US5020794A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Motor control for an exercise machine simulating a weight stack
Assignee: LF ACQUISITION Co A NY GENERAL PARTNERSHIP
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Filing: 1988-06-10
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Granted: 1991-06-04
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Expires: 2008-06-10
Abstract
Abstract In an exercise machine where an electric motor is used to simulate a weight stack a more realistic feel plus stability of operation is achieved by compensating the torque output of the motor for the mechanical characteristics of the machine including inertia, friction and gravitational effects on the user interface. Also by controlling the motor so as to increase its output torque as a function of the displacement of the user interface, it is possible to produce a measure of the user's strength. A heavy negative feature which may be selected by the user is provided as well. The exercise machine additionally includes a computer control which allows a pyramid type exercise program to be implemented. The pyramid exercise program has a progressive phase in which the force opposing the user is increased from a starting level to a plateau level over a first group of repetitions; a plateau phase in which the force opposing the user is maintained constant over a second group of repetitions; and a regressive phase in which the force opposing the user is decreased from the plateau level to the starting level over a second group of repetitions. The exercise machine is capable of measuring the maximum force which can be opposed by the user. The heavy negative feature allows the force opposing the user to be gradually increased on a return stroke of an exercise repetition from the force applied on the forward stroke of the repetition.
Inventors
- 👤 William H. Englehardt
- 👤 Olgerts J. Svilans
- 👤 Augustine Nieto
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 20:51
CPC Classifications
A; A63; A63B; A63B24/00; A63B21/00; A63B21/00058; A63B21/005; A63B21/0058; A63B2220/00; A63B2220/10; A63B2220/16; A63B2220/30; Y; Y10; Y10S; Y10S482/00; Y10S482/90; Y10S482/901; Y10S482/902; Y10S482/903
Claims Analysis
Total Claims: 107
Claim 1
Independent Claim
106 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for generating a power input signal for controlling the torque output of said electric motor; user input means operatively connected to said control means for permitting a user to operate the exercise machine; and compensation means operatively connected to said control means for subtracting from said power input signal a compensation factor effective to reduce the torque output of said electric motor to compensate for at least a portion of the inertia of said electric motor.
Claim 2
Dependent Claim
106 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for generating a power input signal for controlling the torque output of said electric motor; user input means operatively connected to said control means for permitting a user to operate the exercise machine; and compensation means operatively connected to said control means for subtracting from said power input signal a compensation factor effective to reduce the torque output of said electric motor to compensate for at least a portion of the inertia of said electric motor.
Claim 3
Dependent Claim
19 words
The exercise machine of claim 1 wherein said compensation factor additionally compensates for the inertia of said linkage means.
Claim 4
Dependent Claim
30 words
The exercise machine of claim 2 wherein said compensation factor additionally includes a motor friction factor to compensate of at least a portion of the friction of said electric motor.
Claim 5
Dependent Claim
30 words
The exercise machine of claim 3 wherein said compensation factor additionally includes a linkage friction factor to compensate for at least a portion of the friction of said linkage means.
Claim 6
Dependent Claim
26 words
The exercise machine of claim 4 wherein said compensation factor compensates for less than all of the combined friction of said electric motor and linkage means.
Claim 7
Dependent Claim
26 words
The exercise machine of claim 5 wherein said compensation factor compensates for approximately 60% of the combined friction of said electric motor and said linkage means.
Claim 8
Dependent Claim
48 words
The exercise machine of claim 5 wherein said control means additionally includes motion means for detecting a forward stroke and a return stroke of said user interface and wherein said motor friction factor is effective to reduce the torque output of said electric motor during said forward stroke.
Claim 9
Dependent Claim
26 words
The exercise machine of claim 7 wherein said motor friction factor is effective to increase the torque output of said electric motor during said return stroke.
Claim 10
Dependent Claim
23 words
The exercise machine of claim 8 wherein said compensation means eliminates said motor friction factor when said user interface approaches a rest position.
Claim 11
Dependent Claim
39 words
The exercise machine of claim 4 wherein said control means additionally includes position means for detecting the positions of said user interface and wherein said compensation means eliminates said compensation factor when said user interface approaches a rest position.
