Various types of stationary exercise devices have been developed. Examples include stationary bikes, bike trainers, rowing machines, stair climbers, elliptical machines, cross trainers, alternative motion machines, etc. Known devices may control the resistance force experienced by a user based on one or more inputs such as velocity and user-selected difficulty or resistance.
One aspect of the present disclosure is an exercise system including a movable input member that moves while a force is applied to the movable input member by a user. The exercise system includes a brake that is configured to generate a resistance force that tends to resist movement of the movable input member when a user applies a force to the movable input member. The system further includes a controller that is operably connected to the brake. The controller may be configured to control the resistance force to synchronize movement of the movable input member with a music beat. The controller may be configured to implement speed control (e.g. constant (isokinetic) speed, approximately constant speed, or other suitable speed control) and/or phase control. The controller may be configured to implement the speed control and the phase control according to predefined criteria.
The predefined criteria may, optionally, comprise upper and lower bounds of a range of target velocities.
The controller may, optionally, be configured to determine a speed (or velocity) error comprising a difference between a target speed (or velocity) and a measured speed (or velocity), and to utilize the speed (or velocity) error as an input for speed control (e.g. constant isokinetic speed control).
The controller may, optionally, be configured to determine a phase error comprising a difference between a target phase and a measured phase, and to utilize the phase error as an input for phase control.
The controller may be configured to optionally increase the resistance force when a measured speed (or velocity) is greater than a target speed (or velocity), when the phase control is being utilized (implemented) by the controller.
The controller may, optionally, be configured to reduce the resistance force when a measured speed (or velocity) is less than target speed (or velocity) to implement the speed control.
The controller may, optionally, be configured to control the resistance force utilizing a difference between a target phase and a measured phase to implement the phase control.
The controller may, optionally, be configured to vary the resistance force linearly (or nonlinearly) as a function of the difference between the target phase and the measured phase to implement the phase control.
The movable input member may, optionally, comprise a crank of a stationary exercise bike, and the exercise device may include one or more sensors that are configured to measure position and speed (or velocity) of the crank.
The controller may, optionally, be configured to determine a speed (or velocity) error by taking a difference between a measured speed (or velocity) and a target speed (or velocity).
The controller may, optionally, be configured to determine a phase error by taking a difference between a measured phase and a target phase.
The target speed (or velocity) and/or the target phase may, optionally, be determined utilizing a music beat.
The target speed (or velocity) may, optionally, comprise a target RPM for which there are one, two, or more music beats during each revolution of the crank of a stationary exercise device such as a bike.
The target phase may, optionally, comprise target positions of a movable member such as a pedal or handle and corresponding target times.
The phase error may, optionally, comprise a difference in position between the target position of a pedal or other movable member and the measured position at the target time corresponding to the target position.
The controller may, optionally, be configured to rapidly determine the speed (or velocity) error and the phase error during operation of the exercise device. If the exercise device comprises a stationary bike, the controller may be configured to adjust the resistance force a plurality of times during each revolution of the crank of the stationary bike based on at least one of the speed (or velocity) error and the phase error. For other types of exercise devices having one or more movable members that move through a range of motion, the controller may be configured to adjust the resistance force a plurality of times as the movable member moves through a range of motion.
The predefined criteria may, optionally, permit at least some overlap of speed (or velocity) control and phase control, such that during at least some operating conditions the controller controls the resistance force based on both speed (or velocity) error and phase error.
The predefined criteria may, optionally, be mutually exclusive such that the controller is configured to utilize only speed (or velocity) control or phase control at each point in time during operation of the exercise device or system.
Another aspect of the present disclosure is an exercise device or system comprising a movable input member that moves while a force is applied to the movable input member by a user. The exercise device or system includes a brake or other suitable device that is configured to generate a resistance force that tends to resist movement of the movable input member when a user applies a force to the movable input member. The system or device further includes a controller that is operably connected to the brake. The controller may be configured to control the resistance force to synchronize movement of the movable input member with a music beat utilizing speed (or velocity) error and phase error. The speed (or velocity) error may comprise a difference between a target speed (or velocity) and a measured speed (or velocity), and the phase error may comprise a difference between a target phase and a measured phase. The controller may be configured to increase the resistance force relative to a baseline resistance force when 1) the speed (or velocity) error is caused by the measured speed (or velocity) exceeding the target speed (or velocity); and 2) the phase error is caused by the movable input member being ahead of the target phase. The target speed (or velocity) and/or the target phase are preferably determined, based at least in part, on the music beat.
