- within a single direction of a weight training repetition;
- between directions of a weight training repetition; and/or
- between repetitions within a single set of repetitions.

Herein, a repetition is one complete movement of an exercise and repetitions refers to the number of times each exercise is completed in a row or in a set.

In still yet another embodiment, a computer-controlled robotic resistance system or mechanical resistance training system is used for:

- strength training;
- aerobic conditioning;
- low gravity training;
- physical therapy;
- rehabilitation; and/or
- medical diagnosis.

The resistance system comprises: a subject interface, software control, a controller, an electric motor, an electric servo assist/resist motor, a variable speed motor, an actuator, and/or a subject sensor. The resistance system is adaptable to multiple configurations to provide different types of training, as described infra.

The resistance system significantly advances neuromuscular function as it is adaptable to a level of resistance or applied force. For example, the system optionally uses:

- biomechanical feedback
- motorized strength training;
- motorized physical conditioning; and/or
- a computer programmed workout.

For example, a system is provided that overcomes the limitations of the existing robotic rehabilitation, weight training, and cardiovascular training systems by providing a training and/or rehabilitation system that adapts a resistance or force applied to a user interactive element in response to:

- the user's interaction with the training system;
- a physiological strength curve;
- sensor feedback; and/or
- observations of the system.

For instance, the system optionally provides for an automatic reconfiguration and/or adaptive load adjustment based upon real time measurement of a user's interaction with the system or sensor based observation by the exercise system as it is operated by the subject110.

DEFINITIONS

Herein, the human or operator using the resistance system is referred to as a subject. The subject or user is any of: a trainer, a trainee, a lifter, and/or a patient.

Herein, a computer refers to a system that transforms information in any way. The computer or electronic device, such as an embedded computer, a controller, and/or a programmable machine, is used in control of the exercise equipment.

Herein, an x-axis and a y-axis form a plane parallel to a support surface, such as a floor, and a z-axis runs normal to the x/y-plane, such as along an axis aligned with gravity. In embodiments used in low gravity space, the axes are relative to a support surface and/or to the subject110.

Motor Assisted Resistance System

Referring now toFIG. 1, a block diagram of a motor equippedexercise system100 is provided. As theexercise system100 optionally provides resistance and/or assistance to a motion of user interface, such as a weightlifting bar or crank system, the motor equippedexercise system100 is also referred to as a motor equipped resistance system, a resistance system, a motor equipped assistance system, and/or an assistance system. For clarity of presentation, examples provided herein refer to a resistance provided by a motor of theexercise system100. However, the motor of theexercise system100 is alternatively configured to provide assistance. Hence, examples referring to motor supplied resistance are non-limiting and in many cases the system is alternatively reconfigured to use motor supplied assistance in the range of motion of a particular exercise.

In one example, the user interface is directly contacted and moved by the user. In a second example, the user interface does not contract the user; however, the user interface is indirectly moved by the user.

Still referring toFIG. 1, theexercise system100 includes one or more of: a computer configured with aprogram120, acontroller130, anexercise element140, and/or asensor150. Theexercise system100 is configured for use by a subject110.

Still referring toFIG. 1, the subject110:

- enters aprogram120 to theresistance system100;
- alters the resistance of the exercise system within a repetition;
- alters the resistance of the exercise system between repetitions;
- is sensed bysensors150 in the resistance system; and/or
- is recognized by the resistance system, such as through wireless means described infra.

Theprogram120 is optionally predetermined, has preset options, is configurable to a specific subject, changes resistance dynamically based on sensor input, and/or changes resistance based on subject input, described infra. Theprogram120 provides input to acontroller130 and/or a set of controllers, which controls one or more actuators and/or one or more motors of anexercise element140 of theexercise system100. Optional sensors provide feedback information about the subject110 and/or the state of a current exercise movement, such as a position of a moveable element of the resistance system, a force applied to a portion of theexercise system100, the subject's heart rate, and/or the subject's blood pressure. Signal from thesensors150 are optionally fed in a feedback system or loop to theprogram120 and/or directly to thecontroller130.

Optionally, active computer control is coupled with motorized resistance in theexercise system100. The computer controlled motor allows for incorporation of progressive and reconfigurable procedures in strength training, physical conditioning, and/or cardiovascular exercise. For example, computer control of the motor additionally optionally provides resistance curves overcoming the traditional limits of gravity based freestyle weightlifting, described infra.