Claim 12
Dependent Claim
23 words
The exercise machine of claim 1 wherein said compensation means is responsive to said user input means to selectively vary said compensation factor.
Claim 13
Dependent Claim
36 words
The exercise machine of claim 11 wherein said compensation factor is varied to add to said electric motor torque output a factor that simulates at least of portion of the inertia of a simulated weight stack.
Claim 14
Dependent Claim
30 words
The exercise machine of claim 12 wherein said compensation factor additionally includes a linkage friction factor to compensate for at least a portion of the friction of said linkage means.
Claim 15
Dependent Claim
29 words
The exercise machine of claim 1 wherein said compensation factor includes a motor friction factor to compensate for at least a portion of the friction of said electric motor.
Claim 16
Dependent Claim
30 words
The exercise machine of claim 12 wherein said compensation factor additionally includes a motor friction factor to compensate for at least a portion of the friction of said electric motor.
Claim 17
Dependent Claim
30 words
The exercise machine of claim 14 wherein said compensation factor additionally includes a linkage friction factor to compensate for at least a portion of the friction of said linkage means.
Claim 18
Dependent Claim
49 words
The exercise machine of claim 14 wherein said control means additionally includes a motion means for detecting a forward stroke and a return stroke of said user interface and wherein said motor friction factor is effective to reduce the torque output of said electric motor during said forward stroke.
Claim 19
Dependent Claim
27 words
The exercise machine of claim 17 wherein said motor friction factor is effective to add to the torque output of said electric motor during said return stroke.
Claim 20
Dependent Claim
23 words
The exercise machine of claim 17 wherein said compensation means eliminates said motor friction factor when said user interface approaches a rest position.
Claim 21
Dependent Claim
39 words
The exercise machine of claim 14 wherein said control means additionally includes position mean for detecting the positions of said user interface and wherein said compensation means eliminates said compensation factor when said user interface approaches a rest position.
Claim 22
Dependent Claim
39 words
The exercise machine of claim 1 wherein said control means additionally includes position means for detecting the positions of said user interface and wherein said compensation means eliminates said compensation factor when said user interface approaches a rest position.
Claim 23
Dependent Claim
101 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor simulate a plurality of weights; user input means operatively connected to said control means for permitting a user to operate the exercise machine; and compensation means operatively connected to said control means for automatically varying said torque output by a compensation factor to compensate for at least a portion of the inertia of said electric motor in response to said control input.
Claim 24
Dependent Claim
101 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor simulate a plurality of weights; user input means operatively connected to said control means for permitting a user to operate the exercise machine; and compensation means operatively connected to said control means for automatically varying said torque output by a compensation factor to compensate for at least a portion of the inertia of said electric motor in response to said control input.
Claim 25
Dependent Claim
30 words
The exercise machine of claim 22 wherein said compensation factor increases as a function of an increase in said simulated weights to be simulated by said electric motor torque output.
Claim 26
Dependent Claim
45 words
The exercise machine of claim 23 wherein said compensation factor is effective to subtract from the torque output of said electric motor for minimizing said simulated weights and is effective to add to the torque output of said electric motor for maximizing said simulated weights.
Claim 27
Dependent Claim
24 words
The exercise machine of claim 22 wherein said compensation factor additionally compensates for at least a portion of the inertia of said linkage means.
Claim 28
Dependent Claim
27 words
The exercise machine of claim 25 wherein said compensation factor increases as a function of an increase in said weight to be simulated by said torque output.
Claim 29
Dependent Claim
45 words
The exercise machine of claim 26 wherein said compensation factor is effective to subtract from the torque output of said electric motor for minimizing said simulated weights and is effective to add to the torque output of said electric motor for maximizing said simulated weights.
Claim 30
Dependent Claim
26 words
The exercise machine of claim 22 wherein said compensation factor additionally compensates for at least a portion of the effects of gravity on said user interface.
Claim 31
Dependent Claim
52 words
The exercise machine of claim 28 additionally including position means operatively connected to said user interface and to said compensation means for generating a position signal representing the position of said user interface and wherein said compensation means varies said compensation factor as a function of the position of said user interface.
Claim 32
Dependent Claim
25 words
The exercise machine of claim 22 wherein said compensation means includes means for eliminating said compensation factor when said user interface approaches a rest position.
