US20100216600A1

US20100216600A1 - High efficiency strength training apparatus

Info

Publication number: US20100216600A1
Application number: US12/392,718
Authority: US
Inventors: Kent E. Noffsinger; Bert Davison; Leonard D. Chisholm; Fred H. Holmes
Original assignee: EXERBOTICS
Current assignee: EXERBOTICS
Priority date: 2009-02-25
Filing date: 2009-02-25
Publication date: 2010-08-26

Abstract

In one preferred embodiment, the present invention provides an exercise apparatus in which an impingement member is driven between a selectable start point and a selectable endpoint. When coupled with suitable instrumentation and electronic circuitry, the inventive strength training device allows the measurement, tracking, and computation of force exerted, repetitions performed, measurement and display of position, velocity, acceleration, work, impulse, etc. In addition, archived data can be used to show improvement or problem areas as well as provide an indication of the quality of each repetition and the quality of the workout in general. Such an exercise apparatus comprises: a frame including a base; a linear actuator supported from the frame; an impingement member movable relative to the frame and driven by the actuator; and a controller for controlling the actuator.

Description

BACKGROUND OF THE INVENTION

1. Field of the Invention
The present invention relates to an efficient system and method for exercise testing and prescription. More particularly, but not by way of limitation, the invention provides an exercise apparatus such that the performance of a user can be precisely monitored or controlled.
2. Background of the Invention
People exercise for any number of reasons, such as to improve performance in a sport, to lose weight, general conditioning, to feel better, or even as a social activity. Since many people find it difficult, if not impossible, to maintain an exercise regimen for any meaningful period of time, measuring performance and producing noticeable gains in the shortest period of time are an important part of motivating an individual to maintain an exercise program.
Exercise machines for aerobic conditioning have provided measurements of a user's performance for many years. Even if such machines have historically inflated some measurements, such as calorie consumption, a user may still observe a relative improvement in performance from workout-to-workout. Traditionally strength training devices have not provided users the same benefit. This has been true for a number of reasons.
First, the principal measurements of interest to most people using strength training equipment are the amount of weight lifted and the number of repetitions for the given weight lifted. These two units of measure are easily measured by the user and do not necessitate adding sophisticated electronics just to count repetitions. Unfortunately, tracking a strength training regimen by only weight and repetitions is very likely misleading and may actually de-motivate a user rather than encourage.
Whether using free weights or a machine, adding weight involves adding at least one more weight plate, thus one can only increase the amount lifted in discrete increments. Further, simply adjusting the weight and counting repetitions do not readily allow an individual to identify day-to-day factors which can effect the number of times the user can lift a given weight. Factors such as activity prior to lifting, recovery from the last exercise session, illness, injury, hydration, etc. can significantly influence one's performance. Further still, merely counting repetitions does not reflect intra-rep performance factors, i.e., power, inertia, relative concentric/eccentric speeds, etc.
There is also a perception that only those with some specialized skill, such as those educated in exercise physiology, or those who employee a personal trainer, would benefit from more detailed measures of performance during an exercise session. However, a primary reason many people abandon an exercise program is the lack of discernible improvement. Recorded detailed measurements can motivate an exerciser, even when there is otherwise no apparent improvement, by providing an indication of minute improvement or an improvement in strength despite an apparent setback in overall performance due to a temporary condition.
One device which provides such measurements is the impingement exerciser described in U.S. Pat. No. 4,647,039, issued to Noffsinger, which is incorporated by reference as if fully set forth herein. The impingement exerciser changes the strength training paradigm by providing a bar that moves over a predetermined range of motion. Over this range, the bar is driven by a DC motor under the control of a four-quadrant controller such that the bar will either develop force or resist force to maintain a speed profile. For example, a user performing a squat continually pushes up on the bar over both the up phase and the down phase. The difference between a conventional squat and a squat on the Noffsinger device is that the user applies as much force as possible over the entire repetition. With a conventional weight bar or a conventional weight machine, only the amount of weight the user can lift at his or her weakest point, a “sticking point,” can be loaded on the machine. With the Noffsinger device, the user pushes with his or her maximum force at all points along the range of motion. At the sticking points, the force could be the same as with conventional equipment, but at all other points the user can push with significantly greater force thus increasing the efficiency of the training. Sticking points simply do not exist with the Noffsinger device.
Other advantages of the Noffsinger device include: it is well suited to instrumentation; increased negative loading is completely under user control; the device is safer than conventional weight equipment, if a user feels threatened, he or she can simply quit pushing and the bar will simply continue to move at the selected speed.
Disadvantages of the Noffsinger device include: the horsepower of the motor required for high-end users is substantial; the device is relatively heavy; the range of motion is limited because it is mechanically set; and sinusoidal movement of the impingement member is inherent in the device. Finally, Noffsinger does not suggest or utilize the use of real-time feedback to control the exercise motion during its execution.
It is thus an object of the present invention to provide a system and method for measuring human performance and/or providing training which overcomes the problems and alleviates the needs discussed above.

SUMMARY OF THE INVENTION

In one preferred embodiment, the present invention provides an exercise apparatus in which an impingement member is driven between a selectable start point and a selectable endpoint. When coupled with suitable instrumentation and electronic circuitry, the inventive strength training device allows the measurement, tracking, and computation of force exerted, repetitions performed, measurement and display of position, velocity, acceleration, work, impulse, etc. In addition archived data can be used to show improvement or problem areas as well as provide an indication of the quality of each repetition and the quality of the workout in general. Such an exercise apparatus comprises: a frame including a base; a linear actuator supported from the frame; an impingement member movable relative to the frame and driven by the actuator; and a controller for controlling the actuator.
In another preferred embodiment there is provided an exercise apparatus for providing exercise testing and prescription. The exercise apparatus may be provided as a multipurpose exercise device or adapted to exercise a particular muscle or group of muscles. In one preferred embodiment the exercise machine comprises: a frame; an impingement member movably supported by said frame and adapted to move over a range of motion; a linear actuator in communication with said impingement member to drive the impingement member through the range of motion; a controller for controlling operation of the linear actuator in a predetermined manner; and a display for obtaining information from the user and displaying workout information to the user. As a user interacts with the impingement member, the controller controls velocity and reversal of the impingement member at the endpoints of the range of motion and measure forces applied to the impingement member by the user.
In yet another preferred embodiment, the inventive exercise apparatus draws user information from a database so that workout parameters, i.e. endpoints, speed of exercise, max force, number of repetitions, number of sets, and the like, may be used to customize workout sessions for each user.
In each of the preceding embodiments, it should be understood that the present invention will preferably be able to measure and utilize the quantity “effort” as a consistent, repeatable, exterior measure of human muscular output capacity for given exercise. “Effort,” will be defined herein as the total momentum generated during an exercise repetition, or set, and has units of Newton-seconds in the metric system. It is a superior measure compared to “work” in that work (which is traditionally measured in Joules) depends on the existence of motion during exercise. In contrast, effort, as used herein, is independent of the state of motion since it is the calculus integral of force over time, not force over displacement (as is the case for the work performed). The present invention allows for the practical, consistent, and repeatable measurement of effort for exercise protocols, such as bench press, squat, rows, etc. Using the real-time feedback loop described below, the present invention will preferably not only measures effort, but also use that measurement to provide the user with feedback concerning the performance in real-time. Additionally, in the preferred arrangement the instant invention will also allow customization, in real time or at a later date, of a given user's exercise program.
In each of the preceding embodiments, it should be understood that the present invention's use of load sensors coupled with robotic control of the linear actuator allows for real-time or near real-time feedback. The inventive apparatus uses the data collected by said load sensors in a feedback loop to tailor the user's specific work-out in real time or near real time. For example, the inventive apparatus could slow or even stop the apparatus' machine rate cycle if the load sensors detect a force applied by the user that is in excess of a predetermined maximum. Further, the data collected by the feedback loop could used to coach a user through the use of vocal or musical reinforcement when the force applied by the user falls either above, below or within predetermined ranges of values.
Further objects, features, and advantages of the present invention will be apparent to those skilled in the art upon examining the accompanying drawings and upon reading the following description of the preferred embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

Other objects and advantages of the invention will become apparent upon reading the following detailed description and upon reference to the drawings in which:

FIG. 1 depicts one preferred embodiment of the inventive strength training apparatus in its general environment.

