EP3285893B1 - Appareil d'exercice motorisé élastique en série - Google Patents

Appareil d'exercice motorisé élastique en série Download PDF

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Publication number
EP3285893B1
EP3285893B1 EP16783540.4A EP16783540A EP3285893B1 EP 3285893 B1 EP3285893 B1 EP 3285893B1 EP 16783540 A EP16783540 A EP 16783540A EP 3285893 B1 EP3285893 B1 EP 3285893B1
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EP
European Patent Office
Prior art keywords
exercise machine
motor
machine apparatus
torsion spring
variable speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16783540.4A
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German (de)
English (en)
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EP3285893A1 (fr
EP3285893A4 (fr
Inventor
Aaron Hulse
Elliott POTTER
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Rethink Motion Inc
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Rethink Motion Inc
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Filing date
Publication date
Priority claimed from US14/691,702 external-priority patent/US9833662B2/en
Priority claimed from US14/792,882 external-priority patent/US20160102724A1/en
Priority claimed from PCT/US2015/053893 external-priority patent/WO2016057350A1/fr
Priority claimed from PCT/US2015/067886 external-priority patent/WO2016109552A1/fr
Application filed by Rethink Motion Inc filed Critical Rethink Motion Inc
Publication of EP3285893A1 publication Critical patent/EP3285893A1/fr
Publication of EP3285893A4 publication Critical patent/EP3285893A4/fr
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Publication of EP3285893B1 publication Critical patent/EP3285893B1/fr
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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
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • 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
    • A63B21/00058—Mechanical means for varying the resistance
    • A63B21/00076—Mechanical means for varying the resistance on the fly, i.e. varying the resistance during exercise
    • 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
    • A63B21/002—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion or wherein the speed of the motion is independent of the force applied by the user
    • 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
    • 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
    • A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
    • A63B21/023—Wound springs
    • 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
    • A63B21/15—Arrangements for force transmissions
    • A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
    • A63B21/154—Using flexible elements for reciprocating movements, e.g. ropes or chains using special pulley-assemblies
    • 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
    • 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
    • A63B2220/30—Speed
    • A63B2220/34—Angular speed
    • 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
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • 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
    • A63B2220/50—Force related parameters
    • A63B2220/54—Torque
    • 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
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/805—Optical or opto-electronic sensors

Definitions

  • This disclosure pertains to the field of exercise machine apparatus for isokinetic, isotonic, and isometric exercises.
  • Exercise machines are known. Many exercise machines utilize combinations of weight connected to a load transfer system by cables and pulleys. Others use cylindrical springs. Other apparatus utilizes the deformation of material such as steel rods to provide resistance. Other types utilize friction resistance.
  • Isotonic exercising This is the exercise experienced by lifting of traditional weights.
  • the weight remains constant regardless of the weight's position relative to the individual. This allows the individual to take advantage of the inertia of the moving weight through the horizontal position in performing an arm curl.
  • the force exerted by the individual dips as the weight moves from the bottom position (at the knees) to the waist. Momentum is created.
  • the speed of the weight does not remain constant. Weights (Isotonic exercising) cannot change through position change. Therefore the weight does not achieve optimal strength profile.
  • the apparatus moves a constant speed.
  • the individual pushes or pulls against the apparatus and, in the case of the Applicant's apparatus, the individual's force is measured and recorded.
  • the machine does all the moving at a constant speed.
  • the force changes while the load transfer mechanism velocity remains constant.
  • the load transfer mechanism is in a fixed position. The individual tries to move the mechanism. The mechanism does not move. In the Applicant's apparatus, the force applied to the stationary load transfer mechanism is sensed and recorded. This measurement is an important distinction between pressing or pulling against the stationary load transfer mechanism or other immovable object. The force changes while the load transfer mechanism position remaining constant.
  • Position dependent force control The machine does not move at a constant speed.
  • the apparatus is not controlling the speed of the apparatus. Velocity is controlled by the individual. Rather the apparatus rotational velocity is controlled to vary the resistance force in a controlled manner through the individual's range of motion.
  • the apparatus maintains the desired force regardless of velocity.
  • the machine may change the amount of force applied to the individual based on the position of the load transfer mechanism within the individual's range of motion.
  • WO2007015096 describes an exercise apparatus that allows the user to perform a variety of aerobic and strength training exercises.
  • US2013158444 describes a robotic system for simulating a wearable device actuation delivery mechanism and the source removed from the actuation delivery mechanism that is linked to the actuation delivery mechanism by at least one cable.
  • US5597373 describes a system for isolating, evaluating and exercising the muscle groups of the human hand, wrist, arm and shoulder.
  • US2012231929 describes a strength training control device comprising a torque source and a link mechanism, wherein a S-type load cell is coupled to the first link rod and the second link rod to sense a load value.
  • US5015926 describes a force development system for the application of controlled variable speeds and torque forces in exercise machines utilized to strengthen and develop body muscles of an exercising person.