Claim 33
Dependent Claim
73 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; and compensation means operatively connected to said control means for generating a compensation factor for varying said torque output to compensate for at least a portion of the mechanical friction of the exercise machine.
Claim 34
Dependent Claim
73 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; and compensation means operatively connected to said control means for generating a compensation factor for varying said torque output to compensate for at least a portion of the mechanical friction of the exercise machine.
Claim 35
Dependent Claim
27 words
The exercise machine of claim 31 wherein said compensation factor compensates for at least a portion of the friction of said electric motor and said linkage means.
Claim 36
Dependent Claim
25 words
The exercise machine of claim 32 wherein said compensation factor compensates for approximately 60% of the friction of said electric motor and said linkage means.
Claim 37
Dependent Claim
25 words
The exercise machine of claim 31 wherein said compensation means includes means for eliminating said compensation factor when said user interface approaches a rest position.
Claim 38
Dependent Claim
26 words
The exercise machine of claim 31 wherein said compensation factor additionally compensates for at least a portion of the effects of gravity on said user interface.
Claim 39
Dependent Claim
52 words
The exercise machine of claim 31 additionally including position means operatively connected to said user interface and to said compensation means for generating a position signal representing the position of said user interface and wherein said compensation means varies said compensation factor as a function of the position of said user interface.
Claim 40
Dependent Claim
74 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; and compensation means operatively connected to said control means for generating a compensation factor for varying said torque output to compensate for at least a portion of the effects of gravity on said user interface.
Claim 41
Dependent Claim
74 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; and compensation means operatively connected to said control means for generating a compensation factor for varying said torque output to compensate for at least a portion of the effects of gravity on said user interface.
Claim 42
Dependent Claim
48 words
The exercise machine of claim 37 additionally including position means operatively connected to said user interface and to said compensation means for generating a position signal representing the position of said user interface and wherein said compensation means varies said compensation factor in response to said position signal.
Claim 43
Dependent Claim
22 words
The exercise machine of claim 38 wherein said mechanical characteristics of the exercise machine include the inertia characteristics of the exercise machine.
Claim 44
Dependent Claim
32 words
The exercise machine of claim 39 wherein said mechanical characteristics of the exercise machine include the friction of said user interface, said electric motor and said linkage means of the exercise machine.
Claim 45
Dependent Claim
91 words
An exercise machine comprising a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; and position means operatively connected to said control means for detecting the position of said user interface; compensation means operatively connected to said control means for varying the torque output of said motor by a compensation factor to compensate for at least a portion of the mechanical characteristics of the exercise machine.
Claim 46
Dependent Claim
91 words
An exercise machine comprising a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; and position means operatively connected to said control means for detecting the position of said user interface; compensation means operatively connected to said control means for varying the torque output of said motor by a compensation factor to compensate for at least a portion of the mechanical characteristics of the exercise machine.
Claim 47
Dependent Claim
32 words
The exercise machine of claim 41 wherein said mechanical characteristis of the exercise machine include the friction of said user interface, said electric motor and said linkage means of the exercise machine.
Claim 48
Dependent Claim
20 words
The exercise machine of claim 41 wherein said compensation factor is eliminated when said user interface approaches a predetermined position.
Claim 49
Dependent Claim
14 words
The exercise machine of claim 43 wherein said predetermined position is a rest position.
Claim 50
Dependent Claim
105 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor to simulate a weight stack; direction means operatively connected to said user interface and said control means for determining whether said user interface is moving in a first or a second direction; and heavy negative means responsive to said direction means for causing said control means to increase said torque output by a first predetermined amount when said user interface is moving in said second direction.
Claim 51
Dependent Claim
105 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor to simulate a weight stack; direction means operatively connected to said user interface and said control means for determining whether said user interface is moving in a first or a second direction; and heavy negative means responsive to said direction means for causing said control means to increase said torque output by a first predetermined amount when said user interface is moving in said second direction.
Claim 52
Dependent Claim
35 words
The exercise machine of claim 45 wherein said heavy negative means increases said torque output by said first predetermined amount over a predetermined displacement when said user interface begins to move in said second direction.