Linear Movement

Referring now toFIG. 2, alinear movement system200 is illustrated, which is a species of theexercise system100. Thelinear movement system200 is illustrative in nature and is used for facilitating disclosure of the system. Further, the species of thelinear movement system200 is to a specific form of theexercise system100. However, the illustratedlinear movement system200 is only one of many possible forms of theexercise system100 and is not limiting in scope. Herein the linear movement system refers to a linear, about linear, or non-rotational movement of the user interface exercise equipment, such as a weightlifting bar, or to movement of a resistance cable.

Still referring still toFIG. 2, an exemplary computer and motorized aidedlinear movement system200 is provided. Generally,FIG. 2 illustrates examples of thestructural elements140 of theexercise system100. In the illustrated system, thelinear movement system200 includes:

- abase210, such as an aluminum extrusion or suitable material
- anupright support member212 affixed to the base;
- aremovable weightlifting bar220 placeable into a guide element of theupright support member212, or other geometry suitable for interfacing with the subject, such as a D-handle;
- a first end of aresistance cable230 affixed to theweightlifting bar220;
- acable spool242 affixed to a second end of theresistance cable230;
- a resistance cable, such as flexible metallic cable, a fibrous cord, an about 0.053″ sheathed Kevlar cord, or an about 3/32″T-100 cord; and/or
- an electric motor configured to provide resistance to movement of theweightlifting bar220 through theresistance cable230.

As configured, the subject110 straddles theelectric motor240 and stands on the floor,base210, and/or a foot support or cross-member214 of thebase210. The subject110 pulls on theremovable weightlifting bar220 and/or onhand grips222 affixed or attached to theweightlifting bar220. Movement of theweightlifting bar220 is continuous in motion, but is illustrated at a first point in time, t₁, and at a second point in time, t₂, for clarity. The subject pulls theweightlifting bar220, such as along the z-axis. Movement of theweightlifting bar220 is resisted by theelectric motor240. For example, theelectric motor240 provides a resistive force to rotation of thecable spool242, which transfers the resistive force to theresistance cable230 and to theweightlifting bar220 pulled on by the subject110. In one example, theelectric motor240 includes a 10:1 or low lash gearbox and/or a MicroFlex drive to control motor torque. The torque produced by the motor is optionally made proportional to an analog voltage signal applied to one of the drive's analog inputs or is controlled by sending commands to set the torque value using a digital communications protocol.

Orientations

Thelinear movement system200 is illustrated with theresistive cable230 running in the z-axis. However, theresistive cable230 optionally runs along the x-axis or any combination of the x-, y-, and z-axes. Similarly, thelinear movement system200 is illustrated for theuser subject110 standing on the floor. However, theexercise system100 is optionally configured for use by the subject110 in a sitting position or any user orientation. Further, thelinear movement system200 is illustrated with the subject110 pulling up against a resistance. However, the subject is optionally pushing against a resistance, such as through use of a force direction changing pulley redirecting theresistance cable230. Still further, thelinear movement system200 is illustrated for use by the subject's hands. However, the system is optionally configured for an interface to any part of the subject, such as a foot or a torso.

Resistance/Assistance Profiles

Traditional weight training pulls a force against gravity, which is constant, and requires the inertia of the mass to be overcome. Particularly, a force, F, is related to the mass, m, moved and the acceleration, g, of gravity, and the acceleration of the mass, a, through equation 1,

F=mg+ma (Eq. 1)

where the acceleration of gravity, g, is 9.81 m/sec². Hence, the resistance to movement of the weight is non-linear as a function of time or as a function of movement of the user interactive element.

Referring now toFIG. 3, resistance profiles300 are illustrated, where both the resistance and distance are in arbitrary units. For traditional free weight strength training, the external resistance profile is flat310 as a function of distance. For example, on a bench press a loaded weight of 315 pounds is the resistance at the bottom of the movement and at the top of the movement where acceleration is zero. At positions in between the external force required to accelerate the mass is dependent on the acceleration and deceleration of the bar. In stark contrast, theexercise system100 described herein allows for changes in the resistance as a function of position within a single repetition of movement. Returning to the bench press example, it is well known that the biomechanics of the bench press result in an ascending strength curve such that one can exert greater force at the end of the range of motion than at the beginning. Hence, when the lifter successfully lifts, pushes, or benches through the “sticking point” of the bench press movement, the person has greater strength at the same time the least amount of force needs to exerted as the mass is deceleration resulting in the musculature of the chest being sub-optimally loaded. Accordingly, a variable resistance profile starting with a lower resistance and then increasing to a peak resistance is more optimal for a bench press.