FIG. 2 provides a side view of a suitable actuator as employed in the strength training apparatus of FIG. 1.

FIG. 3 provides a schematic of the actuator system and controls for the strength training apparatus of FIG. 1.

FIG. 4 provides a block diagram of one preferred embodiment of a motor controller as depicted in FIG. 3.

FIG. 5 provides a side view of a preferred embodiment of a chest press/seated row machine according to the present invention.

FIG. 6 provides a view of section 6-6 from FIG. 5.

FIG. 7 provides a view of section 7-7 from FIG. 5.

FIG. 8 provides a front view of a preferred embodiment of a shoulder press/lat pull machine according to the present invention.

FIG. 9 provides a view of section 9-9 from FIG. 8.

FIG. 10 provides a view of section 10-10 from FIG. 9.

FIG. 11 provides a front view of a preferred embodiment of a squat machine according to the present invention.

FIG. 12 provides a view of section 12-12 of FIG. 11.

FIG. 13 provides a view of section 13-13 of FIG. 12.

FIG. 14 provides a side view of a preferred embodiment of a leg press machine according to the present invention.

FIG. 15 provides a view of section 15-15 of FIG. 14.

FIG. 16 provides a side view of a preferred embodiment of a leg extension/seated leg curl machine according to the present invention.

FIG. 17 provides a view of section 16-16 from FIG. 16.

FIG. 18 provides a view of section 17-17 from FIG. 16.

FIG. 19 provides a side view of a preferred embodiment of a back/abdominal 1 machine according to the present invention.

FIG. 20 provides a view of section 20-20 from FIG. 19.

FIG. 21 provides a view of section 21-21 from FIG. 19.

FIG. 22 provides a side view of a preferred embodiment of a shoulder machine according to the present invention.

FIG. 23 provides a perspective view of the shoulder machine of FIG. 22.

FIG. 24 illustrates a preferred networking hardware configuration FIG. 25 contains a preferred flowchart suitable for use with various embodiments of the instant invention.

FIG. 26 contains a force-vs.-time plot for the bench press embodiment of the instant invention for different numbers of repetitions.

FIG. 27 contains effort curves for a single user of the bench press embodiment of the instant invention for two separate work-out sessions of a number of different repetitions

