BE1025497B1 - Automatic exercise module - Google Patents

Abstract

An automatic exercise module (100) comprising: - a pneumatic cylinder (2) coupled with a user physical interface element (21); - a proportional controlled valve (5) comprising a pressure sensor (6) for measuring a pressure applied by said pilot proportional valve (5) to said pneumatic cylinder (2); - a position sensor (8); identification means (30); - a control unit (40) for: a) reading information from the position sensor (8) and the pressure sensor (6); b) reading information from said identification means (30); c) communicating with a user database (50); d) determining a training program based on the user information; e) controlling said proportional controlled valve (5) from said drive program and information from the position (8) and pressure (6) sensors.

Description

Automatic exercise module

Technical Field [0001] The invention relates to an automatic exercise module for physical training or rehabilitation.

State of the art Most of the musculation and / or rehabilitation apparatuses have been developed so that a user can move, by a muscular action, a mass making it possible to oppose a force to the muscular action. These machines often require weight stacks to choose a desired resistance to the muscle strength that the user wants to develop.

The replacement of a weight stack by a pneumatic actuator has been undertaken in weight training machines. The document EP 1 446 201 B1 describes an exercise machine where it is proposed to replace the weights by a pneumatic actuator supplied with compressed air. This exercise machine provides constant resistance during the entire stroke of the pneumatic actuator. It also allows you to choose several resistance levels and offers to connect different modules or user interface.

A disadvantage of the exercise apparatus described in EP 1 446 201 B1 is that it does not allow adaptation to a user automatically. Indeed, to increase or decrease the resistance force, the user must act manually on a valve in order to increase or decrease the compressed air pressure. Another disadvantage of the exercise apparatus described in EP 1 446 201 B1 is that it does not make it possible to provide a variable resistance in real time of the pneumatic actuator during the stroke of the latter.

Summary of the invention [0005] According to a first aspect, one of the aims of the present invention is to provide an automatic exercise module making it possible to adapt to

BE2017 / 5589 automatically to a user. Another object of the invention is to make it possible to provide a variable resistance in real time of the pneumatic actuator during the stroke of the latter. To this end, the inventors offer an automatic exercise module comprising:

- a source of compressed air;

- A pneumatic cylinder having a movable part for entering into mechanical coupling with a user physical interface element and a fixed part;

- a proportional valve piloted fluidly connecting said source of compressed air to said pneumatic cylinder and comprising a pressure sensor for measuring a pressure applied by said proportional valve piloted to said pneumatic cylinder;

- a position sensor for measuring a position of said movable part of said pneumatic cylinder;

- identification means for identifying a user;

- a control unit for:

a) read information from the position sensor and the pressure sensor;

b) read information from said means of identification;

c) communicate with a user database;

d) determine a training program based on said information from said identification means and said user database;

e) controlling said proportional valve controlled from said training program and from information from said position sensor and from said pressure sensor.

The automatic exercise module allows identification of a user allowing communication with a user database preferably comprising data collected in connection with the identified user. On the basis of the data collected in connection with the identified user as well as in relation to the information from the position sensor and the pressure sensor, the control unit makes it possible to determine a training program intended to provide the user identified, an adaptation

BE2017 / 5589 automatic exercise module, in particular force and speed parameters.

[0007] Furthermore, one of the aims of the present invention is also to propose an automatic and instantaneous adaptation of the speed of movement carried out by a user as a function of a mode chosen beforehand. In addition to controlling the resistance (opposite or applied force) and the speed of a movement, the invention proposes a recording of the parameters of the machine in order to provide monitoring of the movements carried out. In addition, the invention makes it possible to adapt the resistance (opposite force) and the speed of a movement on the basis of the parameters recorded. Preferably, the invention allows dynamic adaptation of the resistance and or the speed during the exercise on the basis of data collected by the position and / or pressure sensors as well as on the basis of the user history accessible via the database. user data. Finally, the proposed invention can be adapted to any type of existing or developing sports module.

