Patent Grant
10888732
Handle or limb interfaces for exercise machines in the prior art have been deficient in comfortably and realistically exercising complex motions, such as exercising a throwing motion. Some prior interfaces have caused pain or discomfort to the user's hand, inability to complete a movement, or locking and/or flipping of joints.
The present invention can provide a limb interface device for an exercise apparatus that can allow complex motions to be exercised without uncomfortable or undesirable positions of the limb interface occurring while being held by the user during exercise. The limb interface device can be attached to a computerized exercise apparatus such as in U.S. Pat. Nos. 5,755,645 and 9,861,856.
The limb interface device can include a handle member mounted within an inner frame member and can be rotatable about a first axis with a first joint, for gripping with one or two hands by a user. The first joint can be limited to about 40° or less rotation. At least one outer support member can support the inner frame member. The inner frame member can be rotatable about a second axis orthogonal to the first axis with a second joint. An outer arc member can support the at least one support member. The at least one support member can be rotatable about a third axis orthogonal to the second axis with a third joint. An arm member can support the outer arc member. The outer arc member can rotate about a fourth axis that is orthogonal to the third axis with a fourth joint. The fourth joint can allow rotation of about 180° or less rotation and is associated with a centering biasing arrangement for resiliently biasing the outer arc member towards a centered position when rotated. The arm member can also be rotatable about a fifth axis that is longitudinal to the arm member and orthogonal to the fourth axis with a fifth joint. The arm member for extending from the exercise apparatus.
In particular embodiments, the inner frame member can include a ring within which the handle member is mounted. The ring can be rotatably mounted between a pair of outer support members. The centering biasing arrangement can include a coil spring secured to and extending along an outer perimeter of the outer arc member for biasing the outer arc member. In some embodiments, the coil spring can be substituted by using a rubber bungee member or other similar mechanism. The outer arc member can slidably pass through the fourth joint in an arc. The outer arc member can comprise a semicircular ring that engages rollers positioned within the arm member. The handle member can be rotatably mounted about the first axis to an inner race of a bearing that is rotatable about the second axis within an outer race of the bearing. The pair of outer support members can be secured to and support the outer race of the bearing. In some embodiments, the arm member can be mounted to a movable arm of a computerized exercise device. In other embodiments, the arm member can be mounted to a cable of an exercise device.
The present invention can also provide a limb interface device having a handle member mounted within an inner frame member and can be rotatable about a first axis with a first joint, for gripping with one or two hands by a user. The first joint can be limited to about 180° or less rotation. At least one outer support member can support the inner frame member. The inner frame member can be rotatable about a second axis orthogonal to the first axis with a second joint. An outer arc member can support the at least one support member. The at least one support member can be rotatable about a third axis orthogonal to the second axis with a third joint. An arm member can support the outer arc member. The outer arc member can rotate about a fourth axis that is orthogonal to the third axis with a fourth joint. The fourth joint can allow rotation of about 180° or less rotation and be associated with a centering biasing arrangement for resiliently biasing the outer arc member towards a centered position when rotated.
In particular embodiments, the inner frame member can include a ring within which the handle member is mounted. The ring can be rotatably mounted between a pair of outer support members. The centering biasing arrangement can include a biasing member associated with the outer arc member for biasing the outer arc member. The outer arc member can slidably pass through the fourth joint in an arc.
The present invention can also provide a method of using a limb interface device for an exercise apparatus including gripping a handle member with one or two hands of the user. The handle member can be mounted within an inner frame member and be rotatable about a first axis with a first joint. The first joint can be limited to about 40° or less rotation. Rotation of the inner frame member can be allowed relative to at least one support member supporting the inner frame member. The inner frame member can be rotatable about a second axis orthogonal to the first axis with a second joint. Rotation of the at least one support member can be allowed relative to an outer arc member that supports the at least one support member. The at least one support member can be rotatable about a third axis orthogonal to the second axis with a third joint. Rotation of the outer arc member can be allowed relative to an arm member that supports the outer arc member. The outer arc member can be rotatable about a fourth axis that is orthogonal to the third axis with a fourth joint. The fourth joint can have rotation of about 180° or less rotation and is associated with a centering biasing arrangement for resiliently biasing the outer arc member towards a centered position when rotated. Rotation of the arm member can be allowed about a fifth axis that is longitudinal to the arm member and orthogonal to the fourth axis with a fifth joint. The arm member for extending from the exercise apparatus.
In particular embodiments, the inner frame member can include a ring within which the handle member is mounted. The ring can be rotatably mounted between a pair of outer support members. The centering biasing arrangement can include a coil spring secured to and extending along an outer perimeter of the outer arc member for biasing the outer arc member. In some embodiments, the coil spring can be substituted by using a rubber bungee member or other similar mechanism. The outer arc member can slidably pass through the fourth joint in an arc. The outer arc member can comprise a semicircular ring that engages rollers positioned within the arm member. The handle member can be rotatably mounted about the first axis to an inner race of a bearing that is rotatable about the second axis within an outer race of the bearing. The pair of outer support members can be secured to and support the outer race of the bearing. In some embodiments, the arm member can be mounted to a movable arm of a computerized exercise device. In other embodiments, the arm member can be mounted to a cable of an exercise device. Further details of the present invention limb interface can be found in the attached description and drawings. Embodiments of the limb interface can have axes of rotation, such as axes X1, X2, X3, X4, and X5. In some embodiments, axes X2 and X4 can coincide, and in other embodiments can be apart.
