TWI755769B - Training system, training device and control method thereof - Google Patents

Abstract

The present disclosure provides a training system, a training device and control method thereof. The training device includes a main assembly and a control assembly. The main assembly is for bearing user. The control assembly includes a driving unit and a controller. The driving unit is for providing an assistive force to the user. The controller is for controlling strength, time interval, operating range of the assistive force provided by the driving unit. The training system includes the training device and a sensor. The sensor is for sensing movement of that user operates the training device, so as to generate sensing data. The training device is for receiving the sensing data and transmitting the sensing data to a server.

Description

Training system, training device and control method thereof

The present invention relates to a training system, a training device and a control method thereof, in particular to a training system, a training device and a control method thereof that can provide auxiliary force.

Most of the known training equipment is passive, that is, using the weight of the equipment itself to generate resistance to achieve the purpose of training. However, when the user needs to train with different weights, the number of training equipment will increase accordingly, which will cause inconvenience to the user.

In addition, when the user performs training through the known training equipment alone, since the known training equipment does not have the function of feedback assistance, the user often suffers from poor training results or even injury due to incorrect posture.

In view of this, the purpose of the present invention is to provide a training system, a training device and a control method thereof that can dynamically provide auxiliary force and have a training feedback mechanism.

Accordingly, an object of the present invention is to provide a training device including a main body assembly and a control assembly. The main body assembly is used to carry the user. The control assembly includes the drive unit and the controller. The drive unit is used to provide user assistance. The controller is used for controlling the drive unit to provide at least one of a strength, a time period, and an operating range of the auxiliary force.

The present invention further provides a training system, comprising the aforementioned training device and a sensor device. The training device further includes a wireless transceiver. The sensor is used for detecting the action of the user operating the training device to generate sensing data. The controller is further used for controlling the wireless transceiver: receiving sensing data from the sensor; and transmitting the sensing data to the server.

The present invention further provides a control method for the aforementioned training device, comprising: the drive unit detects an external force of a user; according to the detection of the external force, the controller calculates the assist force based on the gain value; and the controller controls the drive unit to provide the assist force to the user.

1,1': training device

2: Training the system

6: Server

7: Chair group

9: User

11: Main body assembly

11A: First pedal

11B: Second pedal

11R1: Groove

11R2: Groove

13: Control assembly

15: Rope set

16: Handheld Components

17: Channel Group

18: pulley block

19: Wireless Transceiver

20: Sensing data

21: Inertial Measurement Unit

21a~21e: Inertial Measurement Unit

22: Image capture device

23: Pressure Sensor Array

23a~23b: Pressure sensor array

71: Chair foot

111A: First connecting element

111A1: The first bushing

111A2: The first connecting shaft

111B: Second connecting element

111B1: Second bushing

111B2: Second connecting shaft

131: Drive unit

133: Control unit

135A: First axis

135B: Second axis

D1: horizontal direction

D2: Vertical direction

Aspects of the invention are best understood when the following detailed description is read in conjunction with the accompanying drawings. It should be noted that various features may not be drawn to scale. In fact, the dimensions of the various features may be arbitrarily increased or decreased for clarity of discussion.

1A is a perspective view of a training device according to some embodiments of the present invention.

FIG. 1B is a partial enlarged view of a training device according to some embodiments of the present invention.

FIG. 1C and FIG. 1D are schematic diagrams of the operation of the training device according to some embodiments of the present invention.

1E is a perspective view of a training device according to some embodiments of the present invention.

2A to 2D are schematic diagrams of the use of the training device according to some embodiments of the present invention.

3A to 3C are schematic diagrams of the use of the training device according to some embodiments of the present invention.

FIG. 4A is a schematic diagram of a training system according to some embodiments of the present invention.

4B is a block diagram of a training system according to some embodiments of the present invention.

5A and 5B are flowcharts of control methods according to some embodiments of the present invention.

