EP1614448B2 - Trainingsgerät - Google Patents

Trainingsgerät Download PDF

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Publication number
EP1614448B2
EP1614448B2 EP05013561A EP05013561A EP1614448B2 EP 1614448 B2 EP1614448 B2 EP 1614448B2 EP 05013561 A EP05013561 A EP 05013561A EP 05013561 A EP05013561 A EP 05013561A EP 1614448 B2 EP1614448 B2 EP 1614448B2
Authority
EP
European Patent Office
Prior art keywords
torque
motor
exercise unit
setpoint
frequency converter
Prior art date
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Active
Application number
EP05013561A
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German (de)
English (en)
French (fr)
Other versions
EP1614448A2 (de
EP1614448A3 (de
EP1614448B1 (de
Inventor
Miehlich Dieter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Milon Industries GmbH
Original Assignee
Milon Industries GmbH
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Application filed by Milon Industries GmbH filed Critical Milon Industries GmbH
Priority to PL05013561T priority Critical patent/PL1614448T3/pl
Publication of EP1614448A2 publication Critical patent/EP1614448A2/de
Publication of EP1614448A3 publication Critical patent/EP1614448A3/de
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Publication of EP1614448B1 publication Critical patent/EP1614448B1/de
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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • A63B21/0059—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors using a frequency controlled AC motor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
    • A63B2024/0078—Exercise efforts programmed as a function of time
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/16—Angular positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/09—Adjustable dimensions

