Exercise device

Abstract

The invention relates to a personal exercise device having a cable and a resistance mechanism, the personal exercise device comprising a sensor arrangement configured to detect two orthogonal angles to define a trajectory of the cable extending in three-dimensional space during use. The sensor arrangement comprises: a pulley for guiding the cable during use as the cable extends from the device; a cable follower through which the cable passes, the cable follower being pivotally mounted to pivot about a first pivot axis and about a second pivot axis, the second pivot axis being orthogonal to the first pivot axis, and wherein the first pivot axis is co-linear with an axis of rotation of the pulley; and one or more sensors configured to detect the pivoting of the cable follower about the first pivot axis and the second pivot axis and to provide one or more outputs indicative of the two orthogonal angles to define the trajectory of the cable extending in the three-dimensional space.

Description

[0001] Corresponding Applications

[0002] This application is based on provisional specification filed in relation to New Zealand patent application No. 768769 and Australian patent application No. 2021221561, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present invention relates generally to the field of exercise devices that employ a user interface attached via a cable to a resistance mechanism to provide a user with resistance training exercises. BACKGROUND

[0004] Exercise equipment or devices for providing resistance-based exercise or training to a user have traditionally included weights in the form of metal plates. Such exercise devices include a frame for movably supporting the plates, and a handle or bar or other user interface connected to the plates via a cable and pulley system for lifting the plates. A mechanism allows a user to select a desired number of plates in a stack, and thus lift the weight via the handle and cable for weightlifting exercises.

[0005] Technological developments in fields such as electric motor technology, display screen technology, and digital camera technology have driven the development of resistance-based exercise devices that provide resistance training or exercises to a user via an electrically driven resistance mechanism. Electrically driven resistance mechanisms, such as electric motors / generators, can be controlled in a way that provides a user with resistance or force that replicates a traditional stack of metal plates to allow a user to perform familiar weight training exercises that were previously performed using traditional weight-based mechanical equipment.

[0006] One such example of an electrically driven resistance training device is Tonal TM Home gym equipment.

[0007] One disadvantage of electrically driven resistance training devices is that they can be expensive. The devices can include one or more cameras for monitoring a user, and a large display screen for presenting video or other visual information to the user, which adds significant cost to the device. The cameras and screen can be required to monitor user performance and present performance or training feedback information to the user. Such systems can also require connection with a remote person (personal trainer) via a communication network to provide feedback to the user during training.

[0008] While electrically driven resistance training devices can be smaller and lighter than traditional mechanical metal plate systems, some electric resistance-based exercise devices can not be portable, easy to transport, or easy to move. For example, such systems can be primarily configured for indoor use, and / or can not be suitable for transport from a home environment to an alternative location such as a community gym or to an external environment such as a park site or garden. SUMMARY

[0009] It is an object of the application to provide an exercise device that addresses one or more of the above problems, and / or to offer the public a useful choice.

[0010] According to a first aspect of the application, the application provides an exercise device comprising:

[0011] a user interface to be moved by a user in three-dimensional space when using the device;

[0012] the user interface;

[0013] a resistance mechanism for generating a force;

[0014] a cable coupled between the user interface and the resistance mechanism to transmit the force from the resistance mechanism to the user interface; and

[0015] a sensor arrangement configured to detect two orthogonal angles to define a trajectory of the cable extending in the three-dimensional space during use, the sensor arrangement comprising:

[0016] a pulley for guiding the cable when extending from the device during use, the pulley comprising an axis of rotation;

[0017] a cable follower through which the cable passes, the cable follower being pivotally mounted to pivot about a first pivot axis and about a second pivot axis that is orthogonal to the first pivot axis, and wherein the first pivot axis is co-linear with the axis of rotation of the pulley, and one or more sensors configured to detect the pivoting of the cable follower about the first pivot axis and the second pivot axis and to provide one or more outputs indicative of the two orthogonal angles to define the trajectory of the cable extending in the three-dimensional space.

[0018] In some embodiments, the cable follower is mounted on a pivot frame that is pivotally mounted to pivot on the axis of rotation of the pulley.

[0019] In some embodiments, the pivot frame and the pulley are mounted together on a single axle.

[0020] In some embodiments, the cable follower is pivotally mounted to the pivot frame to pivot about the second pivot axis relative to the pivot frame.

[0021] In some embodiments, the pulley is a lower pulley, and the sensor arrangement further comprises a pair of upper pulleys rotatably mounted to the pivot frame between the cable follower and the lower pulley to guide the cable to extend from the lower pulley in a central plane of the lower pulley.

[0022] In some embodiments, the second pivot axis is aligned with a central plane of the pulley.

[0023] In some embodiments, the second pivot axis is positioned on a lower pulley side of a line extending between the rotational axes of the upper pulleys (i.e., the second pivot axis is below the rotational axes of the upper pulleys).

[0024] In some embodiments, the pulley, the pivot frame, and the cable follower are pivotally mounted on one or more pivot mounts to pivot about the second pivot axis.

[0025] In some embodiments, the pulley and the pivot frame are mounted on a shaft supported by one or more shaft supports, and the one or more shaft supports are mounted to the pivot mounts to pivot about the second pivot axis.

[0026] In some embodiments, the sensor arrangement comprises two spaced apart pivot mounts, and the one or more shaft supports are mounted on the pivot mounts and the pulley is located between the two pivot mounts.

[0027] In some embodiments, a first pivot mount of the pivot mounts is located on the resistance mechanism side of the pulley and is configured to receive a cable extending therethrough on the resistance mechanism side of the pulley such that the cable extends on the pivot axis of the first pivot mount.

[0028] In some embodiments, each pivot mount provides a base to mount the sensor arrangement to a surface extending below the pulley.

[0029] In some embodiments, the sensor arrangement is mounted within a recess in a top portion of a housing of the device, with the pivot mounts housed inside the housing, the sensor arrangement extending between two opposing sides of the recess via apertures in each of the opposing sides of the recess.

[0030] In some embodiments, the recess provides an open area through the housing of the device on either side of the sensor arrangement, such that any debris or liquid entering the recess can pass through the recess to below the device.

[0031] In some embodiments, the sensor arrangement includes a second frame including the one or more shaft support and a pair of aligned bushings, each bushing being pivotally supported at a respective pivot mount.

[0032] In some embodiments, a pivot assembly including the pulley, the pivot frame, and the cable follower is counterweighted such that a center of gravity of the pivot assembly is located at the second pivot axis, such that when tension applied to the cable by a user is removed during use, the pulley remains in a last orientation about the second pivot axis.

[0033] In some embodiments, the first angle is an angle of the cable follower in a first plane perpendicular to the axis of rotation of the pulley.

[0034] In some embodiments, the first plane pivots with the pulley on the second pivot axis.