6A and 6B are flowcharts of control methods according to some embodiments of the present invention.

The following disclosure provides many different embodiments or examples for implementing different features of the provided subject matter. Specific examples of components and configurations are described below to simplify the present disclosure. Of course, these components and configurations are examples only and are not intended to be limiting. In the present invention, reference in the following description to the formation of the first feature over or on the second feature may include embodiments in which the first feature is formed in direct contact with the second feature, and may also include additional features that may be formed on the first feature and the second feature so that the first feature may not be in direct contact with the second feature. Additionally, the present disclosure may repeat reference numerals and/or letters in various instances. This repetition is for the purpose of simplicity and clarity, and does not in itself indicate a relationship between the various embodiments and/or configurations discussed.

Embodiments of the invention are discussed in greater detail below. It should be appreciated, however, that the present disclosure provides many applicable concepts that can be embodied in a wide variety of specific contexts. The specific embodiments discussed are illustrative only and do not limit the scope of the invention.

Also, for ease of description, such as "under", "below", "above", "upper", "lower", " The spatially relative terms "left", "right", and similar terms, may be used herein to describe the relationship of one element or feature to another element or feature as illustrated in the figures. In addition to the orientation depicted in the figures, spatially relative terms are intended to encompass different orientations of the device in use or operation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. It will be understood that when an element is referred to as being "connected" or "coupled to" another element, it can be directly connected or coupled to the other element or intervening elements may be present.

The numerical ranges and parameters setting forth the broad scope of the invention are approximations, and the numerical values set forth in the specific examples are reported as precisely as possible. Some numerical values, however, may contain certain errors necessarily resulting from the standard deviation found in their respective testing measurements. Furthermore, as used herein, the term "about" generally means within ±10%, ±5%, ±1%, or ±0.5% of a given value or range. Alternatively, it is generally understood by those skilled in the art that the term "about" means acceptable within the mean within standard error. Except in operating/working examples, or unless expressly specified otherwise, numerical ranges, amounts, values, and percentages (such as amounts of materials, durations, temperatures, operating conditions, ratios of amounts, and the like disclosed herein) All of the like) should be understood to be modified in all instances by the term "about". Accordingly, unless indicated to the contrary, the numerical parameters set forth in this disclosure and the appended claims are approximations that may vary. At a minimum, each numerical parameter should be understood in light of the number of reported significant digits and by applying ordinary rounding techniques. A range can be expressed herein as from one endpoint to the other or between the two endpoints. All ranges disclosed herein are inclusive of the endpoints unless otherwise specified. The term "substantially coplanar" can refer to two surfaces that lie within a few micrometers (μm) along the same plane, such as within 10 μm, 5 μm, 1 μm, or 0.5 μm along the same plane. When values or properties are said to be "substantially" the same, the term can mean that the values are within ±10%, ±5%, ±1%, or ±0.5% of the mean of the values.

The present invention discloses a training device that can dynamically provide auxiliary force. The user can set the strength, time period or operating range of the auxiliary force provided by the training device, so that the training device can provide different training modes based on these parameters. Various trainings can be carried out accordingly. In addition, the training system disclosed in the present invention can record the motion data of the user operating the training device, and feed the motion data back to the server. In this way, the operator of the server (for example, a fitness trainer) can judge whether the training action of the user is correct according to the action data, and report to the user (for example, through a handheld device) in real time. In some implementations, the server can use artificial intelligence (AI) to determine whether the user's training action is correct, and report the user in real time.

Please refer to FIG. 1A , which is a perspective view of a training device 1 according to some embodiments of the present invention. Specifically, the training device 1 includes a main body assembly 11 and a control assembly 13 . The main body assembly 11 is used to carry a user. The control assembly 13 includes a drive unit 131 and a controller 133. In some embodiments, the main body assembly 11 can be a pedal set including a first pedal 11A and a second pedal 11B.