Definitions

  • the invention relates to a training device according to the preamble of claim 1.
  • a training device is from the EP 0 853 961 B1 known.
  • a frequency converter of a computing device set values for the current intensity and for the frequency of the current of a three-phase motor provided for torque generation.
  • the computing device is supplied with the output of a position sensor, which detects the position of acting as a training organ crank, which is driven by the engine detected. From the position value, the computing device uses stored tables in which all relevant machine-specific characteristic data are stored to determine the values of the current strength and the frequency of the motor current required for a desired course of the torque over the position.
  • a training device with a three-phase motor for torque generation is known in which both the speed of the motor with a frequency-analog rotation rate sensor, as well as the output torque is measured with a force sensor.
  • the measured speed is used to control the frequency and the measured torque to control the magnitude of the motor current.
  • the concept of this training device thus includes two sensors and two coupled control loops and is relatively expensive to implement.
  • the force measurement via a sensor has potential problems in the form of temperature influence, long-term drift and disturbances due to vibration or shock.
  • the present invention seeks to provide a training device of the type mentioned, which complies with a predetermined torque with high accuracy, at the same time limits the range of motion by precisely adjustable stops, and is characterized by simple and reliable structure.
  • the exercise device is characterized in that the rotational control of the motor is detected by means of a rotation angle sensor for measuring torque, the measuring signal is supplied to both the frequency converter, as well as the control device.
  • the frequency converter is given a setpoint value for the torque to be delivered by the motor into which the measurement signal of the rotation angle sensor is received.
  • the frequency converter adjusts the frequency and the strength of the motor current according to the principle of field-oriented regulation. Although the latter is known per se as a concept for controlling an asynchronous motor, but not in connection with exercise equipment of the kind of interest here.
  • a significant advantage of the invention over the prior art mentioned in the introduction is that it allows more accurate control of the torque output by the engine. In particular, this is helped by the fact that in the normal operating range of an asynchronous machine, i. is operated at a relatively low slip, where only slight specimen scattering of the torque characteristic is expected. In contrast, the operating range according to said prior art, i. at relatively large slippage, affected by significantly larger specimen spreads. Another advantageous effect of the other operating range is the reduction of the power loss of the engine and thus an energy saving. The lower power loss also makes cooling by forced convection unnecessary, so that the outgoing noise from a fan is avoided. Finally, the direct detection of the angle of rotation of the motor instead of its mathematical determination of a measured angle of rotation of the training body and the dynamics of the control loop sustainably improved.
  • the controller controls the position of the exerciser to a set point so that the user must apply force to deflect the exerciser from a rest position
  • the frequency converter controls the motor torque to the setpoint set by the controller, thereby reducing the speed of the motor Size of force to be applied by the user to move the exerciser is determined.
  • the control device comprises two control circuits in cascade structure, namely an outer for regulating the position and an inner for controlling the speed of the exercise organ.
  • an evaluation device is needed, which determines both the position and the rotational speed of the training organ from the measurement signal of the rotational angle sensor and provides as actual variables for the two control circuits.
  • a further limiter is provided which limits the rate of change of the target speed of the exercise organ to a maximum value in order to avoid a jerky movement behavior thereof.
  • a corresponding transmission element is to be provided in the speed control loop, which realizes these functions.
  • Components of these functions can be sudden changes in torque at certain positions, which can simulate mechanical stops. If such position-dependent torque changes are not designed as sudden, but as running continuously, mechanical stops with springing can be simulated by linearly increasing the torque to be overcome by the user after overcoming a fixed end position, for example with increasing further deflection. Furthermore, a stop damping can be simulated, namely by a continuous increase in the after overcoming a predetermined end position to be overcome torque with increasing speed.
  • the force exerted by the exerciser on the exercising person depends not only on engine torque and gear reduction but also on a variety of mechanical and / or thermal operating parameters such as gear friction, the temperature of the engine and transmission, and the weight of the exerciser Precisely complying with a force effective on the exerciser for the exercising person requires correcting the desired torque of the motor in response to said mechanical and / or thermal operating parameters of the device.
  • a computing device is required in the speed control loop, which also performs said correction in addition to the conversion of the target torque of the training body in a desired torque of the motor, including their determined by the evaluation device from the measured signal of the rotation angle sensor movement quantities of the training body, such as the actual position and / or the actual speed must be supplied as further input variables.
  • the contribution of the self-weight of the exercise organ to the force depends on the position of the exercise organ.
  • said operating parameters are also fixed variables, such as the lever length of the exercise organ.
  • the computing device can determine the inertial component of the force exerted by the exerciser on the exercising person from the angular acceleration of the training body as a further mechanical operating parameter and take into account.
  • the temperature is one of the essential operating parameters of a training device according to the invention, since both the electrical parameters of the engine, as well as the friction and inertia of the transmission depend on the temperature.
  • the target torque of the engine can be temperature-dependent corrected, including the engine and / or the transmission must be assigned at least one temperature sensor for detecting the current temperature.
  • the temperature-dependent correction can be done either together with the mechanical correction in the computing device or in a separate compensation device, which may already be integrated into the frequency converter.