[0035] In some embodiments, the first angle is indicative of a wrap angle of the cable pulley.

[0036] In some embodiments, a second angle of the cable follower is an angle between the first plane and a vertical plane intersecting the first plane at the second pivot axis in a second vertical plane orthogonal to the first plane.

[0037] In some embodiments, the one or more sensors include:

[0038] a first sensor configured to detect pivoting of the cable follower about the first pivot axis and provide an output indicative of the first angle of the cable, and

[0039] a second sensor configured to detect pivoting of the cable follower about the second pivot axis and provide an output indicative of the second angle of the cable.

[0040] In some embodiments, the sensor arrangement includes a gear between the pivot frame and the first sensor or a sensor element sensed by the first sensor, the gear providing an increased gear ratio from the pivot frame to the first sensor or the sensor element.

[0041] In some embodiments, the first sensor and the second sensor are mounted together.

[0042] In some embodiments, the sensor arrangement includes a limit stop to limit an amount of pivoting of the cable follower about the first pivot axis and / or the second pivot axis.

[0043] In some embodiments, the pivot frame includes a first surface to abut a corresponding surface on at least one axle support or second frame to limit pivoting of the cable follower about the first pivot axis in a first rotational direction.

[0044] In some embodiments, the pivot frame includes a second surface to abut a corresponding surface on at least one axle support or second frame to limit pivoting of the cable follower about the first pivot axis in a second, opposite rotational direction.

[0045] In some embodiments, the axle support or the second frame includes a first surface to abut a corresponding surface on at least one pivot mount to limit pivoting of the cable follower about the second pivot axis in a first rotational direction.

[0046] In some embodiments, the axle support or the second frame includes a second surface to abut a corresponding surface on at least one pivot mount to limit pivoting of the cable follower about the second pivot axis in a second, opposite rotational direction.

[0047] In some embodiments, the second pivot axis is collinear with the cable extending on the resistance mechanism side of the pulley.

[0048] In some embodiments, the resistance mechanism includes an electric motor and a spool rotatably driven by the motor, and wherein the cable is coupled to the spool; and

[0049] The apparatus includes a motor controller configured to operate the motor to generate the force.

[0050] In some embodiments, the apparatus includes a position sensor and a system controller configured to:

[0051] determine a length of cable extending in the three-dimensional space based on one or more outputs from the position sensor;

[0052] determine the two orthogonal angles based on the one or more outputs from the one or more sensors; and

[0053] determine a position of the user interface in the three-dimensional space during use based on the length of the cable and the two orthogonal angles.

[0054] In some embodiments, the position sensor provides one or more outputs indicative of a rotational position of the motor and / or spool, and the length of the cable is based on the motor and / or spool position and a diameter of the spool.

[0055] In some embodiments, the controller is configured to determine coordinates of the user interface position in the three-dimensional space in a coordinate system.

[0056] In some embodiments, the controller is configured to determine the coordinate based on an origin of the coordinate system, the origin being positioned at or relative to the rotational axis of the pulley or the vertical base of the pulley.

[0057] In some embodiments, the controller is configured to determine the length of the cable and / or the coordinate of the user interface in the three-dimensional space based on a wrap angle of the cable around the pulley.

[0058] In some embodiments, the controller is configured to determine the length of the cable relative to the vertical base of the pulley.

[0059] In some embodiments, an origin of the sensor for measuring the two orthogonal angles is located at the second pivot axis.

[0060] In some embodiments, the system controller is configured to provide feedback to the user via a feedback device based on the position of the user interface in the three-dimensional space.

[0061] In some embodiments, the one or more sensors comprise an inertial measurement unit.

[0062] In a preferred embodiment, the apparatus comprises a deck or platform on which a user stands when using the apparatus, and:

[0063] a pair of said user interfaces,

[0064] a pair of said resistance mechanisms, each said resistance mechanism being configured to generate a force,

[0065] a pair of said cables, each cable being coupled between a respective user interface and resistance mechanism, and

[0066] a pair of said sensor arrangements, each sensor arrangement being configured to provide one or more outputs indicative of two orthogonal angles of a respective cable.

[0067] Preferably, the apparatus comprises a pair of position sensors and a system controller configured to determine:

[0068] a length of each cable extending in the three-dimensional space based on one or more outputs from each respective position sensor;

[0069] the two orthogonal angles of each cable based on the one or more outputs from the respective sensor arrangement, and

[0070] a position of each user interface in the three-dimensional space during use based on the length and the two orthogonal angles of the respective cable.

[0071] Preferably, each resistance mechanism comprises an electric motor and a spool rotatably driven by the motor, and wherein the respective cable is coupled to the spool; and

[0072] Each position sensor provides one or more outputs indicative of the rotational position of the respective motor and / or spool, and the length of the cable is based on the motor and / or spool position and the diameter of the spool.

[0073] According to a second aspect of the application, the application provides a method for determining a position of a user interface of a personal exercise device in a three-dimensional space during use, the exercise device comprising:

[0074] the user interface, a resistance mechanism for generating a force, a cable coupled between the user interface and the resistance mechanism to transmit the force from the resistance mechanism to the user interface, and a pulley guiding the cable in the three-dimensional space from the exercise device, and a cable follower through which the cable passes, the cable follower being pivotally mounted to pivot about a first pivot axis and a second pivot axis, the second pivot axis being orthogonal to the first pivot axis;

[0075] wherein the method comprises:

[0076] determining a length of the cable extending in the three-dimensional space;

[0077] determining two orthogonal angles of the cable to define a trajectory of the cable extending in the three-dimensional space based on the pivoting of the cable follower about the first pivot axis and the second pivot axis; and

[0078] determining the position of the user interface in the three-dimensional space during use based on the length of the cable and the two orthogonal angles.

[0079] In some embodiments, the method comprises determining coordinates of the user interface position in the three-dimensional space in a coordinate system.

[0080] In some embodiments, the method comprises determining the coordinates based on an origin of the coordinate system, the origin being positioned at or relative to the rotational axis of the pulley or the vertical bottom of the pulley.

[0081] In most preferred embodiments, the method comprises determining the length of the cable and / or the coordinates of the user interface in the three-dimensional space based on a wrap angle of the cable about the pulley.

[0082] In some embodiments, the method comprises determining the length of the cable relative to the vertical bottom of the pulley.

[0083] In some embodiments, the method comprises determining two orthogonal angles of the cable relative to an origin, wherein the origin is located at the second pivot axis.