Still referring toFIG. 3, still anadditional profile350 is a profile where the force at the beginning of the lift (in a given direction) is about equal to the force at the end of the lift, such as a weight of mass times gravity. At points or time periods between the beginning of the lift and the end of the lift (in a given direction) the force applied by the electric motor optionally depends on whether the bar is accelerating or decelerating. For example, additional force is applied by the motor during acceleration and no additional force is applied by the motor during deceleration versus a starting weight. For example, the applied force profile is higher than a starting weight or initial force as the load is accelerated and less than or equal to the initial load as it movement of the repetition decelerates.

Still referring toFIG. 3, more generally the resistance profile300 is optionally set:

- according to predetermined average physiological human parameters;
- to facilitate therapy of a weak point in a range of motion;
- to accommodate restricted range of motion, such as with a handicap;
- to fit a particular individual's physiology;
- to fit a particular individual's preference;
- in a pre-programmed fashion;
- in a modified and/or configurable manner; and/or
- dynamically based on
  - sensed values from thesensor150; and/or
  - through real-time operator110 input.

Several optional resistance profiles are illustrated, including: a step-downfunction resistance profile320, an increasingresistance profile330, and apeak resistance profile340. Physics based profiles include:

- accurate solution of F=mg+ma;
- accurate solution of

F = mg + {\begin{matrix} ma, (a > 0) \\ 0, (a \leq 0) \end{matrix}},

- which prevents the resistance from dropping below the baseline, static resistance; and/or
- accurate solution of F=mg+maximum, which maintains the maximum resistance developed when accelerating the load through the remainder of the lift.

Additional profiles include a step-up profile, a decreasing resistance profile, a minimum resistance profile, a flat profile, a complex profile, and/or any permutation and/or combination of all or parts of the listed profiles. Examples of complex profiles include a first profile of sequentially increasing, decreasing, and increasing resistance or a second profile of decreasing, increasing, and decreasing resistance.

In one example, the resistance force to movement of the subject interface varies by at least 1, 5, 10, 15, 20, 25, 50, or 100 percent within a repetition or between repetitions in a single set.

Reverse Movement

For thelinear movement system200, resistance profiles were provided for a given direction of movement, such as an upward push on bench press. Through appropriate mounts, pulleys, and the like, the resistance profile of the return movement, such as the downward movement of negative of the bench press, is also set to any profile. The increased load is optionally set as a percentage of the initial, static load. For example, the downward force profile of the bench press are optionally set to match the upward resistance profile, to increase weight, such as with a an increased weight “negative” bench press, or to have a profile of any permutation and/or combination of all or parts of the listed profiles.

Time/Range of Motion

One or more sensors are optionally used to control rate of movement of the resistive cable. For example, theelectric motor240 is optionally configured with an encoder that allows for determination of how far the cable has moved. The encoder optionally provides input to thecontroller130 which controls further movement of the actuator and/or motor turn, thereby controlling in a time controlled manner movement or position of the resistive cable.

In one example, theexercise system100 senses acceleration and/or deceleration of movement of the movable exercise equipment, such as theweightlifting bar220. Acceleration and/or deceleration is measured using any of:

- an encoder associated with rotation of the electric motor;
- an accelerometer sensor configured to provide an acceleration signal; and/or
- a-priori knowledge of a range or motion of a given exercise type coupled with knowledge of:
  - a start position of a repetition;
  - a physical metric of the operator, such as arm length, leg length, chest size, and/or height.

Since putting an object into motion takes an effort beyond the force needed to continue the motion, such as through a raising period of a bench press, the forces applied by the motor are optionally used to increase or decrease the applied force based on position of movement of the repetition. The encoder, a-priori knowledge, physical metrics, and/or direct measurement with a load cell, force transducer, or strain gage are optionally used in formulation of the appropriate resistance force applied by theelectric motor240 as a function of time.