  • the instant disclosure teaches a combination of devices or components to create a novel exercise apparatus. Unlike many other exercise devices, the Applicant's disclosure creates a load that does not generate momentum, i.e., resistance to change in velocity. In the prior art, once the individual moves a weight, the moving weight is resistant to a change in speed. This makes continued lifting of the weight easier. The combination of weight (mass) and velocity at which the individual is moving the weights is momentum.
  • the Applicant's apparatus is unique in that it combines inertiafree motion with other apparatus components including but not limited to novel torque sensors, series elastic actuator (herein after "series elastic actuator” or “SEA”) and gear reducer.
  • a series elastic actuator is defined to contain a motor, gear reducer, torsion spring, and position sensor(s).
  • the motor may be a servo motor.
  • the inertia free movement of the apparatus means that the force generated by the apparatus (using the electric motor, gears, and rotational torsion spring) is independent of gravity.
  • the force exerted by the device is independent of the position of the load experienced by the user.
  • inertia distorts the exercise experience. It distorts the load placed on an individual's muscles leading to a less efficient workout and an increase in injury potential. It is therefore advantageous to an efficient exercise session that the individual not experience inertia.
  • the apparatus of the Applicant's disclosure allows the individual to engage in multiple exercise modes.
  • the individual can practice isokinetic exercising. Isokinetic exercise involves the exercise machine providing resistance to the movement of the individual.
  • the individual can also practice isotonic exercise which involves muscle contraction in the presence of a constant load. Isometrics can also be practiced and involves the individual utilizing his/her muscles to press or pull against an immoveable object.
  • the Applicant's disclosure also allows variable force profiles over the individual's range of motion. No existing exercise machine allows all four types of exercise modes to be performed.
  • the exercise machine of the Applicant's disclosure utilizes a torque sensor.
  • the torque sensor comprises multiple components. Included is a circular torsion spring.
  • the circular torsion spring comprises an outer ring and an inner ring.
  • the inner and outer rings are concentric.
  • the inner and outer rings are connected by one or more splines.
  • the torque sensor also includes a position measuring sensor to detect deflection between the outer ring (outlet side) and the inner ring (input side) of the torsion spring.
  • the output side of the torsion spring is connected to the load transfer mechanism.
  • the input side of the torsion spring is connected to the rotatable shaft of a motor through a reduction gear.
  • the apparatus detects deflection of the outer ring relative to the inner ring. The deflection can be caused by a load, e.g., an individual pulling on a bar connected by belts or similar devices in communication with the torsion spring.
  • the torque measuring sensor detecting deflection of the torsion spring, signals a servo drive motor controller or microprocessor. In response to this signal, the motor controller may cause the motor to activate. This activation can turn or rotate the motor shaft and the reduction gear.
  • the motor shaft may rotate at variable speeds as directed by the motor controller.
  • the motor can be a servo motor.
  • a servo drive can contain or be in communication with a microprocessor. This motor may be referred herein as an "intelligent servo drive.”
  • the motor shaft is in communication with the gear reducer which is in communication with the inner ring (input side) of the torsion spring.
  • the rotation of the shaft, at a speed selected by the motor controller can offset the deflection of the torsion spring.
  • the shaft can rotate in either a clockwise or counter clockwise direction.
  • the motor controller can contain embedded intelligence.
  • the motor controller is programmable.
  • the apparatus of the Applicant's disclosure is a Series Elastic Exercise Machine 300 illustrated in Figure 1 .
  • the apparatus includes, but is not limited to, a load transfer mechanism (including a belt spool) 299 adapted to allow an individual to move the apparatus; a series elastic torque sensor 302 including a torsion spring and position sensor disks; a programmable (intelligent) motor controller 305; and a gear reducer 303 and a motor 304.
  • the motor may be a servo motor.
  • the components of the apparatus can be mounted on a base 306.
  • the apparatus can vary the load profile throughout the range of motion utilized by the individual (through the load transfer mechanism). This pertains to the relationship between ROM (range of motion) and force. As the load changes in position relative to the user (due to the user's movement of the load) the amount of force required of the individual to be used to further move the load can automatically change. Stated differently, the relationship to the amount of required force relative to the position of the load creates a load profile. It will be appreciated that a constant load through the individual's ROM constitutes one of many types of load profiles.
  • the apparatus of this disclosure is a force or velocity controllable device using a variable speed electric servo motor (having a rotating shaft), gear reduction component, torque sensor, load transfer mechanism (including a pulley or spool, belt or cable), and motor controller (having programmable embedded electronics).
  • a variable speed electric servo motor having a rotating shaft
  • gear reduction component having a rotating shaft
  • torque sensor having a torque sensor
  • load transfer mechanism including a pulley or spool, belt or cable
  • motor controller having programmable embedded electronics
  • the load mechanism moves a constant speed.
  • the user applies resistive force against the moving load mechanism.
  • the user's force is measured by the apparatus.
  • the torque of the motor increases as the user resists the movement. This increase in motor force maintains constant motion of the load mechanism.
  • the disclosure includes the capability to use a series elastic actuator 300 (the custom design torque sensor and planar torsion spring coupled with a gear reducer and electric motor) to control the force applied through the load transfer mechanism (comprising in part the spool 299 ).