[0084] According to a third aspect of the application, the application provides a sensor arrangement configured to detect two orthogonal angles to define a trajectory of a cable extending in three-dimensional space, the sensor arrangement comprising:

[0085] a pulley for guiding the cable extending in the three-dimensional space, the pulley comprising an axis of rotation;

[0086] a cable follower through which the cable passes, the cable follower being pivotally mounted to pivot about a first pivot axis and about a second pivot axis, the second pivot axis being orthogonal to the first pivot axis, and wherein the first pivot axis is co-linear with the axis of rotation of the pulley, and

[0087] one or more sensors configured to detect pivoting of the cable follower about the first pivot axis and the second pivot axis and to provide one or more outputs indicative of the two orthogonal angles to define the trajectory of the cable extending in the three-dimensional space.

[0088] The sensor arrangement of the third aspect of the application can comprise any one or more of the features of the sensor arrangement described above with reference to the first aspect of the application.

[0089] According to a fourth aspect of the application, the application provides a personal exercise device, the personal exercise device comprising:

[0090] a user interface to be moved by a user in three-dimensional space when using the device;

[0091] a resistance mechanism for generating a force;

[0092] a cable coupled between the user interface and the resistance mechanism to transmit the force from the resistance mechanism to the user interface; and

[0093] a sensor arrangement configured to detect two orthogonal angles to define a trajectory of the cable extending in the three-dimensional space during use, the sensor arrangement comprising:

[0094] a pulley for guiding cable when the cable extends from the device during use, the pulley comprising an axis of rotation;

[0095] The cable passes through a cable follower that is pivotally mounted to pivot in a first vertical plane about a first pivot axis when the sensor arrangement is oriented with the cable follower positioned in the first vertical plane, and to pivot in a second vertical plane about a second pivot axis when the sensor arrangement is oriented with the cable follower positioned in the second vertical plane, the second pivot axis being orthogonal to the first pivot axis and the second vertical plane being orthogonal to the first vertical plane, and wherein the first pivot axis is collinear with the rotational axis of the pulley, and

[0096] one or more sensors configured to detect pivoting of the cable follower about the first pivot axis and the second pivot axis and to provide one or more outputs indicative of: an angle of the cable in the first vertical plane when the sensor arrangement is oriented with the cable follower positioned in the first vertical plane; and an angle of the cable in the second vertical plane when the sensor arrangement is oriented with the cable follower positioned in the second vertical plane.

[0097] In some embodiments, the first angle is detected or determined in a first pivot plane about the second pivot axis that is relatively vertical, the first pivot plane being orthogonal to the rotational axis of the pulley. In some embodiments, the cable follower is pivoted about the first pivot axis away from the second vertical plane, and the second angle of the cable follower is determined or detected in the second vertical plane. In such embodiments, the second pivot axis is fixed relative to the first pivot axis.

[0098] In some embodiments, the first vertical plane is fixed in the vertical orientation. In some embodiments, the cable follower is pivoted about the first pivot axis away from the second vertical plane, and the second angle of the cable follower is detected or determined in a plane tangential to the pulley, with the cable follower being pivoted about the second pivot axis. In such embodiments, the second pivot axis is pivoted about the first pivot axis.

[0099] The apparatus of the fourth aspect of the application can comprise any one or more of the features of the apparatus described above with reference to the first aspect of the application.

[0100] Unless the context clearly requires otherwise, throughout the description and the claims, the term "handle" is intended to refer to a component to be grasped and / or otherwise engaged by a user's hand, foot, or body, such as a rod, handle, knob, strap, or any other suitable fitting that enables a person to apply tension to a cable attached to the component or "handle" via the user's hand, foot, or body. As such, such a handle or component can be described as a "user interface".

[0101] Unless the context clearly dictates otherwise, throughout the specification and claims, the term "extend vertically" (or similar terms, such as "extending vertically") is intended to refer to the extension of a cable in a direction having a significant or predominant vertical component (and can include a horizontal component).

[0102] Unless the context clearly dictates otherwise, throughout the specification and claims, where more than one controller is described (such as a motor controller and a system controller), it will be understood by those skilled in the art that the more than one controller can be implemented by a single controller (such as a single electronic processor). Conversely, where a controller is described, such as a system controller, such controller can be implemented by one or more controllers (such as two or more electronically-communicating electronic processors). One or more controllers can be provided remotely.

[0103] The term "cable" is intended to refer to any flexible elongate member capable of transmitting tension, such as a cable, a cord, a strap, a webbing, etc., and is not intended to be limited to any particular construction or cross-section. For example, a "cable" described herein can be in the form of a length of webbing having a flat cross-section.

[0104] Throughout the specification and claims, where one or more sensors provide one or more outputs from which a value or parameter (such as an angle or a position) can be determined, the one or more outputs are referred to as being indicative of the value or parameter.

[0105] Throughout the specification and claims, terms such as "above" and "below" are used in a relative sense, and are not intended to be limiting. It will be understood by those skilled in the art that arrangements or assemblies described using such relative terms can be reversed, such that "above" becomes "below" and vice versa.

[0106] Unless the context clearly dictates otherwise, throughout the specification and claims, "comprise," "comprising," and like terms are to be construed in the sense of "including but not limited to," rather than in the sense of "consisting of."

[0107] The entire disclosure of all applications, patents and publications, to the extent any are cited in the above description and claims, is hereby incorporated by reference.

[0108] No citation of any prior art in this specification is, and should not be taken as, acknowledgement or any form of suggestion that the prior art forms part of the common general knowledge of the state of the art in the areas of endeavor to which this specification relates.

[0109] The application can also be said broadly to include the parts, elements and features referred to or indicated in the specification of this application, individually or collectively, and any combination thereof that is not only explicitly vari ous.

[0110] All novel aspects of the application should be considered in light of other aspects that will become apparent to those skilled in the art upon reading the following description of at least one example of the practical application of the application. BRIEF DESCRIPTION OF DRAWINGS

[0111] One or more embodiments of the application will be described with reference to the following drawings, which are by way of example only and thus not intended to be limiting, in which:

[0112] FIG. 1A An embodiment of an exercise device according to an aspect of the application is shown;

[0113] FIG. 1B Another embodiment of an exercise device according to an aspect of the application is shown;

[0114] FIG. 2A is a bottom view of the device to show various components of the device mounted within the housing of the device; FIG. 1A

[0115] FIG. 2B is a bottom view of the device to show various components of the device mounted within the housing of the device; FIG. 1B

[0116] FIG. 3A A sensor arrangement for measuring or detecting two orthogonal angles of extension of a cable of a device in three-dimensional space during use is shown.