Exercise Types

Thus far, concentric and eccentric exercises configurable with theexercise system100 have been described. Optionally, isometric exercises are configurable with theexercise system100. An isometric exercise is a type of strength training where a joint angle and a muscle length do not vary during contraction. Hence, isometric exercises are performed in static positions, rather than being dynamic through a range of motion. Resistance by theelectric motor240 transferred through theresistive cable230 to theweightlifting bar220 allows for isometric exercise, such as with a lock on the motor or cable, and/or through use of a sensor, such as the encoder.

Rotational Movement

Thus far, thelinear movement system200 species of theexercise system100 has been described. Generally, elements of thelinear movement system200 apply to arotational movement system400 species of theexercise system100 genus. In a rotary movement system, theelectric motor240 provides resistance to rotational force.

Referring now toFIG. 4, arotational movement system400 is illustrated, which is a species of theexercise system100. Therotational movement system400 is illustrative in nature and is used for facilitating disclosure of the system. Further, the species of therotational movement system400 is to a specific form of theexercise system100. However, the illustratedrotational movement system400 is only one of many possible forms of theexercise system100 and is not limiting in scope.

Still referring still toFIG. 4, an exemplary computer and motorized aidedrotational movement system400 is provided. Generally,FIG. 4 illustrates examples of thestructural elements140 of theexercise system100. In the illustrated system, therotational movement system400 includes:

- asupport base410;
- anupright support member422 affixed to the base;
- anoperator support420, such as a seat, affixed to theupright support member422;
- ahand support430 affixed to theupright support member422;
- acrank assembly440 supported directly and/or indirectly by thesupport base410 or a support member;
- pedals450 attached to the crankassembly440;
- anelectric motor240;
- arotational cable442 affixed to the crankassembly440 and to themotor240;
- control electronics246 electrically connected to at least one of theelectric motor240 andcontroller130;
- adisplay screen492 attached to adisplay support492, which is directly and or indirectly attached to thesupport base410; and/or
- anaesthetic housing480, which is optionally attached, hinged, or detachable from thesupport base410.

In stark contrast with a power generation system where a user pedals a crank and generates power, the system herein described optionally uses an electric motor to provide a resistance against which the person exercising needs to exert force.

Orientations

As with the withlinear movement system200, the orientations of therotational movement system400 are optionally configurable in any orientation and/or with alternative body parts, such as with the hands and arms instead of with feet and legs.

Resistance/Assistance Profiles

As described, supra, with respect to thelinear movement system200, traditional rotary systems have a preset resistance, which is either flat or based upon a fixed cam or set of fixed cams. Referring now toFIG. 5, resistance profiles500 are illustrated, where the resistance is in arbitrary units as a function of rotation angle theta. For traditional rotation systems, the resistance profile is flat510 as a function of rotation. In stark contrast, theexercise system100 described herein allows for changes in the resistance as a function of rotation within a single revolution of movement and/or with successive revolutions of the rotating element. Typically, resistance variation is a result of changes in the electric motor supplied resistance.

An example of rotation of a bicycle crank illustrates differences between traditional systems and resistance profiles available using therotational movement system500. A flat resistance profile versusrotation510 is typical. However, the physiology of the body allows for maximum exerted forces with the right leg at about 45 degrees of rotation of the crank (zero degrees being the 12 o'clock position with a vertical rotor) and maximum exerted forces by the left leg at about 225 degrees of rotation of the crank. The computer controlledelectric motor240 allows variation of the resistance profile as a function ofrotational angle520. Unlike a cam system or a bicycle equipped with an elliptical crank, the resistance profile is alterable between successive revolutions of the crank via software and/or without a mechanical change.

Still referring toFIG. 5, more generally theresistance profile500 of therotational exercise system400 is optionally set:

Several optional rotational resistance profiles are possible, including: a step function resistance profile, a changing resistance profile within a rotation and/or between rotations, a range or programs of resistance profiles. Additional profiles include any permutation and/or combination of all or parts of the profiles listed herein for thelinear movement system200 and/or therotational movement system400.

Combinatorial Linear and Rotation Systems

Referring now toFIG. 6, acombinatorial movement system200 is illustrated. In the illustrated example, a singleelectric motor240 is used for control of two or more pieces of exercise equipment, such as:

- an isometric station;
- alinear movement system200; and
- arotational movement system400.

Generally, the singleelectric motor240 optionally provides resistance to 1, 2, 3, 4, 5, or more workout stations of any type.