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Before explaining the present invention in detail, it is important to understand that the invention is not limited in its application to the details of the construction illustrated and the steps described herein. The invention is capable of other embodiments and of being practiced or carried out in a variety of ways. It is to be understood that the phraseology and terminology employed herein is for the purpose of description and not of limitation.
Referring now to the drawings, wherein like reference numerals indicate the same parts throughout the several views, FIG. 1 depicts one preferred embodiment 100 of the inventive strength training apparatus in its general environment. Typically an exercise machine 100 constructed according to the present invention includes: a frame 102 having a base 104 for supporting the machine 100; a support 106 for a user 108; an impingement member 110 pivotally attached to the frame 102 for providing resistance training to user 108; an actuator 112 drivingly positioned between the impingement member 110 and frame 102 for driving member 110; a display or user interface 114 for displaying information to user 108; a motor controller 126 (FIG. 3) for providing control of actuator 112; and a computer 128 for providing overall control of the machine and feedback to user 108.
Typically, frame 102 will be fabricated from tubing, sheet metal, metal plate, or other material of sufficient strength and rigidity to support machine 100. Base 104 provides a sufficient footprint for machine 100 to remain in a stable position through normal use of machine 100. In one preferred embodiment base 104 includes adjustable feet 116 for leveling machine 100 and thus, to prevent rocking. Depending on the muscle groups exercised by a particular machine, support 106 may support user 108 in a standing, seated, recumbent, inclined, or other position appropriate for the particular exercise.
Preferably actuator 112 is a linear actuator for driving impingement member 110 between a first position and a second position. One suitable actuator is the SR-41 roller screw actuator manufactured by Exlar Corporation of Chanhassen, Minn. While many Exlar models are suitable for use on the inventive machine, a device that is similar to an SR series actuator is depicted in the drawings. It should be noted that many other actuators are suitable for use in the present invention including, by way of example and not limitation, ball screw actuators, hydraulic cylinders, pneumatic actuators, etc. With further reference to FIGS. 2 and 3, a roller screw actuator 112 comprises a housing 118, a rod 120 driven by the roller screw mechanism and an internal servo motor, a power connector 124 for inputting properly phased electrical power from motor controller 126 to selectively drive the servo motor, and an encoder connector 122 for outputting servo motor position and rod position information to motor controller 126.
In one preferred embodiment motor controller 126 receives electrical power for operation of the machine via power cord 130. Power is then distributed to display 114 and computer 128 through connections 132 and 134, respectively. Display 114 receives video information from computer 128 for display to the user through connection 136. Preferably display 114 includes a touch screen interface for receiving information and commands from the user. Information from the touch screen 114 is sent to computer 128 through connection 138. Properly phased electrical signals are provided to drive actuator 112 through connection 140 and feedback from the actuator is sent to the motor controller through connection 142. A load cell 144 or similar load-measuring device is provided at clevis 146 for measuring rod force on actuator 112. Connection 148 carries the load cell 144 information to motor controller 126 where signal conditioning is performed to amplify and filter the load cell signals as required. Motor commands for directing movement produced by actuator 112 are sent from computer 128 to motor controller 126, and positional information, force information, and performance parameters are sent from motor controller 126 to computer 128 through connection 150.
As will be appreciated by those skilled in the art, motor controllers are well known devices and an in-depth understanding of such devices is not essential to understand the present invention. However, as shown in FIG. 4, in one preferred embodiment, motor controller 126 comprises: a digital communication interface, i.e. serial interface 152 and/or Ethernet interface 154, for communication with a host computer 128 (FIG. 3); connectors 156 and 158 which accepts cables for serial or Ethernet communication, respectively; an actuator feedback connector 160 through which Hall effect sensor signals from the servo motor of an actuator are received and processed by the Hall effect interface circuitry 162 to provide rotor position for electrical commutation of the servo motor; also through feedback connector 160, quadrature encoder signals are received from the actuator and processed by the quadrature encoder interface 164 to provide rod position information; an instrumentation amplifier 166 processes the load cell signal received through connector 168 to provide an indication of rod force at the actuator; a processor 170 for processing commands from a host processor and feedback signals from the actuator to produce properly sequenced signals 172, 174, 176, 178, 180, and 182 which provide commutation of the magnetic fields in the servo motor; power amplifier 184 amplifies the signals 172-180 to provide sufficient voltage and electrical current to drive the actuator through connections 186, 188, and 190 and further through connector 192 which interfaces the power cable of the actuator; and power supply 194 which receives AC electrical power through connector 198 and provides high voltage DC power to the power amplifier and low voltage DC power 196 for operation of the circuitry of motor controller 126.
In an electric motor, commutation is the practice of creating a rotating magnetic field within the motor to rotate the rotor of the motor. In three phase AC motors, the natural phase angle between the three phases is used to create a rotating field, in motors with brushes, this is performed by the interaction of the brushes, a commutator in contact with the brushes and the windings of the armature such that the armature produces the rotating field. In servomotors, or brushless DC motors, as found in the actuator, commutation is performed outside the motor to drive multiple windings in the motor sequentially. To synchronize the rotating field with the rotor of the motor, Hall effect sensors (typically three sensors) may be placed in the motor to indicate rotor position as the rotor rotates. Processor 170 can thus determine the motor rotor position through Hall sensor interface 162. Processor 170 then determines the proper configuration of signals 172-182 to create the next sequential step in the commutation to drive the rotor to its next position. For example, in one preferred embodiment, there are three output signals from motor controller 126 to the actuator, phase A 186, phase B 188, and phase C 190. Each output signal can be driven to a high state, e.g. phase A 186 can be driven high by signal 172, phase B 188 can be driven high by signal 176, or phase C 190 can be driven high by signal 180, or alternatively, each output signal phase A 176, phase B 178, or phase C 180 may be driven to a low state by either signal 174, 178, or 182, respectively. The process of sequentially driving outputs 186-190 is repeated hundreds, or even thousands, of times per second to drive the motor at a desired speed.
In the present system, rod position is also important to operation of the exercise machine and a quadrature encoder is included in the actuator to indicate the rod position. The quadrature encoder interface 164 decodes the signals to provide an indication of rod position to processor 170.
Returning to FIG. 1, in use, a person 108 wishing to engage in a strength training session preferably will preferably first enter an user identification, name, or the like through the touch screen interface of 114. As will be apparent to one skilled in the art, ideally the start and end points of impingement member 110 will be tailored to each individual user and for each particular exercise to be performed on a particular machine. Thus, for example, first user 108 identifies herself and then selects an exercise to be performed. Using this information, the computer 128 will preferably access a database which contains the start and endpoints appropriate for this user for the selected exercise. The first time a user uses each type of machine, preferably there will be an orientation session wherein the machine determines each appropriate endpoint for each exercise which may be performed on the machine. Additional exercise parameters might also be specified (either by the user and/or his or her trainer) in connection with each user/exercise combination including, by way of example only, outbound speed of the impingement member, inbound speed, maximum allowable force on the impingement member, pause intervals at each endpoint, number of repetitions per set, the number of sets prescribed, rest between sets, and the like.
Once the appropriate exercise variables are obtained from the database, the user will be provided a workout screen on display 114 with a “START” button to begin the workout. Upon pushing the start button, impingement member 110 will preferably begin oscillating between an innermost position 198 (FIG. 5) and an outermost position 200 (FIG. 5). Once the user exerts a threshold force on the impingement member, the computer 128 will begin counting and displaying repetitions of the impingement member and graphing the user exerted force on display 114.
Each complete cycle, e.g., an outbound stroke and an inbound stroke, constitutes one repetition. Often times strength training will be prescribed as a number of sets, each set consisting of a prescribed number of repetitions. Preferably, the number of sets and number of repetitions in each set will be displayed to the user. As will be apparent to one skilled in the art, each muscle only works in contraction. When a muscle is pulling, it is said to be working in a concentric phase. When a muscle is resisting movement, it is said to be in an eccentric phase. A unique characteristic of the present invention, as well as the earlier Noffsinger patent referenced hereinabove, is the ability of the user to operate in a normal concentric-eccentric cycle, eccentric-concentric cycle, concentric-concentric cycle, or eccentric-eccentric cycle, simply by choosing to pull or push at any point as the impingement member oscillates. With regards to the preceding aspect, the present invention can be thought of as providing “dynakinetic” capacity. Dynakinetic is used herein to describe the present invention's ability to provide users with concentric and eccentric cycles of movement, as described above. Additionally, the present invention can vary the rate at which the impingement member moves through each of the above-described cycles. In this sense, the present invention provides “dynamic” variation of the traditional concentric/eccentric weight-lifting cycles.
As is generally recognized in the art, there are unique benefits gained in each of the concentric and eccentric phases of the exercise. The present invention allows the user to maximize a workout session based on the goals of the individual and the individual's performance using the real-time feedback loop present in the claimed invention. This feature also allows a single machine to replace two stations of conventional weight training equipment. For example, a chest press machine 100 as shown in FIG. 1, can also be used to perform an upright row movement, and an abdominal machine can also be used to exercise lower back muscles. This feature thus allows a facility to use less floor space for a circuit of strength training equipment and to increase the utilization of each machine in the circuit.
