KR102455300B1 - Smart cable machine capable of individually controlling load of both arms - Google Patents

Abstract

The present disclosure relates to a smart cable machine. The smart cable machine comprises: a main body; a first handle to which the force of a user's left hand is applied; a second handle to which the force of the user's right hand is applied; a first series elastic actuator system that generates a load to be applied to the first handle and is disposed within the main body; a second series elastic actuator system that generates a load to be applied to the second handle and is disposed within the main body; a display configured to receive user input and output information related to exercise; and a controller configured to individually control a load generated by the first series elastic actuator system and a load generated by the second series elastic actuator system, and to control an operation of the display.

Description

Smart cable machine capable of individually controlling the load on both arms {SMART CABLE MACHINE CAPABLE OF INDIVIDUALLY CONTROLLING LOAD OF BOTH ARMS}

The present disclosure relates to a smart cable machine, and more particularly, to a smart cable machine capable of individually controlling a load applied to both arms.

Recently, as interest in health increases, interest in weight training is also increasing. In particular, along with the well-being craze and the fitness craze, aerobic exercise for reducing body fat as well as strength training are attracting attention.

Strength refers to the ability of a muscle to exert force. Strength training aims to increase the size of the muscle and increase the motor unit so that several muscle fibers can be mobilized for the exercise at the same time.

Exercise equipment for strength training can be broadly classified into three categories. The first is exercise using your body weight. Exercise using body weight is a basic form of exercise among strength exercises, and it is a strength exercise using one's own body weight without using a special weight tool. For example, exercises using body weight include squats, lunges, and push-ups. The second is exercise using machines. The exercise using a machine refers to an exercise using various machines, such as a weight machine, a Smith machine, and a cable machine. Exercises using machines may be suitable for beginners in strength training. Exercise using a machine is safer and more convenient than weight training, and has the advantage of isolating and training the relevant muscle group when the goal is to strengthen weak muscles. The third is free weight exercises. The free weight exercise may refer to strength training using, for example, dumbbells and barbells. Free weight exercise has the effect of strengthening muscles that cannot be trained through exercise using a machine.

However, the conventional cable machine has a problem in that it is impossible to control the resistance force during movement using physical resistance, or a large-capacity motor accompanied by noise is required to generate a large resistance force. Therefore, there is a need for an exercise device capable of solving these problems.

The present disclosure provides a smart cable machine capable of individually controlling the load applied to both arms using a ball screw and a motor in order to solve the above problems.

The present disclosure is a smart cable machine 20, including a main body 400, a first handle 212 to which the force of the user's left hand is applied, a second handle 214 to which the force of the user's right hand is applied, and a first handle ( 212), a first series elastic actuator system 220 disposed within the body 400, a second handle 214 to generate a load to be applied, and disposed within the body 400. A load generated by a second Series Elastic Actuator system 230 , a display 270 configured to receive user input, and output information related to movement, and a first Series Elastic Actuator system 220 . and a control unit 260 configured to individually control the load generated by the second series elastic actuator system 230 and to control the operation of the display 270 .

The first series elastic actuator system 220 according to the present disclosure includes a motor and an electric cylinder including a ball screw connected to the motor to convert the rotational force of the motor into a linear motion force, and the controller controls the rotation of the motor. and controlling the load generated by the first series elastic actuator system 220 .

The motor according to the present disclosure is a brake type motor, and when the motor does not rotate, it does not move even if the user pulls the first handle.

The first series elastic actuator system 220 according to the present disclosure includes a first bracket 510 fixed to the body, a second bracket 530 and a first bracket movably disposed below the first bracket 510 . It is disposed between the 510 and the second bracket 530, the user pulls the first handle 212 and the second bracket 530 and the electric cylinder are contracted when the second bracket 530 and the electric cylinder move in a direction away from the ground and the second bracket ( 530) and a first encoder sensor 540 configured to measure the degree of contraction of the spring as the electric cylinder moves, and includes a spring in contact with one side of the second bracket 530.

The first encoder sensor 540 according to the present disclosure includes a belt connected to the electric cylinder and a first sensor 720 for measuring the degree of contraction of the spring by detecting the movement of the belt.

The first encoder sensor 540 according to the present disclosure includes detecting a force that a user pulls on the first handle 212 by measuring the degree to which the spring is contracted.

In the present disclosure, the first force action connection part 242 that is fixedly connected to the nut 624 of the ball screw, and moves away from the ground as the user pulls the first handle 212, is fixed to the upper and lower side of the body. A cable having one side connected to the first handle 212 through the second force acting connection part 244 and the first force acting connection part 242 and the second force acting connection part 244 and the other side being fixed to the upper and lower side of the body further includes

The first forcing connection 242 according to the present disclosure includes at least one movable pulley, and the second forcing connection 244 includes at least one stationary pulley.

The control unit 260 according to the present disclosure receives a first user input associated with the magnitude of a load to be applied to the first handle 212 and the second handle 214 from the user, and receives the user input from the first encoder sensor 540 . is further configured to receive information related to a force for pulling the first handle (212), and to control rotation of the motor based on the first user input and the information related to the force with which the user pulls the first handle (212) do.

The control unit 260 according to the present disclosure does not rotate the motor when the user pulls the first handle 212 with a force smaller than the magnitude of the load to be applied to the first handle 212 and the second handle 214 . , when the user pulls the first handle 212 with a force greater than the magnitude of the load to be applied to the first handle 212 and the second handle 214, the nut 624 of the ball screw and the first force acting connection part ( 242 is further configured to control rotation of the motor to move away from the ground.

The control unit 260 according to the present disclosure controls the rotational speed of the motor based on a difference in the magnitude of the load to be applied to the first handle 212 and the second handle 214 and the force with which the user pulls the first handle 212 . further configured to determine.

The control unit 260 according to the present disclosure receives, from a user, a second user input associated with the viscous force, the elastic force, and the inertial force of the load generated by the first series elastic actuator system 220 , the first user input, the second user and further configured to control the first series resilient actuator system 220 based on the input, information related to the force with which the user pulls the first handle 212 .

The control unit 260 according to the present disclosure receives a third user input related to the exercise assistance mode from the user, and responds to determining that the user's current exercise speed has decreased by more than a predetermined first threshold value compared to the initial exercise speed to differently reduce the magnitude of the load to be applied to the first handle 212 and the second handle 214 according to the exercise assistance mode set according to the third user input.

The present disclosure further includes a detection sensor 280 for measuring a user's heart rate by using a camera sensor, and the controller 260 is configured such that the user's heart rate measured by the detection sensor 280 exceeds a preset heart rate input. and further configured to reduce the magnitude of the load to be applied to the first handle 212 and the second handle 214 by a predetermined amount or a predetermined ratio.

The control unit 260 according to the present disclosure, when the change value of the force that the user pulls the first handle 212 reaches a preset change value, the first handle 212 and the second handle 214 and being further configured to reduce the magnitude of the load to be imparted by a predetermined amount or a predetermined ratio.

The present disclosure further includes a second sensor configured to measure a distance at which the user pulls the first handle 212 , wherein the control unit 260 receives the user's initial exercise length from the second sensor, and based on the initial exercise length Calculating the exercise recognition distance, and when the user pulls the first handle beyond the exercise recognition distance, further configured to be recognized as a single exercise.

The control unit 260 according to the present disclosure, in response to receiving a fourth user input for executing the 1RM (Repetition Maximum) test from the user, a first handle ( 212) set all of the viscous force, elastic force, and inertia force of the load to be given to the lowest level, and calculate the user's 1RM value based on the size of the load to be applied to the first handle 212, the number of exercise of the user, and the 1RM estimation model And, includes being further configured to display the calculated user's 1RM value on the display (270).

1RM estimation model according to the present disclosure includes that calculated based on Equation 1.

(Formula 1)

는 제1 핸들에 부여될 부하의 크기,

은 사용자의 운동 횟수}{

is the magnitude of the load to be applied to the first handle,

is the number of workouts by the user}

The fourth user input according to the present disclosure includes information related to the user's weight and gender, and the magnitude of the load to be applied to the first handle 212 is determined based on the user's weight and gender.

The controller 260 according to the present disclosure calculates the size of a new load to be given to the handle on the basis of the calculated user's 1RM value and the 1RM estimation model when the number of workouts of the user exceeds a preset second threshold value, , Calculate the user's corrected 1RM value based on the calculated new load size, the user's new exercise number and 1RM estimation model, and further configured to display the calculated user's corrected 1RM value on the display 270 include

The control unit 260 according to the present disclosure is further configured to calculate the exercise skill level of the user based on the calculated user's 1RM value and the user's weight, and display the calculated exercise skill level of the user on the display 270 include being

The control unit 260 according to the present disclosure, in response to receiving the user's exercise goal, is further configured to determine the exercise routine based on the user's exercise goal, the calculated user's 1RM value, and the user's weight, the exercise routine includes the magnitude of the load to be applied to the first and second handles 212 and 214, the number of repetitions of the exercise per set, the number of sets, and the rest time between sets.

The second series elastic actuator system 230 according to the present disclosure includes a second encoder sensor configured to measure a force that a user pulls on the second handle 214 , and the control unit 260 includes the first encoder sensor 540 . Receive information related to the force of the user pulling the first handle 212 from the second encoder sensor and information related to the user pulling the second handle 214 from the second encoder sensor, and information related to the user pulling the first handle 214 . and outputting to the first area of the display 1040 , and outputting information related to the force of the user pulling the second handle to the second area of the display 1040 .

The control unit 260 according to the present disclosure may display a warning indication when a difference between the user pulling force of the first handle 212 and the force of pulling the second handle 214 exceeds a preset third threshold value. (22) is further configured to output.

The first area of the display 1040 according to the present disclosure displays the user's pulling force on the first handle as a bar graph, and the second area of the display 1040 displays the user's pulling force on the second handle as a bar graph. and displaying the first region and the second region in different colors when the difference between the force of the user pulling the first handle and the force of pulling the second handle exceeds the preset third threshold value. do.

According to some embodiments of the present disclosure, by providing the user with the magnitude of the force pulling the handle by both arms of the user in real time, the user can monitor the exercise state in real time and exercise with an appropriate amount of force for every exercise cycle. can

According to some embodiments of the present disclosure, the user may perform the exercise in an optimal posture according to the type of the exercise being performed.

According to some embodiments of the present disclosure, when the user applies different force to both arms, the user may receive a warning message related thereto in various forms to easily adjust the same force to be applied to both arms. Accordingly, it is possible to prevent the user's upper body from being unbalanced.