[0117] FIG. 3B An exploded view of the sensor arrangement of FIG. 3A is provided;

[0118] FIG. 3C A side view of the sensor arrangement of FIG. 3A , the cable and handle of the device is provided, with the cable extending vertically;

[0119] FIG. 3D A side view of the sensor arrangement of FIG. 3A , the cable and handle of the device is provided, with the sensor arrangement oriented with the cable extending at an angle to the vertical in a vertical first plane;

[0120] FIG. 3E A side view of the sensor arrangement of FIG. 3A ​​an end view of the sensor arrangement of FIG. 1, the sensor arrangement being oriented with the cable extending vertically in a vertical first plane, and indicating an angle between the vertical first plane and a possible trajectory of the cable in a vertical second plane orthogonal to the vertical first plane FIG. 3E the sensor is omitted in FIG. 2;

[0121] FIG. 3F and FIG. 3G shows the sensor arrangement of FIG. 1 pivoted in the vertical second plane on either side of the vertical first plane FIG. 3A the sensor arrangement of FIG. 1 FIG. 3F and FIG. 3G the sensor is omitted in FIG. 2;

[0122] FIG. 4A shows a sensor arrangement for measuring or detecting two orthogonal angles in which a cable of a measuring or detection device extends in three-dimensional space during use;

[0123] FIG. 4B provides an exploded view of the sensor arrangement of FIG. 1; FIG. 4A

[0124] FIG. 4C provides a side view of the sensor arrangement of FIG. 1 with a side cover removed; FIG. 4A

[0125] FIG. 4D provides a side view of the sensor arrangement of FIG. 1 with a side cover removed and a cable and a handle of the device, wherein the cable extends vertically; FIG. 4A

[0126] FIG. 4E provides a side view of the sensor arrangement of FIG. 1 with a side cover removed and a cable and a handle of the device, wherein the sensor arrangement is oriented with the cable extending at an angle relative to vertical in a vertical first plane. The cable extends in the first plane, and the first plane is pivoted about a second pivot axis of the sensor arrangement; FIG. 4A

[0127] provides an end view of the sensor arrangement of FIG. 1 and indicates an angle in a vertical second plane orthogonal to the first plane. The angle is between the first plane (or the pulley) and a vertical plane that intersects the first plane at the second pivot axis; FIG. 4F FIG. 4A and

[0128] shows the sensor arrangement of FIG. 1 pivoted about the second pivot axis on either side of the vertical direction FIG. 4G FIG. 4H FIG. 4A

[0129] FIG. 5A ​​​​​​A sensor arrangement for measuring or detecting two orthogonal angles in which a cable of a measuring or detection device extends in three-dimensional space during use is shown;

[0130] FIG. 5B An exploded view of the sensor arrangement of FIG. 5A is provided;

[0131] FIG. 5C A side sectional view on a section line through the center of the sensor arrangement of FIG. 5A is provided, wherein the sensor arrangement is oriented in which the cable extends in a vertical first plane at an angle to the vertical, and wherein the sensor arrangement is in an angle limit. The cable extends in the first plane, and the first plane is pivoted about a second pivot axis of the sensor arrangement;

[0132] FIG. 5D The same sectional view as FIG. 5C is provided, but wherein the arrangement is in a second angle limit;

[0133] FIG. 5E An end view of the sensor arrangement of FIG. 5A is provided and an angle in a vertical second plane orthogonal to the first plane is indicated. The angle is between the first plane (or pulley) and a vertical plane that intersects the first plane at the second pivot axis;

[0134] FIG. 5F The sensor arrangement of FIG. 5A is shown, with the cover removed;

[0135] FIG. 5G An end sectional view on a section line through the bearing housing is provided to show an angle limit stop for pivoting about the second pivot axis;

[0136] FIG. 5H The same sectional view as FIG. 5G is provided, but wherein the sensor assembly is pivoted about the second pivot axis at an angle limit;

[0137] FIG. 6 Another embodiment of an exercise device comprising the sensor arrangement of FIG. 5A is shown according to an aspect of the invention. The handle and cable are omitted in this view;

[0138] FIG. 7 is a top view of the device of FIG. 6 ;

[0139] FIG. 8 is a sectional view of the device of FIG. 6 on a section line through the rotation axis of the pulley of the sensor arrangement. FIG. 8 The pulley is omitted in ;

[0140] FIG. 9 Provided are FIG. 1A , FIG. 1B and FIG. 6 schematic representations of the device indicating the coordinate system of the position of the handle of the device in three-dimensional space during use;

[0141] FIG. 10 Provided are FIG. 3C enlarged versions of the equations disclosed herein for determining the position of the handle in three-dimensional space including the naming of the parameters used in the equations;

[0142] FIG. 11 Provided are diagrams representing side views of the sensor arrangement of FIG. 3A (corresponding to FIG. 3D and FIG. 10 ) identifying the parameters used in the equations disclosed herein for determining the position of the handle in three-dimensional space;

[0143] FIG. 12 Provided are diagrams representing end views of the sensor arrangement of FIG. 3A (corresponding to FIG. 3E ) identifying the parameters used in the equations disclosed herein for determining the position of the handle in three-dimensional space;

[0144] FIG. 13 Provided are diagrams representing side views of the sensor arrangement of FIG. 4A and FIG. 5A (corresponding to FIG. 4E and FIG. 5D ) identifying the parameters used in the equations disclosed herein for determining the position of the handle in three-dimensional space;

[0145] FIG. 14 Provided are diagrams representing end views of the sensor arrangement of FIG. 4A and FIG. 5A (corresponding to FIG. 4F and FIG. 5E ) identifying the parameters used in the equations disclosed herein for determining the position of the handle in three-dimensional space. DETAILED DESCRIPTION

[0146] FIG. 1A and FIG. 1BTwo exemplary embodiments of a resistance exercise device according to one or more aspects of the present application are shown. Each device la, lb includes a frame or housing 2 (herein a housing) to house or contain or mount the various components of the device la, lb. In the embodiments shown, the housing 2 presents a deck or platform 3 upon which a user stands when using the device la, lb. A pair of user interfaces (herein "handles") 4 are provided for the user to grasp. Each handle 4 is connected to a respective flexible elongate member (herein a "cable") 5 that can extend from and be retracted into the housing 2. Each cable 5 is coupled to a resistance mechanism (herein a "resistance mechanism") 6 mounted within the housing 2 to provide resistance to the user via the cable 5 and handle 4 when the user raises the handle 4 to extend the cable 5 from the housing 2 and lowers the handle 4 toward the housing 2. FIG. 1A and FIG. 1B the resistance mechanism (described below) to the user via the handle 4 when the cable 5 is under tension. When the force provided by the user to the handle 4 is greater than the force provided by the resistance mechanism to the cable 5, the user raises the handle 4 and extends the cable 5 from the housing 2. When the force provided by the user to the handle 4 is less than the force provided by the resistance mechanism to the cable 5, the resistance mechanism retracts the cable 5 into the housing 2 as the user lowers the handle 4 toward the housing 2.