  • a series elastic actuator 300 the custom design torque sensor and planar torsion spring coupled with a gear reducer and electric motor
  • the disclosure comprises a load transfer mechanism adapted to be utilized by an individual to exert force or strength on the machine subject of the disclosure.
  • Components of the load transfer mechanism including the rotating belt spool 301 , spool shaft 352 , and rotating spool bearing assembly 353 are disclosed in Figure 2 .
  • the load transfer mechanism (hereinafter “load transfer mechanism") contains the rotating belt spool, spool shaft, rotating spool bearing assembly and components adapted to be grasped by the individual including but not limited to a bar or handgrips and a belt attached to the bar or handgrips (not shown) and the belt spool.
  • the mechanical load transfer component may also include but not be limited to a belt, cable, rope, chain or similar device to transfer the load to a spool.
  • the belt component, etc. is attached to the belt spool 301 and to the bar or handgrips (not shown).
  • the spool shaft 352 rotates on the same axis of orientation 310 shown in Figure 3 .
  • Also illustrated is the spool bearing assembly 353 that allows the spool to easily rotate under load.
  • the disclosure comprises a load transfer mechanism adapted to be utilized by an individual to exert force or strength on the machine subject of the disclosure.
  • FIG 3 illustrates a series elastic torque sensor 302 .
  • the torque sensor components are in communication with the Load Transfer Mechanism 299 . These components share the same axis of rotation 310.
  • the torque sensor 302 (hereinafter “series elastic torque sensor” or “torque sensor” contains an axis of rotation shared with spool of the load transfer mechanism, reducing gear and motor.
  • the series elastic torque sensor also contains at least one position sensor in communication with an intelligent motor controller and a planar torsion spring. (See Figure 4 )
  • the inner and outer rings of the torsion spring are connected by one or more splines 415.
  • the outer ring (output side) may rotate relative to the inner ring (input side) and vice versa in response to torque force.
  • the inner concentric ring (input side) may have a circular opening dimensioned to fit around the outer circumference of a rotating motor shaft or gear reducer.
  • the motor shaft and motor may have the same axis of orientation as the opening of the torsion spring.
  • the motor can be mounted at an angle to the opening of the torsion shaft. This may be advantageous for reducing space requirements.
  • the torsion spring 411 may be considered a component of the series elastic torque sensor. Elastic is used here to disclose that the deflection of the torsion spring (outer or inner ring) is measured.
  • each spring position sensor comprises a disk containing equidistant marks around the circumference of the disk. These can be tick marks. The marking designate degrees or partial degrees of the circumference. There are, of course, 360° in the circumference of each circle. These marks may alternatively be holes or apertures in the disk edge, notches in the disk edge or opaque markings on an otherwise clear disk.
  • the disk can have electromagnetic markings along the circumference.
  • the series elastic torque sensor has components that measure the movement of the circumferential markings on a first and second disk. This may be a light beam emitted from a component on one side of the first disk and a light receptor located on the opposite side of the first disk.
  • the light receptor can record a signal or the receipt of light through the clear disk or through the teeth of the serrated edged disk. It will be appreciated that the light signal will be interrupted by the light beam being blocked by the opaque markers or the solid teeth of the serrated edged disk.
  • the receptor can record an electromagnetic signal from the marking along the circumference of the disk.
  • Each spring position sensor is round and has a circumference. In one embodiment, the diameter of each sensor is larger than the diameter of the planar torsion spring). This expanded circumference provides greater resolution to the position sensor and encoder components. Each disk is marked along or proximate to the circumference.
  • the position sensor disks can be translucent, e.g., clear plastic or polymer.
  • the degree markings can be opaque.
  • An optical sensor encoder may be mounted on a rigid bracket independent of the rotational movement of the sensor disks or the torque load on the planar torsion spring. The encoder will shine a light beam across and through the sensor disk. The light beam will be detected by a light sensor (encoder receiver). When an opaque degree marking crosses the light path, the light sensor will detect an interruption in signal and will send an appropriate signal to a controller.
  • the sensor disk can have notches or teeth placed on the circumference.
  • the encoder would detect the interruptions in light caused by the notches or teeth rotating through the light path.
  • markings can be placed on the circumference of the output side and the input side respectively.
  • the markers can be reflective and the encoder will detect the reflected light.
  • An encoder attached to a separate framework can, in one embodiment, transmit an optical signal upon the outer circumference of a spring output position sensor disk.
  • the optical signal may be sensed by an optical reader on the opposite side of the spring output position sensor disk.
  • the optical reader senses movement of the output side of the torsion spring. This is detected by variations of the optical signal transmitted through the disk circumference.
  • the spring output position sensor disk may have opaque markers on the disk outer circumference. The markers, when positioned in front of the encoder block the light normally received by the optical sensor. A second (opposite) configuration is also used for the spring input position sensor. The position of each position sensor is utilized to determine the direction that torque force is being applied.