According to some embodiments of the present disclosure, various exercise programs suitable for the user's exercise purpose may be provided by combining various characteristics and strength of the load. Accordingly, it is possible to maximize the exercise effect of the user.

According to some embodiments of the present disclosure, since the amount of exercise load varies in real time in response to the user pulling the handle, the risk of an accident during exercise can be reduced.

According to some embodiments of the present disclosure, by including two series elastic actuator systems including a miniaturized motor and a ball screw, the weight and size can be significantly reduced compared to the existing cable machine, and when the user's exercise weight is changed, the weight and the like Injuries resulting from direct contact with

According to some embodiments of the present disclosure, it is possible to solve the noise problem of the existing cable machine and reduce power consumption due to the use of a large-capacity motor.

According to an embodiment of the present disclosure, the smart cable machine has features that can implement isotonic, isometric and isokinetic movements, so that it can be fully utilized not only in exercise but also in the field of rehabilitation.

According to an embodiment of the present disclosure, the smart cable machine has an integrated electric cylinder including a motor and a ball screw and does not require a separate device, so it is suitable for making various smart fitness exercise equipment.

According to an embodiment of the present disclosure, the smart cable machine can not only control the resistance force generated in real time, but also monitor the resistance exercise state of the user in real time.

According to an embodiment of the present disclosure, the smart cable machine can solve the problem of repeated shock and vibration occurring in the main body while the series elastic actuator system moves during force control in the series elastic actuator system.

The effect of the present disclosure is not limited to the above-mentioned effects, and other effects not mentioned are those of ordinary skill in the art to which the present disclosure belongs from the description of the claims (hereinafter referred to as 'person of ordinary skill') can be clearly understood by

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present disclosure will be described with reference to the accompanying drawings described below, wherein like reference numerals denote like elements, but are not limited thereto.
1 is a diagram illustrating an example of using a smart cable machine according to an embodiment of the present disclosure.
2 is a view showing a schematic conceptual diagram of a smart cable machine according to an embodiment of the present disclosure.
3A is a diagram illustrating a control method of a controller applied to a smart cable machine according to an embodiment of the present disclosure.
3B is a diagram illustrating a virtual support control method applied to a smart cable machine according to an embodiment of the present disclosure.
3C is a diagram illustrating a virtual support control graph for each sensitivity sensitivity applied to a smart cable machine according to an embodiment of the present disclosure.
3D is a diagram illustrating a force control region and a virtual support region applied to a smart cable machine according to an embodiment of the present disclosure.
4 is a design diagram of a smart cable machine according to an embodiment of the present disclosure.
5 is a perspective view illustrating a detailed configuration of a first series elastic actuator system according to an embodiment of the present disclosure.
6 is a perspective view illustrating a detailed configuration of a first electric cylinder according to an embodiment of the present disclosure.
7 is a view showing the movement of the first force acting connection portion and the first electric cylinder when the user pulls the first handle with a force greater than a set load according to an embodiment of the present disclosure.
8 is a block diagram illustrating a detailed configuration of a smart cable machine according to an embodiment of the present disclosure.
9 is a diagram illustrating an example of inputting information related to a user's exercise according to an embodiment of the present disclosure.
10 is a diagram illustrating an example of outputting information related to a user's exercise according to an embodiment of the present disclosure.
11 is a flowchart illustrating a method in which a controller provides information related to an appropriate load and exercise to a user according to an embodiment of the present disclosure.

Hereinafter, specific contents for carrying out the present disclosure will be described in detail with reference to the accompanying drawings. However, in the following description, if there is a risk of unnecessarily obscuring the gist of the present disclosure, detailed descriptions of well-known functions or configurations will be omitted.

In the accompanying drawings, identical or corresponding components are assigned the same reference numerals. In addition, in the description of the embodiments below, overlapping description of the same or corresponding components may be omitted. However, even if descriptions regarding components are omitted, it is not intended that such components are not included in any embodiment.

Advantages and features of the disclosed embodiments, and methods of achieving them, will become apparent with reference to the embodiments described below in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments allow the present disclosure to be complete, and those of ordinary skill in the art to which the present disclosure pertains. It is only provided to fully inform the person of the scope of the invention.

Terms used in this specification will be briefly described, and the disclosed embodiments will be described in detail. The terms used in the present specification have been selected as currently widely used general terms as possible while considering the functions in the present disclosure, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the terms used in the present disclosure should be defined based on the meaning of the term and the contents of the present disclosure, rather than the simple name of the term.

Expressions in the singular herein include plural expressions unless the context clearly dictates the singular. Also, the plural expression includes the singular expression unless the context clearly dictates the plural. In the entire specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

In addition, the term 'module' or 'unit' used in the specification means a software or hardware component, and 'module' or 'unit' performs certain roles.

However, 'module' or 'unit' is not meant to be limited to software or hardware. A 'module' or 'unit' may be configured to reside on an addressable storage medium or may be configured to reproduce one or more processors. Thus, as an example, a 'module' or 'unit' refers to components such as software components, object-oriented software components, class components and task components, processes, functions, properties, may include at least one of procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, database, data structures, tables, arrays or variables. Components and 'modules' or 'units' are the functions provided within are combined into a smaller number of components and 'modules' or 'units' or additional components and 'modules' or 'units' can be further separated.

According to an embodiment of the present disclosure, a 'module' or a 'unit' may be implemented with a processor and a memory. 'Processor' should be construed broadly to include general purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, and the like. In some contexts, a 'processor' may refer to an application specific semiconductor (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), or the like. 'Processor' refers to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors in combination with a DSP core, or any other such configurations. You may. Also, 'memory' should be construed broadly to include any electronic component capable of storing electronic information. 'Memory' means random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erase-programmable read-only memory (EPROM); may refer to various types of processor-readable media, such as electrically erasable PROM (EEPROM), flash memory, magnetic or optical data storage, registers, and the like. A memory is said to be in electronic communication with the processor if the processor is capable of reading information from and/or writing information to the memory. A memory integrated in the processor is in electronic communication with the processor.

Throughout this specification, the term 'on a network' or 'on a network' may refer to a state that is searchable or accessible through any electronic device capable of wired/wireless communication. For example, 'on a network' or 'on a network' may indicate a state in which any content stored in any device connected to any electronic device via wire or wirelessly and/or information related thereto can be searched for or accessed.

Prior to describing the embodiments of the present disclosure in detail, the upper side of a drawing may be referred to as "upper" or "upper side", and the lower side thereof as "lower" or "lower side" of the configuration shown in the drawing. In addition, in the drawings, the remaining portion between the upper and lower portions of the illustrated configuration or except for the upper and lower portions may be referred to as “side” or “side”.

In embodiments of the present disclosure, the left side of the drawing may be referred to as “left” or “left”, and the right side may be referred to as “right” or “right” of the configuration shown in the drawing. Relative terms such as “upper” and “upper” may be used to describe the relationship between the components shown in the drawings, and the present disclosure is not limited by such terms.

1 is a diagram illustrating an example of using a smart cable machine 20 according to an embodiment of the present disclosure. The smart cable machine 20 of the present disclosure includes a main body, a first handle to which the force of the user's 10 left hand is applied, a second handle to which the force of the user's 10 right hand is applied, and a load to be applied to the first handle. a first series resilient actuator system generating and disposed within the body, a second series resilient actuator system generating a load to be imparted to the second handle and disposed within the body, a display configured to receive user input and output information related to movement (22), a control unit configured to separately control the load generated by the first series elastic actuator system and the load generated by the second series elastic actuator system, and to control the operation of the display 22 . The user pulls the first handle and the second handle, and the first series elastic actuator system and the second series elastic actuator system of the smart cable machine 20 have the user's left and right arms pulling the first handle and the second handle, respectively. Loads can be created individually according to

In one embodiment, the display 22 may be configured to receive a user's input and output information related to the user's exercise. For example, the user may input a user input related to the size of the load, the viscous force of the load, the elastic force of the load, the inertial force of the load, the strength of the exercise assistance, the 1RM measurement mode entry, etc. on the display 22 . In addition, the user may input user information (height, gender, weight, etc.) related to the exercise to be performed. In one embodiment, the display 22 may be a touch screen capable of receiving user input and outputting information.

In one embodiment, the first Series Elastic Actuator system may be configured to sense when the user begins to pull the first handle and/or the force with which the user pulls the first handle. The first series elastic actuator system may include a motor and an electric cylinder including a ball screw connected to the motor to convert a rotational force of the motor into a linear motion force. Here, the motor may be a brake type motor. In the case of using the brake type motor, if the motor does not rotate, it does not move even if the user pulls the first handle.

In an embodiment, when the user pulls the first handle with a force greater than the set weight, the controller rotates the motor to move the first handle. The faster the motor rotates, the less the load the user feels when pulling the first handle, and the slower the motor rotates, the greater the load the user feels when pulling the first handle.

In one embodiment, the first series elastic actuator system includes a first bracket fixed to the body, a second bracket movably disposed below the first bracket, and disposed between the first bracket and the second bracket, so that the user 1 may include a first encoder sensor configured to measure a spring contracted when the second bracket and the electric cylinder move in a direction away from the ground by pulling the handle, and a first encoder sensor configured to measure a degree to which the spring contracts as the second bracket and the electric cylinder move have. At this time, the spring may be in contact with one side of the second bracket, and the electric cylinder may be in contact with the other side of the second bracket.

In one embodiment, the first encoder sensor may include a belt connected to the electric cylinder and a first sensor for measuring the degree of contraction of the spring by detecting the movement of the belt. The first encoder sensor may detect a force that the user pulls on the first handle by measuring the degree to which the spring is contracted.

In one embodiment, the smart cable machine is fixedly connected to the nut of the ball screw, the first force action connection part that moves away from the ground as the user pulls the first handle, the second force fixed to the upper and lower side of the body It may further include a cable having one side connected to the first handle through the action connection part and the first force action connection part and the second force action connection part, and the other side is fixed to the upper and lower side of the main body. The first forcing connection 242 may include at least one moving pulley, and the second forcing connection 244 may include at least one stationary pulley.

In one embodiment, the controller may control the load generated by the first series elastic actuator system by controlling the rotation of the motor.

