, 123'.

Further with reference to fig. 6 and details in figs 12a, 12b, the oars 124, 125 are each connected to multi directional joints 128 and 129 which again are connected to support arms 130, 131 which may rotate around vertical axes 132, 133. This also defines the axis of movements of the oars, illustrated by arrows 134, 135 and 135. The movements may be detected with a sensor illustrated by numeral 137. The oars are also rotationally motionable in a vertical direction from reference and axis 139. The oars are connected, thus rotary, to hinge pieces 145, 144, again rotary connected with joint 129, along axis 139, enabling motion of oars in a vertical direction, indicated by arrow 139' the motion being read by sensor numeral 141. The oars are also rotary about their length axesl48, 149, then motion being indicated by arrow 149', their rotary or twist motion being read by a sensor, here indicated as numeral 140.

The joints 128, 129 are connected to dampers, 150, 151 of a type with magnetic resistance fluid, for example from producer Lord Corporation, iwww.lord.com^'), so called magneto-rheological (MR) dampers. This type of dampers contain a fluid which consists typically of 20-40 percent by volume of relatively pure, 3-10 micron diameter iron particles, suspended in a carrier liquid such as mineral oil, synthetic oil, water or glycol. A magnetic field is applied to the fluid, the magnetic field being controlled in order to control the movement of the damper arms 150', 151', this aspect being further disclosed below.

A seat 155 is located slideable in tracks 156, 157 by means of for instance wheels (not shown), the tracks being fixed to each side of the upper frame 101. Foot support 158 is located at the front end, fixed on a tube 159, as an extended part of frame 101. The frame is slideable relative to the frame, as illustrated by arrow 162, in order to adjust to the size of the user. The rower has a screen 172 which shows a graphical user interface and 3D- animations for activities and communication with the user. The screen is located at the front end of the apparatus, fixed to a vertically part 100' of the base frame 100. The rower apparatus has a computer 171 which may be located anywhere on the apparatus frame and or together with the screen 172 as an integrated interface unit 170 as further disclosed with reference to fig. 13.

Figs. 13 -15 show an embodiment of the invention whereas the tilt motion is generated by use of an electric motor and actuator. As disclosed in figs. 13-15, the main design is similar to what is disclosed in figs. 6-8 resulting in the same functionality. Numeral 101 denotes upper frame connected to base frame 100 by sections 102, 103 in a rotary fashion in order to perform a swing motion as illustrated by arrows 108, 109 in fig. 7. The rear section 103 is connected to actuator 110, with motor 111 located on the frame 100 which activate the said swing motion and vary the horizontal angle of the upper frame.

The upper frame 101 is rotary connected to frame sections 102 and 103 on axis 116'-117' perpendicular to rotary axis' 104, 105, 114, 115 of sections 102, 103. A motor and actuator 160, 161 are located at the rear of the apparatus. The actuator rod is connected to the upper frame 101 and works below and perpendicular to axis 116'-117'. The tilt motion of the upper frame is controlled by the motor and actuator 160, 161 in a similar manner as disclosed with reference to figs 6-11.

Oars 124, 125 are each connected to multi directional joints 128 and 129, which are connected to support arms 130, 131. The oars are rotary connected to a hinge piece 145, 144 again rotary connected with joint 129. The joints 128, 129 are connected to dampers 150, 151, for example of a type with magnetic resistance fluid, as disclosed above. A seat 155 is located slideable in tracks 156,157 by means of for instance wheels (not shown), the tracks being fixed to each side of the upper frame 101. A foot support 158 is located at the front end, fixed to an adjustable tube or bar 159, as an extended part of the frame 101. At the front end of the rower there is shown a screen 172 for graphical user interface and 3D animations for activities and communication with the user.

Fig. 16 shows a block schematic of the second embodiment of the invention, in part similar to what is shown above in fig. 5 with relevance to the first embodiment. The interface and control console is shown as 170 and comprises a computer unit 171, a display unit/screen 172 and input means 173.

Software programs for controlling the motors of the invention to interact with training programs are illustrated by numeral 174. The apparatus may also use programs from a remote server, either locally or through the Internet, 175.

A dedicated computer unit, called an input/output board, I/O board 178, controls signals between computer and sensors and controls the power distribution within the apparatus.

An actuator and motor 180 (110) for vertical motion are connected with the I/O board for vertical motion of the apparatus' upper frame 182 (101). The lower frame is illustrated by numeral 181 (100) and support sections are shown as 184, 185. A sensor 186 is present for registration of the vertical motion.

Tilt motion of the upper frame is controlled by the actuator and voice coil 188(120). Tilt position of upper frame may be read directly from the coil position or from a sensor 189 detecting the tilt of the frame.

The oars 190, 191 are each connected to joints 192, 193 which the MR dampers 194, 195 also are connected to. The dampers are wired to the I/O board 178, for control of magnetic field and resistance. Rotary/twist motion of oars to detect position of the blade is detected by sensors 196, 196' (140), while vertical motion is detected by sensors 197, 197'(141) and rotary swing motion is detected by sensors 198, 198'.