[0147] The resistance mechanism (described below) provides a force or resistance (force) to the respective cable 5. The cable 5 is coupled between the resistance mechanism and the handle 4 to transmit the force from the resistance mechanism to the user via the handle 4 when the cable 5 is under tension. When the force provided by the user to the handle 4 is greater than the force provided by the resistance mechanism to the cable 5, the user raises the handle 4 and extends the cable 5 from the housing 2. When the force provided by the user to the handle 4 is less than the force provided by the resistance mechanism to the cable 5, the resistance mechanism retracts the cable 5 into the housing 2 as the user lowers the handle 4 toward the housing 2.

[0148] FIG. 2A A bottom view of the device la of FIG. 1A is provided with the bottom cover removed to show the internal components of the device 1A. The resistance mechanism includes an electric motor 6 and a spool 7 coupled to the electric motor 6 upon which the cable 5 is wound and unwound as the cable 5 is retracted into and extended from the housing 2 during use. In this illustrated embodiment, the spool 7 is directly coupled to the motor, e.g., the shaft of the motor is directly coupled to the spool with the rotational axis of the spool collinear with the rotational axis of the motor. To achieve a thin deck or housing, the motor 6 and spool 7 are disposed toward one end of the device la. The cable 5 extends from the spool 7 and around a first pulley 8 to align the cable 5 with an opening through the housing. The cable 5 extends from the first pulley 8 in a substantially horizontal plane. The cable 5 is routed around a second pulley 101 to orient the cable from extending horizontally below the top surface of the deck 3 or housing 2 to extending vertically through an opening in the housing 2. In the illustrated embodiment, the motor 6 and spool 7 have a horizontal axis, the first pulley 8 has a vertical axis, and the second pulley 101 has a horizontal axis.

[0149] The arrangement of cables 5, motor 6, reel 7, and pulleys 8, 101 repeats at each end of device 1a to provide force to the two handles 4 of device 1a. Those skilled in the art will understand that in some embodiments, only one motor, reel, cable, and pulley assembly may be provided to provide force to a single handle of the device. In such an embodiment, the cable may extend through a centrally located opening in the deck / hull 2.

[0150] FIG. 2B Provided FIG. 1B A bottom view of device 1b, with the bottom cover removed to show the internal components of device 1b. In this embodiment, motor 6 is mounted such that the motor's axis of rotation is vertically oriented. Motor 6 drives the rotation of reel 7 via drive pulley 9 directly coupled to motor 6 and belt 10 extending between drive pulley 9 and reel 7. Idler pulley 11 tensions belt 10. To achieve a thin housing, motor 6 is arranged toward one end of device 1b, and reel 7 is mounted closer to the center of housing 2, having a vertical axis of rotation and a relatively large diameter. The axis of rotation of the reel is parallel to the motor axis. The relatively large diameter of reel 7 reduces the amount of cable wound on reel 7 and minimizes the height of reel 7 with its vertical axis. During use, as cable 5 retracts into and extends from housing 2, cable 5 is wound onto and unwound from reel 7. Reel 7 is positioned such that cable 5 is aligned with an opening through housing 2. Cable extends substantially horizontally from reel 7 and passes over another pulley ( FIG. 4C Pulley 201 in FIG. 2A and FIG. 2B (Hidden and not visible) so that the cable extends from the generally horizontally inside the housing and is oriented to extend vertically through the opening in the housing 2.

[0151] and FIG. 1B and FIG. 2B Compared to the motor, reel, and belt drive arrangement, FIG. 1A and FIG. 2A The arrangement of the motor, shaft, and pulleys in the device enables a reduction in width. However, FIG. 1B and FIG. 2B The arrangement allows for a shorter device length.

[0152] Refer again FIG. 2A and FIG. 2B Other components of each device 1a, 1b include a power supply 12, a motor controller 13, and a system controller 14. Preferably, the power supply 12 is or includes (preferably rechargeable) a battery to allow portability, enabling devices 1a, 1b to be transported and used for a period of time without the need for an external power source.

[0153] Preferably, each motor 6 is controlled by a motor controller 13 to operate the motor 6 in a torque control mode to provide force to the cable 5. In the torque control mode, the position of the handle 4, motor 6 or the reel 7 can not be communicated to the motor controller 13. In the torque control mode, the motor controller 13 can control the motor 6 to provide a relatively constant force to the cable 5 regardless of the handle or motor or reel position. As described above, when the user pulls on the handle 4 with a force (user force) that is greater than the force (motor force) provided to the cable 5 by the motor and reel, the user lifts the handle 4 from the housing, unspooling the cable 5 from the reel 7 against the motor force. When the user holds the handle 4 stationary, the user force is equal to the motor force and the motor and reel remain stationary. And when the user lowers the handle 4, the user force is less than the motor force, and the motor winds the cable 5 onto the reel 7. In the torque control mode, the motor operates to keep the cable under tension. In some embodiments, a tension or force sensor (not shown) can communicate the cable tension to the motor controller for control of the motor.

[0154] When the user pulls on the cable 5 to unspool the cable from the reel 7, the motor 6 can operate in a generator or braking mode to provide a controlled torque or force to the cable 5. When the motor 6 operates to rewind the cable 5 onto the reel 7, the motor 6 operates in a motor or drive mode. When in the generator or braking mode, the motor 6 generates electrical power. The device la, lb can also include a recharging module (not shown) configured to apply the generated electrical power to the power source 12 to recharge the battery. Alternatively or additionally, the device la, lb can include a resistance to dissipate some or all of the generated electrical power.

[0155] The system controller 14 provides control logic / routines for the device la, lb. For example, the system controller 14 can be configured / programmed to provide one or more exercises for the user to perform. Preferably, the controller 14 is configured to provide a plurality of exercises, and more preferably configured to allow the user (via the human-machine interface) to select one or more exercises from the plurality of exercises. The controller 14 can determine the exercise routine based on user information. The system controller 14 can cause the motor controller 13 to control the motor 6 to provide force to the cable 5 via the reel 7 to repeat a traditional weight lifting exercise, such as a bicep curl or a squat, etc. The controller 14 can allow the user to select a range of weight levels up to a maximum weight. For example, the motor and reel can be configured to apply a force to the cable 5 to present a maximum force of 20 kgf (200 N) at the respective handle 4.

[0156] The system controller 14 can be configured to monitor the user's performance or use of the apparatus during exercise via the sensors and provide feedback to the user, for example audio feedback via an audio output device (e.g. a loudspeaker, not shown). The feedback can include instructional feedback to guide the user to improve exercise technique, and / or can provide motivational feedback based on user output, such as speed / pace of exercise, duration of exercise, weight lifted, etc.

