US20230302326A1 - Method of controlling a force and/or resistance generator of an exercise apparatus - Google Patents

Method of controlling a force and/or resistance generator of an exercise apparatus Download PDF

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US20230302326A1
US20230302326A1 US18/189,737 US202318189737A US2023302326A1 US 20230302326 A1 US20230302326 A1 US 20230302326A1 US 202318189737 A US202318189737 A US 202318189737A US 2023302326 A1 US2023302326 A1 US 2023302326A1
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Prior art keywords
force
exercise apparatus
transmission ratio
virtual
bicycle
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US18/189,737
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English (en)
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Bas Jan Emile Van Rens
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Truekinetixs BV
Truekinetix BV
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Truekinetix BV
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Assigned to TRUEKINETIXS B.V. reassignment TRUEKINETIXS B.V. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: VAN RENS, BAS JAN EMILE
Publication of US20230302326A1 publication Critical patent/US20230302326A1/en
Assigned to TRUEKINETIX B.V. reassignment TRUEKINETIX B.V. CORRECTIVE ASSIGNMENT TO CORRECT THE ASSIGNEE'S NAME PREVIOUSLY RECORDED AT REEL: 064371 FRAME: 0705. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT. Assignors: VAN RENS, BAS JAN EMILE
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    • 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
    • A63B21/005—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
    • A63B21/15—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
    • 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
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4027—Specific exercise interfaces
    • A63B21/4033—Handles, pedals, bars or platforms
    • A63B21/4034—Handles, pedals, bars or platforms for operation by feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
    • A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/16—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles
    • 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
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • 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
    • A63B2024/0096—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load using performance related parameters for controlling electronic or video games or avatars
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/16—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles
    • A63B2069/164—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles supports for the rear of the bicycle, e.g. for the rear forks
    • A63B2069/165—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles supports for the rear of the bicycle, e.g. for the rear forks rear wheel hub supports
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/16—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles
    • A63B2069/167—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles on rollers without further support
    • 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
    • A63B2220/35—Spin
    • 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

Definitions

  • the invention relates to a method, in particular a computer implemented method, of controlling a force and/or resistance generator of an exercise apparatus.
  • the exercise apparatus comprises a plurality of physical transmission ratios between a user force input device, such as pedals and cranks rotatable about an axis, typically a bottom bracket, and fixed to one or more chain rings, and the force and/or resistance generator and at least one shifter to select a desired transmission ratio.
  • Exercise equipment mimics reality using a force-feedback system, wherein some form of force is generated to counter the motion and force of the athlete.
  • the motion and force may be measured by sensors in terms of speed and force, in case of a trainer for cycling in terms of rotational or angular speed and torque.
  • a resistive force is calculated by a computer and used to control a device that is capable of generating a variable resistive force using mechanical, electrical and/or magnetic means.
  • the resistive force can be applied directly or indirectly, e.g. by prescribing a desired speed of the user force input device.
  • WO2019/059759 relates to a bicycle trainer comprising a seat, handlebars and rotatable pedals, and an electronically variable brake acting directly or indirectly on the rotatable pedals with a braking resistance that depends on a predetermined setting of a computer-controller, which predetermined setting is variable and depends on selected parameters to reflect simulated cycling conditions comprising at least one of a road, wind conditions and a cyclist, wherein the bicycle trainer excludes a flywheel and includes a variable-ratio transmission system and that the predetermined setting of the braking resistance also depends on a setting or change of setting of the variable-ratio transmission system so as to simulate a level of inertia or change of inertia as experienced by an outdoor cyclist when changing the variable-ratio transmission system.
  • EP 3 199 211 relates to a method for operating a bicycle trainer, and such a bicycle trainer comprising a stand with a seat, handlebars and rotatable pedals, or such a bicycle trainer comprising a stand for mounting a bicycle frame with a seat, handlebars and rotatable pedals, wherein the stand incorporates an electronically variable brake acting directly or indirectly on the rotatable pedals with a braking resistance that depends on a computer-controlled predetermined setting, wherein the pre-determined setting is variable and wherein said setting depends on selected parameters to reflect a simulated surface condition of a road.