The controller may, optionally, be configured to utilize phase error to control the resistance force according to predefined phase control criteria.
The controller may, optionally, be configured such that it does not take into account phase error to control the resistance force when the measured speed (or velocity) satisfies predefined criteria.
The controller may be configured such that the measured speed (or velocity) satisfies the predefined criteria when the measured speed (or velocity) is within a predefined range of speeds or velocities.
Another aspect of the present disclosure is a method of controlling an exercise device to synchronize movement of an input member of the exercise device to music beats. The method includes utilizing a music beat to determine at least one of a target phase and a target speed (or velocity). The method further includes utilizing a phase control and a speed (or velocity) control to control a resistance force of a movable member of the exercise device while a force is applied to the movable input member by a user. The resistance force is controlled in a manner tending to cause movement of the movable input member to be synchronized to a beat of the music. The phase control may comprise varying the resistance force in a manner that tends to minimize a difference between a measured phase and the target phase, and the speed (or velocity) control may comprise varying the resistance force in a manner that tends to minimize a difference between a measured speed and a target speed (or velocity).
The method may, optionally, include repeatedly determining if predefined phase control criteria are satisfied while the input member is moving.
The method may, optionally, further include switching from speed (or velocity) control to phase control when the predefined phase control criteria changes from not being satisfied to being satisfied. The method may optionally include switching from phase control to speed (or velocity) control when the predefined phase control criteria changes from being satisfied to not being satisfied.
In the drawings:
For purposes of description herein, the terms “upper,” “lower,” “right,” “left,” “rear,” “front,” “vertical,” “horizontal,” and derivatives thereof shall relate to the invention as oriented in
The present application is related to U.S. Pat. No. 7,833,135, issued on Nov. 16, 2010, and entitled “STATIONARY EXERCISE EQUIPMENT,” the entire contents of which are incorporated by reference.
With reference to
The system 100 may be configured to utilize (implement) speed (or velocity) control and phase control. The speed (or velocity) control may optionally comprise isokinetic speed (or velocity) control that varies a resistance force in a manner that encourages a user to maintain a generally or substantially constant speed (or velocity) (e.g. a speed (or velocity) that falls within a predefined range). The speed (or velocity) control may be utilized (implemented) when predefined criteria for phase control is not satisfied. For example, speed (or velocity) control may be utilized when a difference between a Measured RPM 4A and a Target RPM 2A is greater than a predefined range of RPM (e.g. ±5 RPM). Thus, the system 100 may be configured to utilize a phase control when a measured speed (or velocity) (RPM) is within a predefined speed (or velocity) range (e.g. measured RPM is within 5 RPM of Target RPM), and to utilize speed (or velocity) control when the position difference is outside of the predefined capture range (e.g. ±5 RPM). The system 100 may be configured to rapidly and continuously (e.g. one or more times during each movement of an input member through a range of movement) determine if the system meets the phase control criteria and switch between the speed (or velocity) control and phase control to control the exercise device 40. As discussed below, speed (or velocity) control and phase control are not necessarily mutually exclusive, and the system may (optionally) be configured to simultaneously control resistance force based on both speed (or velocity) control and phase control.