In some embodiments, the driving unit 131 may include a driver and a motor to cooperate to provide a user with an assisting force. The controller 133 is electrically connected to the driving unit 131 for controlling the driving unit 131 to provide at least one of a strength, a time period, and an operating range of the assisting force. Furthermore, the controller 133 can control the driving unit 131 to provide a resistance force to the user. Among them, the controller 133 can control the strength of the resistance, the time period and the operation range.

For example, the controller 133 can control the strength of the resistance to be 1 kg to 10 kg, so as to facilitate the user to perform training with different strengths. The controller 133 may control the driving unit 131 to provide the resistance for a time period of 30 seconds. The controller 133 can control the operating range of the driving unit 131 to provide the resistance force to be 20 cm, so as to limit the displacement of the user against the resistance force within 20 cm.

In some embodiments, the main body assembly 11 is attached to the control assembly 13 and can be positioned relative to the control assembly 13 to be adjusted. Please also refer to FIG. 1B , which is a partial enlarged view of the training device 1 according to some embodiments of the present invention. Specifically, the control assembly 13 has a first shaft 135A and a second shaft 135B. The first pedal 11A is provided with a first connecting element 111A for connecting the first shaft 135A. The second pedal 11B is provided with a second connecting element 111B for connecting the second shaft 135B.

More specifically, the first connecting element 111A has a first bushing 111A1 and a first connecting shaft 111A2, and the first bushing 111A1 is used for socketing the first shaft 135A. The second connecting element 111B has a second shaft sleeve 111B1 and a second connecting shaft 111B2, and the second shaft sleeve 111B1 is used to sleeve the second shaft 135B.

Please also refer to FIG. 1C , which is a schematic diagram of the operation of the training device 1 according to some embodiments of the present invention. In detail, since the first bushing 111A1 of the first connecting element 111A is sleeved with the A shaft 135A, therefore, through the first connecting element 111A, the first pedal 11A can rotate relative to the axis of the first shaft 135A. Likewise, since the second shaft sleeve 111B1 of the second connecting element 111B is sleeved with the second shaft 135B, the second pedal 11B can rotate relative to the axis of the second shaft 135B through the second connecting element 111B. In this way, the relative positions of the first pedal 11A and the second pedal 11B can be adjusted according to the standing posture of the user, so as to facilitate the user to perform training with various postures.

Please also refer to FIG. 1D , which is another schematic diagram of the operation of the training device 1 according to some embodiments of the present invention. Specifically, in some embodiments, the first connecting element 111A has a first connecting shaft 111A2, and the first pedal 11A can rotate relative to the axis of the first connecting shaft 111A2. Similarly, the second connecting element 111B has a second connecting shaft 111B2, and the second pedal 11B can rotate relative to the axis of the second connecting shaft 111B2. In this way, the positions of the first pedal 11A and the second pedal 11B can be adjusted according to the user's needs, so as to facilitate the user to store the training device 1 .

Please also refer to FIG. 1E , which is a perspective view of a training device 1 according to some embodiments of the present invention. In some embodiments, the training device 1 further includes a rope set 15 , a hand-held element 16 , a channel set 17 and a pulley set 18 . Specifically, one end of the rope set 15 is connected to the driving unit 131 , and the other end is connected to the hand-held element 16 . Accordingly, the hand-held element 16 is linked with the driving unit 131 through the cord set 15 . When the user holds the hand-held element 16 , the driving unit 131 can provide an auxiliary force to the user through the cord set 15 .

In some embodiments, the channel group 17 and the pulley group 18 are disposed on the bottom surface of the main body assembly 11 . The channel group 17 is used for accommodating the rope group 15 and can be used for guiding the movement direction of the rope group 15 . The pulley group 18 can be arranged at one end of the channel group 17 to change the moving direction of the rope group 15 . Furthermore, the channel group 17 is used to guide the direction of the auxiliary force provided by the driving unit 131 through the rope group 15 , and the pulley group 18 is used to change the direction of the auxiliary force provided by the driving unit 131 through the rope group 15 .