In one embodiment, the control unit receives a first user input associated with the magnitude of a load to be applied to the first handle and the second handle from the user, and receives information related to a force that the user pulls on the first handle from the first encoder sensor. and control the rotation of the motor based on the first user input and information related to the force of the user pulling the first handle. Specifically, when the user pulls the first handle with a force smaller than the magnitude of the load to be applied to the first handle and the second handle, the control unit may not rotate the motor. In addition, when the user pulls the first handle with a force greater than the magnitude of the load to be applied to the first handle and the second handle, the control unit controls the motor so that the nut of the ball screw and the first force acting connection part move in a direction away from the ground. Rotation can be controlled. In addition, the control unit may determine the rotation speed of the motor based on a difference between the user's pulling force on the first handle and the magnitude of the load to be applied to the first handle and the second handle. For example, the controller may rotate the motor faster as the difference between the user's pulling force on the first handle and the magnitude of the load to be applied to the first handle and the second handle increases.

In one embodiment, the control unit 260 receives, from the user, a second user input associated with the viscous force, the elastic force, and the inertial force of the load generated by the first series elastic actuator system, the first user input, the second user input, the user may control the first series elastic actuator system based on the information related to the pulling force of the first handle.

In an embodiment, the controller may receive a third user input related to the exercise assistance mode from the user. In this case, in response to determining that the user's current exercise speed has decreased by more than a predetermined first threshold value compared to the initial exercise speed, the controller controls the first handle and the second exercise speed according to the exercise assistance mode set according to the third user input. It is possible to reduce the magnitude of the load to be imposed on the handle differently.

In one embodiment, the smart cable machine may include a first arm unit coupled to both sides of the main body and having a first handle at an end thereof and a second arm unit having a second handle. Here, the first arm unit may include a first arm coupled to the upper portion of the main body and rotatably provided in the lateral direction, and a second arm coupled to the outside of the first arm and rotatably provided in the vertical direction. . The second arm unit may be configured similarly to the first arm unit.

In one embodiment, the smart cable machine may further include a detection sensor for measuring the heart rate of the user using the camera sensor. In this case, when the heart rate of the user measured by the detection sensor exceeds the preset heart rate input, the control unit may reduce the size of the load to be applied to the first handle and the second handle by a predetermined amount or a predetermined ratio. have.

In one embodiment, when the change value of the force for pulling the first handle by the user reaches a preset change value, the control unit sets the size of the load to be applied to the first handle and the second handle to a predetermined size or a predetermined value. can be reduced by a percentage.

In one embodiment, the smart cable machine may include a second sensor configured to measure the distance at which the user pulls the first handle. In this case, the controller may receive the user's initial exercise length from the second sensor, and calculate the exercise recognition distance based on the initial exercise length. In addition, when the user pulls the first handle beyond the exercise recognition distance, the control unit may recognize it as one exercise.

In one embodiment, the control unit, in response to receiving a fourth user input for executing the 1RM (Repetition Maximum) test from the user, the viscous force of the load to be imparted to the first handle generated by the first series elastic actuator system; Both elastic and inertial forces can be set to the lowest level. And, the control unit may calculate the user's 1RM value based on the size of the load applied to the handle, the number of exercise of the user, and the 1RM estimation model, and display the calculated user's 1RM value on the display. Specifically, the 1RM estimation model may be calculated based on [Equation 1].

는 제1 핸들에 부여된 부하의 크기,

은 사용자의 운동 횟수}{

is the magnitude of the load applied to the first handle,

is the number of workouts by the user}

In an embodiment, the fourth user input may include information related to the user's weight and gender. In this case, the magnitude of the load applied to the first handle may be determined based on the user's weight and gender.

In one embodiment, when the number of workouts of the user exceeds a preset second threshold, the controller calculates the size of a new load to be given to the handle based on the calculated user's 1RM value and the 1RM estimation model, and calculates the calculated Based on the size of the new load, the number of new workouts of the user, and the 1RM estimation model, it is possible to calculate the user's corrected 1RM value. And, the control unit may display the calculated user's corrected 1RM value on the display.

In one embodiment, the controller may calculate the user's exercise skill level based on the calculated user's 1RM value and the user's weight, and display the calculated user's exercise skill level on the display.

In one embodiment, in response to receiving the user's exercise goal, the controller may determine the exercise routine based on the user's exercise goal, the calculated user's 1RM value, and the user's weight. Here, the exercise routine may include the magnitude of the load to be applied to the first and second handles, the number of repetitions of the exercise per set, the number of sets, and a rest time between sets.

In one embodiment, the second series resilient actuator system may include a second encoder sensor configured to measure the force with which the user pulls the second handle. The control unit receives information related to the force of the user pulling the first handle from the first encoder sensor and information related to the user pulling the second handle from the second encoder sensor, and information related to the user pulling the first handle. may be output to the first area of the display, and information related to the force of the user pulling the second handle may be output to the second area of the display. The second series elastic actuator system may be configured similarly to the first series elastic actuator system.

In an embodiment, the controller may output a warning indication to the display when the difference between the force of the user pulling the first handle and the force of pulling the second handle exceeds a preset third threshold value.

In an embodiment, the first area of the display may display a force that the user pulls on the first handle as a bar graph, and the second area of the display may display the force that the user pulls on the second handle as a bar graph. When the difference between the force of the user pulling the first handle and the force of pulling the second handle exceeds the preset third threshold value, the first region and the second region may be displayed in different colors.

2 is a schematic conceptual diagram of a cable machine according to an embodiment of the present disclosure. As shown, the smart cable machine includes a first handle 212 , a second handle 214 , a first cable 252 , a second cable 254 , a first series elastic actuator system 220 , a second series It may include an elastic actuator system 230 , first to fourth force action connections 242 , 244 , 246 , 248 , a control unit 260 , a display 270 , and a detection sensor 280 .

A first Series Elastic Actuator system 220 may generate a load acting on the first handle 212 . Specifically, the first series elastic actuator system 220 may include a first electric cylinder 224 including a motor and a ball screw and a first encoder sensor 222 under the control of the controller 260 . The ball screw can convert the rotational force of the motor into a linear motion force. Similarly, the second series resilient actuator system 230 can create a load acting on the second handle 214 . Specifically, the second series elastic actuator system 230 may include a second electric cylinder 234 including a motor and a ball screw and a second encoder sensor 232 under the control of the controller 260 . The first encoder sensor 222 and the second encoder sensor 232 may be configured to continuously/discontinuously sense a force at which the user pulls the first handle 212 and a force at which the user pulls the second handle 214, respectively. can

The controller 260 may separately control the load generated by the first series elastic actuator system 220 and the load generated by the second series elastic actuator system 230 . Also, the controller 260 may control the operation of the display 270 .

The first force action connection part 242 is fixedly connected to the nut of the ball screw included in the first series elastic actuator system 220 , and may move away from the ground as the user pulls the first handle 212 . . The first force acting connection 242 may include at least one movable pulley. The second force acting connection portion 244 is fixed to the upper and lower side of the body, and may include at least one fixed pulley. One side of the first cable 252 may be connected to the first handle 212 through the first force acting connection part 242 and the second force acting connection part 244 , and the other side may be fixed to the upper and lower side of the main body. As the user pulls the first handle 212 , the first cable 252 is pulled, and accordingly, the first force acting connection part 242 moves while the ball screw included in the first series elastic actuator system 220 is moved. The nut can be moved.

Similarly, the third force acting connection portion 246 is fixedly connected to a nut of a ball screw included in the second series elastic actuator system 230, and is directed away from the ground as the user pulls the second handle 214 . can move The third force acting connection 246 may include at least one movable pulley. The fourth force action connection 248 is fixed to the upper and lower side of the body, and may include at least one fixed pulley. The second cable 254 may have one end connected to the second handle 214 through the third force action connection part 246 and the fourth force action connection part 248 , and the other end may be fixed to the upper and lower side of the main body. As the user pulls the second handle 214 , the second cable 254 is pulled, and accordingly, the third force action connection 262 moves while the ball screw included in the second series elastic actuator system 230 is moved. The nut can be moved.

The control unit 260 may be configured in various forms in the form of an electric circuit, a circuit board, an integrated circuit chip, software, firmware, etc. in order to perform arithmetic processing, storage and control functions, etc. Cause the first series elastic actuator system 220 to generate a load based on the relevant information. Specifically, the control unit 260 calculates the force that the user pulls the first handle using the first encoder sensor 222 included in the first series elastic actuator system 220, and based on the calculated force, the first Let the series elastic actuator system 220 generate the load. At this time, the load generated by the first series elastic actuator system 220 acts on the first handle 212 . Control 260 causes load generated by second series resilient actuator system 220 to act on second handle 214 in a similar manner.

The control unit 260 may be provided with a display 270 including a touch panel, a keypad, a keyboard, and the like, and accordingly, a user can select and set an appropriate operation mode according to an exercise plan using the display 270 . In this case, the control operation may be finely adjusted by inputting additional control factors in each operation mode. Also, the display 270 may be provided in the controller 260 as described above, but the present invention is not limited thereto. That is, the display 270 in the present invention may be provided in other components other than the control unit 260, for example, may be provided in a main body to be described later.

And the display 270 is configured exclusively for the smart cable machine, but the present invention is not limited thereto. In one embodiment, the display 270 may be implemented in the form of software installed in a device such as a mobile phone or tablet possessed by the user. In this case, the user may drive software implemented in a device such as a mobile phone or tablet, and input a command to the control unit 260 by wire/wireless using a wired communication unit or a wireless communication unit of the device such as a mobile phone or tablet.

In the storage device (memory) of the control unit 260, control models according to various operation modes may be stored in advance, and the user sets the operation mode and the control model with the display 270, and performs detailed control of each operation mode. The first series elastic actuator system 220 and the second series elastic actuator system 230 can be appropriately controlled by additionally inputting values of the factors.

In an embodiment, the user may input various inputs to the controller 260 through the display 270 . Accordingly, the control unit 260 receives the user's input value, calculates, and then causes the first series elastic actuator system 220 and the second series elastic actuator system 230 to generate a load according to a pre-stored control model. When the user starts pulling the first handle 212 , the kinetic force applied by the user is transmitted to the first series elastic actuator system 220 via the first force acting connection part 242 and the second force acting connection part 244 . do. At this time, the first encoder sensor 222 included in the first series elastic actuator system 220 measures the force that the user pulls on the first handle 212 , and transmits the measurement result to the control unit 260 . The control unit 260 may control the rotation of the motor of the first electric cylinder 224 included in the first series elastic actuator system 220 based on the received information. The control unit 260 also controls the second series elastic actuator system 230 in a similar manner.