  • Each optical reader device (encoder receiver) will be in communication with the intelligent motor controller.
  • the controller will utilize the signals received from the position sensor to compute the degrees of rotation of the output side or input side (or vice versa) of the torsion spring to compute the torsion loads. It will be appreciated that the computation can be achieved upon activation of the apparatus. Therefore it is not necessary to first calibrate the degrees of rotation. See Figure 9 .
  • the encoder components of the spring position sensors 312, 313 do not rotate with the servo motor, gear reducer, torsion spring and position sensors.
  • the spring position sensors and torsion spring have the same axis of rotation.
  • Figure 3 also illustrates the intelligent motor controller 305 beneath the gear reducer 303.
  • the intelligent motor controller 305 includes a microprocessor in communication with the servo motor 304 as well as a programmable user interface (not shown).
  • One function of the intelligent motor controller is to direct motion (rotation) of the servo-motor.
  • the encoder sends a signal to the intelligent motor controller regarding the amount of torque being experienced by the torsion spring. This can be the result of force transferred through the load transfer mechanism.
  • Each combinations of light emitters and light receptors at the series elastic torque sensor 302 can measure torque deflection of either the input ring or the output right. When deflection is detected, a signal is sent to the intelligent motor controller 305.
  • the program of the motor controller can provide instructions to the servo motor 304.
  • the torque transmitted through the load transfer mechanism causes the movement of the planer torsion spring, which in turn is detected by the torque sensor reader and communicated to the motor controller.
  • the load or force created by the rotating motor as modified by the gear reducer also is transferred through the series elastic torque sensor (including the torsion spring). Deflection of the input side of the torsion spring will cause a signal to the intelligent motor controller.
  • the operation of the motor controller (and the resulting controlled operation of the motor and gear reduction) can continuously vary the load profile throughout the range of motion utilized by the individual (through the load transfer mechanism). This pertains to the relationship between ROM (range of motion) and Force. As the load transfer device changes in position relative to the individual (due to the individual's movement of the load) the amount of force required of the individual to be used to further move the load transfer device changes. Stated differently, the relationship to the amount of required force relative to the position of the load creates a load profile.
  • Figure 3 also illustrates that the servo motor 304 , gear reducer 303 , and series elastic torque sensor 302 share a common axis of rotation 310. It will be appreciated that this same axis of rotation extends through the spool shaft in Figure 2 .
  • Figure 4 illustrates a detailed view of the components of the series elastic torque sensor 302 Shown is the rotating plate 314 which is part of the load path. Attached is the spring output position sensor 312. In the embodiment illustrated, it comprises a transparent circular disk. The diameter of the disk is larger than the diameter of the torsion spring 411.
  • the torsion spring is illustrated having 3 splines 415. On the opposite side of the torsion spring from the spring output position sensor is the spring input position sensor 313. Also shown is the axis of rotation 310 extending from the servo motor ( 304 on Figure 3 ) to the spool shaft ( 352 on Figure 2 ).
  • FIG. 5 illustrates an example of a planar torsion spring 411 utilized by the Applicants.
  • the axis of rotation of the torsion spring is the same as the axis of rotation of the larger diameter position sensor. This axis of rotation is shared with the outer ring (the output side) 410 and the inner ring (the input side) 420. The axis of rotation passes through point 140 of the open center section of the spring.
  • the outer spring output is in communication with the load transfer component via a rotating plate 314 and described in paragraph [0056].
  • the torsion spring may be either of harmonic or planetary design. In one embodiment, the Applicant utilizes a unique planatory torsion spring design
  • the Applicant's torsion spring utilizes 3 spines 415.
  • the spring comprises a planar surface.
  • the plane extends along the x and y axis.
  • the spring has a radius in the x and y axis.
  • the output side is concentric about the input side.
  • the input side and output side share the same axis of rotation (See Figure 2 , items 140 and 310.
  • the axis of rotation and longitudinal axis and spring thickness 435 are in the z direction.
  • the planar torsion spring comprises an inner ring 420 nested within a larger diameter outer ring 410. Stated differently, the inner ring is positioned concentrically within the diameter of the outer ring.
  • the torsion spring has a planar shape.
  • the concentric inner and outer rings are joined together by one or more splines 415.
  • the splines can form elongated concentric arcs 431 surrounding the exterior diameter of the inner ring.
  • the design of the spline can be opposite the design of a spoke between an outer rim and inner hub. It will be appreciated the spoke will extend from the inner hub in a radial straight direction to the outer rim.
  • the elongated concentric arc (serpentine) of the Applicant's design permits the greater deflection of the spline with lower stress.
  • the Applicant's design achieves this improvement by the longer load path formed of the elongated design of the concentric arc splines.
  • the spline can be deflected or deformed by the rotation of one ring relative to the other ring. Stated differently, by deformation of the spines, one ring may be rotated relative to the other ring.
  • each spline can be designed longer to achieve a wider range of stiffness, but a lower maximum achievable stiffness. With fewer splines, each spline can be designed to have a longer extended path 430 between the inner ring and the outer ring. The thickness of the spline may be varied through the elongated length.