  • a training device includes an exercise member 1, for example in the form of a crank, and a three-phase motor 2, which are interconnected by a reduction gear 3.
  • the motor 2 is driven by a frequency converter 4, which supplies the frequency and the power of the motor 2 Current sets to set a desired torque M M of the motor 2.
  • the frequency converter 4, the target torque M M of the motor 2 is set by a control device 5.
  • the actual size of the motor 2 by means of a rotation angle sensor 6 whose rotation angle ⁇ M detected and both the frequency converter 4, and the control device 5 is supplied.
  • the specification of the setpoint value M s of the torque with which the crank 1 is to be driven is effected by an operating unit 7, which has a keypad 8 and a display unit 9.
  • a magnetic or chip card reader 10 for data input and / or a bus interface 11 for networking with a central computer, not shown, which controls a plurality of training devices may be provided on the operating unit 7.
  • the temperature signal T is the frequency converter 4 and / or the control device 5 is supplied to take into account the influence of the temperature in the control and thus to compensate.
  • the actual value detection for forming a control loop according to the invention is based on the rotational angle ⁇ M of the motor 2 and not on that of the crank 1.
  • Another in the schematic representation of Fig. 1 not recognizable, but crucial difference is the realization of a field-oriented control of the asynchronous motor 2 by the frequency converter. 4
  • Field-based control is an algorithm for controlling an asynchronous motor that operates in a frequency converter and is based on a coordinate system rotating with the rotor of the motor.
  • space pointer transformation By means of the so-called space pointer transformation, a complex current space vector is obtained in this rotating coordinate system, which can be decomposed into a component parallel to the magnetic flux and a component perpendicular to the magnetic flux.
  • the current components to be regulated are equal quantities, which are held by digital controllers on the respective setpoints.
  • the perpendicular to the magnetic flux component of the motor current is proportional to the torque, which is given to the inverter as the setpoint.
  • the motor can operate both motorically and regeneratively, whereby the energy not consumed by losses is converted into heat via braking resistors.
  • FIG. 2 shows the basic course of the torque characteristic of an asynchronous motor, ie the course of the torque as a function of the speed n, or the slip s.
  • This characteristic curve is known per se and reproduced in a number of works dealing with the control of electric motors, such as in the two previously mentioned textbooks, in a similar form.
  • the operating behavior of an asynchronous motor is subdivided into a brake area, an engine area and a generator area, the standstill marking the boundary between the brake area and the engine area and the idling case marking the boundary between the engine area and the generator area.
  • the actual torque characteristic is the smooth curve. Also plotted are the straight line passing through the two nominal points and two approximate cams valid only at a greater distance from the two tilting points.
  • Fig. 2 The two areas are characterized in which an asynchronous motor is operated as the drive element of a training device on the one hand in field-oriented control in the context of the present invention and on the other hand according to the above-mentioned prior art with a control of the voltage and the frequency of an inverter. While the operating range according to the invention lies between the two tipping points of the motor and generator areas around the idling point, the operating range according to the prior art extends around the standstill, namely from the tipping point of the motor area far into the braking area.
  • the operating range according to the invention corresponds to the normal operation of an asynchronous motor
  • the area provided according to the prior art mentioned at the beginning represents as it were a continuous operation in the starting region and thus an alienation of an asynchronous motor, that is to say abnormal.
  • the characteristic curve is poorly reproducible in its relevant area, as engine manufacturers guarantee compliance with the characteristics only for the normal operating range in the vicinity of the nominal point.
  • the characteristic curve In order to make an accurate torque adjustment in said abnormal operating range, the characteristic curve must therefore be measured on each individual copy, which is associated with a high cost, or it must be higher due to the Exemplarstreuungen the curve Tolerances of the accuracy of the set torque can be accepted. This problem is eliminated in the normal operating range, which is observed in the field-oriented control, since the characteristics are exactly right there.
  • the power loss of an asynchronous motor is also known to be in the normal operating range, i. at low slip, much lower than at large slip. Due to the transition to the normal operating range due to the application of the field-oriented control thus results in a lower heat generation, so that the use of a fan is unnecessary.
  • a typical torque curve of a training device according to the invention as a function of the position of a provided as an exercise organ crank 1 shows Fig. 3 ,
  • the torque is constant between the positions ⁇ min and ⁇ max at the value M 0 .
  • This constant torque M 0 corresponds to a certain force which the exercising person must exert on the crank 1 in order to be able to move it against the action of the motor 2 in one of the two possible directions of rotation.
  • the setpoint for the position control of the crank 1 is the position ⁇ min , ie when the crank 1 is relieved by the exercising person, the position ⁇ min is approached and maintained. To move the crank 1 from there in the direction of the position ⁇ max , the exercising person must overcome the torque M 0 .
  • the amount of the maximum torque M max does not necessarily correspond to the maximum torque that the engine 2 can ever deliver to the crank 1 via the transmission 3, but is limited to a lower value in order to prevent a risk of injury. But he is so high that the achievement of one of the two end positions ⁇ min or ⁇ max is perceived by the exercising person in each case as a mechanical stop.
  • a control device 5 is provided, whose internal operation is described below with reference to the block diagram of Fig. 4 is explained.
  • the right-hand components namely consisting of the crank 1 and the transmission 3 machine, the motor 2, the frequency converter 4 and the rotation angle sensor 6 and the temperature sensor 12 correspond to those already based Fig. 1 mentioned components of the training device and therefore need no further explanation.
  • the control device 5 contains, as Fig. 4 reveals two control circuits in cascade structure, namely an inner loop for the speed ⁇ and an outer loop for the position ⁇ .
  • the position in the form of a rotation angle ⁇ and the rotational speed ⁇ thus relate to the movement of the crank 1.