The device according to the invention makes it possible to control the force and or the displacement of the pneumatic cylinder by a controlled real-time feedback of the pressure applied by the proportional valve to the pneumatic cylinder, the proportional valve being controlled by the unit of control receiving force, position and / or pressure information from the sensors. The real-time feedback is also a function of the identity of the user and of the program determined by access to the user database.

An advantage of the invention is to be able to provide a training mode allowing an adjustment of the force and or the speed of the movement executed in real time or in any case quickly enough so that the user does not perceive response time of the invention.

The advantage of the invention is to allow to seek information relating to a user or a patient in order to define a suitable exercise. One of the advantages of the invention is that it makes it possible to determine an exercise adapted to the user as a function of data linked to a past exercise or to data recorded by a sports trainer, a doctor, a physiotherapist or by the user. himself beforehand for example.

BE2017 / 5589 Another advantage of the invention is to allow the recording of data from a training so that they are accessible after the training carried out by the user or the patient. The advantage of recording data is to be able to share them with a third party (trainer, doctor, physiotherapist) or on social networks so that the latter can follow the performance of a training session carried out which had, for example, been determined. by the user or by the third party before. This allows him, for example, to follow the good progress of a training, a reeducation, or any other exercise determined beforehand or not determined beforehand.

Another advantage of the invention is to allow a variation in speed, force or acceleration authorized during a physical exercise session or during a movement without the need to remove weights, adjust a tightening or perform manual adjustment on a valve.

Preferably, the pneumatic cylinder has a movable part capable of being fixed to a user interface element. More preferably: the pneumatic cylinder has a movable part for coming into contact with a user interface element. Preferably, the force sensor makes it possible to measure a force applied to the pneumatic cylinder.

Preferably, a calibration of the pressure sensor with a force sensor or a dynamometer makes it possible to give a force value for a pressure value applied to the pneumatic cylinder. Such a calibration is most often carried out at the level of a user physical interfacing element in order to associate with a pressure value applied to the pneumatic cylinder, a force value that the user may feel during physical exercise. This calibration is for example carried out by mechanically coupling a dynamometer to a user interface device or to any other element mechanically coupled to the mobile part of the pneumatic cylinder. Such a calibration should systematically be carried out during the installation of the invention as well as during any modification of the connection between the mobile part of the pneumatic cylinder and a user interface device. The data from the calibration are preferably stored in the control unit. Calibration data can also be stored in mobile media or in cloud storage.

BE2017 / 5589

For example, the pressure sensor is integrated in the proportional valve. During a user exercise session with the automatic exercise module of the invention, the user identifies himself through the identification means. Subsequently, an assessment of his physical condition is possible and is particularly recommended. The evaluation of the state of form of the day is carried out by imposing a force for a particular movement equal to that of a previous exercise session and preferably of the most recent exercise session. A movement is then carried out by the user and the speed at which the movement is carried out as well as the amplitude are recorded by the position sensor taking into account a time scale for determining the speed of the movement. For example if the movement is executed more quickly than during a previous session, then the state of form of the user can be considered to be better and an adjustment of the force can be considered by the control unit in order to define a training program adapted to the state of form of the day. If on the contrary the movement execution speed is lower than that recorded in the user database and carried out during a previous training then the state of form of the user can be interpreted by the control unit as being less good and a reduction in the applied force could be reduced to adapt to the state of form of the moment.

The evaluation of the state of form of the day also makes it possible to take into account the amplitude of the movement carried out with the force of an exercise carried out during a previous exercise session. If the user is not able to carry out a movement in the amplitude determined during a previous exercise, or on the contrary, if the user is able to carry out this movement with a greater amplitude, then an adjustment of the Strength and or target amplitude for the day's exercise can be considered by the training program.

The data recorded for a user can be subject to statistical processing, or even a comparison with data recorded by other users.

BE2017 / 5589 [0017] By means of force and position sensors, the invention makes it possible to capture data in real time in order to allow an analysis of the movements in real time and to record the data relating to each of the movements performed. thanks to the invention. One of the objects of the invention is to allow an analysis of a movement in its entirety, that is to say for example an analysis of the force as a function of the angular position of a member for example.