  • torsion spring 411 a spring comprising fabricating a first outer ring 410 , fabricating a second inner ring 420 which is positioned within the first outer ring and possessing a same axis of one or more splines 415 and extending the spline to a maximum length relative to the circumference between the first outer ring and second inner ring 431 , fabricating the spline with the desired number concentric arcs between the inner circumference of the first outer ring and the outer circumference of the second inner ring and positioning the first outer ring, the second inner ring and the spline in the same plane.
  • Each spline is connected by a tab 433 to the outer ring 410 and the inner ring 420.
  • each spline can be designed longer to achieve a wider range of stiffness, but a lower maximum achievable stiffness. With fewer splines, each spline can be designed to have a longer extend path between the inner ring and the outer ring. The thickness of the spline may be varied through the elongated length.
  • the Applicant's planar torsion spring illustrated in Figure 5 may be comprised of standard steel alloys e.g., 17-4PH stainless steel. This stainless steel utilized in the Applicant's design can achieve the same stiffness and strength of more expensive or more difficult to work with such as custom 465 stainless steel or maraging steel. Also, the spring illustrated in Figure 5 can achieve a wider range of spring stiffness in other spring designs.
  • the Applicant's torsion spring can be made of various materials including composite materials.
  • the planar torsion spring is preferably made of metal such as steel. In some embodiments it can be made of maraging steel, a steel composite having a high yield strength.
  • the Applicant's novel spring architecture reduces stress concentration by distributing the load more predictably and evenly. This means that the peak stress in the material is less with the new design given a size and stiffness target.
  • the spring geometry ( Figure 5 ) illustrates a larger load path. It will be appreciated that the greater load path allows the stress created by spring deflection to be spread over a greater area, resulting in smaller and less consequential stress concentrations.
  • the Applicant's spring design 411 shown in Figure 5 allows the use of more standard alloys to get the same max load rating and stiffness.
  • the apparatus 300 of this disclosure is a force or velocity controllable device using a variable speed electric motor (having a rotating shaft), gear reduction, torque sensor, spool, belt, and motor controller (having programmable embedded electronics). All are on the same axis of orientation 310.
  • the main purpose of the apparatus is to provide force for the purpose of exercise; specifically strength training. Unlike weights, the programmability of the machine allows for the amount of force imparted on the user to be adjusted during a workout.
  • the disclosure includes the capability to use a series elastic actuator (the custom design torque sensor and planar torsion spring) to control the force applied to the load transfer mechanism, This apparatus can maintain constant force being transferred to the user via the load transfer mechanism.
  • An SEA consists of the motor 304 , gear reducer 303 , torsion spring 411 , and position sensor(s) 312.
  • the motor may be a servo motor.
  • the components are connected as follows: motor attaches to gear reducer, gear reducer attaches to a torsion spring wherein two position sensors are respectively attached to the input and output rings of the torsion spring.
  • Each position sensor 313 of the series elastic actuator can include encoders that signal the motor controller of movement of the torsion spring. The encoders are not in the load path.
  • the motor controller 305 utilizes the signal from the light receptor component of the encoder to measure the deflection of the spring to calculate torque/force.
  • the Applicant solves the problems of paragraphs [00076] by using the series elastic torque sensor on the output side of the gear reducer, so that the output torque is controlled directly. This control removes the past practice of inferring the output torque.
  • the disclosure also teaches controlling torque rather than velocity. Change in direction of movement (rotation) can occur without difficulty since the motor controller can selectively ignore velocity and direction.
  • the series elastic torque sensor performs all functions of commercially available torque sensors and is considerably less expensive than commercially available torque sensors.
  • Commercial suppliers of torque sensors include Futek, and Interface T27.
  • the Interface torque sensor T27 is listed at $9,045.00.
  • the Futek torque sensor FSH02059 is listed at $3,630.00.
  • the cost of the Applicant's series elastic torque is $300.00.
  • the Applicant's disclosure also teaches that it is advantageous to measure torque rather than linear force. As discussed above, the Applicant measures torque using a combination of a torque sensor (including a torsion spring) and a motor controller.
  • Linear force is commonly measured by using an inline load cell.
  • Load cells are commercially available devices that measure stretching or compressive applied loads.
  • One example of a commercially available load cell is available from Futek at www.futek.com/product.
  • load cells are expensive and subject to wear or deterioration in various ways. Load cells therefore require replacement. It should be noted that the load cell is part of the load chain and moves with the load transfer mechanism. This movement complicates maintaining an effective electrical connection to other components of the apparatus.
  • Another method of measuring torque is a motor electric current measurement device. As stated this can be a method of torque control. However this method has disadvantages including but not limited to noise and slow operation.
  • a motor electric current measurement device is not suitable for the dynamic force control needs of the Applicant's apparatus.
  • SEA series elastic actuator
  • a series elastic actuator consists of a motor, gear reduction, spring, and position sensor(s). The components are connected as follows: motor attaches to gear reducer, gear reducer attaches to spring, a position sensor or position sensors is/are used to measure the deflection of the spring to infer torque/force.