The detection sensor 280 includes a camera sensor for measuring the user's heart rate and a second sensor for measuring the user's exercise length. The detection sensor 280, for example, measures the user's heart rate using a camera sensor, and the control unit 260, when the user's heart rate measured by the detection sensor 280 exceeds a preset heart rate, The first handle 212 and the second handle 214 may be configured to reduce the magnitude of the load by a predetermined amount or a predetermined ratio. Also, the controller 260 may receive the user's initial exercise length from the second sensor, and calculate the exercise recognition distance based on the initial exercise length. In this case, when the user pulls the first handle 212 beyond the exercise recognition distance, the control unit 260 may recognize it as one exercise.

3A is a diagram illustrating a control method of a controller applied to a smart cable machine according to an embodiment of the present disclosure. The control unit of the smart cable machine includes a torque controller T(s), a virtual support V(s) and a torque controller acting on the first series elastic actuator system and the first series elastic actuator system using the first encoder sensor and the second encoder sensor. Calculate the mutual force Fh. The mutual force Fh may be expressed by an equation using the displacement value of the spring as a variable, and the control unit calculates the mutual force Fh based on the equation.

In addition, the control unit sets an admittance model based on the torque controller T(s), the virtual support V(s), and the calculated Fh. As shown in Equation 2 below, the admittance model I(s) may be established including a plurality of factors. That is, the admittance model I(s) is established using virtual impedance factors M, C, and K. The values of M, C, and K are predefined according to the control model, or values of M, C, and K The user may input at least one of them to the control unit through the display. The control unit controls the first series elastic actuator system and the second series elastic actuator system to generate an appropriate exercise load according to the values of the specified or input factors.

In [Equation 2], the M factor means an imaginary mass, and when the value is increased, the effect on the inertial force increases. The factor C means virtual damping, and when the value is increased, the effect on the viscous force increases. The K factor means an imaginary spring, and when the value is increased, the effect on the elastic force increases.

The control unit may perform the control operation shown in FIG. 3A using the admittance model I(s) of [Equation 2]. During force control in the existing series elastic actuator system, repeated shock and vibration problems occurred in the body as the series elastic actuator system moved, resulting in an error in the control input. Accordingly, the control unit of the smart cable machine according to an embodiment of the present disclosure sets an admittance model based on the torque controller T(s), the virtual support V(s), and the calculated Fh. Specifically, the control unit speed-controls the muscle strength exercise system G(s) using the speed controller C(s), and in that state, the torque controller T(s), the virtual support V(s), and the spring constant Ks Based on the mutual force Fh, the admittance model I(s) is established, and the first series elastic actuator system and the second series elastic actuator system are driven to generate an appropriate load. In this case, the generated load may act in relation to each of the inertial force, the viscous force, and the elastic force, and may act in relation to a combined force of at least two or more of the inertial force, the viscous force, and the elastic force.

3B is a diagram illustrating a virtual support control method applied to a smart cable machine according to an embodiment of the present disclosure. FIG. 3B is a detailed view of a part of FIG. 3A . In one embodiment, the virtual support control is a control to compensate for the problem of repeated shock and vibration in the body while the series elastic actuator system is in motion during force control in the existing series elastic actuator system, and the present disclosure relates to the location of the series elastic actuator system The virtual support control is arranged at regular intervals between the first series elastic actuator system and the first force acting connection part, and the force is increased in proportion to the displacement of the first force acting connection part and then the force is controlled when it enters the force control area. starts

The virtual support control performs control based on the position of the first force action connection part, and the point reaching the force control area can be adjusted based on the sensitivity sensitivity, which will be described later with reference to FIGS. 3C and 3D .

As shown in FIG. 3B , in the virtual support control method, the virtual support controller 310 feeds back the measurement value of the position change of the first force acting connection part, and calculates the sensitivity sensitivity. At this time, when the force command is lower than the target force, the force command increases up to the target force, and when the target force point is exceeded, the same force command is input to the virtual support controller 310 .

The virtual support controller 310 transmits the input force command to the control unit of the smart cable machine, and the control unit of the smart cable machine adjusts the admittance based on the torque controller T(s), the virtual support V(s) and the calculated Fh. Set up the Admittance Model. As shown in [Equation 2], the admittance model I(s) may be established including a plurality of factors. That is, the admittance model I(s) is established using virtual impedance factors M, C, and K. The values of M, C, and K are predefined according to the control model, or values of M, C, and K The user may input at least one of them to the control unit through the display. The control unit controls the first series elastic actuator system and the second series elastic actuator system to generate an appropriate exercise load according to the values of the specified or input factors.

In [Equation 2], the M factor means an imaginary mass, and when the value is increased, the effect on the inertial force increases. The factor C means virtual damping, and when the value is increased, the effect on the viscous force increases. The K factor means an imaginary spring, and when the value is increased, the effect on the elastic force increases.

The control unit may perform the control action of the force controller 320 using the admittance model I(s) of [Equation 2].

Sensitivity determines the slope to the target force point. The lower the sensitivity, the lower the slope to the target force, and the displacement of the first force action connection reaching the target force increases. As the sensitivity increases, the slope toward the target force increases, thereby reducing the displacement of the first force acting connection toward the target force.

3C is a diagram illustrating a virtual support control graph for each sensitivity sensitivity applied to a smart cable machine according to an embodiment of the present disclosure. As shown, in the virtual support control graph for each sensitivity sensitivity, the x-axis represents the load displacement and the y-axis represents the force command. z represents the force control region. Sensitivity determines the slope to the force control region (z).

In one embodiment, the slope of the graph c is relatively low and the sensitivity is the lowest, the displacement of the first force action connection to reach the force control region z is the largest, and the sensitivity is in the order of graph b and graph a high and quickly reach the force control region (z).

3D is a diagram illustrating a force control region and a virtual support region applied to a smart cable machine according to an embodiment of the present disclosure. As shown, the first series elastic actuator system 220 and the first force acting connection part 242 of the smart cable machine are arranged at regular intervals, and the virtual support control is performed between the first series elastic actuator system and the first force acting connection part. Occurs in the virtual support region 330 formed at regular intervals in the .

The virtual support control is performed based on the position of the first force action connection part, and the point reaching the force control area 330 may be adjusted based on the sensitivity sensitivity. Accordingly, it has the effect of solving the problem of repeated shock and vibration occurring in the main body while the series elastic actuator system moves during force control in the series elastic actuator system.

4 is a perspective view of a smart cable machine according to an embodiment of the present disclosure; As shown in FIG. 4 , the smart cable machine has a main body 400 , a first series elastic actuator system 410 , a second series elastic actuator system 420 , a first force action connection 432 , and a second force action. Connection part 434, third force action connection part 436, fourth force action connection part 438, first arm unit 440, second arm unit 450, first cable 460, second cable ( 470) and a control unit 480.

The first series elastic actuator system 410 is configured to generate a load to be applied to the first handle (not shown) under the control of the controller 480 , and may be disposed in the body. The first force acting connection portion 432 is configured to move away from the ground as the user pulls the first handle, and may include two movable pulleys as shown. An operation of moving the first force acting connection part 432 away from the ground as the user pulls the first handle will be described later with reference to FIG. 7 . The number of the movable pulleys in the first force acting connection part 432 is not limited to two, and any number of movable pulleys may be disposed as needed. By using at least one movable pulley, it is possible to secure sufficient maximum movement distance for the user to pull the handle while reducing the volume of the smart cable machine.

The second force action connection part 434 is fixed to the upper and lower side of the main body 400, and may include two fixed pulleys. The number of fixed pulleys in the second force acting connection portion 434 is not limited to two, and any number of fixed pulleys may be disposed as needed. The first cable 460 may have one end connected to the first handle (not shown) through the first force action connection part 432 and the second force action connection part 434 , and the other end may be fixed to the upper and lower side of the main body. .

The first arm unit 440 may be coupled to one side of the body 400 and a first handle may be provided at an end thereof. The first arm unit 440 includes a first arm 442 coupled to the upper portion of the main body and rotatably provided in the lateral direction, and a first arm 442 coupled to the outside of the first arm 442 and rotatably provided in the vertical direction. 2 arms 444 . As such, fixing means for fixing the first arm 442 rotatable in the lateral direction and the second arm 444 rotatable in the vertical direction may be provided. The fixing means may be, for example, an elastic pin resiliently protruding to pass through the rotated first arm 442 or the second arm 444 . Accordingly, the user may perform strength exercise by rotating the first arm 442 and the second arm 444 by a predetermined angle and then fixing the first arm 442 and the second arm 444 according to a body part to improve muscle strength or an exercise method.

The second series elastic actuator system 420 may be configured the same/similar to the first series elastic actuator system 410 . The third forcing connection 436 and the fourth forcing connection 438 may be configured the same as/similar to the first forcing connection 432 and the second forcing connection 434 , respectively. The second arm unit 450 may be configured the same as/similar to the first arm unit 440 . The second cable 470 may be configured the same as/similar to the first cable 460 .

The control unit 480 may separately control the load generated by the first series elastic actuator system 410 and the load generated by the second series elastic actuator system 420 . Also, the controller 480 may control the operation of the display (not shown). For example, the control unit 480 receives a first user input associated with a magnitude of a load to be applied to the first handle and the second handle from a user, and based on the first user input, the first series elastic actuator system ( The load generated by 410 and the second series elastic actuator system 420 can be controlled. In addition, the control unit 480 receives a second user input associated with the viscous force, the elastic force and the inertial force of the load generated by the first series elastic actuator system 410 and the second series elastic actuator system 420 from the user, The first series elastic actuator system 410 and the second series elastic actuator system 420 may be controlled based on the first user input and the second user input.

5 is a perspective view showing a detailed configuration of the first series elastic actuator system 410 according to an embodiment of the present disclosure. As shown, the first series elastic actuator system 410 includes a first bracket 510 , a first spring 520 , a second bracket 530 , a first encoder sensor 540 and a first electric cylinder 550 . ) may be included.

The first bracket 510 may be fixed to the body and may include a hollow through which the nut of the ball screw of the first electric cylinder 550 may pass. The second bracket 530 may be movably disposed below the first bracket 510 . The second bracket 530 may also include a hollow through which the nut of the ball screw of the first electric cylinder 550 can pass. The first spring 520 may be disposed between the first bracket 510 and the second bracket 530 . At this time, the first spring 520 may be in contact with one side of the second bracket 530 , and the first electric cylinder 550 may be in contact with the other side of the second bracket. The first spring 520 may contract when the user pulls the first handle to move the second bracket 530 and the first electric cylinder 550 away from the ground.