It will be understood that the system and method of the present disclosure is not necessarily limited to synchronizing a movable input member to musical beats (stressed and/or unstressed), but rather includes synchronization to virtually any repeating characteristic or pattern, pulse, cadence, tempo, meter, rhythm, grooves, oscillations, or virtually any other type of recurring event or phenomenon of sound or other phenomenon that can be perceived by a user. For example, as discussed in more detail below, one aspect of the present disclosure involves measuring/determining a musical beat and adjusting a resistance force experienced by a user of an exercise device 40 in a manner that tends to cause the user's frequency of movement of one or more body parts (e.g. legs and/or arms) involved in the exercise (and corresponding moving components of the exercise device) to become synchronized to the beat of the music that the user is listening to while performing the exercise. However, input signal 1 could comprise other types of inputs (e.g. lights), and the movements of the exercise device 40 and user could also or alternatively be synchronized to other sources such as flashing lights or other input having a recurring/repeating pattern over time. Also, one or more devices 40 could be synchronized to an input signal that is not necessarily perceived by the user of the exercise equipment. For example, if a particular exercise routine or program requires a user to maintain a particular pace or target velocity (e.g. a target RPM or pedal rate of a stationary bike), the system 100 could be configured to vary the resistance force of a movable member (e.g. pedals) whereby the user experiences significantly reduced resistance if the movable member is moving at a measured speed (or velocity) (e.g. Measured RPM) that is less than the target rate (or target range) and significantly increased resistance if the movable member is moving at a measured speed (or velocity) (e.g. Measured RPM) that is greater than the target (or velocity). Also, as discussed below in connection with
Exercise device 40 may include a movable input member such as pedal crank 42 that is (optionally) operably connected to a variable resistance device 20 by a drive system 44. Variable resistance device 20 may comprise an alternator or DC motor that provides a variable resistance force acting on the movable input member 42. As discussed in more detail below, the resistance force provided by variable resistance device or brake may be controlled by a resistance force signal 6A from controller 50. Variable resistance device 20 may optionally include a flywheel or other inertia member that simulates, at least partially, the effects of momentum experienced by a user on, for example, a road bike. Although a flywheel may be utilized, a flywheel is optional, and it is not necessarily required. If a flywheel is utilized, the resistance force experienced by a user will generally include forces resulting from the flywheel friction of the moving components of device 40 as well as resistance forces due to variable resistance device 20.
Variable resistance device 20 may comprise virtually any device or mechanism that is capable of providing variable resistance based on a control input or signal. For example, variable resistance device 20 may comprise a friction brake mechanism, an eddy current mechanism, or other mechanism that is capable of being controlled to provide a variable resistance force acting on movable input member 42. Drive system 44 may comprise one or more chains, belts, shafts, links, sprockets, pulleys, gears, etc. that transmit force between variable resistance device 20 and movable input member 42. Drive system 44 may have a fixed drive/gear ratio, or drive system 44 may have a variable drive/gear ratio. It will be understood that the drive system 44 is optional, and variable resistance device 20 may act directly on movable member 42.
The system 100 may be configured to utilize both speed (or velocity) control and phase control to synchronize movement of a component of an exercise device 40 to a music beat 1B. For example, when a user initially begins to apply force to a pedal crank 42, the system 100 may utilize constant speed (or velocity) control until the measured speed (or velocity) (RPM) of pedal crank 42 is sufficiently close (e.g. ±5 RPM) to a Target RPM (e.g. Music BPM 2A). The system 100 may then utilize phase control to maintain the phase at the target phase. In general, the phase control also tends to maintain the measured speed (or velocity) (RPM) at the target speed (or velocity) (RPM). It will be understood that the phase control may comprise a phase-locked loop control, or it may more generally comprise phase control tending to synchronize device 40 to a music beat or other repetitive input.
With reference to
Referring again to
Controller 50 analyzes the incoming signal 1 to distinguish/detect the music beats 1B to determine both a Target RPM 2A (target speed (or velocity)) and a Target Angle 8A (target phase). At start-up, the system 100 may be configured to determine the music beat frequency in Beats Per Minute (BPM) or other unit of time to determine an average BPM (shown schematically at Music BPM detect 2) before a user begins to exercise. Music BPM detect 2 may comprise, for example, an algorithm that is utilized (implemented) by controller 50. Alternatively, Music BPM detect 2 may determine Music BPM in real time (i.e. without delay, or with very small delay on the order of a fraction of a second) while the audio signal 1 is supplied to a sound generation device 1C (e.g. speakers, ear buds, etc.) whereby the user hears the music being played. Various beat detection algorithms/programs have been developed, such that a detailed description of this aspect of the present disclosure is not believed to be necessary.