The invention also makes it possible to dissociate the force or the speed defined by the training program when entering or leaving the pneumatic cylinder. This allows for example for weight training or rehabilitation exercises to achieve a concentric movement and an eccentric movement having different strength, speed and amplitude characteristics. The main interest of this characteristic of the invention is to be able to optimize a bodybuilding exercise taking into account the muscular and or physiological properties of each individual by proposing a tailor-made training program taking into account in particular a difference in strength (maximum) that a muscle can develop during a concentric type movement or during an eccentric type movement.

The term concentric designates a movement produced by a muscle from which the muscle fibers contract. In contrast, the term eccentric designates a movement performed by a muscle from which the muscle fibers lengthen.

The automatic exercise module allows a user to identify himself. Identification is done by reading information allowing identification of a user. Information identifying a user is for example: an identity card number, a name, a first name, a nickname, a nickname, a date of birth, or any combination of information allowing to find a profile in a database. The invention also provides an identification which provides for the creation of a user profile in a database which can be consulted during a future use. The reading of information identifying a user is preferably done by reading a smart card, by reading in the near field, by bluetooth, by wifi, by entering data using a device for capturing

BE2017 / 5589 data. For example, information is read using the Smart Bluetooth, ZigBee ... protocols.

Preferably the pneumatic cylinder is supplied with a pressure greater than 5 bars, preferably the pneumatic cylinder is supplied with a pressure greater than 8 bars, even more preferably, the pneumatic cylinder is supplied with a pressure between 6 and 12 bars.

The invention allows to generate a training program that can use one or more known training mode. Known training modes are isoinertial, isokinetic, isostatic modes as well as a mode allowing to dissociate the work in concentric from the work in eccentric.

Isoinertial mode [0024] According to one embodiment of the invention in isoinertial, the invention allows a user to perform a movement with a force determined by the fixed training program. To do this, the control unit makes it possible to manage the pressure in the pneumatic cylinder via the proportional valve and the pressure sensor. In order to obtain a fixed fixed force, the pressure delivered by the proportional valve to the jack is then constant throughout the amplitude of a movement. According to a variant of this embodiment, it is possible, for a certain range of movement that the user performs or is preparing to perform, that the force can vary over this range of movement. In this embodiment, the position sensor makes it possible to send back to the user a speed of execution of the movement or even an indication of amplitude. Preferably, the user can have access to this information via the display means. In a variant of the invention, information relating to the training program is communicated to the user by the control unit via the sound communication means.

Isokinetic mode According to one embodiment of the invention in isokinetic, the invention allows a user to perform a movement with a speed determined by the training program set by it. A movement

BE2017 / 5589 in isokinetic is a movement which is done at a previously defined speed and which requires a variation of the force applied by the machine according to the force developed by the user. In order to achieve this effect, the invention allows a variation of the resistance force developed by the pneumatic cylinder as a function of the force developed by the user and this instantaneously. To do this, the control unit makes it possible to manage the pressure in the pneumatic cylinder via the proportional valve, the pressure sensor and the position sensor. The movement in progress by the user is sequenced in a multitude of portions of equal length by reading the information from the position sensor. The control unit then makes it possible to adjust the force generated by the pneumatic cylinder so that the user performs his movement at a constant speed. During an isokinetic movement, the analysis of the time taken to move the user physical interface element or even the mobile part of the pneumatic cylinder for a portion (the mobile part of the cylinder being divided into portions of equal length) allows adjust the force instantly so that the travel time per portion is equal to the travel time per portion defined by the training program. According to a variant of this embodiment, it is possible, for a certain range of amplitude of the movement, that the user performs or is preparing to perform, that the speed can vary over this range of movement. In this embodiment, the pressure sensor makes it possible to send back to the user an instantaneous force which it develops and if for example this force is too great or too weak compared to the target force to effect a movement at a constant speed. and for a force determined by the training program. Preferably, the user can have access to this information via the display means. In a variant of the invention, information relating to the training program is communicated to the user by the control unit via the sound communication means. Isostatic mode According to an embodiment of the invention in isostatic, the invention allows a user to perform an exercise determined by the training program with a zero movement speed. A strength