The first electric cylinder 550 may include a first electric cylinder 550 including a first motor and a first ball screw connected to the first motor to convert the rotational force of the first motor into a linear motion force. The controller 480 may control the load generated by the first series elastic actuator system 410 by controlling the rotation of the first motor. The nut of the first ball screw is fixedly connected to the lower end of the first force action connection part 432 , and may move in a direction away from the ground as the user pulls the first handle.

The first encoder sensor 540 may be configured to measure the degree of contraction of the first spring 520 as the second bracket 530 and the first electric cylinder 550 move. The first encoder sensor 540 may sense the force of the user pulling the first handle by measuring the degree to which the first spring 520 is contracted. A detailed configuration of the first encoder sensor 540 will be described later with reference to FIG. 7 .

When the user starts pulling the first handle, since the first bracket 510 is fixed and does not move, the first spring 520 is contracted and the body of the first electric cylinder 550 is momentarily raised finely upward. return At this time, the first encoder sensor 540 connected to the side of the electric cylinder body may detect the movement of the first electric cylinder 550 . The degree of contraction of the first spring 520 may be different depending on the difference in the force of the user pulling the first handle, and this is measured by the first encoder sensor 540 sensing the movement of the first electric cylinder 550 . and, based on this, the controller 480 may control the rotation of the first motor.

Specifically, the controller 480 may receive a first user input associated with the magnitude of a load to be applied to the first handle and the second handle from the user. Then, the control unit 480 receives information related to the force of the user pulling the first handle from the first encoder sensor 540, and based on the first user input and the information related to the force pulling the first handle by the user, The rotation of the first motor may be controlled.

The second series elastic actuator system 420 for generating a load to be imparted to the second handle may be configured the same/similar to the first series elastic actuator system 410 .

6 is a perspective view showing a detailed configuration of the first electric cylinder 550 according to an embodiment of the present disclosure. As illustrated, the first electric cylinder 550 may include a first motor 610 and a first ball screw 620 . The first ball screw 620 may include a first shaft 622 and a first nut 624 .

In an embodiment, the first shaft 622 is connected to the first motor 610 , and the first ball screw 620 may convert the rotational force of the first motor 610 into a linear motion force. For example, when the first motor 610 rotates in a first direction, the first nut 624 moves upward, and when the first motor 610 rotates in a second direction opposite to the first direction, the first nut 624 is rotated in a second direction opposite to the first direction. (624) can move down. As the first motor 610 rotates faster, the first nut 624 may move faster, and as the first motor 610 rotates slowly, the first nut 624 may move slowly. The first nut 624 may function as a rod.

In one embodiment, the first motor 610 may be a brake type motor. In this case, when the first motor 610 does not rotate, even if the user pulls the first handle, the first nut 624 does not move, so the first handle may not move. On the other hand, when the first motor 610 rotates, the first nut 624 moves so that the user can move the first handle.

As described above, the control unit controls the rotation of the first motor 610 based on a first user input related to the magnitude of a load to be applied to the first handle and the second handle and information related to a force that the user pulls on the first handle. can be controlled Specifically, when the user pulls the first handle with a force smaller than the magnitude of the load to be applied to the first handle and the second handle, the control unit may not rotate the motor. Accordingly, when the user pulls the first handle with a force smaller than the magnitude of the load to be applied to the first handle and the second handle, the first handle may not move. On the other hand, when the user pulls the first handle with a force greater than the magnitude of the load to be applied to the first handle and the second handle, the controller controls the first nut 624 and the first nut 624 of the first ball screw 620 . ) and the first force action connection part fixedly connected to the ground may control the rotation of the first motor 610 to move in a direction away from the ground. Accordingly, when the user pulls the first handle with a force greater than the magnitude of the load to be applied to the first handle and the second handle, the first nut 624 and the first force acting connection part fixedly connected to the first nut 624 are The user may pull the first handle while moving in a direction away from the ground.

In an embodiment, the controller may determine the rotation speed of the first motor 610 based on a difference between a user's pulling force on the first handle and a magnitude of a load to be applied to the first handle and the second handle. Specifically, as the difference between the user's pulling force on the first handle and the magnitude of the load to be applied to the first handle and the second handle increases, the control unit rapidly controls the rotation speed of the first motor 610 , so that the weight is greater than the weight set by the user. The more force you pull, the easier the handle can move. As a result, the control unit controls the movement speed of the first nut 624 by controlling the rotation of the first motor 610 in real time according to the force of the user pulling the handle, so that exercise using a cable machine using a weight plate is different. It can provide a similar user experience.

The second electric cylinder included in the second series elastic actuator system may be configured the same as/similar to the first electric cylinder 550 .

7 is a view showing the movement of the first force acting connection portion 432 and the first electric cylinder when the user pulls the first handle with a force greater than a set load according to an embodiment of the present disclosure. As shown, the first encoder sensor 540 may include a belt 710 and a first sensor 720 connected to the first electric cylinder (specifically, the ball screw 620 of the first electric cylinder). . The first sensor 720 detects the movement of the first electric cylinder by detecting the movement of the belt 710, and includes a first sensor 720 for measuring the degree of contraction of the first spring 520 based thereon can do. That is, the first encoder sensor 540 may sense the force of the user pulling the first handle by measuring the degree to which the first spring 520 is contracted.

When the user starts pulling the first handle, the first bracket 510 is fixed and does not move, so that the first spring 520 is contracted and the first ball screw 620 (or the first electric cylinder body) is momentarily, it rises slightly upwards. At this time, the belt 710 connected to the first ball screw 620 (or the first electric cylinder body) moves together with the first ball screw 620 , and the first sensor 720 moves the belt 710 . The degree of contraction of the first spring 520 may be measured by detecting the movement of the . The degree of contraction of the first spring 520 may be different depending on the difference in the force of the user pulling the first handle, and this is measured by the first sensor 720 sensing the movement of the belt 710, and the controller Based on this, the rotation of the first motor may be controlled.

As the user pulls the first handle harder than the set load, the control unit controls the rotation of the first motor, and the nut 624 and the first force action connection part 432 fixedly connected to the nut 624 are in a direction away from the ground (in the direction of the arrow in FIG. 7). Accordingly, the user can pull the first handle in a direction close to the body.

The second encoder sensor included in the second series elastic actuator system may be configured the same/similar to the first encoder sensor 540 .

8 is a block diagram illustrating a detailed configuration of a smart cable machine according to an embodiment of the present disclosure. As shown, the smart cable machine is an input/output device 810, a communication device 820, a control unit 830, a first series elastic actuator system 842 (SEA, Series Elastic Actuator System), a second series elastic actuator system 844 ( Series Elastic Actuator System, SEA), a first connection portion 852 , a second connection portion 854 , a first handle 862 , and a second handle 864 .

The input/output device 810 may include a display 812 and a detection sensor 814 . The input/output device 810 may be configured to transmit operation data/real-time location data of the display 812 and the detection sensor 814 to the controller 830 . In addition, the input/output device 810 may include a touch panel, a keypad, a keyboard, and the like. A user may select and set an appropriate operation mode according to an exercise plan by using the input/output device 810 . In this case, the control operation may be finely adjusted by inputting additional control factors in each operation mode. The input/output device 810 may be connected to communicate with the controller 830 .

The detection sensor 814 may include a sensor capable of measuring a body state of the user and a second sensor configured to measure a distance at which the user pulls the first handle 862 and/or the second handle 864 . The sensor capable of measuring the user's physical state may measure the user's heart rate, body temperature, etc., for example, and may include a camera sensor, an infrared sensor, and the like.

The communication device 820 may be configured to transmit/receive various information (eg, user information and exercise information data) to and from the controller 830 . Additionally, the communication device 820 may provide a configuration or function for communicating with the user's mobile phone, tablet, or other system (eg, a separate cloud system, etc.) through a network.

The controller 830 may include a driving force controller 832 , an exercise force controller 834 , and a content controller 836 . The controller 830 may be configured to control the entire algorithm related to exercise in real time. The control unit 830 may be configured in various forms such as an electric circuit, a circuit board, an integrated circuit chip, software, firmware, and the like to perform arithmetic processing, storage, and control functions.

The control unit 830 controls the first series elastic actuator system 842 and the second series elastic actuator system 844 on the basis of the user pulling the first handle force and the user pulling the second handle, respectively detected by the first The rotation of the first motor of the series elastic actuator system 842 and the second motor of the second series elastic actuator system 844 may be controlled. With this configuration, the controller 830 may generate/control the load felt by the user on the left arm and the right arm, respectively. Specifically, the control unit 830 uses a change in displacement of the first spring included in the first series elastic actuator system 842 and a change in displacement of the second spring included in the second series elastic actuator system 844 to generate kinetic force and By calculating the mutual force by the driving force, and controlling the rotation of the first motor and the second motor based on the calculated force, the load to be applied to the user's left arm and right arm may be individually generated/controlled.

In the storage device (memory) of the controller 830, control models according to various operation modes may be stored in advance. The user may set the operation mode and the control model with the input/output device 810 and additionally input values of factors for detailed control of each operation mode. The controller 830 may control the operations of the first series elastic actuator system 842 and the second series elastic actuator system 844 according to a user input. In one embodiment, the user may prepare an exercise plan in advance with advice from an exercise instructor, etc., set an operation mode accordingly, and input a command to the control unit 830 through the input/output device 810 . In this case, the user may determine whether to perform the basic type of the set operation mode as it is, or whether to further adjust the set operation mode in detail. When the set operation mode is further adjusted in detail, the user may additionally input values of related factors into the controller 830 .

Accordingly, the driving force control unit 832 may receive a user's input value, calculate it, and then control the rotation of the motor according to a pre-stored control model to generate a load. At this time, the result of change in displacement of the first spring included in the first series elastic actuator system 842 and the result of change in displacement of the second spring included in the second series elastic actuator system 844 are transmitted to the driving force control unit 832 . can be Accordingly, the driving force control unit 832 calculates the mutual force Fh acting on the first series elastic actuator system 842 by using the displacement of the first spring. Similarly, the driving force control unit 832 uses the displacement of the second spring to calculate the mutual force Fh acting on the second series elastic actuator system 844 . The mutual force Fh may be expressed by [Equation 2], and the driving force control unit 832 calculates the mutual force Fh based on the equation.

In addition, the exercise force control unit 834 sets an admittance model based on the calculated Fh. As shown in [Equation 2] above, the admittance model I(s) may be established including a plurality of factors. That is, the admittance model I(s) is established using virtual impedance factors M, C, and K. The values of M, C, and K are predefined according to the control model, or values of M, C, and K The user may input at least one of them to the exercise force control unit 834 through the input/output device 810 . The motion force control unit 834 may control the first series elastic actuator system 842 and the second series elastic actuator system 844 to generate an appropriate exercise load according to the values of the specified or input factors.