  • the series elastic actuator is the force generator system of the Applicant's apparatus.
  • the Applicant's actuator (motor plus gear train has a mass of 11.5 kg.
  • the actuator produces a peak torque of 154 Nm.
  • An equivalent direct drive motor without a gear train that provides equivalent torque has a mass of 49 kg and is more expensive.
  • the Applicant compared its motor/gear-train combination with a motor from the same manufacturer that provides the same peak torque as the Applicant's combination.
  • the Applicant's motor is supplied by Kollmorgen, Radford, Virginia.
  • the Applicant's apparatus utilizes a gear reducer.
  • the ratio of the gear reducer is 10:1.
  • the Applicant's use of a gear reducer amplifies the torque of the motor. This allows the Applicant to use a geared motor that can be 20-25% of the mass of an equivalent direct drive motor. The cost savings and mass reduction are substantial.
  • SEA Series Elastic Actuator
  • the Applicant's utilization of an SEA also achieves solution or mitigation of the following deficiencies experienced in the prior art.
  • the deficiencies solved by the use of Series Elastic Actuator (SEA) include but are not limited to reflected inertia range of forces and speeds (power) that can be generated by a physically smaller motor.
  • the SEA is more reliable than a load-cell based upon force measurements and more accurate sensor based measurements.
  • the addition of the series elastic element acts as a passive mechanical filter to smooth out high frequency vibration from the motor.
  • the Applicant's use of a series elastic actuator SEA significantly improves isotonic force control (constant muscle force) performance while still maintaining other modes of operation such as isokinetic (constant muscle and joint speed) and isometric (constant muscle and joint position). It also allows for variable force profiles.
  • the motor controller of the Applicant's device is fully programmable making it independent of the kinematic relationships that exist in traditional weight machines. In other words, the force is completely independent of the position within the ROM.
  • the motor controller (hereinafter entitled “intelligent motor controller”) also contains embedded intelligence, e.g., microprocessor and intelligent servo drive, capable of operating algorithms of the motorized torque controllable exercise machine apparatus
  • the intelligent motor controller can also collect data, including the strength utilized by the user. The data will be recorded on the user interface computer and then sending it over the Internet to the Applicant's servers. The data can be stored in the cloud.
  • the microprocessor of the intelligent motor controller collects the data and sends it to the user interface computer, but in one embodiment, the intelligent motor controller does not store the data.
  • the apparatus 300 measures two positions to calculate torque.
  • the two positions are measured by the spring output position sensor 312 and the spring input position sensor 313.
  • the position sensors signal the motor controller 305 of the respective positions of the torsion spring input 420 and output 410.
  • the intelligent motor controller utilizes changes in the respective positions to measure movement. Utilizing the spring constant, the torque (force) applied to the torsion spring is calculated.
  • the device of the invention can record both force and position data.
  • FIG. 6 illustrates a logic flow diagram of the operation of the encoder in conjunction with the movement of the spring output position sensor.
  • the encoder emits a signal at a rate of at least 10 kilohertz (10,000 cycles/sec).
  • the signal is a pulse of light.
  • the light pulse encoder monitors the position of the output side (Step 1) of the torsion spring.
  • the light source is continuous. If the optical receiver of the encoder detects a change in signal, either an interruption of the light signal received by the light receiver or receipt of a light source, the optic receiver of the encoder detects rotational movement of the output side. A signal will be sent to the computer processor of the intelligent motor controller (Step 2).
  • the number of light signal interruptions can be detected by the encoder optic receiver and counted by the motor controller (Step 3).
  • the number of interruptions correlates to the number of tick marks on the circumference of the sensor disk attached to the output side.
  • the number of ticks correlates to the distance of the circumference traversing across the encoder optic receiver. This correlates to the number of degrees of the arc segment.
  • the length of the arc (angular position) is calculated by the computer processor of the motor controller. Knowing the spring constant, the amount of force experienced by the output side can be calculated (Step 4).
  • the motor controller can send a responsive signal to the motor to generate force.
  • a separate optic output component of the encoder and the encoder optic receiver monitors the input side of the torsion spring (Step 5). If movement is detected, the receiver submits a signal of the number of light interruptions (or light reflections if reflective markers are used) to the motor controller and the processor calculates the angular position and the force based upon the amount of movement and spring constant (Step 6).
  • the intelligent motor controller can send a responsive signal to the motor.
  • the angular positions of both the output 410 and input side 420 of the torsion spring 411 are measured independently by spring input position sensor 313 and the spring output position sensor 312.
  • the two angles (angular position of the input and output side of the torsion spring) are differenced and multiplied by the spring constant.
  • the result of this calculation gives torque.
  • the torque is then used at multiple kilohertz as feedback for a torque controller. This computation is performed by the intelligent motor controller 305 that contains a computer processor.
  • the intelligent motor controller can compare the calculated measurements of force on the output side and on the input side of the torsion spring. (Step 7)
  • Step 8) If movement is detected, the movement is measured from the previous read position (Step 3). The force is calculated based upon the movement to the new position. (Step 9) Steps 3 through 7 are repeated.