BE2017 / 5589 target is for example determined by the training program. The automatic exercise module then indicates a position to be reached and for which the user must exert the force targeted by the exercise module while maintaining the same position. It is also possible that the training program defines a variation of the force to be developed by the user for the same position defined by the user. The training program for this type of exercise makes it possible in particular to compare the target position defined by the training program and the position in real time detected by the position sensor. A difference between the target position and the actual position is then indicated to the user so that he can correct the position so that the exercise can be performed as defined by the training program. The force applied by the module of the invention being measured in real time so that the user is informed by means of sound or visual communication so that he can correct his position or his force during the exercise in based on target position and target force.

Concentric and eccentric mode The invention makes it possible to vary the force and or the speed between a concentric or eccentric movement. An advantage of the invention is to allow the user to carry out a succession of concentric and eccentric movements with variable values of force and speed depending on the training program. A change in force and speed is then carried out automatically by the training program via the control of the proportional valve. Automatically means that no action by the user is necessary for a modification of the force and / or the speed to be modified or maintained during a movement in concentric then in eccentric or vice versa. The concentric and eccentric modes can also be interpreted as corresponding to an entry movement of the mobile part in the fixed part of the pneumatic cylinder and to an exit movement of the mobile part in the fixed part of the pneumatic cylinder respectively.

Preferably, said training program is also based on information related to a physical state of a user, said

BE2017 / 5589 information from said force sensor, said position sensor and said pressure sensor.

The advantage that the training program can take into account the physical condition of a user allows to adapt the training program to a state of shape of the day or day to day. This does not limit the determination of the training program on the database from the user database for example. This makes it possible to have an adapted training program which takes into account for example states of fatigue, states of fatigue which can lead to an injury or even a decrease or an increase in the physical fitness of a user. The advantage of taking into account the state of physical form is to be able to possibly highlight an injury requiring care or a rest. In addition, taking into account the physical state of a user allows the determination of a training program that can take into account an injury and allowing physical exercise while not aggravating the injury. The state of shape of the day is for example analyzed by the control unit during a simple exercise requiring a minimum of movement on the part of the user. A training program for determining the shape of the day consists, for example, in asking a user to perform a concentric and or eccentric movement with the maximum force that he is capable of developing. A physical state of a user is for example the force, the speed, the amplitude with which a user can execute a predefined movement. A predefined movement is for example a return type movement of a member of a user.

Preferably, the automatic exercise module further comprises display means for displaying information from said training program. The advantage of the display means is that they make it possible to communicate to the user the type of exercise, the characteristics of the exercise in progress as well as for example the number of the movement in progress, the number of movements remaining, the regularity with which he performs the movements. The display means also allow the user to be able to follow the training program and to manage his efforts or to perform the requested movements well. Display means

BE2017 / 5589 can also allow monitoring of the amplitude of a movement, of the force developed in real time. The display means are also a means of monitoring the progress of a user, for example by superimposing the data of several training sessions carried out on different dates. For example, the display means can be used to indicate to a user a time interval to be respected between the movements to be performed and determined by the training program. The display means can also be used during a training program incorporating an isostatic mode. The display means are then used to communicate to the user a position to be reached as well as to indicate to the user if he deviates from the position to be reached and to be maintained while indicating for example a time indicator.

Preferably, the automatic exercise module further comprises:

- A cable having a first end mechanically coupled to said movable part of said pneumatic cylinder and a second end for entering into mechanical coupling with a user physical interface element.

The advantage of mechanically coupling a cable to the movable part of the jack to enter into mechanical coupling with a user physical interface element is to allow the position of the element to be offset, for example in a plurality of directions physical user interface with respect to the movable part of the jack. Preferably, the first end of the cable is fixed to the movable part of the jack. The advantage of fixing the first end of the cable directly to the movable part of the jack is to allow direct transfer of the mechanical stress from the cable to the jack and vice versa.

Preferably, the automatic exercise module further comprises:

- a pulley wheel;

the cable being wound around a part of said pulley wheel.

