Patent Grant
11918884
This application relates to exercise and rehabilitation equipment, for example resistance-based strength training equipment. The effectiveness of strength training exercises can be improved by following planned pacing or cadence, i.e., amounts of time (durations) for each phase of an exercise. However, people often have difficulty following the desired pacing for an exercise, for example due to the increased physical challenge, inaccurate perceptions of time, and various distractions that make mentally tracking time through various phases of an exercise difficult. Accordingly, systems and methods for helping a person follow a desired pacing for an exercise would be advantageous.
One implementation of the present disclosure is a method of guiding pacing of a strength training exercise. The method includes receiving a selection of a current exercise from a plurality of available exercises, determining an illumination pattern based on a desired pacing for the current exercise, and controlling a lighting system to display a plurality of repetitions of the illumination pattern.
Another implementation of the present disclosure is a strength training apparatus comprising a rack configured to hold a bar between exercises performed using the bar, a lighting device coupled to the rack, and a controller communicable with the lighting device. The controller is configured to determine a desired pacing for a current exercise, and control the lighting system to display a plurality of repetitions of an illumination pattern based on the desired pacing.
Another implementation of the present disclosure is a lighting system for guiding a user through an exercise. The lighting system includes a plurality of light sources arranged in a first column and a controller configured to cause the plurality of light sources to illuminate according to an illumination pattern, wherein the illumination pattern is based on a selected exercise of a plurality of available exercises.
Before turning to the figures, which illustrate certain exemplary embodiments in detail, it should be understood that the present disclosure is not limited to the details or methodology set forth in the description or illustrated in the figures. It should also be understood that the terminology used herein is for the purpose of description only and should not be regarded as limiting.
Referring now to
The first dual-cable apparatus 101 and the second dual-cable apparatus 103 are configured to provide a dynamically-variable force at the bar 104 by independently controlling the tension in four cables coupled to the bar 104. For example, the first dual-cable apparatus 101 includes a first actuator assembly 150 coupled to a first cable 152. The first actuator assembly 150 includes an electric motor configured to apply a torque to rotate a drum (spool, etc.) around which the first cable 152 is wound or unwound by rotation of the drum. The first actuator assembly 150 is controllable to adjust the torque applied by the motor, thereby altering the tension in the first cable 152. A second actuator assembly 154 is coupled to a second cable 156 and similarly configured to independently adjust the tension in the second cable 156 by adjusting the torque applied to a drum by an electric motor. The first cable 152 and the second cable 156 are joined at an end effector 158.
By adjusting the tensions in the first cable 152 and the second cable 156, the first dual-cable apparatus 101 can provide a desired force vector at the end effector 158 which is controllable in both direction and magnitude. The second dual-cable apparatus 103 is similarly configured as the first dual-cable apparatus 101, and can also provide a desired force vector at an end effector 160 of the second dual-cable apparatus 103. In the example of
A controller may be included, for example as shown in
In the example of
As shown, the bar 104 is provided as a linear rod (barbell attachment) that extends between the end effectors 116. In some embodiments, various attachments are provided which can be coupled to the bar 104 to facilitate different exercises. In some embodiments, the bar 104 is selectively replaceable with various attachments, for example handles, loop straps, rings, hex bars, ropes, non-linear shafts, harnesses, belts, vests, etc. While the bar 104 is connected to both the first dual-cable apparatus 101 and the second dual-cable apparatus 103, in some embodiments the bar 104 is replaceable with a first attachment for the first dual-cable apparatus 101 and a second, separate attachment for the second dual-cable apparatus 103 to facilitate exercises using either a single dual-cable apparatus 101, 103 or using both dual-cable apparatuses 101, 103 without the user perceiving a mechanical connection therebetween.
In the embodiment shown, the multi-cable apparatus 100 includes a user interface device, shown as a display screen 110. In some embodiments, multiple display screens 110 may be included. The one or more display screens 110 are configured to provide a graphical user interface to communicate information relating to operation of the apparatus 100 to a user. A display screen 110 may also be configured as a touchscreen to receive input from the user in some embodiments. As shown, the display screen 110 is mounted on the rack 105. In other embodiments, the display screen 110 may be provided as a separate device. For example, in some embodiments, the apparatus 100 can communicate with a personal device of the user, for example a smartphone or a tablet, to provide a graphical user interface via relating to multi-cable apparatus 100 on the personal device of the user. Such communication may be direct wireless communication (e.g., Bluetooth, WiFi) between the apparatus 100 and the personal device, or indirectly via a cloud server in communication with both the personal device and the apparatus 100 via the Internet.
For example, the display screen 110 may be configured to display real-time data from the device sensors as well as critical information for a selected exercise or series of exercises. In some cases, the user can select a desired type of exercise movement, workout, or diagnostic measurement via a graphical user interface of the display screen 110. The display screen 110 can show a dashboard that provides real-time information and feedback relating to form, trajectory, velocity, force, range of motion, repetition count, targets, etc. for the user during the exercise. The display screen 110 may also be controlled to show coaching videos or alerts.
As shown in
In some embodiments, buttons are provided with the display screen 110 for interaction with the display screen and the apparatus 100 between exercises. The buttons may be wirelessly communicable with a controller. Other input devices may be used in various embodiments. For example, a microphone may be used with speech-recognition processing to allow for voice control of the apparatus 100. In some embodiments, an external device such as a smartphone or tablet is communicable with the apparatus 100 and allows a user to input commands to the apparatus.