[0157] The apparatus 1a, 1b can include a human-machine interface (not shown), such as a touchscreen or display, and user controls to allow the user to provide one or more user inputs. In some embodiments, the HMI can be provided by a personal electronic device, such as a smartphone, to communicate with other components of the apparatus 1a, 1b, such as the system controller 14, motor controller 13 and / or sensors. In the illustrated embodiment, the system controller 14 is indicated as part of the apparatus 1a, 1b, however in some embodiments the system controller 14 can be provided by a separate device, such as a personal electronic device (such as a smartphone), to communicate with other components of the apparatus 1a, 1b, such as the motor controller 13 and / or sensors of the apparatus.

[0158] Communication between the remote controller and / or HMI and other components of the apparatus can be provided by a communication protocol or network (e.g. Bluetooth, a cellular network or another network optionally including various configurations and protocols, including the Internet, an intranet, a virtual private network, a wide area network, a local area network, a private network using one or more proprietary communication protocols whether wired or wireless, or a combination thereof). The feedback device can also be provided via a separate remote device, for example can also be provided by a personal electronic device, such as a smartphone.

[0159] The apparatus 1a, 1b includes one or more sensors for controlling the apparatus 1a, 1b and / or providing feedback to the user, as described above. For example, the sensors can include force (tension) sensors to provide an indication of force applied to the cable, motor and / or spool position sensors, and / or one or more load cells to determine the user's body weight. FIG. 2A Four load cells 15 are shown, each disposed near a corner of the apparatus 1b. Output from the load cells 15 can be used to measure the user's body weight or to determine the user's position on the deck. The load cells can be used to determine the user's body weight to suggest exercises, and / or to determine feedback / instructions for the user to stand correctly on the deck, or to activate the apparatus 1a, 1b.

[0160] The device 1a, 1b comprises a position sensor (not shown) to detect a reference point of the rotational position of the spool 7 and / or motor 6 and / or the length of cable extending from the housing. The system controller 14 can be configured to determine the length of cable extending from the device 1a, 1b based on one or more outputs from the position sensor. One example of a position sensor is a rotary encoder to determine the rotational position of the motor. The system controller can determine / calculate the length of cable extending from the housing based on the motor position, as described below.

[0161] The sensor arrangement 100, 200 is provided to detect two orthogonal angles of the cable 5 extending from the housing 2. The system controller 14 is configured to determine the two orthogonal angles defining a straight line trajectory of the cable 5 extending from the housing 2 based on one or more outputs from the sensor arrangement 100, 200. The system controller 14 is further configured to determine a three-dimensional position of the handle 4 in three-dimensional space (handle position) occupied by the handle 4 when a user is using the device 1a, 1b from the two orthogonal angles and the length of cable. The handle position can be determined from the two angles and the length of cable based on a spherical coordinate system.

[0162] The controller 14 can use the handle position and / or determine feedback to provide to the user in the control of the device 1b, 1b. For example, the controller 14 can determine guidance or user performance feedback based on the handle position, and / or can update an exercise routine or suggest an exercise to the user based on the handle position. The controller can determine and monitor the handle position in real-time during use to provide real-time feedback and / or updates to the user.

[0163] FIG. 3A to FIG. 3G One example sensor arrangement 100 is presented for providing one or more outputs to the controller 14 from which the controller 14 determines two orthogonal angles θ and that define a straight line trajectory of the cable in three-dimensional space in which the cable extends from the device.

[0164] The sensor arrangement 100 comprises a lower pulley 101. The lower pulley 101 directs the cable 5 from below or within the housing 2 to extend above or outside the housing 2, i.e. the lower pulley 101 directs the cable from a substantially horizontal direction to extend vertically above the housing 2. The pulley 101 is rotatable on an axis of rotation to provide a low friction transition of the cable 5 from the housing 2. The pulley 101 is rotatably mounted on a shaft (bolt) 102. The shaft 102 is supported by a bracket or pair of brackets 103 (shaft support) that mounts the sensor arrangement within the device.

[0165] The cable follower 104 is pivotally mounted to pivot about the axis of rotation of the lower pulley 101. The cable 5 passes through the cable follower 104 after passing from the resistance mechanism 6, 7 around the pulley 101 to the handle 4, i.e. the cable follower is on the "handle side" of the pulley 101. In the illustrated embodiment, the follower 104 comprises a ring or tube member through which the cable passes. Alternatively, the cable follower can comprise a ring member or a fork member through which the cable passes, and / or a pair of pulleys on either side of the cable. The follower 104 is carried on a frame 105 which is pivotally mounted to pivot on the axis of rotation of the lower pulley 101. The frame 105 and lower pulley 101 can be mounted on the same (single) axle 102, as shown. Preferably, a bearing 106 is provided between the axle 102 and the pulley 101 and pivot frame 105, or between the axle 102 and the axle support 103. The frame and / or axle presents a first pivot joint on which the cable follower pivots. The frame offsets the cable follower from the axis of rotation of the pulley, so that the cable extends from the pulley 101 to the cable follower 104 tangentially to the pulley. The cable follower is offset from the axis of rotation of the pulley by approximately the radius of the pulley, i.e. the radius of the pulley plus half the thickness (e.g. diameter) of the cable, so that the cable extends from the pulley tangentially to the pulley. FIG. 3B

[0166] The cable follower 104 has an internal dimension commensurate with the external dimension of the cable cross-section, so that as the cable 5 moves in the transverse direction relative to the longitudinal axis of the cable, the cable follower "follows" or remains coupled to the cable. As the cable is extended and retracted by the user, the cable slides through the cable follower.

[0167] FIG. 3C The cable 5 is shown turned about 90 degrees around the lower pulley 101, with the cable 5 extending through the follower 104 in a generally vertical orientation. FIG. 3D The cable 5 is shown turned about 135 degrees around the lower pulley 101, with the cable 5 extending through the follower 104 at an angle of about 45 degrees to the vertical plane. One or more sensors 107 are coupled to the follower 104, and thus also pivot about the axis of rotation of the lower pulley 101 with the follower 104 and pivot frame 105.

[0168] As FIG. 3C and FIG. 3D ​As shown, follower 104 connects sensor 107 to cable 5 such that as cable 5 winds around the pulley and extends around the pulley axis, sensor 107 pivots around the pulley axis. Therefore, sensor 107 detects the pivoting of cable follower 104 around the rotation axis of pulley 101 and can be calibrated to provide an output indicating the angle θ of cable 5 extending in a vertical first plane. The first plane is perpendicular to the rotation axis of pulley 101. Angle θ is the angle around the first pivot axis. Angle θ indicates the wrap angle of cable 5 around pulley 101, which is equal to the pulley wrap angle minus 90 degrees.