When a user is operating the equipment 40 (e.g. a stationary bike) using a movable input member such as a pedal crank 42 (in the case of a stationary bike), a sensor such as a Brake Encoder 3 may be used to detect the position and/or movement (e.g. speed (or velocity)) (RPM) of a movable component such as brake/flywheel (variable resistance device 20) that is operably connected to pedal crank 42 by a drive system 44. The gear (drive) ratio of drive system 44 is known, and the position and speed (or velocity) of pedal crank 42 can therefore be measured directly or determined using signals (data) from sensor 3. The position signal 22 generated by sensor/encoder 3 may be utilized for both speed (or velocity) and phase control. Specifically, the speed (or velocity) (Measured Velocity 4A) may be determined by Crank RPM Generator 4. Crank RPM Generator 4 may comprise, for example, an algorithm that is utilized (implemented) by controller 50. Crank RPM Generator 4 may utilize the measured position (brake angle) 3A and the corresponding time stamp to determine Measured Velocity (Crank RPM) 4A. Numerous ways to determine/measure velocity utilizing position sensors are known, and the present disclosure is not limited to any specific sensor or technique. Also, as used herein, the terms Measured Velocity and Measured RPM may refer to velocity or speed that is measured directly, or velocity or speed that is determined from changes in measured position over time (e.g. a first derivative of position with respect to time).
Measured Crank Angle 9A is determined by Crank Angle Generator 9. Crank Angle Generator 9 may comprise, for example, an algorithm that is utilized (implemented) by controller 50. Measured Crank Angle 9A comprises a measured position that may be utilized for phase control. Other types of measured positions may be utilized if device 40 includes other types of movable members (e.g. handles or foot supports of an elliptical machine, steps of a stair climbing machine, a seat and/or handle of a rowing machine, etc.). Various types of sensors 3 may be utilized to measure position and/or speed (or velocity), and the present disclosure is not limited to an encoder. Also, sensor 3 may be configured to detect motion of virtually any movable component in the system or device 40 that moves when a movable input member (e.g. pedal crank 42) moves.
Sensor 3 generates a signal 22 which may be in the form of measured position data 3A (e.g. “Brake Angle”) paired with time data (e.g. a “time stamp”), which can be utilized to determine a measured speed (or velocity) (e.g. Crank RPM 4A) by dividing change in position by change in time at Crank RPM Generator 4. A processor 50 or other suitable computing device may be utilized to convert the position data 3A into measured speed (or velocity) (Crank RPM 4A). The measured speed (or velocity) may be in the form of Crank RPM 4A, which is determined (e.g. by controller 50) utilizing the chain/pulley ratio of drive system 44, which relates the measured speed (or velocity) (Crank RPM 4A) to the Brake Velocity (RPM).
Rotation Speed Comparator 5 may comprise, for example, an algorithm that is utilized (implemented) by controller 50. The system (e.g. the processor 50) may be configured to compare measured speed (or velocity) (Crank RPM 4A) to a target speed (or velocity) (RPM) determined from the Music Beat Frequency (BPM) 2A to determine a speed (or velocity) (e.g. Crank Speed Error RPM 5). The speed (or velocity) may comprise a difference in speed (or velocity) (RPM) between a target speed (or velocity) and a measured speed (or velocity) (RPM). Rotation Speed Comparator 5 may double the Music BPM 2A to determine a target speed (or velocity) (i.e. Target RPM=2 (Music BPM)) prior to comparison to the measured speed (or velocity (Crank RPM 4A) to provide for one leg stroke per music beat. Alternatively, the Music Beat frequency (BPM) 2A utilized at Rotation Speed Comparator 5 may (for example) be equal to the measured speed (or velocity) (Crank RPM 4A) to provide for two leg strokes per music beat. The number of leg strokes per music beat is, however, not limited to one or two, and virtually any number of leg strokes per music beat may be utilized. For example, if the music has a very rapid beat, multiple beats per leg stroke may be required to provide a suitable leg stroke rate.