As shown in
The platform 102 may include a single continuous plate that the user stands on, or a split plate that includes two equally-sized plates (one for the left foot of the user and one for the right foot of the user). The plate or plates are provided with force sensors at the corners of the plate(s). The force sensors can determine the total load on the plate and the center of pressure on the plate, either overall in the single-plate embodiment or independently for each foot in the split plate embodiment. In other embodiments, the platform 102 is provided with a force sensing mat that includes load cells distributed throughout to provide force data exerted locally at a large number of positions on the platform 102. The force sensor measurements can be used by a controller to determine the stability of the user and how the user performs the exercise. For example, the data from the force sensors can be processed to detect loss of balance or compensatory motions, and may be used to trigger a release of a load for safety purposes or to provide feedback on form to a user or coach/trainer. As another example, the platform force sensor measurements can be used to track the position of a support polygon defined by positions of the user's feet can be used in control of the apparatus 100, for example to determine a direction of a force that can be applied without pulling the user off balance or that would give a sensation of a purely-vertical force to the user. In addition, the sensor data from the platform 102 can be used to measure performance in tasks such as jumping or other exercises.
The camera system 112 can be provided in addition to or in place of the force sensors in the platform 102. The camera system 112 is configured to capture or measure the user's motions and movements. The camera system 112 may be configured to determine the pose which consists of the user's joint angles for specific joints, such as the knee and hip, or the body shape, such as the curvature of the back. The camera system 112 can determine various other anthropometric measurements, for example height, length of various body parts, etc. The camera system 112 may include a single RGB camera, several RGB cameras, or one or more infrared cameras. In embodiments with multiple cameras, the cameras may be provided in a stereoscopic arrangement and/or provided at various positions around the apparatus 100 to provide views of the user from multiple perspectives (e.g., a side view and a head-on view). In some embodiments, the camera system 112 is configured as an active system that emits its own light waves (e.g., infrared) and receives and interprets their reflections to generate tracking data (e.g., structured light systems, time-of-flight systems, LIDAR, etc.). In some embodiments, the camera system 112 is also configured to collect information regarding the position and geometry of the bar 104, end effectors 116, or cables of the apparatuses 100. Such information can be used in control of the apparatus 100. Data from the camera system 112 can be used to control the force vector applied by the apparatus 100 to improve strength training efficiency and safety, to provide real-time form correction feedback to a user (e.g., via display screen 110), and to produce post-exercise reports, videos, coaching tips, exercise programs, etc. to be provided to the user or coach. In some embodiments, the camera system 112 is used to collect user input for no-touch gesture control of a graphical user interface.
In some embodiments, the location of the bar 104 can be determined based on configuration of the dual-cable apparatuses 101, 103 and used as an indication of a user's position and movement. For example, in some embodiments, an absolute rotation sensor (rotational position sensor) is included with the spool of each actuator assembly. The rotation sensor can be integrated into the spool (drum), and rotational positions of the spool and the diameter of the spool can be used to determine the amount of cable unwound from the spool. In other embodiments, the rotation sensor is provided on a gear, which interfaces with a gear fixed on the spool. The two gears mesh, such that as the spool rotates both gears also rotate. The numbers of teeth on the gears, the diameter of the spool, and the data from the position sensor can be used to determine the amount of cable unwound from the spool. The rotation sensor and/or the gear ratio may be configured to account for multiple turns of the spool. In some embodiments, multi-turn encoders, such as a potentiometers, can be included to facilitate determination of the lengths cable fed out from the spools through multiple revolutions of the spools. A calibration routine may be executed by running the motors to fully wind and/or unwind the cables to help calibrate the rotation sensors.
In other embodiments, other tracking systems can be used to determine the position of the end effectors 116 and the real-time geometry of the apparatus 100. For example, in some embodiments an optical tracking system (e.g., stereoscopic IR camera) can be used to track a position of a fiducial marker positioned on the bar 104 in real time. As another example, image-recognition and video processing may be used to track the geometry of the cables.
In some embodiments, the apparatus 100 includes other sensors to measure biometric data such as heart rate, heart rate variability, blood saturation (e.g., oxygen saturation level), respiration rate, etc. The apparatus 100 may also communicate with a fitness tracker device of a user (e.g., watch, wrist strap, chest strap) to wirelessly (e.g., via WiFi, Bluetooth, ANT+) obtain such data. Fitness tracker data may also include information such as sleep and fatigue measurements that can be used to customize a fitness program (e.g., to reduce loads on a user when fatigued or stressed, to increase loads when one or more indicators suggest that an exercise is not challenging a user, etc.).
Referring now to
The lighting device 120 is coupled to the vertical post 106 and extends along a longitudinal direction of the vertical post 106 (i.e., parallel to the vertical post 106). In the example shown in
The lighting device 120 includes an array of light sources 200. In the embodiment of
In the embodiment shown, the light sources 200 are light emitting diodes (LED). In other embodiments, other types of light sources are used (e.g., incandescent bulbs, florescent lighting, LED display, etc.). As shown in
As shown the light sources 200 are directed outward from the lighting device 120 such that the light sources 200 are in the field of view of a user of the apparatus 100. The light sources 200 may also be positioned and oriented such that light emitted from the light sources 200 can illuminate a portion of the vertical post 106 or other surface which is in the field of view of the user.