Claim 53
Dependent Claim
36 words
The exercise machine of claim 46 wherein said heavy negative means causes said control means to decrease said torque output by a second predetermined amount after said user interface has stopped moving in said second direction.
Claim 54
Dependent Claim
34 words
The exercise machine of claim 47 wherein said heavy negative means decreases said torque output by said second predetermined amount after said user interface has stopped and begins to move in said first direction.
Claim 55
Dependent Claim
35 words
The exercise machine of claim 48 wherein said heavy negative means decreases said torque output by said second predetermined amount over a predetermined displacement when said user interface begins to move in said first direction.
Claim 56
Dependent Claim
19 words
The exercise machine of claim 48 wherein said first predetermined amount is substantially equal to said second predetermined amount.
Claim 57
Dependent Claim
59 words
An exercise machine comprising; a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; and test means operatively connected to said user interface and said control means for measuring the strength of a user.
Claim 58
Dependent Claim
59 words
An exercise machine comprising; a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; and test means operatively connected to said user interface and said control means for measuring the strength of a user.
Claim 59
Dependent Claim
40 words
The exercise machine of claim 51 wherein said test means includes displacement means for measuring the displacement of said user interface and wherein said test means increases the torque output as a function of increasing displacement of said user interface.
Claim 60
Dependent Claim
24 words
The exercise machine of claim 52 wherein said test means generates a maximum strength signal when the displacement of said user interface has stopped.
Claim 61
Dependent Claim
113 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor in order to provide a user opposition force; user input means operatively connected to said control means for permitting a user to operate the machine; and stroke means operatively connected to said control means for permitting the user to set a maximum displacement point of said user interface of a series of repetitions, each having a forward stroke and a return stroke by moving said user interface during the first repetition of said series.
Claim 62
Dependent Claim
113 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor in order to provide a user opposition force; user input means operatively connected to said control means for permitting a user to operate the machine; and stroke means operatively connected to said control means for permitting the user to set a maximum displacement point of said user interface of a series of repetitions, each having a forward stroke and a return stroke by moving said user interface during the first repetition of said series.
Claim 63
Dependent Claim
47 words
The exercise machine of claim 54 wherein said control means includes a digital computer having a memory and said stroke means is effective to store in said memory a value representing the furthest displacement point of said user interface during said forward stroke of said first repetition.
Claim 64
Dependent Claim
38 words
The exercise machine of claim 55 wherein said stroke means is effective to store in said memory a value representing the displacement point of said user interface at the end of said return stroke of said first repetition.
Claim 65
Dependent Claim
39 words
The exercise machine of claim 56 wherein said control means applies a predetermined torque output to said user interface between said furthest displacement point during said forward stroke and said displacement point at said end of said return stroke.
Claim 66
Dependent Claim
35 words
The exercise machine of claim 57 wherein said stroke means responds to said user input means to move said user interface means from a rest position to a predetermined point prior to said first stroke.
Claim 67
Dependent Claim
85 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; user input means operatively connected to said control means for permitting the user to operate the exercise machine; and preposition means operatively connected to said control means for moving said user interface from a rest position to a preset position before initiation of an exercise program.
Claim 68
Dependent Claim
85 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; user input means operatively connected to said control means for permitting the user to operate the exercise machine; and preposition means operatively connected to said control means for moving said user interface from a rest position to a preset position before initiation of an exercise program.
Claim 69
Dependent Claim
40 words
The exercise machine of claim 59 wherein said control means includes a digital computer having a memory storing said preset position and said preposition means responds to said user input means to move said user interface to said preset positions.
Claim 70
Dependent Claim
30 words
The exercise machine of claim 60 wherein said control means controls said output torque so as to move said user interface to said preset position at a substantially constant velocity.
Claim 71
Dependent Claim
134 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor to generate a user opposition force; user input means operatively connected to said control means for generating and storing in said control means a strength curve including said user opposition forces measured during a selected portion of the displacement of said user interface wherein said control means moves said user interface at a constant rate during the selected portion of the displacement of said user interface during which said user opposition forces are measured; and exercise means operatively connected to said control means for controlling said torque output to functionally correspond to said strength curve.