Still referring toFIG. 6, an exercise system is figuratively illustrated showing interfaces for each of: (1) alinear movement system200 and (2) arotational movement system200 with amotor240 and/or motor controlledwheel462. Thecombinatorial movement system600 is illustrative in nature and is used for facilitating disclosure of the system. However, the illustratedcombinatorial movement system600 is only one of many possible forms of theexercise system100 and is not limiting in scope.

Sensors

Optionally,various sensors150 are integrated into and/or are used in conjunction with theexercise system100.

Operator Input

A first type of sensor includes input sources to the computer from theoperator110. For example, thehand support430 of therotational movement system400 is optionally configured with one ormore hand control432 buttons, switches, or control elements allowing theoperator110 to adjust resistance and/or speed of theelectric motor240 within a repetition and/or between repetitions. For example, an increase weight button is optionally repeatedly depressed during raising of a weight, which incrementally increases the load applied by theelectric motor240. A similar button is optionally used to decrease the weight. Similarlyfoot control buttons452 are optionally used to achieve the same tasks, such as when the hands are tightly gripped on a weightlifting bar.

Instrumentation Sensor

A second type ofsensor150 delivers information to the computer of theexercise system100. In a first example, thepedals450 of the bicycle assembly are optionally equipped withsensors150 as a means for measuring the force applied by aoperator110 to the pedals. As a second example, thelinear motion system200 and/orrotational motion system400 optionally containssensors150 for measuring load, position, velocity, and/or acceleration of any movable element, such as thepedals450 or theweightlifting bar200.

For example, muscle loading is controlled using the resistance force exerted on the bar by the electric motor. Position, velocity, and acceleration data are provided by an encoder on the motor and are used as feedback in the control system. For additional muscular overload, often more weight is lowered than can be raised. The lowering or eccentric phase of the exercise can be controlled in real-time for eccentric overload. Muscle loading control and data acquisition is optionally performed, for example, in a dataflow programming language where execution is determined by the structure of a graphical block diagram which the programmer connects different function-nodes by drawing wires, such as LabView® or other suitable software.

Radio-Frequency Identification

A third type ofsensor150 delivers information to the computer of theexercise system100 from the operator. For example, the operator wears a radio-frequency identification (RFID) tag, such as in a belt, shoe, wallet, cell phone, article of clothing, or an embedded device. The radio frequency identification identifies the operator to theexercise system100 along with information, such as any of:

- an operator name;
- an operator gender;
- an operator age;
- an operator height;
- an operator weight;
- an operator physical characteristic, such as arm length, leg length, chest size for an exercise like a bench press;
- an operator workout preference;
- an operator workout history; and
- an operator goal.

The radio-frequency identification tag is of any type, such as active or battery powered, passive, and battery assisted passive. Generally, wireless signal is received by theexercise equipment100 from a broadcast source, such as from a global positioning system or RFID tag.

Computer

Themotor drive controller130 is optionally connected to a microprocessor or computer and power electronics that are used to control theelectric motor240. The power electronics are connected to a power supply such as a battery or power outlet. The computer, the electric drive unit, and thesensors150 optionally communicate with one another to form feedback control loops allowing the profile of the force and/or resistance applied to theoperator110. The computer optionally provides: a user interface, data storage and processing, and/or communication with other computers and/or a network.

Avisual feedback system492 is also optionally used to provide the user with immediate feedback on velocity tracking ability and/or other exercise related parameters. Velocity tracking is particularly useful for systems designed for patients in rehabilitation settings.

Microgravity

In yet another embodiment, theexercise system100 described herein is designed for use in a microgravity environment. Variations include use of lightweight materials, straps for holding an astronaut relative to the exercise system, and an emphasis on foldable and/or collapsible parts.

Compact/Reconfigurable System

As described in U.S. patent application No. 12/545,324, which is incorporated herein, thesystem100 is optionally configured as a compact strength training system that provides the benefits associated with free weight lifting and/or aerobic training. Optionally, structure of theexercise system100 is optionally manually or robotically reconfigurable into different positions, such as a folded position for storage. For example, theweightlifting bar220 folds, theoperator support420 folds, and/or thesupport base410 folds or telescopes.

Although the invention has been described herein with reference to certain preferred embodiments, one skilled in the art will readily appreciate that other applications may be substituted for those set forth herein without departing from the spirit and scope of the present invention. Accordingly, the invention should only be limited by the Claims included below.