When user 108 completes a workout, the machine may display an exercise summary to the user. Most preferably, previous exercise sessions of like exercises are stored in a central location and accessible to the local exercise machine. Workout information is preferably stored in database tables associated with the same database as workout parameters and workout prescription information as detailed above. Along with the summary of the most recent workout, the machine may also show a comparison to other recent sessions and graphically show overall changes in ability over any length of time stored in the database. It should be noted that the historical data gathered at the central location may also be used for a number of purposes. If age, gender, height, weight, cultural background, fitness history, and similar information are collected for each user, when a new user contemplates using the machine, he or she may see statistics for similarly situated users who have used the machines in the past. A user can thus approach an exercise regimen with realistic expectations. Further, such data may be useful to inspire research, verify research, or verify data collected in other ways with regard to exercise physiology. As will also be apparent to those skilled in the art, the present invention is applicable to the training of virtually all muscle groups and can be used in lieu of any weight-plate strength training equipment. The chest press/seated rowing machine 100 of FIG. 1 is also shown in in several views in FIGS. 5-7. It can be seen that, when the rod of actuator 112 is fully retracted, impingement member 110 will be located at an inner most position. Preferably seat 202 is adjustable for users of varying heights and weight, such as via pin 204 which locks in one of holes 206 to set the seat height. Seat back 208 is shown fixed but may likewise be made adjustable, however, as will be apparent to one skilled in the art, the ability to set the start and endpoints of impingement member 110 for a particular exercise reduces, if not eliminates, the need to make seat back 208 adjustable. It should also be noted that a lumbar support (not shown) may be included in seat back 208, if so desired.
Foot rest 210 provides support for the user's feet, particularly during a seated row-type exercise where there may be a propensity to slide forward on seat 202 during the exercise while the user is pulling on grips 212.
It should be noted that grips 212 include a narrow vertical gripping surface 214, a slightly wider gripping surface 216, and optionally a wider gripping surface (not shown) outside impingement member 110 by extending grip 212 completely through member 110. Providing a variety of gripping options, along with the ability to set a range of motion, allows the user to engage different muscles during a workout session.
Referring to FIGS. 8-10, a preferred embodiment of a shoulder press/lat pull strength training machine 218 constructed in accordance with the present invention comprises: a frame 220 having a base 222 for supporting the machine 218; a seat 226 for a user attached to frame 220 by support 236; an adjustable leg support 228 for helping the user remain seated during lat pull exercises, the leg support adjustable between a lowermost position 232 and an uppermost position 234 by pulling on spring pin 230, adjusting leg support 228 to the desired height and allowing pin 230 to engage the nearest hole (not shown); adjustable feet 224 for leveling machine 218 and eliminating any rocking when the machine is installed on an uneven floor; an impingement member 238 pivotally attached to the frame 220 for providing resistance training to the user; a linear actuator 240 pivotally attached to mount 246 at actuator clevis 242 through axle 244 and drivingly positioned between the impingement member 238 and frame 220 for driving member 238; a display or other user interface 274 for displaying information to the user; a motor controller (not shown) for providing control of actuator 240; and a computer (not shown) for providing overall control of the machine and feedback to the user.
As will be apparent to those skilled in the art, if impingement member 238 simply pivots at a fixed point on the frame, grips 276 and 284 will have horizontal movement as well as vertical movement and, in fact will follow an arcuate path. While such a movement would not be objectionable, particularly if the arc was of sufficient radius, in one preferred embodiment, a mechanism is employed to substantially remove arcuate motion of the grips. To provide substantially vertical motion, impingement member 238 is pivotally attached to a pair of uprights 258 at pivot 260 with axles 264. Uprights 258 are in turn pivotally attached to plate 262 of frame 220 at mounts 262 through axels 266 allowing uprights 260 to move forward and backward. Rod clevis 248 of actuator 240 pivotally attaches to impingement member 238 and to first ends of links 256 through axle 250. Links 250 attach at second ends to frame mount 254 via axle 290. As the rod of actuator 240 extends from its lowermost position, wherein impingement member 238 is at position 270, to its midpoint, links 256 push uprights rearward to negate the arcuate motion of impingement member about axle 264. As the rod of actuator 240 extends upward from its midpoint towards full extension, wherein impingement member 238 is at position 272, links 256 pull uprights 258 forward, likewise negating the arcuate motion of impingement member 238 about axle 264. Most preferably either a load cell is included at rod clevis 248 or actuator clevis 242, or alternatively a pair of load cells are provided proximate the grips 276 and 284 to allow measurement of the forces exerted by the user.
As will be apparent to one of ordinary skill in the art, a alternative methods could be employed to achieve vertical motion such as, by way of example and not limitation, rollers guided along a vertical member of frame 220, a vertical rack and pinion, cables, etc. Advantage of the system described above include: less chance of rumbling or vibration than in a system where rollers or gears bear on a mating surface; maintenance requirements are lower since friction producing areas are confined to the axles; and lubricated points are not exposed.
As with the chest press/seated row embodiment discussed hereinabove, multiple grips and/or gripping surfaces may be provided to increase exercise options for the user and to engage different muscle groups for different exercises. By way of example and not limitation, shoulder press/lat pull machine 218 may include: a forward grip 276 providing a wide gripping surface 282, a narrow gripping surface 280 and a pronated gripping surface 278; as well as a rearward grip 284 providing a lat pull gripping surface 288 and a narrow gripping surface 286. Also as with chest press/seated row embodiment, the shoulder press machine 218 may be used to train opposing muscle groups with either upward presses or downward pulls. Likewise the shoulder press/lat pull machine may be used on a conventional concentric—eccentric fashion, concentric—concentric fashion, or eccentric—eccentric fashion.
In a third preferred embodiment, as shown in FIGS. 11-13, a squat machine 292 is provided. Preferably squat machine 292 includes: a frame 294 having a base 296; a surface 298 on base 296 for supporting a user; a plurality of adjustable feet 300 projecting downward from base 296 for leveling machine 292 on a floor and eliminating any rocking caused by unevenness in the floor; an impingement member 302 pivotally attached to the frame 294 for providing resistance training to the user; a linear actuator 304 pivotally attached to mount 306 at actuator clevis 308 through axle 310 and drivingly positioned between the impingement member 302 and frame 294 for driving member 302; a display or other user interface 312 for displaying information to the user; a motor controller (not shown) for providing control of actuator 304; and a computer (not shown) for providing overall control of the machine and feedback to the user.
As in the shoulder press/lat pull embodiment discussed above, if impingement member 302 simply pivots at a fixed point on the frame, shoulder pads 314 will have horizontal movement as well as vertical movement and, in fact, will follow an accurate path. Again such a movement would not necessarily be objectionable, particularly if the arc was of sufficient radius. However, in one preferred embodiment, a mechanism substantially the same as that discussed with respect to the shoulder press/lat pull embodiment is employed to substantially remove arcuate motion of pads 314. To provide substantially vertical motion, links 318 pivot from frame-side member 318 at axles 326 to move uprights 320 rearward and forward in response to extension and retraction of rod 322 to limit impingement member 302 to a substantially vertical movement over its normal range of motion. Rod clevis 324 is also pivotally attached to impingement member 324 by pin 328 such that extension and retraction of actuator 304 will move impingement member 302 up and down. Uprights 320 are pivotally attached to frame 294′ through axles 330 and to impingement member 302 by axles 332 to allow forward and rearward movement. When rod 322 of actuator 304 is at its lowermost position, impingement member 302 is at its lowest position 334. As rod 322 extends upward towards full extension, impingement member 302 moves to its uppermost position 336.
In use, the user steps under the pads and pushes upward with his or her legs both as impingement member 302 moves upward and downward. It should be noted that there are those skilled in the art that believe squat should be performed on a slight incline. As will be apparent, squat machine 292 could be easily modified to perform squats on an incline. In particular, surface 298 could simply be angled upward at a desired angle to place the user in such a posture if so desired. It should be noted that, unlike previously described embodiments, the squat machine would typically be used in a traditional concentric—eccentric fashion.
There are also those skilled in the art that believe that not all users will be of a fitness level where a standing squat is an appropriate exercise. As an alternative to the squat machine, the leg press machine 338 of FIGS. 14 and 15 will provide similar training to leg muscles. In one preferred embodiment, leg press machine 338 comprises: frame 340 having a base 342, which in turn includes adjustable feet 378 for supporting machine 338 on a floor and removing any rocking resulting from unevenness in the floor; a seat 344 for supporting a user, seat 344 having a seat base 380 mounted to frame 340 on plate 356, and seat back 346 which, optionally, may include adjustment mechanism 348 for setting the angle of seat back 346 for the comfort of individual users; a display 350 supported from frame 340 by monitor stand 352 and pivoting mount 354 which allows a user to adjust the angle of display 350 for comfortable viewing; an actuator 358 driving disposed between frame 340 and impingement member 388, actuator 358 being pivotally attached to frame 340 at actuator clevis 382 through pin 384 and pivotally attached to impingement member 388 at rod clevis 364 by pin 386; load cell 362 for measuring the forces produced by a user; and a computer/motor controller (not shown) for directing movement of actuator 358.