  • the method according to the invention comprises the steps of
  • the engaged physical transmission ratio can be monitored continuously or only after a change has been detected.
  • the engaged physical transmission ration can be determined e.g. from the difference in rotational speed of the force input device on the one hand and the rotational speed of the force and/or resistance generator on the other, and preferably a lookup table.
  • the method may comprise the steps of detecting a physical transmission shift, determining the (newly) engaged physical transmission ratio, mapping the engaged physical transmission ratio onto a virtual transmission ratio, and adapting the generated force and/or resistance based on the virtual transmission ratio.
  • the engaged physical gears can be determined e.g. from the physical position of one or more of the transmission elements (e.g. a chain and/or derailleurs) or by means of a camera, ultrasonically, or by means of tactile switches or induction.
  • the physical gearing ratio can be calculated or derived from one or more lookup tables that relate(s) the physical position of the transmission elements to the gearing ratio.
  • the selected gears are determined from variations in the rotational speeds over a period of time.
  • the gears that have been determined are entered in a lookup table and, optionally, linked to virtual ratios that had already been inputted.
  • the determined gears can be used to check and/or correct data entered by the user.
  • the method comprises the steps of selecting a virtual transmission ratio, e.g. via an input device, such as electronic shifter preferably located on or near the handlebar e.g. on or near the physical shifters of the bicycle or an app on a smartphone or computer device, determining the (newly) selected virtual transmission ratio, and adapting the generated force and/or resistance based on the (newly) engaged virtual transmission ratio.
  • an input device such as electronic shifter preferably located on or near the handlebar e.g. on or near the physical shifters of the bicycle or an app on a smartphone or computer device
  • the exercise device is a bicycle trainer, which trainer is coupled to a bicycle or parts of a bicycle, e.g. wherein the trainer takes the place of the rear wheel of a bicycle, the combination of the trainer and the bicycle or parts of a bicycle comprising one or more rear sprockets or pulleys, e.g.
  • the method may comprise the step of determining the number of teeth of the (engaged) rear sprocket or the diameter of the (engaged) rear sprocket or pulley and/or the number of teeth of the (engaged) front chainring or the diameter of the (engaged) front chainring or pulley.
  • the physical gearing ratio that is selected by the rider is determined, preferably automatically, and subsequently used to map the physical gears onto virtual gears that may or may not be the same as the physical gears on the bicycle trainer.
  • the formulas that calculate the resistance of the bike the rider experiences the resistance as if he was riding on the virtual gears.
  • the effect of the physical gearing can be eliminated from the resistance.
  • the physical gears are effectively used only to detect current gearings and/or changes therein, i.e. as an index mechanism.
  • mapping the physical transmission, e.g. gear, ratio onto a virtual transmission ratio comprises selecting the virtual transmission ratio from a look-up table.
  • the look-up table may contain a plurality of virtual and user defined gears, e.g. corresponding to a 10-, 11- or 12- speed cassette.
  • the number of virtual and user defined gears may exceed the number of physical gears enabling the user to train with more gears than physically available.
  • the invention further relates to an exercise apparatus, in particular a bicycle trainer, such as a smart trainer, which provides the benefit of allowing the resistance to be controlled by cycling apps, such as ZwiftTM or RouvyTM comprising:
  • the exercise apparatus may comprise sprockets, e.g. a cassette, a free hub body or freewheel for mounting sprockets, or a roller, to be placed in frictional contact with the rear wheel of a bicycle.
  • sprockets e.g. a cassette, a free hub body or freewheel for mounting sprockets, or a roller, to be placed in frictional contact with the rear wheel of a bicycle.
  • the trainer takes the place of the rear wheel of a bicycle.
  • the rear wheel of a bicycle presses against and, during exercise, drives a roller.
  • the bicycle trainer comprises an input device, such as one or more, e.g. two or four, electronic switches, which is/are preferably located on or near the handlebar e.g. on or near the physical shifters of the bicycle, or an app on a smartphone or computer device to electronically change the virtual gears.
  • an input device such as one or more, e.g. two or four, electronic switches, which is/are preferably located on or near the handlebar e.g. on or near the physical shifters of the bicycle, or an app on a smartphone or computer device to electronically change the virtual gears.