In the embodiment shown, the light sources 200 are spaced apart from one another to extend along a vertical dimension. The vertical dimension may correspond to a typical direction of movement of a user during performance of an exercise, for example a squat, lunge, deadlift, press, etc. In some embodiments, the dimensions of the lighting device 120 are selected such that lighting device 120 is at least as long as a full range of motion of an exercise to be performed at the apparatus 100. Correspondence between the lighting device 120 and positions along the range of motion may therefore be intuitive to a user. For example, as shown, in
In other embodiments, other dimensions and positioning for the lighting device 200 may be used. For example, the lighting device 200 may be positioned at a height on the vertical post 106 that aligns with eye-level for typical users to facilitate visibility of the lighting device 200 by the users. The lighting device 200 may have a length in a range between two feet and four feet, for example approximately three feet. Although,
Referring now to
As shown in the first frame 302, a first portion of the lighting device 120 (i.e., a first subset of the light sources 200) illuminates to illuminate a first end point 320 of a range of motion in a first color (e.g., green) and a second end point 322 in a second color (e.g., white). In the example of
As shown, the first end point 320 is positioned proximate a top end of the lighting device 120 and the second end point 322 is positioned proximate a bottom of the lighting device 120. A spacing between the first end point 320 and the second end point 322 indicates a full range of motion for a selected exercise. The first end point 320 and the second end point 322 may be adjusted in position along the lighting device 120 for different exercises (e.g., brought closer together for an exercise with a smaller desired range of motion), for users of different heights (e.g., lowered on the lighting device 120 for shorter users), or to otherwise facilitate intuitive communication of a desired range of motion for performance of an exercise by a user.
In the first frame 302, the first end point 320 is indicated by a first color (e.g., green), and the second end point 322 is indicated by a second color (e.g., white). The first color indicates that the current desired position for the exercise is at the top of the range of motion for the exercise. This may be the starting point for many exercises, for example squats or lunges. Accordingly, in the example shown, the exercise can be initiated with the lighting device 120 illuminated as shown in the first frame 302.
From the first frame 302, when the illumination pattern for the lighting device 120 is initiated, the light sources 200 are controlled to transition to the configuration shown in the second frame 304. The illumination pattern can be initiated in response to a user input, for example by voice command (in an embodiment where a microphone is included in the apparatus 100) or by a user engaging a button 114 on the bar 104. In some embodiments, the illumination pattern is initiated based on tracking of movement of the bar 104 or the user, for example to automatically initiate the illumination pattern in response to detecting user movement.
As shown in the second frame 304, the first end point 320 has been update to the second color (e.g., white), such that the first end point 320 and the second end point 322 are the same color. In other embodiments, the first end point 320 and the second end point 322 are differentiated in a different manner. For example, the first end point 320 and the second end point 322 may be indicated by a lack of illumination at either end of a range of motion which itself is illuminated along the lighting device 120. The first end point 320 and the second end point 322 are configured to indicate extremums of a desired range of motion for the exercise being performed by the user.
The second frame 304 also shows a pacing point 324 illuminated in a fourth color (e.g., red) proximate the first end point 320 and between the first end point 320 and the second end point 322. That is, a portion (subset) of the lighting devices 200 are controlled to illuminate to provide a visualization of the pacing point. As further indicated by the sequence of the second frame 304, the third frame 306, and the fourth frame 308, the light sources 200 are controlled to sequentially illuminate such that the pacing point 324 moves along the lighting device 120 from the first end point 320 to the second end point 322. As described in detail below, the lighting device 120 is controlled such that the pacing point 324 moves along the lighting device 120 from the first end point 320 to the second end point 322 in a predetermined amount of time corresponding to a desired duration of a downward (e.g., concentric) phase of a selected exercise.
The second frame 304, third frame 306, and fourth frame 308 show discontinuous points in time to illustrate that the lighting device 120 can be configured to provide substantially continuous, smooth movement of the pacing point 324 along the lighting device 120, for example with a constant velocity between the first end point 320 and a second end point 322. In some cases, an irregular pacing (e.g., varying velocity of movement) may be desired for a selected exercise, such that the pacing point 324 can be caused to move according to the irregular pacing. Adjacent light sources 200 are controlled to illuminate sequentially, such that movement of pacing point 324 can be followed, mimicked, etc. in real space by a user's movement and/or movement of the bar 104.
In the fifth frame 310, the pacing point 324 has reached the second end 322, and the second end 322 is updated to illuminate in the first color (e.g., green) to indicate that the pacing point 324 is at the second end 322. That is, the subset of the light sources 200 corresponding to the second end 322 are controlled to change colors to indicate that the pacing point 324 is at the second end 322. The pacing point 324 no longer appears elsewhere on the lighting device 120, creating the illusion of overlap between the second end 322 and the pacing point 324. The lighting device 120 can be controlled to pause in the state shown in the fifth frame 310 (i.e., with the pacing point 324 at the bottom of a range of motion) for a predetermined amount of time associated with a desired duration of a static hold at a bottom of a range of motion for the exercise being performed by the user.
In the sixth frame 312 and the seventh frame 314, the pacing point 324 moves upwards from the second end point 322 toward the first end point 320. The light sources 200 at the first end point are controlled to return to the second color 322 to match the first end point 320. As described in detail below, the lighting device 120 is controlled such that the pacing point 324 moves along the lighting device 120 from the second end point 322 to the first end point 320 in a predetermined amount of time corresponding to a desired duration of an upward (e.g., eccentric) phase of a selected exercise.
In the eighth frame 316, the pacing point 324 has reached the first end point 320 and the light sources 200 at the first end point 320 are controlled to illuminate in the first color (e.g., green). The first end point 320 is thereby updated to indicate that the pacing point 324 is at the first end point 320, i.e., that a desired position for a user performing the selected exercise is at a top of a range of motion. The lighting device 120 can be controlled to maintain the state shown in the eighth frame 316 for a predetermined amount of time, thereby guiding a user to pause at the top of the range of motion (e.g., perform a static hold at the top of the range of motion) for that amount of time.
