Multi-mode exercising apparatus

Claim 2

A multi-mode exercising apparatus, comprising: (14) (a) an exercising member (65) (b) a rotary actuator/ coupled to said exercising member for controlling movement of said member in response to fluid flow therethrough; (78) (c) servo valve means/cou p led to said actuator for controlling fluid flow through said actuator(65) in response to an input electrical signal; (112) (d) a hydraulic pump/for pressurizing said fluid; (114) (e) motor means/for driving said pump; (110) (f) a reservoir/for storing said fluid; (g) means for monitoring the angular position of said actuator; (h) load cell means /coupled to said member / for providing a signal proportional to the magnitude of force applied to said member; (126) (i) microprocessor(126) means for controlling the input (78) electrical signal to said servo valve/in response to the signal from said load cell, the angular position of said (65) actuator(65), program means stored in said microprocessor and calibration data.

Claim 3

A multi-mode exercising apparatus as defined in claim 1, further including a dump valve for shunting fluid flowing out of the pump into said reservoir.

Claim 4

A multi-mode exercising apparatus as defined in claim 2, further including dump valve switch means for controlling power supplied to said dump valve.

Claim 5

A multi-mode exercising apparatus as defined in claim 1, comprising means for sensing actuator fluid pressure to provide signals whose differential is proportional to the external torque applied to said actuator by said member.

Claim 6

A multi-mode exercising apparatus as defined by claim 1 wherein said monitoring means is an optical shaft encoder for providing signals indicative of the angular velocity, position-and- direction of rotation of the actuator.

Claim 7

A multi-mode exercising apparatus as defined by claim 1 further including limit switch means for controlling power applied to said motor means in response to rotation of said actuator to pre-selected limits of rotation.

Claim 8

A multi-mode exercising apparatus comprising means for sensing the application of power to said dump valve and means for sensing the application of power to said motor.

Claim 9

A multi-mode exercising apparatus comprising means for sensing the application of power to said dump valve and means for sensing the application of power to said motor.

Claim 10

A multi-mode exercising apparatus comprising : (a) an exercising member; (b) a rotary actuator coupled to said exercising member for controlling movement of said member in response to fluid flow therethrough; (c) servo valve means coupled to said actuator for controlling fluid flow through said actuator in response to an input electrical current; (d) a hydraulic pump for pressurizing said fluid; (e) motor means for driving said pump; (f) a reservoir for storing said fluid; (g) a dump valve for shunting fluid flowing out of said pump into said reservoir; (h) means for sensing actuator fluid pressure in order to provide signals the differential of which is proportional to torque applied to said actuator by said member; (i) an optical shaft encoder for providing signals indicative of the angular velocity, position and direction of rotation of said actuator; (j) limit switch means for controlling power applied to said motor means in response to rotation of said actuator to pre-selected limits of rotation; (k) dump valve switch means for controlling power aplied to said dump valve; (1) load cell means coupled to said member for providing a signal proportional to the magnitude of force applied to said member; (m) means for sensing the application of power to said dump valve; (n) means for sensing the application of power to said motor; (o) over-ride switch means manually operable for controlling power to said motor means; (p) microprocessor means for: (i) controlling operation of said dump valve switch means in response to program means stored in said microprocessor and input data including calibration data, actuator fluid pressure levels, signals from said optical shaft encoder, signals from said load cell means, said motor sensing means, said dump valve sensing means, the condition of said limit switch means; (ii) controlling power applied to said motor means in response to program means stored in said microprocessor and input data including calibration data, actuator fluid pressure levels, signals from said load cell means, said motor sensing means, the condition of said limit switch means, and the condition of said over-ride switch means; and (iii) providing the input electrical signal to said servo valve, the magnitude of which is variable in response to program means

Claim 11

A multi-mode exercising apparatus comprising : (a) an exercising member; (b) a rotary actuator coupled to said exercising member for controlling movement of said member in response to fluid flow therethrough; (c) servo valve means coupled to said actuator for controlling fluid flow through said actuator in response to an input electrical current; (d) a hydraulic pump for pressurizing said fluid; (e) motor means for driving said pump; (f) a reservoir for storing said fluid; (g) a dump valve for shunting fluid flowing out of said pump into said reservoir; (h) means for sensing actuator fluid pressure in order to provide signals the differential of which is proportional to torque applied to said actuator by said member; (i) an optical shaft encoder for providing signals indicative of the angular velocity, position and direction of rotation of said actuator; (j) limit switch means for controlling power applied to said motor means in response to rotation of said actuator to pre-selected limits of rotation; (k) dump valve switch means for controlling power aplied to said dump valve; (1) load cell means coupled to said member for providing a signal proportional to the magnitude of force applied to said member; (m) means for sensing the application of power to said dump valve; (n) means for sensing the application of power to said motor; (o) over-ride switch means manually operable for controlling power to said motor means; (p) microprocessor means for: (i) controlling operation of said dump valve switch means in response to program means stored in said microprocessor and input data including calibration data, actuator fluid pressure levels, signals from said optical shaft encoder, signals from said load cell means, said motor sensing means, said dump valve sensing means, the condition of said limit switch means; (ii) controlling power applied to said motor means in response to program means stored in said microprocessor and input data including calibration data, actuator fluid pressure levels, signals from said load cell means, said motor sensing means, the condition of said limit switch means, and the condition of said over-ride switch means; and (iii) providing the input electrical signal to said servo valve, the magnitude of which is variable in response to program means