Specifically, the motion force control unit 834 sets the admittance model I(s) based on the mutual force Fh, and controls the rotation of the motor to generate an appropriate load. In this case, the generated load may act in relation to each of the inertial force, the viscous force, and the elastic force, and may act in relation to the combined force of at least two of the inertial force, the viscous force, and the elastic force.

In an embodiment, when the heart rate of the user measured through the detection sensor 814 exceeds a preset heart rate input, the content control unit 836 determines the size of the load to be applied to the first handle and the second handle in advance. By reducing the size or by a predetermined ratio, it is possible to prevent injury to the user in advance. For example, when the heart rate measured by the detection sensor exceeds a preset heart rate (limit heart rate), the content control unit 836 controls the load to be applied to the first handle 862 and the second handle 864 . The size can be limited to a predetermined size or less than a predetermined ratio. In this case, the limited magnitude of the load to be applied to the first handle 862 and the second handle 864 may be greater than zero. Herein, the set heart rate and the first set value may be stored by a user inputting in advance through the input/output device 810 .

In addition, the content control unit 836 calculates a change value of the force that the user pulls on the first handle 862 and/or the second handle 864 , and the change value of the force reaches a preset change value inputted in advance. Then, by reducing the magnitude of the load to be applied to the first handle 862 and the second handle 864 by a predetermined size or a predetermined ratio, it is possible to prevent injury to the user in advance. In this case, the reduced magnitude of the load to be applied to the first handle 862 and the second handle 864 may be greater than zero.

In addition, the content control unit 836 may measure the maximum load value (1RM) that the user can perform one exercise. This will be described later with reference to FIG. 9 . Additionally, the content controller 836 may determine whether to recognize the user's one-time exercise based on a distance at which the user pulls the first handle 862 and the second handle 864 . Specifically, a distance at which the user pulls the first handle 862 and the second handle 864 is received from the second sensor, and the content controller 836 may determine the user's exercise recognition distance. For example, the content controller 836 may calculate the exercise recognition distance by 80% of the initial exercise length when the user first exercises. In addition, when the user pulls the first handle 862 and/or the second handle 864 beyond the exercise recognition distance, the content control unit 836 may recognize it as one exercise. The control unit 830 may display on the display 812 whether the user pulls the handle by a distance equal to or greater than the exercise recognition distance for every exercise number as visual data such as a graph.

Also, the content controller 836 may receive an image including a person object from the detection sensor 814 and extract skeletal information of the person object. In addition, the content controller 836 may display feedback related to exercise posture correction on the display based on the skeletal information. That is, the content control unit 836 compares the user motion recognition data (skeletal information, etc.) and the digitization information with the reference motion stored in the DB, analyzes the accuracy and similarity of the user's motion motion, and provides the user with a guide related to the motion motion. can provide For example, whether the user is exercising with a correct posture or if the user is exercising with an incorrect posture, feedback for correcting an exercise posture may be provided. In addition, the content control unit 836 may display the reference motion image stored in the DB on the display, so that a user with low skill level can easily learn the exercise.

The first series elastic actuator system 842 may include a first motor and a first electric cylinder including a first ball screw connected to the first motor to convert the rotational force of the first motor into a linear motion force. The first motor of the first electric cylinder generates a load to be applied to the entire first series elastic actuator system 842 , and may be configured to operate under the control of the controller 830 . According to an embodiment, the controller 830 may control the movement of the nut of the first electric cylinder by controlling the rotation of the first motor.

The first connection 852 may be configured to transfer a load generated in the first series elastic actuator system 842 to a user. The first connector 852 may include at least one movable pulley, at least one fixed pulley, and a first cable.

The second series elastic actuator system 844 may be configured the same/similar to the first series elastic actuator system 842 . In addition, the second connection part 854 may be configured in the same way as/similar to the first connection part 852 .

9 is a diagram illustrating an example of inputting information related to a user's exercise according to an embodiment of the present disclosure. Such information may be displayed on the display of the smart cable machine, or may be displayed on the display of a user terminal (eg, a smart phone) connected to the smart cable machine. The first screen 910 shows an example in which the user inputs related information in the 1RM (Repetition Maximum) test mode. As illustrated, the user may input information such as height, gender, and weight through the first screen 910 .

In one embodiment, in response to receiving a user input from a user to execute a repetition maximum (1RM) test, the control unit imparts a handle generated by the first series elastic actuator system and/or the second series elastic actuator system. The viscous force, elastic force, and inertia force of the load to be loaded can all be set to the lowest level (Low). In this case, the reason for setting all of the viscous force, elastic force, and inertia force of the load to be applied to the handle to the lowest level (Low) is to reduce the burden on the user through pure force control during 1RM measurement and to perform accurate 1RM measurement. On the other hand, when admittance control (when all of the viscous force, elastic force, and inertia force of the load to be applied to the handle are not set to the lowest level (Low)) is applied, it is impossible to satisfy additional situations such as formulas or muscle use positions. there is a problem.

In an embodiment, the 1RM estimate may be calculated differently according to the exercise part and posture (eg, arm exercise, chest exercise, shoulder exercise, etc.).

In one embodiment, the controller may calculate an initial exercise load value for performing the 1RM test based on the user's input gender and weight, and [Equation 3] below. In the following [Equation 3], 1RM is the initial 1RM estimate or 1RM estimate, w is the exercise load value, r is the number of times the user has exercised. Here, the estimated value of the initial 1RM may be set to 50% of the body weight in the case of a man and 30% of the body weight in the case of a woman. In addition, the control unit may calculate the initial exercise load value by setting the number of times the user exercised to 8 times. For example, if a man weighing 60 kg performs the 1RM test, the initial 1RM estimate is 30 kg, and the control unit inputs r = 8 and 1RM = 30 in [Equation 3], and the initial exercise load value is 23 kg. can be calculated as

는 제1 핸들에 부여된 부하의 크기,

은 사용자의 운동 횟수}{

is the magnitude of the load applied to the first handle,

is the number of workouts by the user}

When the initial exercise load value is calculated, the control unit may output a message to the display instructing the user to exercise the maximum number of times with the corresponding weight. In this case, the initial exercise load value may also be provided to the user through the display. For example, the controller may output a message to the display to exercise the maximum number of times that can be exercised with a weight of 23 kg.

When the user completes the exercise by the maximum number of times the user can exercise with the initial exercise load value, the controller may calculate the user's 1RM estimate based on the number of times the user actually exercised and the initial exercise load value. For example, when exercising 9 times with the initial exercise load value of 23 kg, the controller can calculate the user's 1RM estimate as 30 kg by inputting w = 23 kg, r = 9 in Equation 1. In this case, the calculated 1RM estimate may be provided to the user through the display.

In one embodiment, when the user performs the exercise 10 times or more with the initial exercise load value, the 1RM test may be performed once again. This is because, when r = 10 or more, the reliability of the 1RM estimation formula is lowered. In this case, after taking a sufficient rest to the user, a message to proceed with the 1RM test again may be provided through the display. When performing the 1RM test again, the exercise load value may be reset based on the 1RM value estimated in the first 1RM test. For example, when a 60 kg man completes 15 exercises with an initial exercise load of 23 kg in the first 1RM test and the 1RM estimate is calculated as 35 kg, by entering 1RM = 35, r = 8 in Equation 1, You can reset the exercise load value to 27 kg. When the user completes the exercise by the maximum number of exercises with the reset exercise load value, the 1RM estimate may be recalculated based on the number of times the user has exercised. For example, when the user completes the exercise 7 times with the reset exercise load value of 27 kg, the user's 1RM estimate may be recalculated as 33 kg.

는 핸들에 부여될 부하의 크기,

은 사용자의 운동 횟수를 나타낼 수 있다.In one embodiment, the control unit, in response to receiving a user input for executing the 1RM (Repetition Maximum) test from the user, lowers all of the viscous force, the elastic force, and the inertial force of the load to be imparted to the handle generated by the series elastic actuator system. level can be set. Here, the user's input may include information related to the user's weight and gender. The controller may determine the size of the load to be applied to the handle based on the user's weight and gender. In this state, the user may exercise the maximum number of times the user can exercise. When the user completes the exercise, the control unit calculates the user's 1RM value based on the size of the load to be applied to the handle, the user's exercise number, and the 1RM estimation model, and the calculated user's 1RM value may be displayed on the display. . Here, the 1RM estimation model is calculated based on [Equation 3],

is the size of the load to be applied to the handle,

may represent the number of times of exercise of the user.

In one embodiment, when the number of workouts of the user exceeds a preset threshold, the controller may calculate the size of a new load to be given to the handle based on the calculated 1RM value of the user and the 1RM estimation model. In this case, the exercise may be performed as many times as the user can exercise with the new load size. When the user once again completes the exercise, the controller may calculate the user's corrected 1RM value based on the calculated new load size, the user's new number of exercises, and the 1RM estimation model. The control unit may display the calculated user's corrected 1RM value on the display.

In one embodiment, the user's current exercise level may be determined based on the user's estimated 1RM value and provided to the user through a display. For example, based on the user's estimated 1RM value according to [Table 1] below, the user's current exercise level may be determined as at least one of Beginner, Novice, Intermediate, Advanced, and Elite. Below, the weight-to-weight ratio may be set differently depending on the type of exercise and posture.

Beginner Novice Intermediate Advanced Elite man 50% of body weight 80% of body weight 110% of body weight 140% of body weight 180% of body weight Woman 30% of body weight 50% of body weight 70% of body weight 100% of body weight 130% of body weight

In one embodiment, the controller may determine the exercise routine information based on the measured 1RM value of the user. Specifically, the controller may determine the exercise load value, the number of repetitions per set, the number of sets, the rest time per set, etc. based on the measured 1RM value of the user. For example, according to [Table 2], the control unit can determine exercise routine information based on the 1RM value according to which exercise the user performs among 'muscle strength exercise', 'muscle hypertrophy exercise' and 'muscle endurance exercise'. have. In an embodiment, the controller may determine an exercise load value, the number of repetitions per set, the number of sets, and a rest time per set within the range of [Table 2] based on the user's current exercise level. For example, when the user's current exercise level is low, the exercise load value, the number of repetitions per set, and the number of sets may be set close to the lower end of the range, and the set rest time may be set closer to the upper end of the range. On the other hand, if the user's current exercise level is high, the exercise load value, the exercise set, the number of repetitions per set, and the number of sets may be set close to the upper end of the range, and the set rest time may be set closer to the lower end of the range. Alternatively, the control unit determines the exercise load value determined according to [Table 2], the number of repetitions per set, the number of sets, and the range of the set rest time based on which purpose the user performs the exercise and the measured 1RM value of the user. It can be provided to the user through a display, and the user can select a specific value within that range.

exercise KG Number of repetitions per SET number of SETs rest time per SET strength training 85% or more of 1RM 6 or less 2~6 sets 2-5 minutes hypertrophy exercise 67~85% or more of 1RM 6~12 times 3~6 sets 30-90 seconds muscle endurance exercise 67% or less of 1RM 12 or more 2-3 sets 30 seconds

The second screen 920 represents an example in which the user inputs related information through a display or the like in the free exercise mode. As illustrated, the user may select a preset exercise course (power improvement, explosive strength improvement, maximum strength improvement, muscle hypertrophy, muscular endurance improvement, etc.) through the second screen 920 . Alternatively, the user may manually select settings related to exercise through the second screen 920 .