The eighth frame 316 matches the first frame 302, and the operation of the lighting device 120 can be looped back to the first frame 302 following the eighth frame 316. The lighting device 120 can be controlled to proceed automatically from the state shown in the eighth frame 316 and the first frame 302 to the downward movement of the pacing point 324 of the third frame 306 following the predetermined amount of time for the exercise to pause at the top of the range of motion. A repeating illumination pattern can thereby be provided at the lighting device 120.
The repeating illumination pattern can be repeated multiple times, such that the lighting device 120 is repeatedly controlled to sequentially illuminate subsets of the light sources 200 to create a pacing point which pauses at a first end point 320 of a range of motion for a first amount of time, moves in a continuous manner from the first end point 320 of the range of motion to a second end point 322 of the range of motion in a second amount of time, pauses at the second end point 322 for a third amount of time, and moves from the second end point 322 to the first end point 320 in a fourth amount of time.
The repeating illumination pattern can repeat the illumination pattern any number of times, for example for a number of repetitions corresponding to a user's workout plan. For example, if a user plans (e.g., selects via user interface) to perform ten repetitions of a squat exercise, the lighting device 120 may be controlled to repeat the illumination pattern ten times. In some embodiments, the lighting device 120 can be controlled to automatically stop the illumination pattern when a user stops performing the exercise (e.g., in response to detecting a stop in the user's movement or movement of the bar 104, in response to the bar 104 engage a hook 107 of the rack 105, etc.).
In the embodiment of
Referring now to
The controller 402 is configured to control the light sources 200 of the lighting device 120 to control the light sources 200 to selectively and sequentially illuminate according to an illumination pattern associated with a selected exercise. The controller 402 may include one or more processors and non-transitory computer readable media storing program instructions executable by the one or more processors to perform the various operations described herein. For example, the hardware and data processing components used to implement the controller 402, other computing components and methods described herein may include a general purpose single- or multi-chip processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, conventional processor, or state machine. A processor also may be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In some embodiments, particular processes and methods may be performed by circuitry that is specific to a given function. Controllers herein may include computer-readable media (e.g., memory, memory unit, storage device), which may include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage, EPROM, EEPROM, other optical disk storage, magnetic disk storage or other magnetic storage devices, any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures, combinations thereof) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present disclosure. The memory may be or include volatile memory or non-volatile memory, and may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present disclosure. According to an exemplary embodiment, the memory is communicably connected to the processor via a processing circuit and includes computer code for executing (e.g., by the processing circuit or the processor) the one or more processes described herein. The controller 402 includes an internal clock and/or standard capabilities for measuring passage of time in a computer system. Although
The controller 402 may be configured to perform the steps shown in
As one example, each illumination pattern may be defined by a set of four values that set amounts of each time for each phase of an exercise. In a particular, a downward movement duration Tdown, a lower endpoint pause duration Tbottom, an upward movement duration Tup, and an upper endpoint pause duration Ttop. In such embodiments, each exercise stored by the controller 402 is associated with a desired pacing defined by a data object storing a value for each of Tdown, Tbottom, Tup, and Ttop. For example, a first exercise may be associated with the object {Tdown=5, Tbottom=1, Tup=5, Ttop=5}, showing a downward duration of five seconds (or other time unit in various embodiments), a one second pause at a bottom of a range of motion, a five second upward duration, and a one second pause at a top of the range of motion. A second exercise may be associated with different values for the desired pacing, for example {Tdown=4, Tbottom=2, Tup=1, Ttop=2}. When an exercise is selected, the controller 402 may execute a function to apply the relevant values for Tdown, Tbottom, Tup, Ttop and then execute programming instructions which use the values of Tdown, Tbottom, Tup, Ttop in generate control signals for the light sources 200 of the lighting device 120.
The values of each phase for various different exercises can be predefined in the controller 402, for example by expert fitness professionals during configuration and manufacturing of the controller 402. In some embodiments, user customization of an exercise pacing is enabled by allowing a user to manual input values for each of Tdown, Tbottom, Tup, and Ttop, for example via the user input device 406 of
In various embodiments, additional variables are used to define the desired pacings and illumination patterns, for example to enable more complex motions. For example, acceleration or velocity values for the upward or downward phases could be used to define illumination patterns. As another example, the data object can include information indicative of a range of motion for the exercise, for example such that the end point 320, 322 can be positioned appropriately for different exercises. As another example, variables or logic may be used to vary the pacing between repetitions, for example to indicate that a second repetition should be completed using slower movements than a first repetition. Various degrees of complexity are possible in various embodiments.
As shown in
The user input device 406 may be communicable with the controller 402 (e.g., via local wired or wireless communications such as Bluetooth or WiFi) and/or the remote server 404 (e.g., via the internet). The user input device 406 may be a dedicated interface provided with the apparatus 100 or the lighting device 120, for example as shown for display 110 of
In some embodiments, the user input device 406 is a smartphone, tablet, or other personal computing device of the user. In such embodiments, a mobile application may be provided on the personal computing device which facilitates user input to the control system 400. In various embodiments, various inputs or sensors of a personal computing device may be used to collect inputs for the control system 400, for example a touchscreen to receive direct user selections via a graphical user interface, a microphone and to receive voice-based commands, and accelerometer to detect motion of the user, which can be used to select an exercise, initiate an illumination pattern, end an illumination pattern, or collect other relevant data. In some embodiments, the computing resources provided in the personal computing device used as the user input device 406 are used to perform various functions attributed herein to the controller 402.