The MR dampers are signalled and given a magnetic field according to the wanted resistance in pulling the ores, dictated by the running programme and positions of the oars. The sensors can detect any position of the oars, which means that the resistance can be adjusted whether the oars are in the "air" or in the "water".

Twisting of the oars will adjust the angle of the oar blade, and when lowered in imaginary water, the angle of the oar blade will decide the resistance level generated by the computer and created within the dampers.

Balance is achieved by shifting the body and by use of the oars. The balance or tilt is read by sensors and controlled through activation of automated means 188, for instance voice coil 120 or motor and actuator 160, 161. Motion through the imaginary water and waves is created by motion of the motor and actuator 180 (110, 111) as well as by means 188.

The described invention can be subject to modifications and variations without thereby departing from the scope of the inventive concept as disclosed with reference to the drawings and further stated in the claims. To the extent that certain functional elements can be replaced by other elements to enable the same function to be performed by the various embodiments disclosed, such technical equivalents are included within the scope of the invention.

Claims

I a i m s

1. An apparatus for physical rowing exercise and training balance, including a base frame (1; 100) configured to be placed on a floor, an upper frame (4; 101) with a seat (30; 155) and oars (24,25; 124, 125), the upper frame being movable suspended in the base frame, means for producing resistance to the oars and controlled instability in the upper frame, said upper frame includes a configuration for both tilt and vertical motion,

c h a r a c t e r i z e d i n that

the base frame (1 ; 100) includes rear (3; 103) and front (2; 102) sections supporting the upper frame (4; 101), the sections and frames being rotary connected in order to perform a swing motion to vary the vertical position of the upper frame,

an actuator (10; 110; 180) and electric motor (11 ; 111) for controlling motion of the upper frame.

2. An apparatus according to claim 1, wherein

said means for producing resistance to the oars include magnetic resistance fluid dampers (150,151),

said means for producing controlled instability in the upper frame include electric and/or electro-magnetic actuators (120; 188),

the apparatus further including display means and means for user input (67, 68; 72, 73; 172, 173), and

wherein said dampers and actuators are controlled by a computer (71,171) and/or input from a user.

3. An apparatus according to claim 1, wherein

said means for producing resistance to the oars and controlled instability in the upper frame include a hydraulic system,

the hydraulic system including hydraulic piston cylinders ( 28, 29; 40, 41) connected to and actuated by the oars (24, 25),

the hydraulic system including damper cylinders (17, 18; 42, 43) for controlling the tilt of the upper frame (4),

the hydraulic system has turbines (46, 47) connected to eddy-current units (52, 53) for controlling the flow of fluid through the system, or

the hydraulic system has pumps (59, 60) driven by electric motors (61, 62) for controlling the flow of fluid through the system, the apparatus further including display means and means for user input (67, 68; 72, 73; 172, 173), and

wherein the eddy-current units or electric motors are controlled by a computer (71,171) and/or user input.

4. An apparatus according to claims 2 or 3, wherein the computer runs

software which controls the means for tilt and vertical motion and resistance on the oars according to a training programme or from values set by the user.

5. An apparatus according to claims 2 or 3, wherein the computer and a screen is part of an interface console (70; 170) which displays a graphical user interface and animation or film of the training session and a water environment of which is part of a chosen training session.

6. An apparatus according to claim 4, wherein the computer runs a programme directly streamed from a server on the Internet, the programme providing online world wide maps with typographical data and weather conditions, graphically displayed on the apparatus' screen.

7. An apparatus according to claim 2, wherein said electric and/or magnetic actuators either are of an electric motor type which through gears transfer motion for a linear push and pull motion and/or are of a voice coil type for direct linear motion.

8. An apparatus according to claim 1, wherein the upper frame and said

sections are joined by frame pieces and axles allowing a tilting motion of the frame.

An apparatus according to claim 2 or 3, wherein the upper frame is elongated comprising support arms (26, 27; 130, 131) protruding outward on each side for support of the oars and the magnetic fluid dampers or hydraulic piston cylinders.

10. An apparatus according to claim 2 or 3, further including a pair of fans

mounted at the front end of the upper frame on each side of the screen, the fans facing the user, the apparatus being adapted to activate the fans according to a training programme or from values set by the user.

11. An apparatus according to claim 9, further including a rotary joint piece, on an vertical axis, connected to an end portion of each of the said support arms, and wherein a hinge piece is rotary connected to the joint on a horizontal axis, each of the oars' end parts being rotary connected to the hinge piece, this allowing a free three dimensional motion of oars including : horizontal swing motion,

vertical motion,

twist and rotary motion about the oars' longitudinal axis,

12. An apparatus according to claim 1, wherein the motor with actuator is fixed to the base frame and to one of the said frame sections.

13. An apparatus according to claims 1-3, wherein sensors are located at any or all joints and points of rotary motion, the sensors being of any type; optic, magnetic or electric.

14. An apparatus according to claim 3, wherein the hydraulic system has a pair of damper cylinders connected between the lower and upper frame, and a pair of hydraulic piston cylinders connected between the oars and the upper frame.