The user may input set values for the size of the load (eg, 48 kg) and the characteristics of various loads through the second screen 920 . The size of the load may be directly set by the user or may be a value automatically set by the control unit as a user-customized value. Load characteristics can include load viscous force, load elastic force, and load inertia force. Among the four stages, low (25%), middle (50%), high (75%), and very high (100%), respectively. can be set to one. Alternatively, each of the characteristics of the load may be set in a more granular step, or in a more simplified step, such as two or three steps.

Here, the viscous force of the load indicates a characteristic of the load that allows the user to feel a higher sense of weight as the user tries to perform the exercise at a higher speed. The elastic force of the load indicates the characteristic of the load that allows the user to feel a higher sense of weight as the user pulls the handle more. The inertia force of the load indicates the characteristic of the load that allows the user to feel a higher weight when the same specific magnitude of force is applied to the handle in a stationary state than when a specific magnitude of force is applied to the handle in a dynamic state. In this case, more than one type of load may be applied to the handle at the same time.

The load value that the user wants to use for exercise is displayed as a number (for example, 48 kg), and the set value for various load characteristics is displayed in graphs and characters, but is not limited thereto, and the above information includes various types of numerical values, It may be displayed as a symbol, text, graph, or the like.

In addition, the user may input the number of exercise sets to be performed, the number of repetitions per exercise set, and the like through the second screen 920 .

In one embodiment, the smart cable machine may assist the user's exercise through an assisting mode that includes an assistive intensity to reduce weight and an assistive range to adjust the assisting zone. The user may select an exercise assistance mode through the second screen 920 . For example, the user may select one of 'strong assistance', 'medium assistance', and 'weak assistance' as the exercise assistance mode as shown in [Table 3]. As shown in [Table 3], the exercise assistance function is divided into an auxiliary intensity to reduce weight and an auxiliary range to control the area being supported.

auxiliary mode secondary strength secondary range strong assistant twice the speed ratio 50-100% of the original weight middle secondary Same as speed ratio 70-100% of the original weight weak secondary half of the speed 85-100% of the original weight

In an embodiment, when the user inputs a desired exercise weight and performs the exercise, the controller may measure the average exercise speed of the first three times and set the corresponding value as the target speed. Thereafter, when the user's exercise speed is lower than the target speed, the controller may perform the exercise assistance by adjusting the load weight according to the auxiliary mode set by the user. For example, if the current speed is faster than the target speed, the specified exercise load value is not increased. However, if the user's current exercise speed is low compared to the target speed, the exercise load value can be dynamically lowered based on the difference value. have. That is, when the controller of the smart cable machine determines that the user's current exercise speed has decreased by more than a predetermined threshold compared to the initial exercise speed, the size of the load to be applied to the handle is differently reduced according to the exercise assistance mode set by the user can do it For example, if the user selects the exercise assistance mode as 'strong assistance', if the user's current exercise speed decreases by more than a predetermined threshold compared to the initial exercise speed, the user selects the exercise assistance mode as 'weak assistance' It is possible to reduce the magnitude of the load applied to the handle more than the case.

By measuring the user's exercise speed and controlling the real-time exercise load value when the exercise speed falls, the user sets the exercise assistance intensity and assistance range differently according to his or her exercise history, or the risk of injury through the exercise assistance mode can be minimized. In addition, it has the effect of exercising with a personal trainer that can assist the user's exercise through the smart cable machine, and can help muscle growth by increasing the number of exercises when strength is low.

10 is a diagram illustrating an example of outputting information related to a user's exercise according to an embodiment of the present disclosure. In an embodiment, the display may display information related to the size of the load and set values for various load characteristics in the first area 1010 . Such information is displayed in graphs and characters on the display of the smart cable machine, but is not limited thereto, and is displayed in various forms of numerical values, symbols, characters, graphs, etc., or a user terminal connected to the smart cable machine (eg, smart may be displayed on the display of the phone).

In one embodiment, the characteristics of the load may include the viscous force of the load, the elastic force of the load, and the inertial force of the load, respectively, low (25%), middle (50%), high (75%), very high (100%) ) can be set to one of the four steps of Alternatively, each of the characteristics of the load may be settable in a more granular step, or may be set in a more simplified step such as a second step or a third step.

In an embodiment, the controller may output information related to the force of the user pulling the first handle to the first area (the left area of the 1040 ) of the display 1040 . In addition, the controller may output information related to the user's pulling force of the second handle to the second area (the right area of the 1040 ) of the display 1040 . The controller may output a warning indication to the display 1040 when the difference between the force of the user pulling the first handle and the force of pulling the second handle exceeds a preset third threshold value. The warning display output on the display 1040 includes, but is not limited to, a voice message, a warning sound, an image message, a text message, and the like.

In one embodiment, the first area (the left area of 1040 ) of the display 1040 displays the force of the user pulling the first handle as a bar graph, and the second area (the right area of 1040 ) of the display 1040 is The user's pulling force on the second handle may be displayed as a bar graph. In this case, when the difference between the force of the user pulling the first handle and the force of pulling the second handle exceeds a preset third threshold value, the first area and the second area may be displayed in different colors.

In one embodiment, in the second area 1020 of the display, the number of exercise sets the user is currently performing, the total number of exercise sets the user has designated to perform, the number of exercises the user is currently performing within each set, and within each set In the , information such as a total number of exercises designated by the user and a recommended value of a time for maintaining tension may be displayed. Here, the time for maintaining the tension (TUT) may mean a time during which the user continues one exercise. The time to maintain the tension can be directly input by the user, or the user's training purpose (power improvement, explosive strength improvement, maximum strength improvement, muscle hypertrophy, muscular endurance improvement, etc.), user's exercise-related information (user's weight, body fat mass, skeletal muscle) amount, etc.) may be automatically determined. The controller may recognize the exercise as one exercise only when the user performs one exercise for a time longer than or equal to the time the user maintains the tension. In addition, whether the exercise was performed for a time longer than the time to maintain the tension for every number of exercises may be provided as audiovisual data such as a graph.

In an embodiment, information related to the length of the exercise for every number of times of the user's exercise may be displayed on the third area 1030 of the display. The controller may receive the user's initial exercise length, and calculate the exercise recognition distance based on the initial exercise length. For example, the exercise recognition distance may be 80% (1032) of the initial exercise length.

In one embodiment, when the user pulls the handle more than the movement recognition distance, it may be recognized as one exercise. The third area 1030 of the display may display whether or not the user pulls a distance greater than or equal to the exercise recognition distance for every number of workouts as visual data such as a graph. For example, the display 1030 may display the exercise distance for each exercise number in various ways, such as a bar graph, a line graph, a pie graph, and the like.

Additionally, the smart cable machine and the user's mobile phone or tablet are wired or wirelessly connected so that the user can change settings related to exercise or receive exercise information using the mobile phone or tablet.

In one embodiment, the user's exercise-related information that can be output on the above-described display is not limited to the illustrated example, and a set value related to an exercise input by the user or a value calculated according to the user's exercise performance and the same It may include related visual materials, etc. For example, information such as a maximum force/average force at which the user pulls the handle for every exercise cycle may be displayed on the display.

11 is a flowchart illustrating a method in which a controller provides information related to an appropriate load and exercise to a user according to an embodiment of the present disclosure. Method 1100 may be performed by a control unit of a smart cable machine. As shown, the method 1100 may be initiated by the control unit receiving a user input in step S1110. Here, the user input may include, but is limited to, the size of the load to be applied to the handle, the viscous force of the load, the elastic force of the load, the inertial force of the load, the type of exercise the user wants to perform, the number of exercise sets, the number of exercises in the set, etc. doesn't happen

In step S1120, the control unit may control the first series elastic actuator system and the second series elastic actuator system based on the received user input. In one embodiment, the control unit receives and calculates input values related to the magnitude value of the load input by the user, the viscous force of the load, the elastic force of the load, and the inertial force of the load, and then calculates the first motor and the second motor according to the pre-stored control model. You can control the motor. Additionally, the control unit includes information related to a pulling force and/or a point in time when the user starts pulling the first handle and the second handle from the first encoder sensor of the first series elastic actuator system and the second encoder sensor of the second series elastic actuator system. may be received, and the first motor and the second motor may be controlled based on the received.

In step S1130, the controller may receive information from the first encoder sensor, the second encoder sensor, and the detection sensor. In one embodiment, the information received from the first encoder sensor, the second encoder sensor, and the detection sensor includes information related to a force that the user pulls on the first handle and the second handle, the moving distance of the handle, the user's motion image, the user's may include, but is not limited to, heart rate, body temperature, and the like. In addition, the control unit may receive from the first encoder sensor, the second encoder sensor, and the detection sensor information related to when the user starts pulling the first handle and the second handle and information related to the time when the user ends pulling the handle. can

In operation S1140, the controller may display information related to exercise on the display based on information received from the first encoder sensor, the second encoder sensor, and the detection sensor. The exercise-related information may include a set value related to an exercise input by the user or a value calculated according to the user's exercise performance. For example, information about the exercise may include a load value to be applied to the handle, a type of load to be applied to the handle, the number of target exercise sets, the number of exercise sets performed, the number of target exercises performed, the number of exercises performed, the first handle, and It may include a force applied to each handle including the second handle, a warning display for erroneous exercise performance, feedback related to posture correction, and a recommended value of a time for maintaining tension to improve muscle strength, and the like.