In the embodiment shown, the control system 400 also includes a resistance control system 410, for example configured to control actuator assemblies of the first dual-cable apparatus 101 and the second dual-cable apparatus 103 of the embodiment of
In other embodiments, the lighting device 120 is provided independent of a resistance system (as a stand-alone device) or with a traditional weight-training system (e.g., a rack, a free weight system, a conventional weight-based cable machine). In such embodiments, the resistance control system 410 is omitted. In some such embodiments, the controller 402 is provided within a housing of the lighting device 120.
In the embodiment shown in
In embodiments where the control system 400 includes the user tracking system 408, the controller 402 is configured to control the lighting device 120 to provide an indication of a tracked position of a user relative to a desired position indicated by the illuminated pacing point of the illumination pattern. In such embodiments, the controller 402 is configured to map the tracked user to position to a point along the lighting device 120 (e.g., to a particular light source 200 of the multiple light sources of the lighting device 120). For example, a range of motion for the user (in real space) may be scaled to range of motion indicated at the lighting device 120 (e.g., to a distance between the first end point 320 and the second end point 322), such that a position along the user's range of motion can be mapped to a point on the lighting device 120. The controller 402 can update the position of an illuminated point on the lighting device 120 based on changes in the tracked position of the user.
Referring now to
At step 502, a plurality of illumination patterns associated with a plurality of possible exercises are stored. For example, the mapping between the plurality of illumination patterns and a list of possible exercises can be stored on the controller 402 and/or at the remote server 404. Each illumination pattern may be defined based on values for a set of variables, for example a set of durations for the phases of an exercises (e.g., {Tdown, Tbottom, Tup, Ttop}). These values can be stored in a database of a memory device of the controller 402 or of the remote server 404. Step 502 can be performed during initial configuration of the controller 402, for example. In some embodiments, step 502 is performed based on user input specifying a desired pacing for an illumination pattern for a custom exercise.
At step 504, a current exercise is selected from the list of multiple possible exercises, i.e., from the list of exercises for which an illumination pattern is stored. The exercise selection may be achieved based on a user input indicating a desired exercise. In some embodiments, a workout routine including a series of sequential exercises is used, such that the current exercise is selected based on the workout routine and can be automatically updated as a user completes the workout routine.
At step 506, an illumination pattern associated with the current exercise is determined. The illumination pattern can be determined by looking up the illumination pattern (e.g., set of durations for the phases thereof) stored at step 502 which is associated with the current exercise selected at step 504. The illumination pattern specific to the current exercise is thereby determined.
At step 508, a lighting device is controlled to provide the illumination pattern associated with the current exercise and determined at step 506. For example, the controller 402 can independently control the multiple light sources 200 of the lighting device 120 such that the light sources 200 illuminate to provide the illumination pattern. For example, as described in detail elsewhere herein, controlling the lighting device to provide the illumination pattern may include causing the multiple light sources 200 to sequentially illuminate such that an illuminated point moves along the lighting device 120 with a pacing defined for the exercise. Step 508 can be continued until a desired number of repetitions for the current exercise have been completed.
Referring now to
At step 602, a first end point of a range of motion for an illumination pattern is illuminated on a lighting device. For example, a light source 200 (or a set of adjacent light sources 200) is determined to be associated with a first end point of a range of motion. The first end point may change for different exercises, based on the anthropometric measurements of a user (e.g., height, leg length, lower leg length, torso length, arm length, etc.), or based on some other factor such as which hook 107 of the rack 105 is in used to hold a bar 104 in the example of
At step 604, a second end point of the range of motion for the illumination pattern is illuminated on the lighting device. For example, a light source 200 (or a set of adjacent light sources 200) is determined to be associated with a second end point of the range of motion. The second end point may change for different exercises, based on a location of the first end point, based on an anthropometric measurement of a user, or based on some other factors. The identified light source 200 is then controlled to illuminate. In other embodiments, the second end point is predetermined and constant across any selected exercise, such that the same light source 200 is illuminated in various iterations of step 604. Step 604 may result in providing the second end point 322 as shown in
At step 606, portions of the lighting device are sequentially illuminated between the first end point and the second end point such that an illuminated point (pacing point) moves along the lighting device from the first end point to the second end point in a first amount of time. Light sources 200 are sequentially controlled to turn on (illuminate) and then turn off (cease illumination) to create an illusion of motion. In other embodiments, the light sources 200 remain illuminated but are varied in color to create the illusion of movement of a colored point along the lighting device 120. In alternative embodiments, a single light sources is used and physically moves (e.g., under power of an actuator) along the lighting device between the first end point and the second end point.
Step 606 is accomplished in a first amount of time, which is defined based on a desired pacing for the current exercise. For example the first amount of time may be a value stored at step 502 and accessed at step 506 of the process 500 of
At step 608, the lighting device is controlled such that the illuminated point pauses at the second end point for a second amount of time. That is, in step 608, the lighting device is illuminated in a state that shows that the illuminated point has reached and is positioned at the second end point. This may be indicated by a color change, blinking effect, or other lighting effect in various embodiments. The lighting device remains in such a state for the second amount of time.
Step 610 is initiated in response to the end of the second amount of time. At step 610, portions of the lighting device are sequentially illuminated between the second end point and the first end point such that the illuminated point moves along the lighting device from the second end point to the first end point in a third amount of time. For example, light sources 200 may be sequentially controlled to illuminate and cease illuminating to create an illusion of motion of a point along the lighting device 200. Step 610 is performed in a third amount of time, which is predetermined based on a desired pacing for the current exercise. The third amount of time and the distance between the first end point and the second end point is determinative of a velocity of the illuminated point. In other embodiments, the velocity is a pre-stored values which is determinative of the third amount of time.