Preferably, the automatic exercise module further comprises:

BE2017 / 5589

a force sensor for measuring a force opposite to said pneumatic cylinder, said control unit is further configured to read information from said force sensor and control of said piloted proportional valve is furthermore carried out from information in origin of said force sensor.

Preferably, the automatic exercise module further comprises:

a heart rate sensor for measuring a heart rate, the control unit being further configured to read information from said heart rate sensor and in that the determination of the training program is further based on said information from said heart rate sensor. For example, the control unit is also capable of reading information on blood pressure, temperature, or any other information relating to one or more physiological parameters of a user. For example, this may be information relating to a respiration rate, an amount of absorbed oxygen or an amount of oxygen in the blood or exhaled carbon dioxide or carbon dioxide in the blood. For example, the control unit is also capable of reading video information from a video capture system in order, for example, to take into account a posture during a movement of a user within the framework of a physical exercise carried out. according to the training program defined by the invention.

Preferably, the automatic exercise module further comprises sound communication means for emitting sound information from the training program.

Preferably, the mass of the automatic exercise module is less than 30 Kg.

Preferably the physical exercise module according to the invention can be connected directly to an augmented reality interface. Indeed, the physical exercise module allowing adaptation of a physical exercise in real time is perfectly suited to define a program

BE2017 / 5589 training or augmented reality program in real time in order to adapt a movement speed or a movement force imposed or opposed to a user. The physical exercise module is then used as an augmented reality module for performing physical or non-physical exercise. A physical exercise is for example an exercise intended to stimulate one or more muscles for the purpose of strengthening them or for the purpose of rehabilitation. An augmented reality accessory can then be connected to the user physical interface element in order to ensure a good interface between the augmented reality exercise and the augmented reality user. Physical exercise in augmented reality is also possible in order to stimulate a user to perform physical exercise in an efficient and for example recreational manner.

Physical exercise apparatus comprising an automatic exercise module, said automatic exercise module comprising a frame for mechanically coupling or mechanically supporting with said automatic exercise module.

Preferably, the fixed part of the pneumatic cylinder is mechanically coupled to a chassis, preferably the fixed part is fixed to a chassis. Preferably, an accessory is connected to the user physical interface element. Preferably an accessory is an element allowing a good adaptation to the user. The accessory is preferably defined in order to ensure a good grip and or a good comfort of use. An accessory can take different forms in order to be able to adapt to any type of physical exercise which would be compatible with the automatic exercise module according to the invention. An accessory can for example be positioned at a central column of the chassis on which the module of the invention is mechanically coupled.

Physical exercise apparatus further comprising a second automatic exercise module, said second automatic exercise module being mechanically coupled to said chassis.

The advantage of having two automated exercise modules for the same physical exercise device is that an individual can work simultaneously with his two members: his two arms, his two legs,

BE2017 / 5589 according to an exercise program making it possible to dissociate a first member from a second member. It is for example possible to perform an identical movement with the two members in terms of speed and amplitude but with a different feedback force between the first and the second member. It is thus possible to carry out a training exercise adapted to the specificity of each member of an individual, taking into account for example differences between the two members due to an injury, to rehabilitation, to a different length or quite simply to achieve greater muscle strengthening on one member than on another. Preferably, the control unit makes it possible to synchronize the training program for the two automated exercise modules.

The inventors also propose a trailer comprising the automatic exercise module or the exercise apparatus.

The advantage of having the device of the invention mounted in a trailer is to allow the movement of sports or rehabilitation equipment to a client or a patient rather than to the client or the patient to move around. a place where this sports or rehabilitation equipment is located.

Brief description of the figures These and other aspects of the invention will be clarified in the detailed description of particular embodiments of the invention, reference being made to the drawings of the figures, in which:

- Fig.1 shows a schematic representation of an embodiment according to the invention;

- Fig.2 shows a schematic representation of an embodiment according to the invention;

- Fig.3 shows a perspective view of an embodiment according to the invention;

The drawings of the figures are not to scale. Generally, similar elements are denoted by similar references in the figures. The presence of reference numbers in the drawings cannot be considered

BE2017 / 5589 as limiting, including when these numbers are indicated in the claims.