  • FIG. 6 illustrates another embodiment of the disclosure.
  • an encoder monitors the sensor disk attached to the input side of the planar torsion spring. (Step 1).
  • the sensor detects whether the input side moves (Step 2).
  • an encoder transmits a light signal through the sensor disk attached to the input side of the planar torsional spring.
  • the light is transmitted through the translucent disk to an encoder receiver on the opposite side of the disk.
  • the circumference of the disk is marked with opaque tick marks. These marks interrupt the light signal as the input side moves through the light signal.
  • the interruptions are detected by the encoder receiver.
  • the receiver transmits a signal of the interruption to the computer processor.
  • the computer processor can calculate the distance rotated by the disk.
  • step 3 the computer processor computes the rotational movement based upon the signals received from the encoder receiver. Using the known spring constant, the computer processor calculates the force experienced by the input side (Step 4). Simultaneously, signals from the encoder monitoring the sensor disk attached to the output side can be used by the computer processor to ascertain whether the output side has moved (Step 5).
  • Step 6 If movement is detected, the amount of rotation is calculated by the computer processor based upon the signals received from the encoder receiver (Step 6). The amount of force experienced on the output side can be calculated based upon the amount of deflection and the spring constant. This computed force can be reconciled with the value computed in Step 4 above.
  • the computer processor can compute the amount of offset force that could be generated by a torque force generator (e.g. motor).
  • a torque force generator e.g. motor
  • the spring output/input position sensors are not affixed to the planar torsion spring. These sensors, in communication with the computer processor or microprocessor of the intelligent motor controller, are independently mounted to the apparatus and are not in the load path experienced by the output side or input side of the torsion spring.
  • Alternate sensor mechanisms can include a resolver, i.e., an analog encoder that converts an angle into a voltage level that can be read by an analog digital converter (ADC), or an Absolute Position Sensor (APS) which provides an exact angle based on a fixed zero point.
  • ADC analog digital converter
  • APS Absolute Position Sensor
  • the sensor utilizes an incremental encoder. The incremental encoder requires a startup step of positioning the output and input sides each time the spring is activated.
  • the apparatus contains an intelligent motor controller.
  • Figure 7 illustrates a logic flow diagram for utilizing detected movement of the spring position sensor disks by the encoder and transmission of signals to the programmable computer processor or microprocessor of the intelligent motor controller for calculation of torque.
  • Figure 8 illustrates a logic flow diagram utilizing detected optical signals of movement of the input side of the planar torsion spring to compute torque force applied to the output side.
  • Figure 9 illustrates the use of the encoders to determine torsion spring torque.

Claims (25)

  1. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) comprenant :
    1) un actionneur élastique en série, comprenant :
    1.1) un capteur de couple élastique en série (302), comprenant :
    1.1.1) un ressort de torsion (411), ayant un côté entrée et un côté sortie ;
    1.1.2) au moins un capteur de position de ressort (312, 313), configuré pour mesurer une flexion du ressort de torsion (411) ;
    1.2) un moteur à vitesse variable tournant à engrenages, comprenant un moteur (304) attaché à un réducteur à engrenages (303) ;
    1.3) un dispositif de commande de moteur programmable (305) ;
    2) un mécanisme de transfert de charge (299), comprenant une poulie ou bobine ;
    dans lequel l'au moins un capteur de position de ressort (312, 313) est en communication avec le dispositif de commande de moteur programmable (305) ; et
    dans lequel le moteur à vitesse variable tournant à engrenages est relié au côté entrée du ressort de torsion (411), et le mécanisme de transfert de charge (299) est relié au côté sortie du ressort de torsion (411).
  2. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1, dans lequel
    a) le capteur de couple élastique en série (302) est en communication avec
    (i) un arbre du moteur à vitesse variable tournant à engrenages ;
    (ii) au moins un capteur de position de ressort de torsion plan (312, 313) en communication avec un microprocesseur ;
    b) le microprocesseur étant en communication avec une servocommande intelligente ;
    c) la servocommande étant en communication avec le moteur à vitesse variable tournant à engrenages ;
    d) l'arbre du moteur à vitesse variable tournant à engrenages étant attaché dans un côté entrée (420) du capteur de couple élastique en série (302) ; et
    e) le microprocesseur commandant une rotation de l'arbre du moteur à vitesse variable tournant à engrenages.
  3. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un microprocesseur commandant la vitesse de la rotation de l'arbre du moteur à vitesse variable tournant à engrenages.
  4. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 2 dans lequel le microprocesseur répond à une force appliquée sur le mécanisme de transfert de charge (299).
  5. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un microprocesseur commandant la force créée par la rotation de l'arbre du moteur à vitesse variable tournant à engrenages.
  6. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 4 dans lequel le microprocesseur commandant la force de la rotation de l'arbre du moteur à vitesse variable tournant à engrenages répond à la vitesse appliquée sur le mécanisme de transfert de charge (299).