At step 612, the lighting device is controlled such that the illuminated point pauses at the first end point for a fourth amount of time. That is, in step 612, the lighting device is illuminated in a state that shows that the illuminated point as reached and is positioned at the first end point. This may be indicated by a color change, blinking effect, or other lighting effect in various embodiments. The lighting device remains in such a state for the fourth amount of time.
Following the fourth amount of time and step 612, the process 600 may return to step 606 and repeatedly perform step 606, step 608, step 610, and step 612 to provide the illumination pattern at the lighting device 120. These steps may be repeated for a desired number of repetitions, for example input by a user, defined in a workout plan, or otherwise assigned. In some embodiments, the steps are repeatedly performed until the user selects a button (e.g., but 114) or provides some other command via a user interface device requesting an end to the illumination pattern. In such an event, the process 600 is ended.
Process 600 provides an example embodiment of a type of illumination pattern which can be provided via the lighting device 120 and the approach of the present application. Other illumination patterns are also possible. For example, steps 606 and 610 may include varying the direction of movement, velocity, and acceleration of the illuminated point to create any desired effect which maps to a desired movement for an exercise performed by a user. As another example, the end points may be updated between repetitions, such that the process 600 loops back to step 602 and step 604 at each repetition. Any such variations are within the scope of the present disclosure.
Referring now to
At step 702, a current exercise is selected from a set of possible exercises. For example, a graphical user interface may be generated and provided to a user which shows a list of possible exercises and allows a user to select one of the possible exercises as the current exercise. As another example, a workout routine may be initiated which includes a sequence of exercises, such that the current exercise is selected when specified by the workout routine. A number of repetitions of the exercise to be performed may also be input by the user or determined from the workout routine.
At step 704, a pacing associated with the current exercise is determined. In some embodiments, pacings can be stored as a data objects, for example including numerical values for variables used to define the pacing (e.g., {Tdown, Tbottom, Tup, Ttop}) and associated with the possible exercises for selection. In such an embodiment, step 704 use a look-up table approach to obtain the pacing associated with the current exercise. In other embodiments, a user is prompted to input a desired pacing (e.g., to input durations for different phases of the exercise such as Tdown, Tbottom, Tup, and Ttop). In some such embodiments, step 702 can be omitted.
At step 706, a range of motion is determined based on a anthropometric dimensions of a user. The anthropometric measurements may be, for example, a height of the user, a length of a particular limb of the user (e.g., leg length, arm length), a length of a torso of the user, a length of a portion of a limb or other feature (e.g., a distance from a user's knee to the user's hip), a dimension based on a user's native range-of-motion (e.g., degree of flexibility), or some other physical dimension which affects the user's movement through an exercise. In some embodiments, different anthropometric measurements are used at step 706 depending on which exercise is selected. The anthropometric measurements can be acquired by the controller 402 via direct user input to a graphical user interface which prompts the user for such information. In other embodiments, the anthropometric measurements are determined automatically using data from the user tracking system 408. For example, video or images from a camera system may be processed to identify joints or other landmarks on a user and to determine the distance between such landmarks. In some such embodiments, the user may be prompted to perform one or more actions in view of the camera system to provide views and movements which facilitate measurement of the relevant dimensions. In some embodiments, a user profile storing one or more anthropometric measurements is stored on a user's personal computing device communicable with the controller 402 and/or at the remote server 404 to facilitate step 706 without requiring recalculation or reentry of anthropometric measurements at each use of the lighting device 120.
To determine the range of motion at step 706, a function may be used which maps a relevant anthropometric measurement to the range of motion. Different functions can be used for different exercises. For example, a standard squat exercise may take a user from full leg extension to ninety-degree flexion, such that a distance from the user's knee to the user's hip (or an approximation thereof, for example based on the user's height) can be used to define the range of motion. As another example, a deep squat exercise may be selected in which a user is desired to move to a lower position, such that a function may be used to add an additional distance to the distance from the user's knee to the user's hip to define the range of motion. Many such examples are possible.
In some embodiments, the range of motion determined at step 706 is defined in terms of an upper maximum position Ptop and a lower minimum position Pbottom, for example measured as distances above the platform 102 or other ground surface. In other embodiments, the range of motion determined at step 706 is defined as a single value which represents a distance between extremums of the range of motion, DROM.
At step 708, an illumination pattern is determined based on the pacing and the range of motion. For example, the illumination pattern may be determined by executing a program that provides the illumination pattern as a function of the pacing variables and range of motion variables discussed above (e.g., F[t, {Ptop, Pbottom, Tdown, Tbottom, Tup, Ttop}]).
Step 708 can include mapping the range of motion defined at step 706 to particular positions on the lighting device 120. For example, in some embodiments, positions of the light sources 200 are known in the coordinate system used to define the upper maximum position Ptop and the lower minimum position Pbottom. In such embodiments, a direct mapping from the range of motion to the light sources 200 can be used to provide a one-to-one correlation between the user's physical range of motion and end points of the illumination pattern (e.g., end points 320, 322 of
In other embodiments, the lighting device 120 is of a smaller or larger scale than the user's actual range of motion. In such embodiments, step 708 includes scaling the range of motion to define the end points of the illumination pattern based on the range of the motion for the particular user. For example, the distance on the lighting device 120 between end points of the illumination pattern can be defined as a preset fraction of the user's range of motion as defined in step 706 (e.g., equal to the distance DROM multiplied by one-half).