Detailed description of certain embodiments of the invention [0049] Figure 1 shows an embodiment of the invention. The figure shows a pneumatic cylinder 2 coupled or mechanically connected to a user interface 20 for example by means of a cable. Preferably, the cable 22 being connected to the user interface 20 by a connection means 21. The pneumatic cylinder 2 is supplied with compressed air coming from a source of compressed air 1. A proportional controlled valve 5 makes it possible to modulate the pressure and / or the air flow in the pneumatic cylinder 2. A pressure sensor 6 makes it possible to measure a pressure applied to the pneumatic cylinder 2. The pneumatic cylinder 2 comprises a fixed part 3 and a mobile part 4. The pneumatic cylinder 2 comprises in its fixed part 3 a first and a second cavity. The movable part 4 is actuated by the application of greater pressure in the first than in the second cavity or vice versa. A position sensor 8 is positioned at the mobile part 4 to measure the position of the mobile part 4 of the pneumatic cylinder 2. A force sensor is positioned between the mobile part 4 and the user interface in order to be able to measure in time real force imposed by a user on the mobile part 4. The pressure sensors 6, position 8 and force 7 are connected to a control unit 40 which allows an analysis of the data from the sensors in real time and to compare them to a pre-determined training program. Depending on the training program and the data from sensors 6, 7, 8, information is sent to the proportional valve piloted 5 in order to modulate the pressure in one or other of the cavities of the fixed part 3 of the pneumatic cylinder 2. For example, a proportional valve 5 used is of the FESTO DTP-X type.

The control unit 40 is connected to identification means 30 making it possible to identify a user so as to be able to obtain information relating to the identified user from a user database 50, information relating to him . Based on user identification information, as well as information gathered from the database

BE2017 / 5589 user data 50, the control unit 40 generates a training program adapted to the user.

In a preferred embodiment of the invention, additional information from a duly identified user is collected by the sensors 6, 7, 8 so that this information is taken into account when the program is drawn up. training by the control unit 40. This information coming from the sensors 6, 7, 8 makes it possible to evaluate the state of form of the user when offering him training. For example, this allows user calibration. For example, physical parameters of the user such as the amplitude of the movement without applied force, the maximum force reached during a movement or the amplitude of a limb (of a muscle) at the maximum force reached during of a movement. This last parameter defining for example the maximum working amplitude with which the user will be able to train or re-educate.

In one embodiment, the control unit 40 comprises several control subunits linked together. For example, the control unit 40 or the control subunits are computers, minicomputers, for example Raspberry Pi equipped with input and output connectors.

In a preferred embodiment, the control unit 40 has access to a database 50 comprising data linked to one or more users. The database 50 is for example stored on a removable medium, or for example on a shared space of cloud type. Preferably, the database 50 is encrypted so that only the identified user as well as persons designated beforehand can have access to the information related to this user. In another embodiment, each user has his own database 50. The control unit 40 is connected to the database 50 with or without wire, by means of transmission of wifi or bluetooth type, or even by internet or by near field communications. Preferably, the control unit makes it possible to store information originating from a training program and or recorded during a training program by the

BE2017 / 5589 sensors 6, 7, 8. The identification means 30 making it possible to identify a user, for example have near-field communication means for identifying a user provided with a card comprising an RFID chip. For example, the identification means 30 have a bluetooth or wifi connection making it possible, for example, to communicate with a mobile device of the smartphone type and having, for example, an application allowing identification with the identification means 30. By example, the identification means 30 have a keyboard, fingerprint reader, pointing device or touch screen type interface allowing a user to indicate information making it possible to find it in the database 50. 'a first use, the identification means 30 make it possible to create a new user profile, in order to create a new entry in the database 50 so as to be able to store information there and to be able to access this information during future identification .