In one preferred embodiment of leg press machine 338, impingement member 388 comprises a conventional four bar mechanism so that the angle of foot plate 372 relative to the base 342 remains substantially constant over the range of motion of impingement member 388. Preferably, the four bar mechanism comprises: a portion of frame 340; foot support 372; a pair of forward support bars 368 pivotally attached to frame 340 and foot support 372 by axles 370; and a rear support bar 366 likewise pivotally attached to frame 340 and foot support 372 by axles 370. As will be apparent to those skilled in the art, bars 366 and 368 will at all times remain parallel to each other which in turn, maintains the angle of foot support 372.
Foot support 372 includes plate 374 which the user pushes against with his or her feet. Preferably, plate 374 is formed of a durable material such as wood, metal, plastic, or the like, and is coated on the user facing side with a non-skid surface to reduce slippage of the user's feet during the workout. Handles 376 may also be provided proximate seat base 380 to improve the user's control during a workout. As is the case with the squat machine discussed above, the leg press machine is primarily suited for use in a traditional concentric—eccentric fashion.
Turning next to FIGS. 16-18, in yet another preferred embodiment the present invention provides a combination leg extension/leg curl machine 390. Preferably leg machine 390 comprises: a frame 392 having a base 394 with adjustable feet 396, frame 392 includes upright bearing support 434 and brace 436 to improve the rigidity of frame 392; a seat 398 is supported by frame 392; an impingement member 410 is pivotally attached to frame 392 via axle 408 which is rotatably received in pillow black bearings 412; bell crank 416 which is non-rotatably secured to axle 408 through a woodruff key, splines, or the like; actuator 414 drivingly disposed between frame 392 and bell crank 416, actuator clevis 418 being pivotally attached to frame 392 by pin 420 and the rod 422 of actuator 414 being pivotally attached to bell crank 416 at clevis 424 through pin 426 such that linear extension or retraction of actuator 414 results in rotation of axle 408; display 428 supported from frame 392 by monitor stand 430 and monitor pivot 432 which allows the user to adjust display 428 for comfortable viewing; and a computer/motor controller to control movement of actuator 414. A load cell (not shown) is preferably provided to measure forces produced by the user during a workout.
Preferably seat 398 comprises: seat cushion 400 on which the user sits; seat back 402; seat base 404; and seat adjustor 406 which allows the user to move the seat forward and rearward relative to frame 392 so that the user's knee pivots along roughly the same axis as that defined by axle 408.
In one preferred embodiment, impingement member 410 is welded or otherwise secured to axle 408. Impingement member 410 includes: pad 444 which engages the user's leg during a workout; an upper section 438; a lower section 440 which is telescopically received in upper section 438; and an adjustment spring pin 442. To adjust the length of impingement member 410, the users pulls on pin 442 and telescopes lower section 440 in or out of upper section 438. When the correct length is found, the user releases pin 442 which falls into one of a series of holes in lower section 440 to fix the length.
To perform a leg extension, the user places his or her shins against pad 440 on the inboard side of pad 440 between the seat and the pad 440. As the actuator 414 extends and retracts, impingement member 410 moves over a range of motion, somewhere between a lowermost position 446 where rod 422 is fully extended and an uppermost position where rod 422 is fully retracted. Over the range of motion, the user pushes upward and out on impingement member 410
To perform a leg curl, the user places his or her calves on the outboard side of cushion 444 and pushes downward and in on impingement member 410. In a seated leg curl, the user produces forces which tend to lift the upper part of the leg off the seat. To keep the user properly seated during the leg curl exercise, leg support 450 can be rotated downward to position 452 and locked in place via adjustment mechanism 454. When performing leg extensions or when the user is embarking or disembarking, support 450 can be lifted to position 456. The seated leg curl is not necessarily well accepted by all trainers and exercise physiologists, thus an alternative embodiment is to produce an inclined leg curl machine (not shown). In such an embodiment, seat 398 is simply replaced with a bench and the need for support 450 is eliminated. The user lies on his or her stomach while performing the leg curl exercise against impingement member 410. Obviously such modifications are well within the abilities of one of ordinary skill in the art.
In still another preferred embodiment, as shown in FIGS. 19-21, the present invention provides a combination a back/abdominal machine 458. Preferably machine 458 comprises: a frame 460 having a base 462 with adjustable feet 464, frame 460 includes upright bearing support 466 and brace 468 to improve the rigidity of frame 460; a seat 470 is supported on frame 460; an impingement member 472 pivotally attached to frame 460 via axle 474 which is rotatably received in pillow black bearings 476; bell crank 478 which is non-rotatably secured to axle 474 through a woodruff key, splines, or the like; actuator 480 drivingly disposed between frame 460 and bell crank 478, actuator clevis 482 being pivotally attached to frame 460 by pin 484 and the rod 486 of actuator 480 being pivotally attached to bell crank 478 at clevis 488 through pin 490 such that linear extension or retraction of actuator 480 results in rotation of axle 474; display 492 supported from frame 460 by monitor stand 494 and monitor pivot 496 which allows the user to adjust display 492 for comfortable viewing; and a computer/motor controller to control movement of actuator 480. A load cell (not shown) is preferably provided to measure forces produced by the user during a workout.
In one preferred embodiment, impingement member 472 is welded or otherwise secured to axle 474. Impingement member 472 includes: pad 498 which engages the user's back during a workout; and a pair of grips 500 which help the user maintain proper posture during the workout. While impingement member 472 is shown of a fixed length, it could readily be made adjustable in the same manner as the impingement member of the leg extension/leg curl embodiment to accommodate a wider range of users.
In still another preferred embodiment, as shown in FIGS. 22 and 23, a shoulder machine 502 is provided. Shoulder machine 502 provides strength training for either the left or right shoulder and allows for rotation of the shoulder constrained to either a horizontally polarized arc or a vertically polarized arc. Shoulder machine 502 comprises: a frame 504 having a base 506; a seat 508 mounted to a pair of tracks 516 located on base 506 such that seat 508 can be adjusted from side-to-side; a display 514 pivotally attached to monitor stand 510 at bracket 512; a rotary actuator 518 mounted to support 530 which, in turn, is pivotally supported form upright 520, which comprises a portion of frame 504; a housing 526 on upright 520 which receives an axle connected on a first end to actuator support 530 and handle 524 on a second end; impingement member 522; rotary load cell 538 between actuator 518 and impingement member 522 for measuring the torque exerted by a user; and a computer/motor controller combination for controlling the motion provided by actuator 518.
Impingement member 522 includes: hub 536 which is driven by actuator 518; a pair of parallel bars 532 received in hub 536; end cap 534 which captures bars 532 at their distil end to hold bars 532 parallel; grip shuttle 540 which slides along bars 532 to accommodate users of varying forearm length; clamp 546 on shuttle 540 for fixing shuttle 540 at a desired positions on bars 532; grip 542 located on shuttle 540 for the user's hand; and elbow support 546 for holding a user's elbow in a proper position during a workout.
To use shoulder machine 502, a user first moves seat 508 to the left side of the machine to exercise her or his right shoulder, or to the right side of the machine to exercise the left shoulder. The user moves handle 524 to its vertical position, as shown, to perform horizontal training, to a left horizontal position to exercise the right shoulder in a vertical arc, or to a right horizontal position to exercise the left shoulder in a vertical arc. Preferably, detents or a locking pin is provided to hold handle 524 in the selected position. The user then sits in seat 508, places her or his appropriate elbow in elbow support 544, adjusts shuttle 540 until grip 542 falls naturally into the user's hand, and tightens clamp 546 to hold shuttle 540 in the proper position. The user then grabs grip 542, and presses the start button on display 514 to start the session.
It is important to note that for the shoulder machine a rotary actuator is employed, as opposed to the linear actuator used in previously described embodiments. Preferably, actuator 518 is a servo motor, similar in construction, if not identical, to the motor used inside the linear actuators of previously described embodiments. It should also be noted that actuator 518 could be almost any type of controllable motor, just as the type of motor employed in the linear actuator is not critical to the present invention. Like the linear actuator, preferably rotary actuator 518 includes a quadrature encoder so the electronic system of machine 502 can stay abreast of the precise position of impingement member 522. It should also be noted that, depending on the characteristics of the motor employed in actuator 518, it may be desirable to employ a transmission, gear box, for allowing the motor to run at a higher speed to produce the torque necessary for the operation of machine 502. Such engineering decisions are within the level of skill ordinarily found in the art.
As will be apparent to one of ordinary skill in the art, other embodiments, especially the leg extension/leg curl machine, and the back/abdominal machine could easily employ a rotary actuator instead of the linear actuator and bell crank. It should also be apparent that shoulder machine 502 could easily be constructed using a linear actuator and a bell crank to produce the desired rotational motion.
In each of the preceding embodiments, the user's safety will preferably be accommodated through a variety of techniques. For example, tape switches have been around for a number of years. Those of ordinary skill in the art will recognize that a conventional electrical switch is activated or deactivated by flipping a toggle or pushing a button—either being located at some point in space. The tape switch just extends the button linearly over some distance, e.g., one meter. If one pushes against the surface of the tape anywhere along its operational length (which is conventionally glued or fixed to a flat surface) the attached circuit will be broken shutting off power to the user end. Placing this kind of flexible extended switch in potential pinch areas of the instant invention could provide one sort of safety
Another safety measure that could be implemented would be based on the use of Force Fault Interrupt (FFI), which is analogous to Ground Fault Interrupt (GFI) used to trip off electrical circuits in residential applications. The GFI principal of operation is simple—if an alternate ground path “appears” in a circuit, the assumption is that some electrons are taking an alternate path, perhaps thru a human body. The GFI detects a weak magnetic field around switch conductors due to differing outgoing and incoming current levels. Similarly, FFI is designed to detect an imbalance in forces (not currents) and, e.g., could be used to immediately stop operation of an exercise station. In one preferred embodiment, the total force level from a load cell on the linear motor actuator rod will be compared with the total of forces being placed on various machine impingement points by a user. Of course, a fair amount of calibration might be required, but such is certainly within the ability of one ordinary skill in the art. Here, the assumption would be that a total force imbalance would be the result of “outside interference forces” affecting machine motion, i.e., that a user is being “pinched” inappropriately. An FFI-based system could address problems occurring out around the limb areas of exercise machines between impingement points and the motor actuator.