At step 710, the lighting device is controlled to provide the illumination pattern. As discussed in detail above, this may include illuminating light sources 200 corresponding to endpoints of the range of motion and sequentially illuminating light sources 200 to create the illusion of movement of a pacing point along the lighting device between the end points of the range of motion.
Control of the lighting device at step 710 provides the user with visual guidance of a pacing and range of motion which is customized based on the selected, current exercise and a physical trait (e.g., anthropometric measurements) of the particular user. The lighting device thereby provides highly-intuitive guidance which the user can follow without requiring undue concentration or mental estimations of time or distance. Even in embodiments where the lighting device 120 is not of a scale to be mapped in a one-to-one scale to the user's range of motion, users learn to intuitively understand the mapping of the lighting to actual movement through repeated use of the lighting device 120. Control of the lighting device can thereby be highly-customized to provide a large amount of relevant information in a simple (e.g., one-dimensional) display which is easy for an athlete to process while under physical strain.
Referring now to
At step 802, an illumination pattern is provided via a lighting device. The illumination pattern is defined by oscillation of a first illuminated portion (pacing point) along the lighting device according to a preset pacing. Step 802 may be accomplished using the various approaches discussed above with reference to process 500, process 600, and process 700.
At step 804, a position of a user is tracked. That is, electronic data indicative of a user's position and movement over time is obtained at step 804. The user's position can be tracked using data from the user tracking system 408, for example. In some embodiments, the tracked position of the user is determined using a camera system, for example a stereoscopic camera system or an active tracking system. In some embodiments, the position of the user is tracked based on data from a wearable device affixed to the user (e.g., accelerometer data from a watch of the user). In yet other embodiments, the position of the user is tracked using data indicative of a position of an element of a resistance system which is being manipulated by the user to perform the exercise. For example, the multi-cable apparatus 100 may determine the position of the bar 104 based on a real-time configuration of the actuator assemblies, cables, and pulleys of the multi-cable apparatus 100 to both facilitate control of the actuator assemblies and to provide data indicative of the user's position for performance of step 804. Various approaches to determining a tracked user position at step 804 are possible.
At step 806, a location on the lighting device associated with the tracked position of the user is determined. For example, a particular light source 200 or subset of light sources 200 may be determined as corresponding to the tracked position of the user. Step 806 may include determining the current tracked position of the user relative to a desired range of motion for the exercise, and then applying a coordinate transformation to calculate the corresponding position along the light source. In embodiments where the lighting device is scaled to a user's range of motion (e.g., as described with reference to
At step 808, the lighting device is controlled to provide a second illuminated portion associated with the tracked position of the user. To continue the example from step 806, the lighting source(s) 200 determined in step 806 as corresponding to the tracked position of the user are controlled to illuminate to provide a visual indication of the user's current position. In some embodiments, the second illuminated portion may be provided in a different color, brightness, or blinking pattern, etc. relative to the first illuminated portion to allow a user to distinguish between the two portions even on a one-dimensional display as for the lighting device 120 shown in
At step 810, the lighting device is controlled such that the second illuminated portion moves along the lighting device in accordance with changes in the traced position of the user. That is, steps 804, 806, and 808 can be repeatedly performed (e.g., at a high-enough frequency to appear as continuous during ordinary use) so that the second illuminated portion is updated in a substantially instantaneous manner (i.e., without perceptible lag during ordinary use). Movement of the second illuminated portion is thereby caused to follow actual movement of the user.
At step 812, an indication of whether the tracked position matches a desired position for the user is provided, based on whether the second illuminated portion aligns with the first illuminated portion. While the second illuminated portion is being updated over time in step 810, the illumination pattern of the first illuminated portion continues to be provided to show a desired pacing to the user as described for step 802. At any given point in time, the first illuminated portion indicates a target or goal for the tracked position of the user.
A gap between the second illuminated portion and the first illuminated portions indicates that the user is not in the desired position for that given point in time for the current exercise. For example, if the second illuminated portion is above the first illuminated portion, the gap indicates to the user that the user is physically above, in real space, the preferred position for completing the exercise with proper pacing and form. The size of the gap indicates how far the user is from the preferred position. The user can then move at an increased or decreased pace or in a particular direction in order to drive the second illuminated portion towards the first illuminated portion.
When the user has successfully moved into the desired physical position, the second illuminated portion (indicating the tracked position) will align with (e.g., overlap) the first illuminated portion (indicating the desired position). In such a case, the lighting device may be controlled to provide an indication of successful alignment. For example, a color of the overlapping point can be updated to indicate alignment. As one example, if the first illuminated portion is provided in blue, and the second illuminated portion is provided in yellow, the lighting device may be controlled to display a green portion where the first illuminated portion and the second illuminated portion overlap (i.e., the combination of the colors). As another example, a blinking or flashing effect may be used to indicate alignment. As another example, a brightness may be varied to indicate alignment. As another example, a separate indicator light may be provided with the lighting device which turns on or off depending on whether the first and second illuminated portions are aligned. In some embodiments, a speaker is included and an audible cue is emitted when alignment is achieved or lost.
Process 800 thereby results in the provision of visual cues to a user to show where the user is relative to where the user should be for proper performance of a selected exercise. This can be scaled to the particular user's physical dimensions as described for process 700. Accordingly, the lighting device can be controlled to provide a type of automated coaching which provides real-time feedback to a user. By trying to move the second illuminated portion to follow the first illuminated portion, the user will be driven into the preferred physical position (e.g., as pre-defined by an expert trainer). Over time and through multiple repetitions, the user can be trained to follow the proper pacing and range of motion for the exercise without the need for direct human coaching or human observation.