Figure 2 shows another embodiment of the automatic exercise module of the invention comprising a cable 22 and a pulley 23 around a portion of which is wound part of the cable

22. The advantage of mechanically coupling a cable 22 to the mobile part 4 of the pneumatic cylinder 7 is to allow the stresses of the pneumatic cylinder 7 determined by the training program to be transmitted to a user by means of an element d user physical interface 21 in an infinity of directions around the automatic exercise module 100. The automatic exercise module 100 may also include a second pulley, a third pulley, a fourth pulley ,. in order to offer more flexibility in the user's movements. The use of pulleys can also make it possible to adapt the amplitude of the user's movement for the same cylinder stroke. The use of pulleys can also make it possible to adapt the force opposed by the exercise module 100 to the user by multiplying or multiplying the amplitude of the jack 7 for the same jack force 7. The use of pulleys allows to obtain, for a given actuator stroke, a stroke at the second end 25 of the cable 22 which is preferably multiplied by 2, more preferably by 4, even more preferably by 8, for example by 16. For this purpose, it is possible to perform an automated exercise module 100

BE2017 / 5589 allowing movement of the second end 25 of the cable 22 having a stroke preferably between 0 m and 30 m, more preferably between 0 m and 25 m and even more preferably between 0 m and 20 m. This embodiment preferably makes it possible to offer resistance over the entire travel of the second end 25 of the cable 22, preferably between 0 kg and 200 kg, more preferably between 0 kg and 160 kg and even more preferably between 0 kg and 120 kg. These resistances are observed for example during the displacement of the second end 25 of the cable 22 corresponding to an output of the mobile part 4 of the pneumatic cylinder 7 from its fixed part 3. For example, several cylinders 7 can be combined, preferably in parallel .

Figure 3 shows a preferred embodiment of the invention in which the fixed part 3 of the pneumatic cylinder 7 is fixed to a frame 9. A cable 22 is mechanically coupled to the movable part 4 of the pneumatic cylinder

7. The mechanical coupling between the cable and the mobile part of the pneumatic cylinder is for example carried out using a ring device fixed to the mobile part 4 and a hook of the carabiner type fixed to the end 24 of the cable 22. The cable 22 is then directed towards a user physical interface element 21 connected to the second end 25 of the cable by a mechanical coupling means. In this embodiment of the invention, the cable is wound around a part of each of the four pulleys 23 shown. The pulleys 23 make it possible to direct the cable with little friction in order to direct the cable towards a user physical interface element 21. The position sensor 8 is fixed on the fixed part of the jack 3 and reads a position of the part mobile 4 of the jack 7. In another embodiment, the position sensor 8 is fixed on a part of the chassis 9 to read a position of the mobile part 4 of the jack 7.

In the embodiment of Figure 3, the pulley 23 positioned closest to the second end 25 of the cable 22 is adjustable in height. Indeed, as shown in Figure 3, the pulley 23 is arranged on a movable element adjustable in height. This mobile element has anchoring elements making it possible to be adjusted in height or in any other direction provided that the chassis 9 is equipped with at least one location to ensure

BE2017 / 5589 the mechanical anchoring of this mobile element. Advantageously, this mobile element is equipped with two pulleys in order to allow a greater amplitude of movement on the part of a user. Indeed, as shown in FIG. 3, the two pulleys allow a user to carry out a large amplitude of movements in a plane essentially perpendicular to the axis of rotation of said pulleys. In a preferred embodiment, the movable part adjustable in height or not adjustable in height is configured to be able to perform a rotation along an axis orthogonal to an axis of rotation of one of said pulleys 23. This allows a greater amplitude of movement in three-dimensional space. A training program defined by the control unit 40 makes it possible to control the resistance with which physical user interface equipment mechanically coupled to the movable part of the jack allows an outlet of the movable part 4 from the fixed part of the jack 7 Similarly, a training program linked or not with the various embodiments of the invention makes it possible to control the force with which a user physical interface equipment mechanically coupled to the mobile part 4 of the jack 7 allows an entry of the mobile part 4 in the fixed part 3 of the jack 7.