The comparison performed at Rotation Speed Comparator 5 generates a speed (or velocity) error signal designated Crank Speed Error RPM 5A. Error signal 5A is processed by a Brake Power Control step or feature 6. Brake Power Control 6 may comprise, for example, an algorithm that is utilized (implemented) by controller 50. Specifically, Brake Power Control 6 generates a Brake Power Signal 6A that is supplied to brake 28. Brake Power Signal 6A may include speed (or velocity) and/or phase control features. As discussed below in connection with
In use, once the speed (or velocity) control (e.g. isokinetic control) brings the measured speed (or velocity) (Crank RPM 4A) sufficiently close to the target speed (or velocity) (RPM) (due to or resulting from braking), the system (controller 50) determines if the speed (or velocity) difference (e.g. RPM Error 5A) between the measured speed (or velocity) (e.g. Crank RPM 4A) and the target speed (or velocity) (e.g. target RPM 2A) satisfies (meets) predefined criteria for phase control. If the phase control criteria is satisfied, Brake Power Control 6 switches operation from speed (or velocity) (e.g. isokinetic) control to phase control. The phase control criteria may comprise a difference (Error 5A) between measured speed (or velocity) (e.g. Crank RPM 4A) and the target speed (or velocity) (RPM) (Music BPM 2A) that is less than or equal to, for example, 5 RPM (or 1 RPM, 2 RPM, 3 RPM, 4 RPM, 10 RPM, or any other suitable criteria).
The audio signal 1 (including music beat 1B) may also be applied (supplied) to a Music Angle Predictive Generator step or feature 8. Music Angle Predictive Generator step or feature 8 may comprise, for example, an algorithm that is utilized (implemented) by controller 50. The Music Angle Predictive Generator 8 analyzes the period “T” of the incoming music beats 1B and generates a Target Music Angle signal 8A, which may be in the range of 0-360 degrees, in synchronization with the music beat 1B. This correlates Music Beat 1B to position (e.g. crank angles) and creates a target position (e.g. Crank Target Angle 8A). Crank Target Angle 8A may be expressed in, for example, degrees or radians. In general, the calculated target position (e.g. Angle) will be accurate if the rider pedals at the same rate on each pedal stroke.
It will be understood that, in the case of a stationary bike, there are preferably 180 degrees of crank angle between each music beat because the rider (user) has two legs (i.e. the Target Music Angle Signal 8A is 180 degrees). As discussed above, Target Angle 8A is a target position. In the case of a stationary bike, the Target Angle 8A may comprise, for example, bottom center position of each Crank Pedal. The Target Angle (position) has a corresponding time associated with it based on the Music BPM such that the Phase Error is zero if each pedal is at the Target Angle (e.g. bottom center crank position) at the target time associated with the Target Angle (e.g. at the time a music beat occurs).
The number of degrees between each music beat may vary with the number of leg strokes per music beat. For example, if the Music 1 has a very fast beat, the Target Music Angle may be based on two beats per rotation of each pedal. The Target Music Angles could be at top center and bottom center of the pedal rotation, or a single Target Music Angle (e.g. bottom center) may be utilized, and two music beats could occur for each Target Music Angle. Also, for exercise devices such as rowing machines having a single moving input member, the number of degrees between each beat could be either 180 degrees or 360 degrees. If the time required to complete a movement (e.g. a rowing movement) exceeds the time (period) between beats, the number of beats per movement may be adjusted. For example, in the case of a rowing machine, the target positions may comprise the starting and end positions, and three beats may be required for the first half (extension) of the rowing movement, and two beats may be required for the second half (return) of the rowing movement (if the extension movement requires more time than the return movement). Alternatively, the target position could comprise, for example, the starting position of a rowing machine, and the target position (phase) may comprise the starting position at the time of a music beat. In this example, the Phase Error 10A comprises the difference between measured position at the time a beat occurs and the target position. Thus, the number of beats per exercise movement may be adjusted as required based on the Music BPM and/or the desired frequency of movement for a particular exercise device.
Brake Encoder 3 may be configured to supply a high resolution brake angle signal 22 to the processor 50. If signal 22 is a relative position signal rather than an absolute position signal, a crank index 36 may be utilized. Crank index 36 generates a signal 36A corresponding to a known pedal (crank) position (e.g. signal 36 may comprise a pulse that is generated each time crank 42 is at an angle of zero degrees). Crank Angle Generator 9 utilizes the signals 3A and 36A to determine an absolute Measured Crank Angle 9A in degrees. If sensor 3 comprises an absolute position sensor, Crank index 36 and Crank Angle Generator 9 are typically not required.