A third safety method that might be applicable in some settings would involve the use of lasers or other light sources in combination with photovoltaic cells. By positioning such appropriately, it would be possible to determine when, among other things, movement of the exercise machine took it out of the preferred or allowable range. Obviously, sensing such a condition might trigger an alarm condition. Needless to say, such an arrangement could be useful as a safety mechanism. Finally, it is anticipated that one (or preferably more) of the foregoing might be implemented on each exercise machine, thereby providing redundancy and/or coverage of different aspects of the exercise machine.
Turning next to FIG. 24, according to some preferred embodiments one or more exercise machines 2400 will be networked together with a remote server 2430. Although this sort of interconnectivity might have many applications, one preferred usage would be to communicate performance data to a server where it can be analyzed, plotted, etc. As is explained in greater detail below in connection with FIG. 25, many users are interested in evaluating their performance for the current session, for previous sessions, and/or across time. It is typical when these sorts of analyses are produced to provide the user with printed or plotted (either via hard copy or screen display) records of their performance. As such, it may be advantageous in some instances to transfer the performance data from the station where it was collected to a computer with greater capabilities.
Some preferred networking configurations suitable for use with the instant invention are illustrated in this figure. As is illustrated, exercise machines 2400-2404 could be any combination of embodiments of the instant invention. Preferably, each machine will be associated with a computer (2410, 2420, or 2450) that is in electronic communication with it. Note, as is generally indicated in this figure, the associated computer might be internal to the exercise machine (e.g., computer 2450) or external to it (e.g., computers 2410 and 2420). All that is required is that the computer be in electronic communication with processor 170 (FIG. 4). Of course, in some preferred variations, the functionality described below will be handled by processor 170 in which case computer 2450 and processor 170 could be the same device, i.e., the communicating computer might be a stand alone computer or integrated into the exercise machine.
In a preferred arrangement, each exercise machine 2400-2404 will be in electronic communication with a remote server 2430. The connection between the two computers might be direct communication (e.g., computers 2420 and 2430) or indirect (e.g., where computer 2450 uses computer 2420 as an intermediary when sending information to computer 2430). With respect to the connection between computers 2420 and 2430, that connection might be wired or wireless but, in the preferred embodiment each computer will be connected somehow via Ethernet to the Internet. In some preferred embodiments, a flash drive 2450 might be used to move data from exercise machine 2404 to the remote server 2430.
In some preferred embodiments, provisions might be made for wired or, preferably, wireless communication with a handheld computing device 2440. Bluetooth, WiFi or similar wireless communications protocol would preferably be used. The subject data might be compiled and analyzed on the handheld 2440 and/or forwarded on to server 2430 according to methods well known to those of ordinary skill in the art.
FIG. 25 contains a preferred operating logic suitable for use with the instant invention. As a first step 2500, the exercise machine program will initialize 2500. Next, and preferably, various parameters related to the current session will be read. These parameters might include minimum and maximum position (i.e., the range) of the impingement member, the velocity (or velocity function) that it is to move, turnaround behavior (e.g., decelerate as the impingement member reaches nears its maximum/minimum excursion, abrupt reversal, etc.), time to travel in an outward direction, time to travel in an inward direction, number of repetitions, etc. Those of ordinary skill in the art will recognize that many such parameters might be utilized. Note that these parameters might be read from any combination of disk, RAM, ROM, nonvolatile RAM, and/or obtained directly from the user via a keypad, touch screen, or other input modality.
Next, the parameters will preferably be used to set corresponding internal exercise machine parameters (step 2510) so as to implement the exercise regime described by the parameters 2505. Additionally, a repetitions counter will preferably be set equal to zero.
Preferably, the instant invention will then begin to move the impingement member according to its program. In some preferred embodiments, time will be tracked during the movement. In some cases, a ΔT (i.e., sampling interval) will be chosen and a cumulative time parameter set equal to zero (step 2515). A suitable sampling interval will likely be a few milliseconds, but could be larger or smaller depending on the needs of the programmer, the time of exercise machine, the computing power available, etc. This step might be done before, after, or in conjunction with the setting of the impingement member to its starting position (e.g., maximum or minimum excursion) as represented by step 2520 in the flow chart.
Next, and preferably, the instant invention will begin to implement the specified exercise program (loop 2525-2550). As is indicated, preferably the time (or distance, etc.) will be incremented by the chosen delta value (step 2525). Over the next ΔT interval, the impingement member will then be preferably be moved according to the performance parameters (step 2530). Note that the movement might be linear (e.g., constant movement) or nonlinear. Preferably sometime during the movement interval, a load cell that is in mechanical communication with the impingement member will be read (step 2535) and stored (step 2540). The load cell value might be stored locally (e.g., in local RAM) or communicated over a network to remote storage.
If the impingement member is not at its maximum or minimum position (“NO” branch of step 2545) the instant invention will preferably continue to move the impingement member in the same direction.
However, if the impingement member is at its maximum or minimum (the “YES” branch of step 2545) preferably the repetitions counter will be incremented. Note that, for purposes of illustration, the counter is actually incremented at both the min and max positions, although normally it would be incremented only after both a maximum and a minimum had been passed. Those of ordinary skill in the art will know how to modify the logic of FIG. 25 to obtain the more conventional behavior.
If the repetitions counter is less than the maximum repetitions specified for this session, preferably the instant invention will execute a turn around routine (step 2650) and proceed to move the impingement member in the opposite direction. As has been mentioned previously, the turn around routine might be a programmed deceleration/acceleration, a sudden reversal, etc. Afterward, the process discussed above will be repeated, only this time in the reverse direction.
Finally, after the user has finished his or her exercise program (or in the event that the program is terminated early), the accumulated load cell data will preferably be stored (step 2656) for subsequent recall and analysis.
FIG. 26 illustrates the sort of data that might be obtained during a user's exercise program. This figure contains a graphical display of the actual force output of an individual user doing 10 repetitions of a bench press exercise on a preferred embodiment of the instant invention.
Data point 2600 marks the beginning of the exercise cycle which, for purposes of illustration, will be taken to be the point where, the user's arms are fully extended from the body. Each curve in this figure is plotted against elapsed time, with one full repetition taking about 4.5 seconds. Note that the vertical axis for curve 2600-2605-2610 is offset rather than force, i.e., this curve represents in a general way the position of the bar during one repetition of a bench press. The vertical axis for the remaining curves in this plot is force as measured in pounds.
Data point 2605 would be observed at the point where the bar has been lowered towards the user's chest. This movement from point 2600 to point 2605 is called the eccentric side of the exercise movement and is defined as the resistance (force) applied by the user is in the opposite direction of the movement of the bar.
Data point 2610 represents the point where the user's arms are once again fully extended after raising the bar away from the chest. The movement from point 2605 to point 2610 is called the concentric side of the exercise movement. The concentric movement is defined as the resistance (force) applied by the user is in the same direction as the movement of the bar. Most strength training exercises consist of a full range of motion with each repetition having an eccentric movement and a concentric movement.
Data curve 2615 shows the actual force exerted by a user over a complete repetition of the instant invention including both the eccentric and concentric sides of the exercise. As has been explained previously, the vertical axis for this curve in pounds and the horizontal axis is elapsed time as measured from an arbitrary start. Note that near the beginning of the exercise cycle, the user is producing approximately 320 lbs. of force (data point 2612). As the bar lowers towards the user's chest, the amount of force changes according to the normal biomechanical efficiencies of body. Throughout the range of motion, on any given exercise, the body recruits and engages varying groups of muscle and leverage ability from joints. Data point 2620 signifies the location where the least amount of force is produced. This is commonly called the sticking point or weak point. In the exercise shown the force output of the user is approximately 140 lbs. at this “sticking point”. This weak point in the lift always occurs on the concentric side of any exercise.
Those of ordinary skill in the art will recognize that during traditional strength training with either free weights or weight stack machines, the maximum amount that a user can lift will be limited to the weight that they can get past their “sticking point”. In the exercise shown in this figure, the greatest amount of weight that a user could exercise with would be 140 lbs. It should also be noted that this amount would also be the maximum amount the user could lift and they could probably only complete one repetition with the 140 lb. weight. When exercising they would have to realistically use a lower percentage of this maximum amount to do multiple repetitions.
Because an exercise machine constructed according to the instant invention allows the user to recruit maximum amounts of muscle tissue throughout the entire range of motion, the amount of force and therefore involvement of the various muscle groups would be expected to be significantly greater than conventional weight training. This equates to potentially better efficiency and results of the exercise utilizing equipment of the sort combined herein versus conventional weight training. Finally, the increased efficiency of exercises performed with the instant invention has the potential to reduce the time spent exercising.