The present invention has been described in relation to specific embodiments, which have a purely illustrative value and should not be considered as limiting. In general, the present invention is not limited to the examples illustrated and / or described above. The use of the verbs "to understand", "to include", "to include", or any other variant, as well as their conjugations, cannot in any way exclude the presence of elements other than those mentioned. The use of the indefinite article "a", "an", or of the definite article "the", "the" or "the", to introduce an element does not exclude the presence of a plurality of these elements. Reference numbers in the claims do not limit their scope.

In summary, the invention can also be described as follows. Automatic exercise module 100 comprising:

- A pneumatic cylinder 2 coupled with a user physical interface element 21;

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- a proportional valve piloted 5 comprising a pressure sensor 6 for measuring a pressure applied by said proportional valve piloted 5 to said pneumatic cylinder 2;

- a position sensor 8;

- identification means 30;

- a control unit 40 for:

a) read information from the position sensor 8 and the pressure sensor 6;

b) reading information from said identification means 30;

c) communicating with a user database 50;

d) determine a training program based on user information;

e) controlling said proportional valve piloted 5 on the basis of said drive program and of information coming from the position 8 and pressure 6 sensors.

Claims (12)

1. Automatic exercise module (100) comprising: - a source of compressed air (1); - a pneumatic cylinder (2) having a movable part (4) for entering into mechanical coupling with a user physical interface element (21) and a fixed part (3); - a controlled proportional valve (5) fluidly connecting said compressed air source (1) to said pneumatic cylinder (2) and comprising a pressure sensor (6) for measuring a pressure applied by said controlled proportional valve (5) to said pneumatic cylinder (2); - a position sensor (8) for measuring a position of said movable part (4) of said pneumatic cylinder (2); - identification means (30) for identifying a user; - a control unit (40) for: a) read information from the position sensor (8) and the pressure sensor (6); b) reading information from said identification means (30); c) communicating with a user database (50); d) determining a training program based on said information coming from said identification means (30) and from said user database (50); e) controlling said proportional pilot valve (5) from said drive program and from information from said position sensor (8) and said pressure sensor (6). 2. Automatic exercise module (100) according to the preceding claim characterized in that said training program is further based on information relating to a physical state of a user, said information coming from said force sensor (7 ), said position sensor (8) and said pressure sensor (6). BE2017 / 5589 3. Automatic exercise module (100) according to any one of the preceding claims, characterized in that it further comprises display means (60) for displaying information from said training program. 4. Automatic exercise module (100) according to any one of the preceding claims, characterized in that it further comprises: - a cable (22) having a first end (24) mechanically coupled to said movable part (4) of said pneumatic cylinder (2) and a second end (25) for entering into mechanical coupling with a user physical interface element (21 ). 5. Automatic exercise module (100) according to the preceding claim, characterized in that it further comprises: - a pulley wheel (23); the cable (22) being wound around a part of said pulley wheel (23). 6. Automatic exercise module (100) according to any one of the preceding claims, characterized in that it further comprises: - a force sensor (7) for measuring a force opposite to said pneumatic cylinder (2), in that said control unit (40) is further configured to read information from said force sensor (7); and in that the control of said piloted proportional valve (5) is also carried out on the basis of information from said force sensor (7). 7. Automatic exercise module (100) according to any one of the preceding claims, characterized in that it further comprises: a heart rate sensor for measuring a heart rate, the control unit being further configured to read information from said heart rate sensor and in that the determination of the BE2017 / 5589 training program is also based on said information from said heart rate sensor. 8. Automatic exercise module (100) according to any one of the preceding claims, characterized in that it further comprises sound communication means for emitting sound information from the training program. 9. Automatic exercise module (100) according to any one of the preceding claims, characterized in that its mass is less than 30 Kg. 10. Exercise apparatus comprising said automatic exercise module (100) according to any one of the preceding claims comprising a frame (9) for mechanically coupling with said automatic exercise module (100). 11. Physical exercise apparatus according to the preceding claim, characterized in that it further comprises: - a second automatic exercise module (100) according to any one of claims 1 to 9, said second automatic exercise module (100) being mechanically coupled to said chassis (9). 12. Trailer comprising said exercise device according to any one of the two preceding claims.