Actuator-based exercise and training device
Inventors
Cobb, Tyson • Craig, Travis • Gines, Jeremy • Neuhaus, Peter
Assignees
Florida Institute for Human and Machine Cognition Inc (IHMC)
Publication Number
US-10843041-B1
Publication Date
2020-11-24
Expiration Date
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Abstract
An exercise device where force is applied by computer-controlled actuators. The programmable nature of the force application allows the device to simulate weight-training devices and other useful exercise devices.
Core Innovation
The present invention comprises an exercise device where force is applied by computer-controlled actuators. The programmable nature of the force application allows the device to simulate weight-training devices and other useful exercise devices.
The invention also includes reaction force measurement. In a preferred embodiment the user is in a standing position and the reaction forces produced by the user's feet are monitored, and a control system is used to monitor stability so that the forces can be altered if the user enters an unbalanced state.
Prior art exercise devices tend to use weights or resistance schemes, which are inherently limited in the type of forces they can apply and are often quite heavy. The present invention seeks to overcome these known disadvantages of the prior art devices, as well as providing other additional advantages.
Claims Coverage
Independent claims 1 and 11 define nine inventive features across two independent claim sets.
Lower links connected to columns by universal joints
a right/lower link connected to said right/column by a right/lower universal joint; a left/lower link connected to said left/column by a left/lower universal joint.
Upper links connected to lower links by powered pivot joints
a right/upper link connected to said right/lower by a right/powered pivot joint; a left/upper link connected to said left/lower by a left/powered pivot joint.
Bar connected to upper links by upper universal joints
a bar, having a left end and a right end; said right end of said bar being connected to said right/upper link by a right/upper universal joint; said left end of said bar being connected to said left/upper link by a left/upper universal joint.
Control system varying torques at powered pivot joints
a control system configured to selectively vary a first torque applied to said right/powered pivot joint and a second torque applied to said left/powered pivot joint.
Carriers connected to columns by first pivot joints
a right/carrier connected to said right/column by a right/first pivot joint; a left/carrier connected to said left/column by a left/first pivot joint.
Lower links connected to carriers by second pivot joints
a right/lower link connected to said right/carrier by a right/second pivot joint; a left/lower link connected to said left/carrier by a left/second pivot joint.
Counterbalance mechanism across first or lower pivot joints
a right counterbalance mechanism applying a counterbalancing force across said right/first pivot joint (or right/lower universal joint) and a left counterbalance mechanism applying a counterbalancing force across said left/first pivot joint (or left/lower universal joint).
Counterbalance mechanism including cam, cable, and spring
said right counterbalance mechanism includes a right/cam sheave connected to said right/lower link, a right/cable passing around said right/cam sheave, and a right/spring with the second end of said right/cable being connected to said right/spring; and analogous left side components.
Monitoring torque and position of powered joints
said control system monitors a torque and a position of said right/powered joint and said left/powered joint.
The independent claims define a dual-sided exercise device with lower links mounted via universal or first/second pivot joints, powered upper pivot joints, a bar connected by upper universal joints, counterbalance mechanisms, and a control system that selectively varies torque and monitors torque and position.
Stated Advantages
Programmable force application that allows the device to simulate weight-training devices and other useful exercise devices.
Ability to apply unconventional forces that would not be possible using free weights or other existing exercise equipment.
Reaction force measurement and stability monitoring so that forces can be altered or removed if the user enters an unbalanced state.
Counterbalance mechanism that allows the machine to remain in a raised position and to achieve starting positions without the exertion of significant force.
Accommodation of a wide variety of users and exercises via adjustable column heights and additional degrees of freedom.
Ability to mimic free weight dynamics while also altering force characteristics for rehabilitation and other specialized training.
Documented Applications
Squats (standing bar across the user's shoulders).
Curls (bar lifted through an arc).
Bench press (user lying on a bench exerting force to move the bar upward).
Deadlift and other standing resistance-type exercises.
Inclined press and seated rows (examples of sitting resistance-type exercises).
Single-arm exercises and bar-style exercises, including using individual hand grips for left and right arm exercises.
Rehabilitation of an injured shoulder, including applying assisting torque to the injured side and mimicking weight on the other side.
Blood Flow Restriction (BFR) exercises, where the device can control load to ensure completion of prescribed repetitions.
Assessment and training using perturbation forces as an assessment tool or training tool.
Isometric and isokinetic modes to assess the strength of the user.
Detection or highlighting of muscle weakness, muscle injury, or muscle impairment by monitoring position, velocity, acceleration, and power.
Recording, storing, and uploading exercise data (device motion, user motion, video, physiological data) for processing, analysis, and remote analysis by a human trainer or artificial intelligence.
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