Claim 72
Dependent Claim
134 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor to generate a user opposition force; user input means operatively connected to said control means for generating and storing in said control means a strength curve including said user opposition forces measured during a selected portion of the displacement of said user interface wherein said control means moves said user interface at a constant rate during the selected portion of the displacement of said user interface during which said user opposition forces are measured; and exercise means operatively connected to said control means for controlling said torque output to functionally correspond to said strength curve.
Claim 73
Dependent Claim
25 words
The exercise machine of claim 62 wherein said exercise means controls said torque output to equal a predetermined percentage below said measured user opposition force.
Claim 74
Dependent Claim
17 words
The exercise machine of claim 63 wherein said selected portions is a forward stroke of an exercise.
Claim 75
Dependent Claim
28 words
The exercise machine of claim 64 wherein said exercise means controls said torque output to functionally correspond to said strength curve during a forward stroke of an exercise.
Claim 76
Dependent Claim
26 words
The exercise machine of claim 64 additionally including display means operatively connected to said control means for providing a graphic display of said stored strength curves.
Claim 77
Dependent Claim
13 words
The exercise machine of claim 63 wherein said predetermined percentage is approximately 70%.
Claim 78
Dependent Claim
25 words
The exercise machine of claim 62 additionally including display means operatively connected to said control means for providing a graphic display of said stored strength.
Claim 79
Dependent Claim
134 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; user input means operatively connected to said control means for permitting the user to operate the exercise machine; a memory operatively connected to said control means storing a plurality of strength curves wherein said strength curves represent the maximum force that the user is able to exert against said user interface at each point of displacement of said user interface; customized strength exercise means operatively connected to said control means and responsive to said user input means for controlling said torque output to functionally correspond to one of said strength curves selected by the user.
Claim 80
Dependent Claim
134 words
An exercise machine comprising: a user interface; an electric motor; linkage means for mechanically connecting said user interface to said electric motor; control means operatively connected to said electric motor for controlling the torque output of said electric motor; user input means operatively connected to said control means for permitting the user to operate the exercise machine; a memory operatively connected to said control means storing a plurality of strength curves wherein said strength curves represent the maximum force that the user is able to exert against said user interface at each point of displacement of said user interface; customized strength exercise means operatively connected to said control means and responsive to said user input means for controlling said torque output to functionally correspond to one of said strength curves selected by the user.
Claim 81
Dependent Claim
36 words
The exercise machine of claim 69 wherein a first of said stored strength curves is generally representative of male strength curves and a second of said stored strength curves is generally representative of female strength curves.
Claim 82
Dependent Claim
22 words
The exercise machine of claim 70 wherein a third of said stored strength curves is generally representative of the user's strength curve.
Claim 83
Dependent Claim
20 words
The exercise machine of claim 70 wherein more than one of said stored strength curves relate to a single user.
Claim 84
Dependent Claim
26 words
The exercise machine of claim 69 additionally including display means operatively connected to said control means for providing a graphic display of said stored strength curves.
Claim 85
Dependent Claim
21 words
The exercise machine of claim 69 wherein said torque output is controlled to be a predetermined percentage below said maximum force.
Claim 86
Dependent Claim
151 words
In an exercise machine having a user interface engaged by a user to exert a force, means for exerting against the user a counterforce simulating a weight stack comprising: a D.C. motor providing a counterforce against the user, said D.C. motor imparting rotation to a shaft coupled to the user interface to transmit the counterforce provided by said D.C. motor; means for providing a force signal coupled to said D.C. motor to control the motor to provide said counterforce of a predetermined level; means for sensing the speed of the shaft to provide a shaft speed signal proportional thereto; inertia correction means responsive to said shaft speed signal for providing an inertia compensation signal to compensate for the inertia of said D.C. motor; and means for combining said force signal and said inertia compensation signal to provide a control signal coupled to said D.C. motor to control the counterforce exerted thereby.
Claim 87
Dependent Claim
151 words
In an exercise machine having a user interface engaged by a user to exert a force, means for exerting against the user a counterforce simulating a weight stack comprising: a D.C. motor providing a counterforce against the user, said D.C. motor imparting rotation to a shaft coupled to the user interface to transmit the counterforce provided by said D.C. motor; means for providing a force signal coupled to said D.C. motor to control the motor to provide said counterforce of a predetermined level; means for sensing the speed of the shaft to provide a shaft speed signal proportional thereto; inertia correction means responsive to said shaft speed signal for providing an inertia compensation signal to compensate for the inertia of said D.C. motor; and means for combining said force signal and said inertia compensation signal to provide a control signal coupled to said D.C. motor to control the counterforce exerted thereby.