  • an evaluation device 13 is provided, in whose calculations in particular the reduction of the transmission 3 received.
  • the difference between a desired position ⁇ s and the actual position ⁇ I is fed to a first controller 14, which is preferably a proportional controller.
  • the setpoint position ⁇ s corresponds to the lower end position ⁇ min in Fig. 3
  • the output variable of the controller 14 is a speed that is initially limited by a limiter 15 to a maximum value ⁇ max . This avoids that the crank 1 can reach the given by the engine 2 and the transmission 3 maximum speed, since in such extremely rapid movements of the crank 1, for example in the case of sudden relief by slipping of the exercising person from the crank 1, a high Danger of injury would be given.
  • a second limiter 16 also limits the angular acceleration to a maximum value ⁇ max , to avoid excessive jerk when starting the crank 1, which, although less dangerous, but would be detrimental to the comfort of training.
  • the two limiters 15 and 16 are basically optional but very useful from the point of view of safety and comfort.
  • a target speed ⁇ S from which the calculated in the evaluation device 13 actual speed ⁇ I is subtracted.
  • a target speed ⁇ S from which the calculated in the evaluation device 13 actual speed ⁇ I is subtracted.
  • This is supplied to a preferably designed as a proportional / integral controller speed controller 17, which supplies a torque as an output variable.
  • This is varied in a characteristic unit 18 as a function of the actual position ⁇ I in accordance with a predetermined function, for which purpose the characteristic unit 18 is supplied with the actual position ⁇ I as a further input variable.
  • a preferred function with three constant sections and two equally high steps between these sections was previously described Fig. 3 explained.
  • the output variable of the characteristic unit 18 is the setpoint torque M s for the crank 1.
  • the setpoint torque M s for the crank 1 supplied by the characteristic unit 18 must be converted into said setpoint torque M M for the motor 2 in a computing device 19. Initially, the reduction of the transmission 3 enters into this conversion.
  • the computing device 19 has a memory in which tables are stored which describe the influence of further mechanical system parameters on the relationship between the two setpoint torques M S and M M. These include, for example, the weight of the crank, the friction losses of the transmission, moments of inertia of the transmission and the crank, the viscosity of the transmission oil and its temperature dependence.
  • the parameters which are included in the relationship between the two torques M s and M M are partly constant, but in some cases also dependent on motion variables and / or on the temperature. Therefore, the arithmetic unit 19 of the evaluation device 13 at least the actual position ⁇ I and the actual speed ⁇ I of the crank 1, optionally also additionally the actual angular acceleration ⁇ I supplied, which is needed to take into account inertial effects. Furthermore, the measurement signal T of the temperature sensor 12 is also supplied to compensate for temperature influences.
  • the computing device 19 In the course of the conversion of the setpoint torque M S of the crank 1 into a corresponding payload torque M M of the motor 2, the computing device 19 also carries out corrections which include additional mechanical and thermal influences which, apart from the gear reduction, are still converted into the conversion of the torque of the motor 2 into that enter the crank 1, compensate.
  • the compensation of their influence between the computing device 19 and a separate compensation device 20 or the frequency converter 4 may be divided, preferably in that the compensation of the temperature dependence of the motor 2 alone is already integrated in the frequency converter 4, or is perceived by a separate compensation device 20, since this temperature dependence is a motor-specific property.
  • the presence of the compensation device 20 is therefore optional and depends on whether the used frequency converter 4 already provides an internal compensation of the motor temperature or not.
  • the computing device 19 fulfills a temperature compensation, this is preferably limited to the temperature dependence of the motor 2 downstream mechanical components, in particular the transmission 3, in which, for example, the viscosity of the oil and thus the friction and the inertia depend on the temperature.
  • the length of the lever arm of the crank 1 can be made to adapt to the body dimensions of the person exercising variable.
  • the force exerted by the crank 1 in the tangential direction which is the decisive criterion for the physiotherapeutic effect of training, depends on the lever length, so that the torque must be corrected accordingly to set a specific force with variable lever length.
  • the body size can be communicated to the training device via the magnetic or chip card reader 10, whereupon the lever length is suitably adjusted via a servo motor and a specific one is selected by the computing device 19 from the data sets stored in its memory to take into account the set lever length.
  • the corrected from the torque M S of the crank 1 and corrected target torque M M of the motor 2 is supplied to the frequency converter 4 as an input variable.
  • the measurement signal of the rotary encoder 6 on the shaft of the motor 2 which is fed directly to him.
  • the control loop formed by the frequency converter 4 based on the measurement of an immediate state variable of the engine, namely the motor rotation angle ⁇ M , reacts this innermost control loop very quickly. This is a great advantage for the dynamic properties and the stability of the entire control.
  • Frequency converters for three-phase motors, which operate on the principle of field-oriented control are available in today's market for drive electronics. The application in a training device, however, is an innovation that is proposed here for the first time.
  • the exerciser against which the user of the exerciser exerts a force during exercise is a crank.
  • the exerciser may also take a variety of other forms, such as e.g. that of a stirrup, a handle, or one or two pedals.
  • the present invention is not limited to a crank, but it includes all conceivable variants of an exercise organ, which is suitable to be acted upon by a person with muscle power.
  • This includes, inter alia, training bodies that do not rotate, but perform a translational motion, which is then mechanically translated into rotation of a motor shaft.
  • the terms used here of the rotation angle, the rotational speed and the torque correspond to a translational displacement or a translational speed or a force.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Electromagnetism (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Pharmaceuticals Containing Other Organic And Inorganic Compounds (AREA)
  • Massaging Devices (AREA)
  • Confectionery (AREA)
  • Percussion Or Vibration Massage (AREA)
EP05013561A 2004-07-08 2005-06-23 Trainingsgerät Active EP1614448B2 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL05013561T PL1614448T3 (pl) 2004-07-08 2005-06-23 Przyrząd treningowy