Please refer to FIG. 2A to FIG. 2D , which are the training device 1 according to some embodiments of the present invention schematic diagram of its use. It should be noted that the main assembly 11 shown in FIGS. 2A to 2D and the main assembly 11 shown in FIGS. 1A to 1E are slightly different in size, mainly because the production of the main assembly 11 can be adjusted according to the needs of users Dimensions; In addition, the control assembly 13 shown in FIGS. 2A to 2D is installed inside an outer casing, but the related functions and related configurations of each element are the same as the aforementioned embodiments.

Specifically, the hand-held element 16 is linked with the driving unit (not shown) of the control assembly 13 through the rope set 15 . The channel group 17 and the pulley group 18 are arranged on the bottom surface of the main body assembly 11 . The channel group 17 is used for accommodating the rope group 15 and can be used for guiding the movement direction of the rope group 15 . The pulley group 18 is arranged at one end of the channel group 17 for changing the moving direction of the rope group 15 .

In more detail, as shown in FIG. 2B , in these embodiments, the driving unit of the control assembly 13 originally provided an auxiliary force in the horizontal direction D1 through the rope group 15 , and through the arrangement of the pulley group 18 , the control The direction of the auxiliary force provided by the drive unit of the assembly 13 is changed from the horizontal direction D1 to the vertical direction D2, so as to facilitate the user 9 to perform related operations.

Please refer to FIGS. 3A to 3C , which are schematic diagrams of the use of the training device 1 ′ according to some embodiments of the present invention. It should be noted that the training device 1 ′ is similar to the training device 1 , and the elements with the same reference numerals have the same functions, and will not be repeated here. The only difference between the two is that the training device 1 ′ further includes a chair set 7 for assisting the user 9 to operate the training device 1 ′.

Specifically, the chair set 7 includes a chair leg 71 , a groove 11R1 is formed on the first pedal 11A, and a groove 11R2 is formed on the second pedal 11B. In some embodiments, the chair legs 71 are elongated, and the two ends of the chair legs 71 are respectively inserted into the grooves 11R1 of the first pedal 11A and the grooves 11R2 of the second pedal 11B. The relative positions of the seat group 7 and the main body assembly 11 are fixed. In this way, when the user 9 is sitting or lying on the chair set 7, the position of the main body assembly 11 and the control assembly 13 attached to the main body assembly 11 will be fixed accordingly.

In some embodiments, the user 9 can sit or lie down on the chair set 7 first, and use the hand-held element 16 to resist the auxiliary force provided by the control assembly 13 through the rope set 15 for training. Such as Therefore, the user 9 can try to use different postures for training through the setting of the chair set 7 .

Please refer to FIG. 4A and FIG. 4B . FIG. 4A is a schematic diagram of a training system 2 according to some embodiments of the present invention, and FIG. 4B is a block diagram of a training system 2 according to some embodiments of the present invention. Specifically, the training system 2 includes a training device 1 and at least one sensor. In some embodiments, the training device 1 further includes a wireless transceiver 19 , and at least one sensor is used to detect the action of the user 9 operating the training device 1 to generate at least one sensing data 20 .

More specifically, the controller 133 is electrically connected to the wireless transceiver 19 for controlling the wireless transceiver 19 to: receive at least one sensing data 20 from at least one sensor; and transmit the at least one sensing data 20 to a Server 6. After the server 6 receives the at least one sensing data 20, the operator (for example, a fitness trainer) can judge whether the training action of the user 9 is correct according to the at least one sensing data 20, and report to the user (for example, through a handheld device) immediately. . In some implementations, the server 6 can use artificial intelligence (AI) to determine whether the training action of the user 9 is correct, and report the user 9 in real time.