[0169] The axis of rotation of pulley 101 is the first pivot axis around which pivot frame 105 and cable follower 104 pivot. FIG. 3C and FIG. 3D 111 (i.e., the axis of the pulley shaft). Additionally, the follower 104 is pivotally mounted about a second pivot axis ( FIG. 3C to FIG. 3E 112) Pivot, such as FIG. 3E to FIG. 3G As shown. In the illustrated embodiment, the follower 104 is pivotally mounted to the pivot frame 105 for pivoting relative to the pivot frame 105. The cable follower 104 is connected to the pivot frame 105 via an arm 108 extending between the cable follower 104 and the second pivot axis 112. The arm 108 is connected via a second pivot joint (e.g., FIG. 3B The screw 109 is connected to the pivot frame 105. Preferably, the bearing 106 is disposed between the driven arm and the pivot frame / second pivot joint.

[0170] The second pivot axis 112 is orthogonal to the first pivot axis 111. Therefore, the sensor 107 detects the pivoting of the cable follower 104 as it pivots about the second pivot axis 112, and can be calibrated to provide an output indicating the angle orthogonal to the cable 5 about the angle θ. The angle is the angle about the second pivot axis. FIG. 3E to FIG. 3G The middle part is omitted FIG. 3B to FIG. 3D The sensor 107 shown illustrates the sensor mounting hole ( FIG. 3E (113 in the middle).

[0171] FIG. 3A to FIG. 3GThe sensor arrangement 100 further includes a pair of upper pulleys 110, each rotatably mounted to the pivot frame 105. The cable 5 extends from the lower pulley 101 to pass between the upper pulleys 110. The upper pulleys 110 are spaced apart to provide a path for the cable 105 to pass between the two upper pulleys 110. The cable path between the upper pulleys 110 is aligned with the lower pulley 101. The upper pulleys 110 are positioned between the cable follower 104 and the lower pulley 101. Each upper pulley 110 contacts opposite sides of the cable 5 to guide the cable 5 from the lower pulley 101 so that the cable 5 extends from the pulley 101 in a plane that is planar with the central plane of the lower pulley 101 to maintain the wrap angle of the cable 5 around the lower pulley 101. Additionally or alternatively, the lower pulley 101 has a circumferential groove for receiving the cable 5 so that the cable 5 is maintained in a plane that is planar with the central plane of the lower pulley 101 wound around the lower pulley. A second pivot axis 112 can be centered between the rotational axes of the upper pulleys 110. The second pivot axis 112 is preferably aligned with the central plane of the lower pulley 101, as shown in FIG. 3E to FIG. 3G

[0172] In FIG. 3A to FIG. 3G embodiments, the one or more sensors can be an inertial measurement unit 107 including an accelerometer and a gyroscope. Those skilled in the art will understand how the angles Θ and φ can be determined from the output provided by the IMU. Other sensor types can be used, such as a Hall effect sensor magnetically coupled to a magnetic element to measure each angle.

[0173] FIG. 4A to FIG. 4H Another exemplary sensor arrangement 200 is presented for providing one or more outputs to a system controller 14 from which the controller 14 determines two orthogonal angles that define a straight line trajectory of the cable in three-dimensional space.

[0174] The sensor arrangement 200 includes a pulley 201. The pulley 201 guides the cable 5 from below or within the housing 2 to above the housing 2 or outside the housing, i.e., the lower pulley guides the cable 5 from a substantially horizontal direction to vertically extend above the housing 2. The pulley 201 rotates on a pulley rotational axis to provide a low friction transition of the cable 5 from the housing 2. The pulley is rotatably mounted on a shaft (e.g., a shaft as shown in FIG. 5B the side covers 203 together form a second frame.

[0175] ​The cable follower 204 is pivotally mounted to pivot about the axis of rotation of the lower pulley 201. The cable 5 passes through the cable follower 204 after passing from the resistance mechanism 6, 7 around the pulley 201 to the handle 4, i.e. the cable follower 204 is on the "handle side" of the pulley 201. In the illustrated embodiment, the follower 204 comprises a loop or tubular member through which the cable 5 passes. Alternatively, the cable follower can comprise a loop member or a fork member through which the cable passes. In the illustrated embodiment, two upper pulleys 210 are also provided to guide the cable from the lower pulley 201 to the cable follower 204. The upper pulleys 210 are spaced apart along the cable. The upper pulleys 210 contact opposite sides of the cable 5 and can also form part of the cable follower. In some embodiments, the cable follower can comprise two pulleys 210, one on each opposite side of the cable, as an alternative or in addition to other means for coupling the follower transversely to the cable.

[0176] The cable follower 204 is carried on a frame 205 which is pivotally mounted to pivot about the axis of rotation of the lower pulley 201. In the illustrated embodiment, the frame 205 comprises two side plates which extend either side of the pulley 201. The frame 205 and lower pulley 201 can be mounted on the same (single) axle. Preferably, bearings are provided between the axle and the pulley 201 and pivoting frame 205, or between the axle and the axle support 203. The frame and / or axle present a first pivot joint about which the cable follower pivots.

[0177] The cable follower 204 has an internal dimension which is commensurate with the external dimension of the cable cross-section, such that the cable follower "follows" or remains coupled to the cable as the cable moves in the transverse direction relative to the longitudinal axis of the cable. The cable slides through the cable follower as the cable is extended and retracted by the user.

[0178] FIG. 4D The cable 5 is shown turned about 90 degrees around the lower pulley, with the cable extending through the follower 204 in a generally vertical orientation. FIG. 4E The cable 5 is shown turned about 120 degrees around the lower pulley, with the cable 5 extending through the follower 204 at an angle of about 30 degrees to the vertical plane.

[0179] The first sensor is arranged to detect the pivoting of the cable follower 204 about the rotational axis of the pulley. In the illustrated embodiment, the first sensor detects rotation of a sensor element. For example, the sensor element comprises a magnet 214 and the first sensor comprises a Hall effect sensor 215 to detect rotation of the magnet. The magnet 214 is attached to a pinion gear 216 which engages a gear 217 coupled to the pivoting frame 205. As the pivoting frame 205 and cable follower 204 pivot about the rotational axis of the pulley, the Hall effect sensor detects rotation of the magnet and pinion gear. The gear 217 can comprise gear teeth formed integrally with the pivoting frame (i.e. in the edge of one of the side plates of the pivoting frame 205). In the illustrated embodiment, the Hall effect sensor 215 is mounted to one or both side covers such that there is relative rotation between the magnet and the Hall effect sensor. It will be appreciated by the skilled person that other sensor configurations or types are possible.

[0180] Accordingly, with reference to FIG. 4D and FIG. 4E , the first sensor 214, 215 can be calibrated to provide an output indicative of the angle Θ of the cable 5 in a first plane perpendicular to the rotational axis of the lower pulley 201. In FIG. 4D and FIG. 4E , the sensor arrangement is oriented such that the first plane is vertical. However, the first plane is pivoted about the second pivot axis 212. The angle Θ is the angle about the first pivot axis. As the cable follower 204 is pivoted about the rotational axis of the pulley, the angle Θ can be indicative of the wrap angle of the cable 5 about the lower pulley 201, i.e. the angle equal to the pulley wrap angle minus 90 degrees.