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102004033074A DE102004033074A1 (de) 2004-07-08 2004-07-08 Trainingsgerät

Publications (4)

Publication Number Publication Date
EP1614448A2 EP1614448A2 (de) 2006-01-11
EP1614448A3 EP1614448A3 (de) 2006-03-15
EP1614448B1 EP1614448B1 (de) 2008-05-14
EP1614448B2 true EP1614448B2 (de) 2012-07-18

Family

ID=35134802

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05013561A Active EP1614448B2 (de) 2004-07-08 2005-06-23 Trainingsgerät

Country Status (6)

Country Link
US (1) US7211985B2 (es)
EP (1) EP1614448B2 (es)
AT (1) ATE395108T1 (es)
DE (2) DE102004033074A1 (es)
ES (1) ES2308340T5 (es)
PL (1) PL1614448T3 (es)

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DE102005051674A1 (de) 2005-10-28 2007-05-03 Dieter Miehlich Trainingsgerät
KR101490482B1 (ko) * 2008-04-23 2015-02-06 삼성디스플레이 주식회사 액정 표시 장치의 제조 방법
EP2157401A1 (en) 2008-08-18 2010-02-24 Holding Prodim Systems B.V. Apparatus and method for measuring spatial co-ordinates
EP2174692A1 (de) 2008-10-10 2010-04-14 milon industries GmbH Trainingsgerät
EP2174694A1 (de) 2008-10-10 2010-04-14 milon industries GmbH System und Verfahren zur Erstellung von Trainingsplänen und zur adaptiven Anpassung von Fitness- und/oder Rehabilitationsgeräten
EP2186547A1 (de) 2008-11-17 2010-05-19 milon industries GmbH Trainingsgerät mit getrenntem Haupt- und Positionierantrieb
EP2189190A1 (de) 2008-11-19 2010-05-26 milon industries GmbH Trainingsgerät mit Vorrichtung zur Positioniererleichterung
KR100986570B1 (ko) * 2009-08-31 2010-10-07 엘지이노텍 주식회사 반도체 발광소자 및 그 제조방법
EP2402061B1 (en) * 2010-06-30 2016-03-02 eGym GmbH Training apparatus, arrangement and method
DE102011082027A1 (de) 2011-02-09 2012-08-09 Robert Bosch Gmbh Trainingsvorrichtung mit einer elektrischen Maschine und Verfahren
CN103860355B (zh) * 2012-12-13 2016-08-03 李春光 双肢镜像运动训练设备
NL2013776B1 (en) * 2014-11-11 2016-10-06 Magnetic Innovations B V Controllable electromagnetic brake system.
FR3043218B1 (fr) * 2015-11-04 2019-12-20 Thales Dispositif de limitation dynamique et procede de limitation dynamique par un tel dispositf
US11745039B2 (en) 2016-07-25 2023-09-05 Tonal Systems, Inc. Assisted racking of digital resistance
US10661112B2 (en) 2016-07-25 2020-05-26 Tonal Systems, Inc. Digital strength training
US10335626B2 (en) 2017-10-02 2019-07-02 Tonal Systems, Inc. Exercise machine with pancake motor
US10617903B2 (en) 2017-10-02 2020-04-14 Tonal Systems, Inc. Exercise machine differential
US10486015B2 (en) 2017-10-02 2019-11-26 Tonal Systems, Inc. Exercise machine enhancements
US10589163B2 (en) 2017-10-02 2020-03-17 Tonal Systems, Inc. Exercise machine safety enhancements
US11285355B1 (en) 2020-06-08 2022-03-29 Tonal Systems, Inc. Exercise machine enhancements
US11998804B2 (en) 2021-04-27 2024-06-04 Tonal Systems, Inc. Repetition phase detection
US11878204B2 (en) 2021-04-27 2024-01-23 Tonal Systems, Inc. First repetition detection
DE102022205526A1 (de) 2022-05-31 2023-11-30 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben eines Fitness-Trainingsgeräts, insbesondere eines Laufbandes, sowie ein Fitness-Trainingsgerät zum Ausführen dieses Verfahrens
DE102022205529A1 (de) 2022-05-31 2023-11-30 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben eines Fitness-Trainingsgeräts mit abgespeicherten Datensätzen, sowie ein Fitness-Trainingsgerät zum Ausführen dieses Verfahrens

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PL1614448T3 (pl) 2009-01-30
ES2308340T3 (es) 2008-12-01
DE102004033074A1 (de) 2006-02-02
EP1614448A2 (de) 2006-01-11
EP1614448A3 (de) 2006-03-15
US20060006836A1 (en) 2006-01-12
ATE395108T1 (de) 2008-05-15
DE502005004085D1 (de) 2008-06-26
ES2308340T5 (es) 2012-10-26
US7211985B2 (en) 2007-05-01
EP1614448B1 (de) 2008-05-14

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