In some embodiments, at least one sensor includes an inertial measurement unit (IMU) sensor 21 , which is disposed on the user 9 , and is used to detect motion data of the user 9 operating the training device 1 . In some embodiments, at least one sensor includes an image capture device 22 for capturing image data of the actions of the user 9 operating the training device 1 . In some embodiments, at least one sensor includes a pressure sensor array 23 disposed on the main body assembly 11 for detecting the weight distribution on the main body assembly 11 generated by the action of the user 9 operating the training device 1 .

In the illustrated example, there are five IMU sensors 21 a to 21 e on the user 9 , which are respectively disposed at the waist, thigh and calf of the user 9 . There are two pressure sensor arrays 23a and 23b on the main body assembly 11, which are respectively disposed on the two pedals. However, it is for illustration only and is not intended to limit the number of sensors.

Some embodiments of the present invention include control methods, the flowcharts of which are shown in FIGS. 5A and 5B . The control methods of these embodiments are implemented by a training device (such as the training device 1 of the aforementioned embodiments). The detailed operation of the method is as follows.

First, step S501 is executed, and the drive unit of the training device detects the external force of the user. Step S502 is executed, and the controller calculates the assist force based on a gain value. Step S503 is executed, the controller controls the driving unit to provide auxiliary force to the user. In some implementations, the controller controls the drive unit to provide the assisting force to the user within a time period.

In some embodiments, the control method further executes step S504, and the drive unit generates an operation displacement when the user operation is detected. Step S505 is executed, and the controller determines whether the operating displacement exceeds the operating range. When the operating displacement exceeds the operating range, step S506 is executed, and the controller controls the driving unit to stop the action. When the operating displacement does not exceed the operating range, step S504 is repeated.

Some embodiments of the present invention include control methods, the flowcharts of which are shown in FIGS. 6A and 6B . The control methods of these embodiments are implemented by a training device (such as the training device 1 of the aforementioned embodiments). The detailed operation of the method is as follows.

First, step S601 is executed, and the drive unit of the training device detects the external force of the user. Step S602 is executed, and the controller calculates the assist force based on a gain value. Step S603 is executed, the controller controls the driving unit to provide auxiliary force to the user. It should be noted that, in some embodiments, the training device may include a training mode setting module for adjusting different training modes of the training device. The controller can provide assisting force to the user based on different training modes. The training mode setting module can set the training device to an isokinetic mode, an isotonic mode or an isometric mode.

In some embodiments, when the training mode setting module sets the training device to the constant velocity mode, step S604 is further executed, and the drive unit detects when the user operates the training device Generates an operating speed. Step S605 is executed, and the controller determines whether the operating speed exceeds a threshold value. When the operation speed exceeds the threshold value, step S606 is executed, and the controller controls the drive unit to dynamically adjust the strength of the assisting force so that the operation speed is not greater than the threshold value. When the operation speed does not exceed the threshold value, step S604 is repeatedly executed.

In some embodiments, when the training mode setting module sets the training device to the isotonic mode, step S603 further includes: the controller controls the drive unit to provide an auxiliary force with a fixed intensity to the user.

In some embodiments, when the training mode setting module sets the training device to the isometric mode, step S603 further includes: the controller locks the driving unit, so that the strength of the auxiliary force provided by the driving unit is used to offset the user The strength of external forces.

In some embodiments, the training device has a panel that can set parameters (eg, gain value, threshold value of operating speed, strength of fixed assist force, and operating range), and the user can directly set relevant parameters through the panel. In some embodiments, the training device can be connected to the user device through a wireless transceiver, and the user can set relevant parameters through the user device.

The above-mentioned embodiments are only used to illustrate the implementation of the present disclosure and to explain the technical characteristics of the present disclosure, and are not intended to limit the protection scope of the present disclosure. Any changes or equivalent arrangements that can be easily accomplished by those familiar with the technology fall within the scope claimed in this disclosure, and the scope of protection of rights in this disclosure should be subject to the scope of the patent application.