An encoder (sensor) and an index sensor could both be operably connected to the movable input member or crank 42. Nevertheless, the preferred implementation described above may provide a more practical production solution. In one example, signal 22 comprises 250 pulses per crank revolution from an encoder 3 on the brake providing 25 readings per revolution, and the gear ratio between the crank 42 and the brake is 10:1. Therefore, 25×10 is 250 pulses per crank revolution. This permits the angular location (position) of the crank 42 to be determined in degrees. In this example, 360/250 yields a reading every 1.44 degrees. An encoder with more than 25 readings per brake revolution may be used to provide higher resolution. It will be understood that virtually any suitable sensor, device or method may be utilized to measure and/or determine position and/or speed (or velocity) of a movable member, and the present disclosure is not limited to the specific examples described herein.
The Target Music Angle 8A (corresponding to the target crank position) is compared to Measured Crank Angle 9A by the Phase Angle Comparator 10, preferably both before and after each Target Music Angle 8A. Phase Angle Comparator may comprise, for example, an algorithm that is utilized (implemented) by controller 50. In general, the system is configured to cause the pedal positions to be synchronized with the beat of the music to the extent possible, whereby the target and measured phases are equal. In general, the phases are equal if the movable member (e.g. crank 42) is at a target position at the time associated with the target position. The Phase Angle Comparator 10 generates a Phase Error 10A in degrees (if device 40 comprises a stationary bike). In general, the phase error 10A may be proportional to a difference between the target position (Target Music Angle 8A) and the measured position (Measured Crank Angle 9A) measured at the time associated with the target position (Target Music Angle 8A). The Phase Error 10A is utilized by the Brake Power Control 6 to provide phase control when the criteria for phase control is satisfied. As discussed in more detail below in connection with
With further reference to
At step 66, the system controls the resistance force of movable input member (e.g. crank 42) using isokinetic (constant speed) control mode. As discussed above, the isokinetic control mode tends to bring the Measured Velocity (e.g. Crank RPM 4A) equal to a Target Velocity.
At step 68, the system determines if the measured speed (e.g. Crank RPM 4A) meets predefined phase loop control criteria. As discussed above, this criteria may comprise, for example, a Measured RPM that is within a specific RPM (e.g. 5 RPM) of a Target RPM. However, it will be understood that the phase control criteria may comprise other criteria. If the measured speed does not meet the phase control criteria, control returns to step 64 as shown by the line 69. If the measured speed does meet predefined phase control criteria, the process continues to step 72 as shown by the arrow 70.
At step 72, the resistance force is adjusted or controlled using a phase control mode. As discussed above, the phase control decreases resistance if the movable member 42 lags behind a target position, and increases resistance force if a measured position is ahead of the target position. This tends to bring the phase of the moving member 42 into phase with the Music Beat such that movable member 42 is at a specific position at a specific time to thereby synchronize the movable member with the beat of the music.
The process then continues to step 74 as shown by the arrow 73. At step 74, the system again determines if the measured speed meets predefined phase control criteria. If the phase control criteria is met, the system continues to adjust resistance force using the phase control as shown by the line 75. However, if the measured speed does not meet the phase control criteria at step 74, the system returns to step 64 as shown by the line 76, and the system then utilizes isokinetic control mode (step 66) until the system again meets the phase control criteria at step 68.
A user may stop using the device 40 as shown by the line 77 and the “END” step or state 78.
As discussed below in connection with
It will be understood that
The total resistance force of brake 28 may comprise the sum of a speed-based control (
With further reference to
In the illustrated example, the line 88 includes line segments 88A-88D. If the measured speed (or velocity) (RPM) is below 55 RPM, the speed-based component of the resistance force (SpeedPower) varies as a function of speed (or velocity) (RPM) as shown by the line segment 88A. If the device 40 includes a motor (e.g. if brake 28 comprises an electric motor) that is capable of providing an assistance force to move the input member 42, the resistance force (SpeedPower variable) may have a negative value as shown by the line segment 88A. If the phase error (
If the measured speed (or velocity) (RPM) is within the ±5 degrees of the target speed (or velocity) (RPM) (i.e. 60 RPM in the illustrated example), the resistance force due to speed error (SpeedPower) is zero. Thus, when the measured speed (or velocity) (RPM) corresponds to the line segments 88B or 88C, the controller sets the SpeedPower resistance force variable to zero, and the brake 28 does not generate any resistance force.