The above-described method may be implemented as computer-readable codes on a computer-readable recording medium. The recording medium may continuously store a program executable by a computer, or may be temporarily stored for execution or download. In addition, the medium may be various recording means or storage means in the form of a single or several hardware combined, it is not limited to a medium directly connected to any computer system, and may exist distributed on a network. Examples of the medium include a hard disk, a magnetic medium such as a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floppy disk, and those configured to store program instructions, including ROM, RAM, flash memory, and the like. In addition, examples of other media may include recording media or storage media managed by an app store that distributes applications, sites that supply or distribute various other software, and servers.

The method, operation, or techniques of this disclosure may be implemented by various means. For example, these techniques may be implemented in hardware, firmware, software, or a combination thereof. Those of ordinary skill in the art will appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementations should not be interpreted as causing a departure from the scope of the present disclosure.

In a hardware implementation, the processing units used to perform the techniques include one or more ASICs, DSPs, digital signal processing devices (DSPDs), programmable logic devices (PLDs). ), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described in this disclosure. , a computer, or a combination thereof.

Accordingly, the various illustrative logic blocks, modules, and circuits described in connection with this disclosure are suitable for use in general purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or the present disclosure. It may be implemented or performed in any combination of those designed to perform the functions described in A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, eg, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other configuration.

In firmware and/or software implementations, the techniques include random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), PROM ( on computer-readable media such as programmable read-only memory), erasable programmable read-only memory (EPROM), electrically erasable PROM (EEPROM), flash memory, compact disc (CD), magnetic or optical data storage devices, etc. It may be implemented as stored instructions. The instructions may be executable by one or more processors, and may cause the processor(s) to perform certain aspects of the functionality described in this disclosure.

If implemented in software, the techniques may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a computer. By way of non-limiting example, such computer readable medium may contain RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or desired program code in the form of instructions or data structures. may include any other medium that can be used for transport or storage to a computer and can be accessed by a computer. Also, any connection is properly termed a computer-readable medium.

For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, wireless, and microwave, the coaxial cable , fiber optic cable, twisted pair, digital subscriber line, or wireless technologies such as infrared, radio, and microwave are included within the definition of medium. As used herein, disk and disk include CD, laser disk, optical disk, digital versatile disk (DVD), floppy disk, and Blu-ray disk, where disks are usually magnetic. Data is reproduced optically, while discs reproduce data optically using a laser. Combinations of the above should also be included within the scope of computer-readable media.

A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium may be coupled to the processor such that the processor can read information from, or write information to, the storage medium. Alternatively, the storage medium may be integrated into the processor. The processor and storage medium may reside within the ASIC. The ASIC may exist in the user terminal. Alternatively, the processor and the storage medium may exist as separate components in the user terminal.

Although the embodiments described above have been described utilizing aspects of the presently disclosed subject matter in one or more standalone computer systems, the present disclosure is not limited thereto and may be implemented in connection with any computing environment, such as a network or distributed computing environment. . Still further, aspects of the subject matter in this disclosure may be implemented in a plurality of processing chips or devices, and storage may be similarly affected across the plurality of devices. Such devices may include PCs, network servers, and portable devices.

Although the present disclosure has been described in connection with some embodiments herein, various modifications and changes can be made without departing from the scope of the present disclosure that can be understood by those skilled in the art to which the present disclosure pertains. Further, such modifications and variations are intended to fall within the scope of the claims appended hereto.

10: user
20: Smart Cable Machine
22: display

Claims (25)

A smart cable machine comprising:
main body;
a first handle to which the force of the user's left hand is applied;
a second handle on which the force of the user's right hand is applied;
a first Series Elastic Actuator system for generating a load to be imparted to the first handle and disposed within the body;
a second Series Elastic Actuator system for generating a load to be imparted to the second handle and disposed within the body;
a display configured to receive a user input and output information related to exercise; and
a control unit configured to separately control a load generated by the first series elastic actuator system and a load generated by the second series elastic actuator system, and to control operation of the display
including,
The first series elastic actuator system,
Electric cylinder including a motor and a ball screw connected to the motor to convert the rotational force of the motor into a linear motion force
including,
The control unit controls the load generated by the first series elastic actuator system by controlling the rotation of the motor,
The first series elastic actuator system,
a first bracket fixed to the body;
a second bracket movably disposed below the first bracket;
a spring disposed between the first bracket and the second bracket and contracted when the user pulls the first handle to move the second bracket and the electric cylinder away from the ground; and
A first encoder sensor configured to measure a degree to which the spring contracts as the second bracket and the electric cylinder move
further comprising,
A smart cable machine, wherein the spring is in contact with one side of the second bracket and the electric cylinder is in contact with the other side of the second bracket. delete According to claim 1,
The motor is a brake type motor,
When the motor does not rotate, the smart cable machine does not move even if the user pulls the first handle. delete According to claim 1,
The first encoder sensor,
a belt connected to the electric cylinder; and
A first sensor for measuring the degree to which the spring is contracted by sensing the movement of the belt
Including, smart cable machine. According to claim 1,
The first encoder sensor detects the force of the user pulling the first handle by measuring the degree to which the spring is contracted.
7. The method of claim 6,
a first force acting connection part fixedly connected to the nut of the ball screw and moving in a direction away from the ground as the user pulls the first handle;
a second force action connection part fixed to the upper and lower side of the main body; and
A cable in which one end is connected to the first handle through the first force action connection part and the second force action connection part, and the other end is fixed to the upper and lower side of the main body
A smart cable machine further comprising a.
8. The method of claim 7,
The first force acting connection comprises at least one movable pulley,
and the second force-acting connection comprises at least one fixed pulley.
8. The method of claim 7,
The control unit is
receiving, from the user, a first user input associated with a magnitude of a load to be applied to the first handle and the second handle;
receiving information related to a force of the user pulling the first handle from the first encoder sensor;
and control the rotation of the motor based on the first user input and information related to the force with which the user pulls the first handle.
10. The method of claim 9,
The control unit is
When the user pulls the first handle with a force smaller than the magnitude of the load to be applied to the first handle and the second handle, the motor is not rotated,
When the user pulls the first handle with a force greater than the magnitude of the load to be applied to the first handle and the second handle, the nut of the ball screw and the first force acting connection part move in a direction away from the ground. The smart cable machine, further configured to control rotation of the motor.
11. The method of claim 10,
The control unit is
and determine the rotational speed of the motor based on a difference in the magnitude of a load to be applied to the first handle and the second handle and a force with which the user pulls the first handle.
10. The method of claim 9,
The control unit is
receive, from the user, a second user input associated with a viscous force, an elastic force, and an inertial force of a load generated by the first series elastic actuator system;
further configured to control the first series elastic actuator system based on the first user input, the second user input, and information related to the force with which the user pulls the first handle.
10. The method of claim 9,
The control unit is
receiving a third user input associated with an exercise assistance mode from the user;
In response to determining that the user's current exercise speed has decreased by more than a predetermined first threshold compared to the initial exercise speed, the first handle and the second handle according to an exercise assistance mode set according to the third user input The smart cable machine, further configured to differently reduce the magnitude of the load to be imposed on the .
10. The method of claim 9,
A detection sensor that measures the heart rate of the user using a camera sensor
further comprising,
When the heart rate of the user measured by the detection sensor exceeds a preset heart rate, the control unit reduces the size of the load to be applied to the first handle and the second handle by a predetermined amount or a predetermined ratio A smart cable machine, further configured to let
10. The method of claim 9,
The control unit is
When the change value of the force for pulling the first handle by the user reaches a preset change value, the size of the load to be applied to the first handle and the second handle is reduced by a predetermined amount or a predetermined ratio. A smart cable machine, further configured to let
According to claim 1,
a second sensor configured to measure a distance at which the user pulls the first handle
further comprising,
The control unit is
Receive the user's initial exercise length from the second sensor,
Calculate the exercise recognition distance based on the initial exercise length,
If the user pulls the first handle beyond the movement recognition distance, the smart cable machine is further configured to recognize it as a one-time movement.
13. The method of claim 12,
The control unit is
In response to receiving a fourth user input for executing a 1RM (Repetition Maximum) test from the user, the viscous force, the elastic force and the inertial force of the load to be imparted to the first handle generated by the first series elastic actuator system All set to the lowest level,
Calculating the 1RM value of the user based on the magnitude of the load to be given to the first handle, the number of exercises of the user, and a 1RM estimation model,
The smart cable machine, further configured to display the calculated user's 1RM value on the display.
18. The method of claim 17,
The 1RM estimation model is,
Calculated based on Equation 1, smart cable machine.
(Formula 1)

{remind

is the magnitude of the load to be applied to the first handle, the

is the number of workouts of the user}
18. The method of claim 17,
The fourth user input is
Including information related to the user's weight and gender,
The size of the load to be applied to the first handle is determined based on the user's weight and gender, the smart cable machine.
18. The method of claim 17,
The control unit is
When the number of workouts of the user exceeds a preset second threshold, calculating the size of a new load to be given to the handle based on the calculated 1RM value of the user and the 1RM estimation model,
Calculating the corrected 1RM value of the user based on the calculated size of the new load, the number of new exercise of the user, and the 1RM estimation model,
The smart cable machine, further configured to display the calculated user's corrected 1RM value on the display.
20. The method of claim 19,
The control unit is
Based on the calculated user's 1RM value and the user's weight, calculating the exercise skill level of the user,
The smart cable machine, further configured to display the calculated exercise skill level of the user on the display.
20. The method of claim 19,
The control unit is
In response to receiving the user's exercise goal, further configured to determine an exercise routine based on the user's exercise goal, the calculated user's 1RM value, and the user's weight,
The exercise routine is
A smart cable machine, including the size of the load to be applied to the first and second handles, the number of repetitions of the exercise per set, the number of sets, and the rest time between sets.
7. The method of claim 6,
wherein the second series resilient actuator system comprises a second encoder sensor configured to measure the force with which the user pulls the second handle;
The control unit is
receiving information related to a force of the user pulling the first handle from the first encoder sensor and information related to a force pulling the second handle by the user from the second encoder sensor;
outputting information related to the force of the user pulling the first handle to the first area of the display;
The smart cable machine, further configured to output information related to the force of the user pulling the second handle to the second area of the display.
24. The method of claim 23,
The control unit is
and output a warning indication to the display when the difference between the force of the user pulling the first handle and the force of pulling the second handle exceeds a third preset threshold value.
25. The method of claim 24,
The first area of the display displays the force of the user pulling the first handle as a bar graph,
The second area of the display displays the force that the user pulls on the second handle in a bar graph,
When the difference between the force for pulling the first handle and the force for pulling the second handle by the user exceeds the preset third threshold value, the first region and the second region are displayed in different colors , smart cable machine.

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