  • the input device may comprise two sets of two switches, one set for shifting up and down the virtual rear sprockets and one set for shifting up and down the virtual front chain rings.
  • the input device enables virtual shifting beyond the available physical transmission ratios, e.g. to expand an installed physical 9-speed cassette to a virtual 11- or 12-speed cassette, or a single speed to a multiple speed.
  • the computer or controller is preferably configured to receive input, e.g. via a keypad, computer, or smartphone, from a user to enter and/or amend the virtual gears.
  • the invention further relates to a computer program comprising instructions to cause the system as described above to execute one or more of the steps of the method as described above, as well as to a computer-readable medium having the computer program stored thereon.
  • a stationary exercise bike comprising: a support structure; a pair of pedals rotatably mounted to the support structure; a force-generating device operably connected to the pedals and generating a variable resistance force to the pedals; a force sensor configured to measure a force applied to the pedals by a user, wherein the force sensor measures a relative displacement of first and second points on the stationary bike that are interconnected by a drive structure defining a stiffness whereby a force can be determined based on the relative displacement and the stiffness; and a controller operably connected to the force-generating device and the force sensor, wherein the controller varies the resistance force generated by the force-generating device to simulate inertial effects based, at least in part, on a force measured by the force sensor.
  • FIG. 1 is a perspective view of a bicycle trainer according to the present invention.
  • FIG. 2 is diagram of a physical set of front and rear gears and a virtual set of front and rear gears.
  • FIG. 3 is a diagram of a method for virtual shifting and force feedback in accordance with the present invention.
  • FIG. 1 shows a smart trainer 1 , comprising a frame 2 in a housing 3 .
  • a force generator in this example an electric motor, is fixedly mounted to the frame and accommodated inside the housing.
  • a cassette 4 of sprockets is mounted on the axle of the force generator or coupled to the axle of the force generator via a transmission, such as a belt drive.
  • a computer 5 FIG. 3 ), e.g. a single board computer, for controlling the force generator as well as sensors for measuring the angular speed of and the torque exerted on the axle carrying the sprockets are also accommodated inside the housing. More details on these components can be found in WO 2020/071913 A1.
  • a road bike 6 with its rear wheel and cassette removed, is mounted in the frame in a manner known in itself.
  • the bike 6 comprises a user force input device, i.c. pedals 7 and cranks 8 rotatable about and fixed to a bottom bracket and to one or more e.g. two chain rings.
  • a chain extends over one of the chain rings and one of the sprockets.
  • the bike comprises, in a usual manner, shifters 12 to derail the chain and move it to another chain ring or sprocket to change the physical transmission ratio.
  • FIG. 2 shows, on the left-hand side, an example of a typical configuration for flat terrain and/or advanced level cyclists, namely two chain rings, one with 53 teeth and one with 39 teeth, in the front, and eleven sprockets having 11, 12 ... 21, 23 and 25 teeth in the rear, providing a fixed number of physical transmission ratios.
  • the present invention enables the cyclist to use, with the physical setup described above, a different number and/or different transmission ratios on the smart trainer, e.g. to train at a different (virtual) terrain, e.g. via provider such as ZwiftTM and RouvyTM or a different level.
  • An example of virtual gears is shown on the right-hand side of FIG. 2 and comprises two virtual chain rings, one with 50 teeth and one with 34 teeth in the front, and eleven sprockets having 12, 14 ... 30, 33 and 36 teeth in the rear.
  • FIG. 3 schematically shows a scheme for controlling the force generator.
  • the computer includes a kinetic model of the exercise apparatus, e.g. in the form of a software program, that is configured to receive an input and to generate a control signal for the force generator as an output.
  • the kinetic model may be based on the equations of motions describing the behavior of the exercise apparatus and may further include external parameters relating to road conditions, e.g. wind and slope angle of the road in case of an exercise bike. This way, the kinetic model may accurately control the force generator to simulate certain exercise conditions, examples of such kinetic models are for example described in WO 2020/071913 and WO 2021186083.