The foregoing will be apparent from the following more particular description of example embodiments, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating embodiments.
Exercise handles in the prior art have been used with exercise machines for gripping by the user while performing exercises. Referring to
Gimbal lock can occur when joints align in the exercise handle 100, creating unintended contact with and interference with the user's arm or wrist. Gimbal lock can also cause elements or members of the exercise handle 100 to flip or swing, increasing inertia, causing unpleasant jerking sensations, or making contact with the user's wrist. The flipping due to a gimbal lock condition is known as a wrist singularity. At times, two of the axes of rotation of the exercise handle 100 can become parallel. When this condition occurs, the remaining axes of rotation of the exercise handle 100 attempts to rotate through a large angle as quickly as possible to maintain the wrist orientation, thus causing an unexpected flip of an outer member of the handle. This flipping from gimbal lock then forces other mechanical joints of the exercise handle 100 to adapt due to directional stress, adding torque within the joints, where energy is stored, until the gimbal lock is overcome, leading to a release of the torque that forces the joints to rotate at uncomfortable speeds. In many cases, the exercise movement becomes entirely disrupted and is difficult or impossible to complete without making unnatural biomechanical adjustments by the user. Gimbal lock is most problematic for multi-planar movements, especially at high velocities, such as during the performance of a sport specific movement, like simulating throwing a baseball.
The handle assembly 8 can include a gripping or a handle member 48 for gripping with one or two hands 25 of the user. The handle member 48 can be elongate and generally round or cylindrical in shape, and can include a textured or shaped surface for comfortable gripping with a hand 25. The handle member 48 can be rotatably mounted within an inner annular or circular ring-shaped frame member 44 with a first handle rotatable joint 46, and can be rotatable or movable about a first handle axis X1 in a first handle direction indicated by arrows 1. Rotation of the first handle joint 46 can be limited between rotational stops associated with the first joint 46 to be about 180° or less rotation, about 120° or less rotation, or about 60° or less rotation, such as about 40° rotation, which can prevent the circular frame 44 from rotating into and contacting the user's hand 25 during multiplanar or complex movements such as proprioceptive neuromuscular facilitation patterns, for example throwing. In some embodiments, the first joint 46 can be an adjustable joint in which the amount of rotation of the first joint 46 can be adjusted to less than 40°, or in other embodiments more than 40°, and can depend upon the size of circular frame 44. The limited rotation of the first joint 46 can cause other joints in the handle assembly 8 to move to prevent gimbal lock and disruptive movements.
The inner circular ring-shaped frame member 44 can be mounted to or include an annular or circular ring-shaped bearing 45 having inner 45a and outer 45b races, which can rotate or move relative to each other due to rolling elements therebetween. Bearing 45 is preferably a slewing bearing, but can also be other types of bearings such as standard ball or roller bearings. Frame portion 44a of inner frame member 44 can be clamped or secured to the inner race 45a of bearing 45 and in some embodiments, can be formed in two pieces or halves. The handle member 48 can be rotatably mounted to the frame portion 44a with the first joint 46. In some embodiments, the frame portion 44a can cover an inner diameter of inner race 45a. The outer race 45b of bearing 45 can be supported, secured or clamped by at least one outer support member or clamp 40, for example two on opposite sides 180° apart from each other. As a result, the inner frame member 44 can rotate with the inner race 45a of bearing 45 relative to the outer race 45b and support clamps 40, in a second handle direction indicated by arrows 2 about a second handle axis X2 that is orthogonal or transverse relative to the first axis X1, with a second handle rotatable joint 42. The second joint 42 is formed by the moving or rotating joint or interface between the inner 45a and outer 45b races of bearing 45, and can rotate in either direction as much as desired. In some embodiments, the two support clamps 40 can be replaced by single 180° arc shaped clamp. In other embodiments, the bearing 45 can be replaced by rollers mounted to the support clamp(s) 40 that can rotatably capture the inner circular ring-shaped frame member 44.
The support clamp(s) 40 can have two radially outwardly extending pins, shafts or axles 36, which can extend outwardly in opposite directions along a third handle axis X3 into an outer arc shaped frame member 34 to form a third handle rotatable joint 38. The third joint 38 rotatably or movably supports the support clamps 40 (which in turn supports the inner circular ring-shaped frame member 44 and handle member 48), about axis X3 that is orthogonal or transverse to axis X2, and rotatable in a third handle direction indicated by arrows 3. The third joint 38 can rotate or move in either direction as much as desired.