  7. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1, dans lequel des signaux provenant des capteurs de couple (312, 313) comprennent une entrée dans un microprocesseur pour commander l'action de l'arbre du moteur à vitesse variable tournant à engrenages.
  8. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un réducteur à engrenages (303) pour le moteur à vitesse variable tournant à engrenages.
  9. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1, comprenant en outre un réducteur à engrenages planétaires (303) pour le moteur à vitesse variable tournant.
  10. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1, comprenant en outre un réducteur à engrenages de type droit (304) pour le moteur à vitesse variable tournant.
  11. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un réducteur à engrenages de type hélicoïdal (303) pour le moteur à vitesse variable tournant.
  12. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un réducteur à engrenages cycloïdaux (303) pour le moteur à vitesse variable tournant.
  13. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un réducteur à engrenages de transmission harmonique (303) pour le moteur à vitesse variable tournant.
  14. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un capteur de couple élastique en série (302).
  15. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un ressort de torsion plan (411).
  16. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 dans lequel le mécanisme de transfert de charge (299) comprend une courroie avec une première extrémité attachable et une seconde extrémité attachée à une bobine.
  17. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un dispositif d'interface.
  18. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 17, dans lequel le dispositif d'interface est en communication avec un microprocesseur.
  19. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 dans lequel l'appareil effectue des exercices isocinétiques.
  20. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 dans lequel l'appareil effectue des exercices dans un mode isotonique.
  21. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 dans lequel l'appareil effectue des exercices dans un mode isométrique.
  22. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un dispositif de commande de moteur contenant une intelligence embarquée pour changer la quantité de force appliquée sur le mécanisme de transfert de charge (299) sur la base d'une position du mécanisme de transfert de charge (299).
  23. Appareil de machine d'exercice pouvant être commandé en couple motorisé (300) selon la revendication 1 comprenant en outre un dispositif de commande de moteur programmable (305) contenant une intelligence embarquée pour commander en alternance la vitesse ou force générée par le moteur (304) en réponse à des entrées variables de force ou de vitesse à partir du mécanisme de transfert de charge (299).
  24. Procédé pour produire des charges variables en réponse à une force ou une vitesse de mouvement sur un appareil de machine d'exercice pouvant être commandé en couple motorisé (300), comprenant des étapes consistant à :
    1) fournir un actionneur élastique en série, comprenant :
    1.1) un capteur de couple élastique en série (302), comprenant :
    1.1.1) un ressort de torsion (411), ayant un côté entrée et un côté sortie ;
    1.1.2) au moins un capteur de position de ressort (312, 313), adapté pour mesurer une flexion du ressort de torsion (411) ;
    1.2) un moteur à vitesse variable tournant à engrenages, comprenant un moteur (304) attaché à un réducteur à engrenages (303) ;
    1.3) un dispositif de commande de moteur programmable (305) ;
    2) fournir un mécanisme de transfert de charge (299), comprenant une poulie ou bobine ;
    dans lequel l'au moins un capteur de position de ressort (312, 313) est en communication avec le dispositif de commande de moteur programmable (305) ; et
    dans lequel le moteur à vitesse variable tournant à engrenages est relié au côté entrée du ressort de torsion (411), et le mécanisme de transfert de charge (299) est relié au côté sortie du ressort de torsion (411).
  25. Procédé selon la revendication 24, comprenant les étapes consistant à :
    a) entrer une charge dans le mécanisme de transfert de charge (299) ;
    b) transférer la charge au capteur de couple élastique en série (302) contenant un ressort de torsion (411) ;
    c) communiquer un signal de couple de flexion de ressort au dispositif de commande de moteur programmable (305) ;
    d) ordonner le mouvement du moteur (304) par le dispositif de commande de moteur programmable (305) ;
    e) ajuster le mouvement du moteur (304) par l'intermédiaire du réducteur à engrenages (303) ;
    f) transférer une force au capteur de couple élastique en série (302) ; et
    g) transférer une force au mécanisme de transfert de charge (299).
EP16783540.4A 2015-04-21 2016-03-08 Appareil d'exercice motorisé élastique en série Active EP3285893B1 (fr)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US14/691,702 US9833662B2 (en) 2014-10-09 2015-04-21 Series elastic motorized exercise machine
US201562173498P 2015-06-10 2015-06-10
US14/792,882 US20160102724A1 (en) 2014-10-09 2015-07-07 Concentric Arc Spline Rotational Spring
US14/809,575 US9772240B2 (en) 2014-10-09 2015-07-27 Elastic torque sensor for planar torsion spring
PCT/US2015/053893 WO2016057350A1 (fr) 2014-10-09 2015-10-03 Capteur de couple élastique pour ressort de torsion plat
PCT/US2015/067886 WO2016109552A1 (fr) 2015-01-01 2015-12-29 Ressort de rotation à cannelures en arcs concentriques
PCT/US2016/021305 WO2016171799A1 (fr) 2015-04-21 2016-03-08 Appareil d'exercice motorisé élastique en série

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CN107614067B (zh) 2021-03-09
EP3285893A4 (fr) 2018-10-10

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