Claim 88
Dependent Claim
37 words
The exercise machine of claim 75 wherein said inertia correction means includes means for differentiating said shaft speed signal and means for scaling said differentiated shaft speed signal by a constant to generate said inertia compensation signal.
Claim 89
Dependent Claim
60 words
The exercise machine of claim 75 further including friction correction means responsive to said shaft speed signal for providing a friction compensation signal to compensate for the friction of said D.C. motor, said friction compensation signal being combined by said combining means with said force signal and said inertia compensation signal to provide said control signal to said D.C. motor.
Claim 90
Dependent Claim
110 words
The exercise machine of claim 77 wherein said inertia correction means includes means for differentiating said shaft speed signal and means for scaling said differentiated shaft speed signal by a constant to generate said inertia compensation signal and said friction correction means includes means responsive to said shaft speed signal for sensing the direction of rotation of said shaft to provide a positive direction signal in response to sensed rotation of the shaft in a first direction and a negative direction signal in response to sensed rotation of the shaft in a second direction and means for scaling said direction signal by a constant to generate said friction compensation signal.
Claim 91
Dependent Claim
152 words
In an exercise machine having a user interface engaged by a user to exert a force, means for exerting against the user a counterforce simulating a weight stack comprising: a D.C. motor providing a counterforce against the user, said D.C. motor imparting rotation to a shaft coupled to the user interface to transmit the counterforce provided by said D.C. motor; means for providing a force signal coupled to said D.C. motor to control said D.C. motor to provide said counterforce of a predetermined level; means for sensing the speed of the shaft to provide a shaft speed signal proportional thereto; friction correction means responsive to said shaft speed signal for providing a friction compensation signal to compensate for the friction of said D.C. motor; and means for combining said force signal and said friction compensation signal to provide a control signal coupled to said D.C. motor to control the counterforce exerted thereby.
Claim 92
Dependent Claim
152 words
In an exercise machine having a user interface engaged by a user to exert a force, means for exerting against the user a counterforce simulating a weight stack comprising: a D.C. motor providing a counterforce against the user, said D.C. motor imparting rotation to a shaft coupled to the user interface to transmit the counterforce provided by said D.C. motor; means for providing a force signal coupled to said D.C. motor to control said D.C. motor to provide said counterforce of a predetermined level; means for sensing the speed of the shaft to provide a shaft speed signal proportional thereto; friction correction means responsive to said shaft speed signal for providing a friction compensation signal to compensate for the friction of said D.C. motor; and means for combining said force signal and said friction compensation signal to provide a control signal coupled to said D.C. motor to control the counterforce exerted thereby.
Claim 93
Dependent Claim
79 words
The exercise machine of claim 79 wherein said friction correction means includes means responsive to said shaft speed signal for sensing the direction of rotation of said shaft to provide a positive direction signal in response to sensed rotation of the shaft in a first direction and a negative direction signal in response to sensed rotation of the shaft in a second direction and means for scaling said direction signal by a constant to provide said friction compensation signal.
Claim 94
Dependent Claim
215 words
In an exercise machine having a user interface engaged by a user to exert a force, means for exerting against the user a counterforce simulating a weight stack comprising: a D.C. motor providing a counterforce against the user, said D.C. motor imparting rotation to a shaft coupled to the user interface to transmit the counterforce provided by said D.C. motor; user input means operable by the user to select the level of the counterforce; means coupled to said shaft for sensing the displacement of the user interface; programmable processing means responsive to said user input means and said displacement sensing means for providing a force signal coupled to said D.C. motor to control said D.C. motor to provide a predetermined counterforce; means for sensing the speed of the shaft to provide a shaft speed signal proportional thereto; inertia correction means responsive to said shaft speed signal for providing an inertia compensation signal to compensate for the inertia of said D.C. motor; means for combining said force signal and said inertia compensation signal to provide a control signal coupled to said D.C. motor to control the counterforce exerted thereby; and means responsive to said processing means for preventing said inertia compensation signal from being combined with said force signal near zero displacement of said user interface.