The outer arc shaped member 34 can be a semicircular ring or “C” shaped arc segment having about a 180° circular arc. The outer arc member 34 can have a central fourth handle axis X4 orthogonal or transverse to axis X3, that can in some embodiments coincide with axis X2 and be spaced apart from axis X3 (
An arm or bracket joint member 30 can rollably slidably support the outer arc member 34. The arm member 30 can have two opposed faces or sides 30a which can support a series of low friction elements or rotatable rollers 31 and 33 therebetween, that movably, rollably or slidably capture the outer arc member 34 therein, forming a fourth handle joint 32 therebetween. The outer arc member 34 (with the support clamp(s) 40, inner circular ring-shaped frame member 44 and handle member 48) is slidably movable or rotatable about the fourth handle axis X4 by a fourth handle rotatable joint 32 in a fourth handle direction indicated by arrows 4. Two rollers 31 can be rotatable about axes 31a and can engage an arched recessed inner surface, step or shoulder 34a of the outer arc member 34, and two rollers 33 can be rotatable about axes 33a for engaging the outer curved periphery or surface of outer arc member 34, slidably or rollable trapping the outer arc member 34 between the rollers 31 and 33. The opposite ends of the arc inner shoulder 34a can have raised radial shoulders or stops 34b defining the terminal ends that the outer arc member 34 can travel relative to or within arm member 30 in an arc, about 180° or less before the stops 34b engage rollers 31 or arm member 30 and prevent further travel.
The arm member 30 can include or can be secured, coupled, connected or mounted to a wrist or fifth handle rotatable joint 7, which in turn can be rotatably secured, coupled, connected or mounted to the arm 18 of the exercise device 10 for rotatably coupling the handle assembly 8 thereto. The wrist joint 7 can move or rotate about a fifth handle axis X5 that is orthogonal or transverse to axes X3 and X4 in a fifth handle direction as indicated by arrows 5. Axis X5 can be aligned with axis XA of the arm 18 of exercise device 10 to avoid forming offset moment forces relative to axis XA of the arm 18 of exercise device 10. This can allow precise measurement, control of the resistance, and proper exercise experience of the user exercising with the exercise device 10. In some embodiments, the handle assembly 8 can be used with a cable exercise device, and axis X5 can be aligned with a cable 35 (
Referring to
The handle assembly 8 has multiple strategically positioned and configured rotational joints about axes, such that when gimbal lock would normally occur in prior art handles, one or more of the other rotational joints engage or move to accommodate the user's natural movement, while also avoiding contact with the user's hand 25. In use, when exercising a complex three-dimensional motion, the user's hand 25 can grip the handle member 48 of handle assembly 8, and move the handle assembly 8 and arm member 18 of exercise device through the motion. As the handle member 48 initially rotates about axis X1 in direction 1, the joints around the other axes X2, X3, X4 and X5 may or may not be rotating. However, once handle member 48 reaches a rotational end point of its rotational limit, 180° or less such as a 40° rotational limit, one or more of the joints around axes X2, X3, X4 and X5 begin to move or rotate as needed to facilitate movement. This prevents handle member 48 from rotating too far with the first joint 46 before the other joints move, and avoids gimbal lock. Depending upon the rotation or orientation of the second and third joints 42 and 38, the axis X1 of handle member 48 can be aligned with axes X3 or X5, and can rotate in the same directions as the third or fifth joints 38 or 7, in directions 3 and 5. In addition, axis X1 can be aligned with or parallel to axis X4, where handle member 48 can rotate in a generally concentrically parallel arc with or relative to outer arc member 34. Since handle member 48 can rotate in the same direction or parallel to these other joints, it can be seen how the limited rotational ability of handle member 48 when its own rotation is stopped, can activate rotation about other axes and joints. The third, fourth and fifth joints 38, 32 and 7 have axes of rotation about axes X3, X4 and X5 that are always orthogonal or transverse to each other. Axis X2 is always orthogonal or transverse to X3, but can be oriented to align with axis X5. Although some of the joints and axes at times can be rotated into orientations to be aligned or redundant, the Applicant has found that having the five joints rotatable about axes X1, X2, X3, X4 and X5 with rotation about axes X1 and X4 being limited to partial rotation, provide a configuration that allows exercise of natural complex three-dimensional arm and hand motions such as a pitching throwing motion in a smooth natural manner without gimbal lock. Faster complex exercises such as a pitching motion are inherently likely to experience gimbal lock in prior art exercise handles, while slow simple motions, such as a weight lifting press or curling motion, often do not. In some embodiments, the fifth joint about axis X5 can be omitted, for example if handle assembly 8 is connected to a cable that can experience rotational twist, or if the exercise device itself has a rotational joint about axis X5.
While example embodiments have been particularly shown and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the embodiments encompassed by the appended claims. In some embodiments, the length and/or width of the handle member mounted within an inner frame member can be increased to accommodate movements that involve two hands. This can be useful for sport or other functional movements including swinging a baseball bat or golf club.
This application claims the benefit of U.S. Provisional Application No. 62/580,177, filed on Nov. 1, 2017. The entire teachings of the above application(s) are incorporated herein by reference.
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