Additionally, the lighting device can uses the indications of step 812 and/or other features described herein to support gamification of exercise performance which can encourage users to follow desired pacings for exercises. Often, despite instructions to follow particular paces for various exercises, athletes often ignore such instructions in favor of a natural, relatively easy cadence when not being observed by a coach or trainer. The visual indications and cues provided by the lighting device, control system, and methods described herein can motivate and enforce the preferred exercise pacing during solo or unsupervised workouts.
Various embodiments beyond those described above are also within the scope of the present disclosure. For example, although the examples above are described with reference to a vertical orientation for the lighting device (corresponding to a vertical direction of a range of motion for an exercise), other directions can also be used. For example, the lighting device can be oriented horizontally in some embodiments to help guide performance of exercises that require horizontal movement. In some embodiments, the lighting device is mounted so as to be rotated (manually and/or via an actuator) to an angle which best corresponds to the direction of movement for a selected exercise. In some embodiments, a two-dimensional array of light sources or set of perpendicular one-dimensional lighting devices is used to guide movement in two degrees of freedom.
Although the examples disclosed above are focused on repetitive strength-training exercises, various applications are possible. The strength-training exercises contemplated may be body-weight-only exercises, free-weight exercises, conventional cable machine exercises, or exercises using an electronically-controlled resistance system as disclosed above. The lighting device could deployed in a group fitness class environment to guide multiple users through a shared cadence. The devices, systems, and methods described herein may be adaptable for use in physical therapy settings, for example to guide static or dynamic stretching movements. The pacing lighting system may be useful for guiding breathing cadence for yoga or meditation practice. The pacing lighting system may also be adapted for cycling (e.g., indoor spinning classes) to guide pedaling cadence and pedal stroke smoothness. This disclosure can also be adapted for use in automated coaching of other sports movements, for example golf stroke training, basketball shot form practice, or other related sports fundamentals. Many such implementations are within the scope of the present disclosure.
| Number | Name | Date | Kind |
|---|---|---|---|
| 4702475 | Elstein et al. | Oct 1987 | A |
| 4778175 | Wucherpfennig et al. | Oct 1988 | A |
| 4817940 | Shaw | Apr 1989 | A |
| 4827257 | Kortegaard | May 1989 | A |
| 4907795 | Shaw et al. | Mar 1990 | A |
| 6086379 | Pendergast et al. | Jul 2000 | A |
| 7666118 | Anthony | Feb 2010 | B1 |
| 7824309 | Tadlock | Nov 2010 | B1 |
| 8602945 | Haubrich | Dec 2013 | B1 |
| 9446288 | Pazan | Sep 2016 | B1 |
| 9623285 | Ruiz | Apr 2017 | B1 |
| 10272294 | Williams | Apr 2019 | B2 |
| 10702755 | Sams, III | Jul 2020 | B2 |
| 10878952 | Patel | Dec 2020 | B1 |
| 20030032525 | Pyles | Feb 2003 | A1 |
| 20030032529 | Alessandri | Feb 2003 | A1 |
| 20080161161 | Pipinich | Jul 2008 | A1 |
| 20080207347 | Rose | Aug 2008 | A1 |
| 20100304934 | Woodson | Dec 2010 | A1 |
| 20150126332 | Lannon | May 2015 | A1 |
| 20160144232 | Gardner | May 2016 | A1 |
| 20160193515 | Kline | Jul 2016 | A1 |
| 20160271452 | Lagree | Sep 2016 | A1 |
| 20170080320 | Smith | Mar 2017 | A1 |
| 20180064992 | Rothman | Mar 2018 | A1 |
| 20180093134 | Kawabata et al. | Apr 2018 | A1 |
| 20180272187 | Sands | Sep 2018 | A1 |
| 20180318643 | Klee | Nov 2018 | A1 |
| 20180339122 | Lunz | Nov 2018 | A1 |
| 20190038935 | Ignatyev | Feb 2019 | A1 |
| 20190118065 | Kertes | Apr 2019 | A1 |
| 20190247707 | Lagree et al. | Aug 2019 | A1 |
| 20190255386 | Trotter | Aug 2019 | A1 |
| 20190344123 | Rubin et al. | Nov 2019 | A1 |
| 20200171353 | Fima | Jun 2020 | A1 |
| 20200179755 | Ristas | Jun 2020 | A1 |
| 20200245900 | Douglas | Aug 2020 | A1 |
| 20210001172 | Namboodiri | Jan 2021 | A1 |
| 20210008413 | Asikainen | Jan 2021 | A1 |
| 20210016150 | Jeong | Jan 2021 | A1 |
| 20210046373 | Smith | Feb 2021 | A1 |
| 20210077884 | De las Casas Zolezzi | Mar 2021 | A1 |
| 20220331683 | Sorin | Oct 2022 | A1 |
| 20230201664 | Yoo | Jun 2023 | A1 |
| Entry |
|---|
| U.S. Appl. No. 16/909,003, filed Jun. 23, 2020. |
| TechCrunch, “Tempo reveals $17M-funded $2000 weight lift training screen”, Feb. 26, 2020, 27 pages. |
| International Search Report and Written Opinion on International Patent Application No. PCT/US2021/047764 dated Dec. 16, 2021. |
| Number | Date | Country | |
|---|---|---|---|
| 20220062738 A1 | Mar 2022 | US |