Claim 95
Dependent Claim
215 words
In an exercise machine having a user interface engaged by a user to exert a force, means for exerting against the user a counterforce simulating a weight stack comprising: a D.C. motor providing a counterforce against the user, said D.C. motor imparting rotation to a shaft coupled to the user interface to transmit the counterforce provided by said D.C. motor; user input means operable by the user to select the level of the counterforce; means coupled to said shaft for sensing the displacement of the user interface; programmable processing means responsive to said user input means and said displacement sensing means for providing a force signal coupled to said D.C. motor to control said D.C. motor to provide a predetermined counterforce; means for sensing the speed of the shaft to provide a shaft speed signal proportional thereto; inertia correction means responsive to said shaft speed signal for providing an inertia compensation signal to compensate for the inertia of said D.C. motor; means for combining said force signal and said inertia compensation signal to provide a control signal coupled to said D.C. motor to control the counterforce exerted thereby; and means responsive to said processing means for preventing said inertia compensation signal from being combined with said force signal near zero displacement of said user interface.
Claim 96
Dependent Claim
60 words
The exercise machine of claim 81 further including friction correction means responsive to said shaft speed signal for providing a friction compensation signal to compensate for the friction of said D.C. motor, said friction compensation signal being combined by said combining means with said force signal and said inertia compensation signal to provide said control signal to said D.C. motor.
Claim 97
Dependent Claim
189 words
In an exercise machine having a user interface engaged by a user to exert a force, means for exerting against the user a counterforce simulating a weight stack comprising: a D.C. motor providing a counterforce against the user, said D.C. motor imparting rotation to a shaft coupled to the user interface to transmit the counterforce provided by said D.C. motor; user input means operable by the user to select the level of the counterforce; means coupled to said shaft for sensing the displacement of the user interface; programmable processing means responsive to said user input means and said displacement sensing means for providing a force signal coupled to said D.C. motor to control said D.C. motor to provide a predetermined counterforce; means for sensing the speed of the shaft to provide a shaft speed signal proportional thereto; friction correction means responsive to said shaft speed signal for providing a friction compensation signal to compensate for the friction of said D.C. motor; and means for combining said force signal and said friction compensation signal to provide a control signal coupled to said D.C. motor to control the counterforce exerted thereby.
Claim 98
Dependent Claim
189 words
In an exercise machine having a user interface engaged by a user to exert a force, means for exerting against the user a counterforce simulating a weight stack comprising: a D.C. motor providing a counterforce against the user, said D.C. motor imparting rotation to a shaft coupled to the user interface to transmit the counterforce provided by said D.C. motor; user input means operable by the user to select the level of the counterforce; means coupled to said shaft for sensing the displacement of the user interface; programmable processing means responsive to said user input means and said displacement sensing means for providing a force signal coupled to said D.C. motor to control said D.C. motor to provide a predetermined counterforce; means for sensing the speed of the shaft to provide a shaft speed signal proportional thereto; friction correction means responsive to said shaft speed signal for providing a friction compensation signal to compensate for the friction of said D.C. motor; and means for combining said force signal and said friction compensation signal to provide a control signal coupled to said D.C. motor to control the counterforce exerted thereby.
Claim 99
Dependent Claim
224 words
In an exercise machine having a user interface engaged by a user to exert a force, means for exerting against the user a counterforce simulating a weight stack comprising: a D.C. motor coupled to the user interface for providing a counterforce against the user; input means operable by the user for selecting the level of difficulty of an exercise formed of a plurality of repetitions; programmable processing means responsive to said input means for controlling the amount of counterforce provided by said D.C. motor to provide said exercise formed of a progressive phase in which the counterforce is gradually increased from a starting level to a plateau level over a first group of repetitions followed by a plateau phase in which the counterforce is maintained constant at the plateau level over a second group of repetitions followed by a regressive phase in which the counterforce is gradually decreased from the plateau level to the starting level over a third group of repetitions wherein said processing means varies the magnitude of the plateau level counterforce and the number of different progressive level and regressive level repetitions in said exercise in response to the difficulty level selected such that as the level of difficulty increases, the magnitude of the plateau level counterforce and the number of different counterforces applied during the progressive and regressive levels increase.