  • Input from the sensors for angular speed and torque determine the force the athlete applies to the exercise apparatus and a computer may use this information as an input to the kinetic model of the exercise apparatus to generate the control signal for the force generator to generate a resistive force F res that opposes the force of the athlete, i.e. F ped ⁇ F res .
  • Mapping of the virtual gears can be carried out as follows: power at the pedals, P ped , is equal to power at the axle of the force generator, P wheel
  • the angular speed of the axle, ⁇ wheel is proportional to the angular speed of the pedals, ⁇ ped , conform the ratio of the physical gears:
  • F p e d F R e s . R w h e e l . 2 ⁇ . G e a r f r o n t G e a r r e a r . ⁇ p e d R p e d . 2 ⁇ . ⁇ p e d
  • F p e d F R e s . R w h e e l . G e a r f r o n t G e a r r e a r R p e d
  • required resistance is calculated in a manner known in itself, by adding forces resulting from wind, climbing, roll resistance, acceleration, etc., as mentioned above:
  • force at the pedals is defined by an overall virtual gear ratio, as follows:
  • F p e d F R e s . R w h e e l R p e d . V i r t F r o n t V i r t R e a r
  • mapping virtual gears onto physical gears is achieved e.g. by including 1) the physical transmission ratio between the front chain ring and the rear sprocket and 2) the reciprocal transmission ratio, as follows:
  • F p e d F R e s . R w h e e l R p e d . R e a l F r o n t R e a l R e a r . R e a l R e a r Re a r F r o n t . V i r t F r o n t V i r t R e a r ⁇ Physical Gearing ⁇ Virtual Impact
  • F p e d F R e s . R w h e e l R p e d . R e a l F r o n t R e a l R e a r . V i r t F r o n t R e a l F r o n t . R e a l R e a r V i r t R e a r ⁇ Physical Gearing ⁇ Front Mapping ⁇ Rear Mapping
  • Operation is illustrated in FIG. 3 and involves measuring force and angular speed of the axle, determining the number of physical gear teeth in the front (e.g. 53, see FIG. 2 )) and in the rear (e.g. 21), for example from variations in the rotational speeds over a period of time, update the physical gearing map, find the front ring index (e.g. index 2 ), find the rear sprocket index (e.g. index 9 ), lookup virtual front ring from index (index 2 corresponds to 50 virtual teeth, in FIG. 2 ), lookup virtual rear sprocket from index (index 9 corresponds to 30 virtual teeth, in FIG. 2 ), update force and angular speed, and adjust the force provided by the generator.
  • the front ring index e.g. index 2
  • find the rear sprocket index e.g. index 9
  • lookup virtual front ring from index index 2 corresponds to 50 virtual teeth, in FIG. 2
  • lookup virtual rear sprocket from index index 9 corresponds to
  • the physical gearing ratio that is selected by the rider is determined, preferably automatically, and subsequently used to map the physical gears onto virtual gears that may or may not be the same as the physical gears on the bicycle trainer.
  • the rider experiences the resistance as if he was riding on the virtual gears.
  • the effect of the physical gearing can be eliminated from the resistance.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Motorcycle And Bicycle Frame (AREA)
US18/189,737 2022-03-25 2023-03-24 Method of controlling a force and/or resistance generator of an exercise apparatus Pending US20230302326A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP22164578.1 2022-03-25
EP22164578.1A EP4249091A1 (fr) 2022-03-25 2022-03-25 Procédé de commande d'un générateur de force et/ou résistance d'un appareil d'exercice

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Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7833135B2 (en) 2007-06-27 2010-11-16 Scott B. Radow Stationary exercise equipment
NL2016180B1 (en) 2016-01-28 2017-08-01 Tacx Roerend En Onroerend Goed B V Bicycle trainer and method of its operation.
NL2019598B1 (en) 2017-09-21 2019-03-28 Tacx Roerend En Onroerend Goed B V Bicycle trainer and method of its operation
US20220003618A1 (en) 2018-10-02 2022-01-06 Truekinetix B.V. Torque sensing system
CN213049177U (zh) * 2019-08-29 2021-04-27 万虎健身有限责任公司 固定式自行车训练装置
NL2025185B1 (en) 2020-03-20 2021-10-20 Truekinetix B V Controlling a force generator of an exercise apparatus

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