Returning now to FIG. 26, curve 2625 illustrates a typical force/time curve which has been collected during the fifth repetition. Of course, the force output is significantly reduced from the first repetition (curve 2615) due to increasing muscle fatigue. Curve 2630 tracks force versus time after 10 repetitions. This curve tops out at about 75 pounds of force and, during the concentric side of the movement the user has apparently reached complete muscle exhaustion.
When utilizing conventional weight training which uses a fixed amount of weight, the user tends to be either under loaded or over loaded. This can cause significant inefficiencies, which is why conventional weight training requires multiple sets of multiple repetitions to achieve results. The ability of the instant invention to allow maximal muscle recruitment throughout the entire range of motion is significant advantage.
Note that curves in FIG. 26 plotted as force versus time, but similar graphs could be produced for force versus vertical position. Technically speaking, if a force curve is integrated (in the calculus sense) over distance (vertical position in FIG. 26) the work that has been performed will be obtain. Visually, this quantity is the area under the force curve vs. distance. The units of the integrated force curve will be momentum, which the instant inventors believe to be the best estimate of physical/muscular “effort” proposed heretofore. This measure is repeatable and mathematically consistent.
Currently, virtually all resistance exercise machines/systems fall into one of two categories: (1) gravity activated (free weights, weight stack machines, etc.), or (2) dashpot (i.e., shock absorber) and spring-like extension. These systems are passive in the sense that their motion is not motor driven. There are very few active systems (e.g., high-end ergometers) which are other than human powered to produce motion. When utilizing the instant invention a user can determine through real time effort what the forces are on a continuous basis. Further, the user can disengage the robotic machine at any point during an exercise and be instantly and completely freed of any forces or further needed action for safety reasons.
The instant inventive concept/paradigm will preferably involve continuous gathering of vector force data for each point of user “impingement” (e.g., where hand meets machine grip, foot meets pedal, etc.) indexed in time and space. This information-rich multi-channel stream of raw physics-type data, potentially combined with physiology data (BP, HR, VO2, brainwave, EMG (i.e., electromyogram), etc.), can be transformed into a wealth of human performance information for individuals and groups of users. When properly outfitted with sensors, the instant invention will be able to measure asymmetry (e.g., left arm versus right arm—athletes as well as stroke victims, etc.), endurance, recovery times, progress, output versus speed, etc., etc. In some preferred embodiments, the real time force data will be used as feedback to automatically “coach” a user during actual exercise. In some preferred embodiment, this force information might be plotted on a computer monitor, preferably augmented by acoustic feedback (e.g., a musical tone with varying pitch, intensity, tempo, etc.) which would be useful in those instances where a user's eyes are closed due to intense effort. In other preferred embodiments, the force data from multiple users will be pooled to create a competitive/“gaming” environment where a user's individual performance is used as a parameter to, for example, an on-screen video game.
Longer term, it is anticipated that a database could be compiled from multiple users' performance that could provide additional and deeper insights into human performance.
Finally, and turning next to FIG. 27, in a preferred embodiment measurements of effort (as that term has been defined previously to be the integral with respect to time of force) will be collected and presented to the user in raw form and/or after processing—in real time and/or after the exercise sequence is completed. The curves in this figure are representative of the sort that might be obtained during a series of bench press repetitions performed by a single individual. In this example, six sets of ten continuous bench press repetitions, a typical protocol, were performed with ten-minute rest periods between each set. The individual was instructed to exert maximum force during each set without “let-up.” The bench press station embodiment of the instant invention provided a cycle rate of one rep per six seconds. Curve 2710 (Data Series 1) tracks the test subject's initial exercise session. Curve 2720 (Data Series 2) displays results for the same protocol applied to the individual six weeks later. Curve 2730 (Data Series 3) is a plot derived from the first two and is, technically, the “discrete derivative” of the difference between plots 1 and 2. That is, Data Series 3 displays the change in the difference over six weeks in the individual's generated effort from set-to-set (or, worded differently, as a function of inter-set interval number).
Curve 2730 is an example of a “first-step” analysis of raw effort data and can be considered to be a member of a “derived data class” for this experimental assessment. The downward slope of both plots 1 and 2 clearly displays the drop-off in momentum generation set-to-set, a direct indicator of fatigue. The total sum, performed over repetition sets, of the generated momentum for the initial protocol assessment is 2.05E+05 Newton-seconds. This same sum, performed after six weeks, has increased to 3.09E+05 Newton-seconds representing a 51% increase in momentum generation capacity for the tested individual using this particular assessment protocol.
Curve 2730 is positive for sets 1-3 indicating that after six weeks the tested individual did not fatigue as rapidly up to the third protocol set, but fatigued more rapidly for the remaining three sets. It can reasonably be concluded that the tested individual learned to become more mentally and physically focused for exercise sessions resulting in a “frontloading” of effort output. What are not given here are the exercise protocols used during the intervening six weeks.
It should also be clear that the above described protocol could be modified in many ways. For example: 10 sets of 6 reps with shortened rest intervals; 10 sets of 5 eccentric-only or concentric-only reps; or 10 sets of 6 variable cycle rate reps. The possible list of useful variations is virtually unlimited. It should be further noted that the instant paradigm characterizes a single cycle (repetition) of a repeated exercise motion as a full duty cycle. Eccentric-only or concentric-only reps are half-duty cycle—any fraction of a full duty cycle can be defined and applied when using exercise machines constructed according to the instant invention. If the protocol were administered to a group of individuals as described above for a single test subject, a meaningful statistical study could be performed to assess a variety of intervening protocols for effectiveness.
Based on the foregoing example, it should be clear that effort data, which has not heretofore been available from an exercise machine, provides a valuable and unique contribution to the quantitative analysis of performance data. Whether viewed in its raw/unprocessed form (e.g., curves 2710 and 2720) or after mathematical transformation (e.g., curve 2730) the calculation of effort (and derivatives therefrom) provides a new and meaningful way to view performance data.
The present invention is subject to a number of variations and alterations which are all within the scope of the present invention. By way of example and not limitation, the servo of the motor controller can be programmed to optionally operate as a force servo in conjunction with the load cell to provide a constant force at the impingement member. Thus, the inventive machines can thus operate as conventional strength training equipment. In such a mode of operation the motor controller can be programmed to only allow movement of the impingement member when the user is providing some minimal force. If the user “drops” the bar, unlike traditional free weights or weight plate machines, the bar will simply freeze at its current position.
The discussion of use as a conventional weight training machine highlights the difference between the present invention used in its preferred mode and traditional machines. In its preferred mode, the exercise provided is dynakinetic such that the impingement member moves at a constant speed regardless of the force applied, the machine always pushes back with the same force provided by the user. Alternatively, the speeds (eccentric and concentric) could be varied. For example, an exercise program might be faster in the eccentric phase of a bench press and slower in the concentric phase, move more slowly through natural sticking points, etc. Of course, real-time feedback control of machine motion, permitted force levels (or “bracket” force limits where user must stay between two force values or machine responds in some predetermined manner) could cause many discrete or continuous changes. As discussed above, this allows the user to maximize the effort expended because sticking points are nonexistent
As will be apparent to those skilled in the art, the present invention offers data management abilities that were heretofore, impossible. Machines constructed according to the present invention are ideally suited for networking, i.e. through an Ethernet connection. When the machines are thus connected, the personalized user variables, such as end points, speed, etc., will preferably be made available at any machine on the network. In fact, if multiple networks are connected via the Internet, user variables will potentially be accessible from any machine anywhere in the world. Further, raw data from each workout a user performs can also be stored in a database along with user information such as gender, age, weight, height, fitness level, etc. As data is collected, historical data may be used to provide a user measurement of improvement, even minute improvements, over time. Additionally, historical data may be used to predict a response a new user might reasonably expect to achieve over a given time period. This ability can keep users motivated since people will start with reasonable expectations and can thereafter see even small improvements which would be difficult, is not impossible, to measure with prior art equipment.
Note that in some preferred embodiments the instant invention will be designed to permit multi-dimensional movement under actuator control, e.g., orienting the actuators in such a way as to permit independent x-y-z motion. This could prove to be useful in situations where, for example, a patient is in rehabilitation or for sport-specific training movements. On way of implementing this would be through the use of a cable and pulley arrangement of the sort utilized in a weight stack machine.
In other preferred embodiments, the exercise machine of the instant invention could be programmed to have a cycle rate slows down with increased force. In other instances, the machine could be stopped and/or warns the user when the user is overstressing according to so predetermined parameter values. Finally, in some preferred embodiments the user will be acoustically coached (e.g., via musical note pitch, or intensity, or preprogrammed voice messages, etc.) as exercise progresses to provide acoustic feedback related to the user's performance.
Thus it can be seen that the present invention is well suited to overcome the needs and alleviate the problems associated with prior art