1: Training device

9: User

11: Main body assembly

11A: First pedal

11B: Second pedal

13: Control assembly

15: Rope set

16: Handheld Components

Claims (14)

A training device, comprising: a main body assembly for carrying a user, including a pedal group; a control assembly, including: a first shaft; a second shaft; a drive unit for providing the use an auxiliary force; and a controller for controlling the drive unit to provide at least one of a strength, a time period, and an operating range of the auxiliary force; wherein, the pedal group includes: a first pedal, set There is a first connecting element for connecting the first shaft, wherein the first pedal rotates relative to the axis of the first shaft through the first connecting element; and a second pedal is provided for connecting the second A second connecting element of the shaft, wherein the second pedal rotates relative to the axis of the second shaft through the second connecting element. The training device according to claim 1, wherein the first connecting element further comprises: a first bushing for socketing the first shaft; and a first connecting shaft, wherein the first pedal is opposite to the first pedal The axis of the first connecting shaft rotates; wherein, the second connecting element further comprises: a second shaft sleeve for socketing the second shaft; and A second connecting shaft, wherein the second pedal rotates relative to the axis of the second connecting shaft. The training device according to claim 1, further comprising: a rope set; and a hand-held element, which is linked with the driving unit through the rope set, wherein when the user holds the hand-held element, the driving unit passes through the rope The group provides the assisting force to the user. The training device of claim 3, wherein a bottom surface of the pedal set is provided with: a channel set for accommodating the rope set; a pulley set for changing the assistance provided by the drive unit through the rope set direction of force. The training device of claim 1, wherein the main body assembly further comprises: a chair set with at least one chair foot; wherein the pedal set comprises: at least one groove for engaging the at least one chair foot . A training system, comprising: a training device, comprising: a main body assembly, used to carry a user; a control assembly, including: a drive unit, used to provide the user with an auxiliary force; a controller for controlling the drive unit to provide at least one of a strength, a time period, and an operating range of the auxiliary force; and a wireless transceiver; at least one sensor for detecting the user operating the training device to generate at least one sensing data; wherein, the controller is further configured to control the wireless transceiver: receive the at least one sensing data from the at least one sensor; and the at least one sensing data The measurement data is sent to a server. The training system of claim 6, wherein the at least one sensor comprises: an inertial measurement unit (IMU) sensor disposed on the user for detecting that the user operates the Action of the training device. The training system of claim 6, wherein the at least one sensor comprises: an image capturing device for capturing images of the actions of the user operating the training device. The training system of claim 6, wherein the at least one sensor comprises: a pressure sensor array disposed in the main body assembly for detecting the action of the user operating the training device in the main body assembly into the resulting weight distribution. A control method for a training device, the training device includes a main body assembly and a control assembly, the control assembly includes a drive unit and a controller, the main body assembly is used to carry a user, the The driving unit is used for providing the user with an auxiliary force, and the controller is used for controlling Controlling the drive unit to provide at least one of a strength of the auxiliary force, a time period, and an operation range, the control method includes: the drive unit detects an external force of the user; according to the detection of the external force, the The controller calculates the assisting force based on a gain value; and the controller controls the driving unit to provide the assisting force to the user. The control method as claimed in claim 10, further comprising: the drive unit generates an operation speed when detecting the user's operation; when the operation speed exceeds a threshold value, the controller controls the drive unit to dynamically adjust the auxiliary The strength of the force so that the operating speed is not greater than the threshold. The control method according to claim 10, wherein the strength of the auxiliary force is a fixed value. The control method of claim 10, wherein the controller controls the drive unit to provide the assisting force to the user, further comprising: the controller controls the drive unit to provide the assisting force to the user within the time period . The control method of claim 10, further comprising: generating an operating displacement when the driving unit detects the user's operation; when the operating displacement exceeds the operating range, the controller controls the driving unit to stop moving.

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