Claim 100
Dependent Claim
224 words
In an exercise machine having a user interface engaged by a user to exert a force, means for exerting against the user a counterforce simulating a weight stack comprising: a D.C. motor coupled to the user interface for providing a counterforce against the user; input means operable by the user for selecting the level of difficulty of an exercise formed of a plurality of repetitions; programmable processing means responsive to said input means for controlling the amount of counterforce provided by said D.C. motor to provide said exercise formed of a progressive phase in which the counterforce is gradually increased from a starting level to a plateau level over a first group of repetitions followed by a plateau phase in which the counterforce is maintained constant at the plateau level over a second group of repetitions followed by a regressive phase in which the counterforce is gradually decreased from the plateau level to the starting level over a third group of repetitions wherein said processing means varies the magnitude of the plateau level counterforce and the number of different progressive level and regressive level repetitions in said exercise in response to the difficulty level selected such that as the level of difficulty increases, the magnitude of the plateau level counterforce and the number of different counterforces applied during the progressive and regressive levels increase.
Claim 101
Dependent Claim
42 words
The exercise machine of claim 84 wherein said processing means further varies the number of plateau level repetitions in said exercise in response to the difficulty level selected such that as the difficulty level increases, the number of plateau level repetitions decreases.
Claim 102
Dependent Claim
57 words
The exercise machine of claim 84 wherein said input means is operable by said user to select a maximum counterforce value and said processing means is responsive to the selected maximum counterforce value to increase the counterforce exerted against the user from said starting level of 50% of the selected maximum counterforce value during the progressive phase.
Claim 103
Dependent Claim
86 words
The exercise machine of claim 86 wherein said processing means is responsive to the selected maximum counterforce value and to the selected level of difficulty to provide said plateau level of approximately 70% of the selected maximum counterforce value during a low difficulty level exercise, to provide said plateau level of approximately 80% of the selected maximum counterforce value during an intermediate difficulty level exercise, and to provide said plateau level of approximately 90% of the selected maximum counterforce value during a high difficulty level exercise.
Claim 104
Dependent Claim
60 words
The exercise machine of claim 84 further including means for automatically measuring the maximum counterforce value which can be opposed by the user and wherein said processing means is responsive to the measured maximum counterforce value to increase the counterforce exerted against the user from said starting level of 50% of the measured maximum counterforce value during the progressive phase.
Claim 105
Dependent Claim
86 words
The exercise machine of claim 88 wherein said processing means is responsive to the measured maximum counterforce value and to the selected level of difficulty to provide said plateau level of approximately 70% of the measured maximum counterforce value during a low difficulty level exercise, to provide said plateau level of approximately 80% of the measured maximum counterforce value during an intermediate difficulty level exercise, and to provide said plateau level of approximately 90% of the measured maximum counterforce value during a high difficulty level exercise.
Claim 106
Dependent Claim
121 words
The exercise machine of claim 84 further including means for sensing the displacement of the user interface and wherein each repetition includes a forward stroke and a return stroke; said input means is operable by said user to select a maximum forward stroke counterforce and a maximum return stroke counterforce; and said processing means is responsive to the displacement sensing means and said selected maximum counterforce values to provide during the return stroke of each repetition said counterforce which is a given percentage of the selected forward stroke counterforce and to provide during the return stroke of each repetition a counterforce which increases the given percentage of the selected return stroke counterforce gradually over a given displacement of the user interface.
Claim 107
Dependent Claim
98 words
The exercise machine of claim 84 further including means for sensing the displacement of the user interface and means for measuring the maximum counterforce which can be opposed by the user, said processing means being responsive to the displacement sensing means and the measuring means for providing during the forward stroke of each repetition said counterforce with a first value which is a predetermined percentage of the measured maximum counterforce and during the return stroke of each repetition providing said counterforce with a second value which increases to 1.5 times said predetermined percentage of the measured maximum counterforce.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1994-06-03 | 1994-12-03 | 1995-06-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1998-06-03 | 1998-12-03 | 1999-06-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2002-06-03 | 2002-12-03 | 2003-06-04 | $7700.00 | Window Closed / Lapsed |