However, if the Measured RPM exceeds the upper bound of the isokinetic range (i.e. the Measured RPM exceeds 65 RPM), the controller 50 provides increasing resistance (SpeedPower) due to speed error as shown by the line segment 88D. Thus, if a user is outside of the Target RPM range between T2 and T3, the controller provides increased resistance to thereby urge the user to reduce RPM to bring the RPM back within the target range.
Line 88 represents one possible approach to control resistance force based on measured speed (or velocity). In the example of
It will be understood that the target speed (RPM) of 60 in
It will be understood that the shapes and slopes of the line segments 88A and 88D in
As discussed below, the RPM bounds T2 and T3 may comprise phase control criteria, and the system (e.g. controller 50) may be configured to implement phase control (
With further reference to
Vertical axis 91 of
The zero resistance force level of vertical axis 91 of
In
In
Also, if the speed-based resistance force (
The measured speed (or velocity) (RPM) may be measured rapidly and continuously during operation, and the measured speed (or velocity) (RPM) may be rapidly and continuously compared to the target speed to rapidly and continuously adjust the resistance force as a function of speed (or velocity) (
During operation, the system (e.g. processor 50) may be configured to continuously and rapidly adjust the total resistance force (e.g. Brake Power Control Signal 6A;
In the illustrated example, the line 98 is a straight line whereby the value of the PhasePower variable increases linearly as the Phase Error increases and decreases. However, the resistance force line 98 may be curved, or have other shapes as required or preferred for a particular application. For example, the line could have a curved shape as shown by the line 98A, which has a zero slope at the intersection with line P1 (i.e. Zero Phase Error), and portions 98B and 98C with increasing slope as the Phase Error increases. Line 98A may be, for example, sinusoidal. Line 98A may provide a less abrupt change in resistance at smaller Phase Angle Errors, and provide significantly increased and decreased resistance force at increased Phase Errors.
In general, the Speed Error Control of
After the value of the control signal is reset (if necessary) to the upper or lower limits, controller 50 utilizes the limited control signal to generate a PWM signal whereby signal 6A comprises a PWM signal. The PWM signal may be scales to provide a brake resistance of 0%-100%. It will be understood that the PWM is merely an example of one form of a control signal, and the brake control signal 6A may have virtually any suitable form.
The measured speed (or velocity) (Measured Crank RPM 4A) (pedal rate) may drift outside the capture range (e.g. out of lines T2 and T3) if a user overdrives the pedals (i.e. pushes the pedals too hard and/or rotates the pedals too fast) or if the user pedals too softly, or too slow, or even stops pedaling briefly. If the speed control criteria and the phase control criteria are mutually exclusive, and if this happens, the Brake Power Control 6 returns to constant speed (isokinetic) control, until the measured speed (or velocity) (Crank RPM) is again within the phase-locked loop capture range.
It will be understood that the Music Synchronization Control of the present disclosure is not limited to a stationary bike, bike trainer, or other specific exercise device. For example, device 40 could comprise a stair climber, a rowing machine, an elliptical machine, a cross trainer, or a variable stride mechanism. Such devices typically include repetitive motion of an input member to which a user applies a force in use. A Target Velocity can be set by a user or other suitable means (e.g. an instructor of a fitness class), and the speed of the movable member can be measured and compared to the target speed and controlled (e.g.
For example, in the case of a rowing machine, the handle and the seat of the rowing machine may move in opposite directions in a periodic manner such that the speed of the handle and the seat may vary between zero and a maximum speed during extension and retraction of the handle and seat. In this case, the target speed may comprise a specific target speed at each point during movement corresponding to and expected or typical speed at each point in time if the overall speed of the handle and seat of the rowing device are moving at an overall target speed. Alternatively, the target speed may comprise a speed at which the time (i.e. the period) of motion of the handle and seat are equal to a period of the Target Velocity whereby the speed-based resistance component (
In general, the speed and phase control (
It is to be understood that variations and modification can be made on the aforementioned structure without departing from the concepts of the present invention, and further it is to be understood that such concepts are intended to be covered by the following claims unless these claims by their language expressly state otherwise.
This application claims the benefit under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 62/808,534, filed Feb. 21, 2019, entitled “EXERCISE EQUIPMENT WITH MUSIC SYNCHRONIZATION,” which is incorporated herein by reference in its entirety.
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Number | Date | Country | |
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