Claims

1. An exercise machine for strength training and assessment, said exercise machine comprising:

a frame;

an impingement member movably attached to said frame;

an actuator disposed between said frame and said impingement member for driving said impingement member through a range of motion between a first position and a second position; and

a controller in communication with said actuator for controlling the movement of said actuator, said controller providing selectable control of the said first position and said second position such that range of motion is programmable,

wherein when a user engages said impingement member, at least one muscle of the user is exercised.

2. The exercise machine of claim 1 further comprising:

a user interface for receiving input from said user and displaying exercise results to said user;

a load cell in mechanical communication with said impingement member such that forces applied to said impingement member by said user will be measured by said load cell; and

a computer in communication with said display, said load cell, and said motor controller, said computer for receiving said forces applied to said impingement member, for directing selectable control of said motor controller, and for receiving information from, and providing information to, said user interface to control the exercise of said at least one muscle and assess the fitness of said at least one muscle.

3. The exercise machine of claim 2 wherein the user can selectably engage said impingement member for either concentric training or eccentric training at any point in said range of motion.

4. The exercise machine of claim 2 wherein said first position and said second position are stored in a database for each user of a plurality of users and said computer accesses said database when each user exercises on the exercise machine such that the range of motion is individually appropriate for each user.

5. The exercise machine of claim 1 wherein the exercise machine is configured as a chest press machine and said at least one muscle is a plurality of muscles including muscles located in said user's chest and arms.

6. The exercise machine of claim 1 wherein the exercise machine is configured as a shoulder press machine and said at least one muscle is a muscle located in the user's arm.

7. The exercise machine of claim 1 wherein the exercise machine is configured as a leg extension machine and said at least one muscle is a muscle located in the user's leg.

8. The exercise machine of claim 1 wherein the exercise machine is configured as a leg press machine and said at least one muscle is a muscle located in the user's leg.

9. The exercise machine of claim 1 wherein the exercise machine is configured as a squat machine and said at least one muscle is a muscle located in the user's leg.

10. The exercise machine of claim 1 wherein the exercise machine is configured as a shoulder machine and said at least one muscle is a muscle which produces rotation of the user's shoulder.

11. The exercise machine of claim 1 wherein the exercise machine is configured as a back abdominal machine and said at least one muscle is a muscle located in the user's back.

12. A computerized strength training exercise machine comprising:

a frame;

an impingement member movably attached to said frame;

an actuator disposed between said frame and said impingement member for driving said impingement member through a range of motion between a first position and a second position;

a controller in communication with said actuator for controlling the movement of said actuator, said controller providing selectable control of the said first position and said second position such that said range of motion is programmable;

a user interface for receiving input from a user and displaying exercise results to said user;

a computer in communication with said user interface, said load cell, and said motor controller, said computer for receiving said forces applied to said impingement member, for directing selectable control of said motor controller, and for receiving information from, and providing information to, said user interface to control the exercise provided to said user by said impingement member.

13. The computerized strength training machine of claim 12 wherein the user can selectably engage said impingement member for either concentric training or eccentric training at any point in said range of motion.

14. The computerized strength training machine of claim 12 wherein said first position and said second position are stored in a database for each user of a plurality of users and said computer accesses said database when each user exercises on the exercise machine such that the range of motion is individually appropriate for each user.

15. The computerized strength training machine of claim 12 wherein the exercise machine is configured as a chest press machine.

16. The computerized strength training machine of claim 12 wherein the exercise machine is configured as a shoulder press machine.

17. The computerized strength training machine of claim 12 wherein the exercise machine is configured as a leg extension machine.

18. The computerized strength training machine of claim 12 wherein the exercise machine is configured as a leg press machine.

19. The computerized strength training machine of claim 12 wherein the exercise machine is configured as a squat machine.

20. The computerized strength training machine of claim 12 wherein the exercise machine is configured as a shoulder machine.

21. The computerized strength training machine of claim 12 wherein the exercise machine is configured as a back/abdominal machine.

22. The computerized strength training machine of claim 12 wherein the exercise machine is configured so that said computer communicates with a server in order to store and update user information in a database configured to house information relating to user(s) exercise performance history.

24. The computerized strength training machine of claim 12 wherein the exercise machine is configured so that said computer communicates with the computers of other computerized strength training machines.

25. A suite of computerized strength training machines of claim 12 wherein the exercise machines are configured so that said strength training machines communicate with one another.

26. A suite of computerized strength training machines of claim 12 wherein said exercise machine are configured so that their computers communicate with a server.