[0181] The gearing provided by the gears 216, 217 between the cable follower 204 and the first sensor / sensor element 214 provides an increased gear ratio from the cable follower to the first sensor / element. For example, in the illustrated embodiment, the gearing 216, 217 provides a ratio of 3, such that a 90 degree angular change of the cable follower results in a 270 degree angular change of the sensor element 214. This provides greater resolution and accuracy compared to a sensor arrangement which directly measures or measures the angular change of the cable follower with a gear ratio of 1. Furthermore, the gearing provides a convenient location for the first sensor close to the second sensor (as described below), providing a more compact sensor arrangement 200.

[0182] The rotational axis of the pulley 201 is the first pivot axis 211 about which the pivoting frame 205 and cable follower 204 pivot (i.e. the axis of the pulley axle). Additionally, the lower pulley 201, pivoting frame 205 and cable follower 204 are pivotally mounted to pivot about a second pivot axis 212, as shown in FIG. 4F to FIG. 4H .

[0183] The second pivot axis 212 is orthogonal to the first pivot axis 211. The second sensor is arranged to detect pivoting of the cable follower 204, the pivot frame 205 and the pulley 201 as they pivot about the second pivot axis 212. The second sensor can thus be calibrated to provide an output indicative of an angle orthogonal to the angle Θ. The angle is the angle about the second pivot axis. The angle is in a vertical second plane orthogonal to the first plane and between the pulley or first plane and a vertical plane intersecting the first plane at the second pivot.

[0184] In the illustrated embodiment, the second sensor detects rotation of a sensor element. For example, the sensor element comprises a magnet 218 and the second sensor comprises a Hall effect sensor 219 to detect rotation of the magnet. The magnet 218 is attached to the base bracket 213 and the second sensor is attached to the shaft support or side cover 203. The shaft support / side cover 203 also pivots with the lower pulley 201, pivot frame 205 and cable follower 204 about the second pivot axis 212. With reference to FIG. 4B The first and second sensors can be mounted together in a single sensor housing 220.

[0185] The shaft support 203 (side cover), pivot frame 205 with cable follower 204 and lower pulley 201 are pivotally mounted on one or more pivot mounts 221 to pivot about the second pivot axis 212. The pivot mounts 221 are mounted to the base bracket 213 which attaches the sensor arrangement 200 within the device lb. Preferably, each pivot mount 221 comprises a bearing FIG. 4B In the illustrated embodiment, the sensor arrangement comprises two spaced apart pivot mounts on which the shaft support 203 is supported and in which the lower pulley is mounted between the two pivot mounts 221. The pivot mounts provide the second pivot axis below the axis of rotation of the lower pulley 201 and the second pivot axis coincides with the central plane of the lower pulley. The pivot mounts 221 present a horizontal second pivot axis. The base bracket is located below the lower pulley to mount the sensor arrangement to a surface extending below the sensor arrangement. The arrangement of pivot mounts provides a compact sensor arrangement.

[0186] In the illustrated embodiment, the pivot mount 221 is positioned such that the second pivot axis 212 is collinear or coincident with the longitudinal axis of the cable 5 extending from the lower pulley 201 on the resistance mechanism (motor) side of the pulley 201, i.e. the second pivot axis 212 is collinear with the cable 5 before the cable is wound around the pulley to subsequently extend from the housing or frame of the device. Thus, the lower pulley 201, the pivot frame 205, and the cable follower 204 are pivotally mounted to pivot on the longitudinal axis of the cable 5 extending from the lower pulley 201 on the resistance mechanism side of the lower pulley. A first one of the pivot mounts 221 is on the resistance mechanism side of the lower pulley and is configured to receive the cable therethrough, as FIG. 4C to FIG. 4F best shown in FIG. 26, i.e. the cable extends on the pivot axis of the pivot mount 221. The second pivot axis 212 is collinear with the pivot axis of the pivot mount 221. A second one of the pivot mounts 221 is on the user interface side of the lower pulley. The cable does not pass through the second pivot mount because the cable is wound onto the lower pulley after passing through the first pivot mount.

[0187] FIG. 4A to FIG. 4H Embodiments of the resistance exercise device 1c include a top cover 222. The cable passes through a hole in the top cover. The top cover moves or slides on the side cover 203 as the cable angle in the first vertical plane changes. The top cover is coupled to the cable follower to move with the cable follower.

[0188] FIG. 5A to FIG. 5H Another exemplary sensor arrangement 300 for providing one or more outputs to the system controller 14 to determine two orthogonal angles is presented. In FIG. 6 The sensor arrangement 300 is shown in the resistance exercise device 1c. The sensor arrangement 300 is configured to pivot about two angles as described above for the FIG. 4A to FIG. 4H embodiments of the resistance exercise device 1. For brevity, various parts or features of the sensor arrangement 300 that are identical or similar to parts or features of the above-described arrangements of the resistance exercise device 1 are not described again. Identical or similar parts or features are identified by the same reference numerals appearing above but with the prefix 3. FIG. 4A to FIG. 4H

[0189] The sensor arrangement 300 includes a pulley 3201 to guide the cable 5 from the housing 2 of the device 1c to above or outside of the housing 2. A cable follower 3204 is pivotally mounted to pivot about the rotational axis of the pulley 3201. The cable 5 passes through the cable follower 3204 after passing around the pulley 3201 from the resistance mechanisms 6, 7 to the handle 4. The cable follower 3204 is carried on a frame 3205 that is pivotally mounted to pivot about the rotational axis of the pulley 3201. In the illustrated embodiment, the frame 3205 includes a side plate extending on one side of the pulley 3201.

[0190] ​The pulley is supported on a shaft 3223. In the illustrated embodiment, the frame 3205 and the pulley 3201 are mounted on the same (single) shaft. The shaft is supported by a shaft support 3203. The shaft support is integrally formed together in a second pivot frame 3224. Preferably, a bearing 3206 is provided between the shaft 3223 and the pulley 3201 and / or between the shaft 3223 and the shaft support 3203. The frame 3205 and / or the shaft present a first pivot joint about which the cable driven member 3205 pivots.

[0191] FIG. 5C The cable 5 is shown rotated about 60 degrees around the pulley, with the cable 5 extending through the driven member 204 at an angle of about -30 degrees from the vertical plane. FIG. 5D The cable 5 is shown rotated about 150 degrees around the pulley, with the cable 5 extending through the driven member 204 at an angle of about 60 degrees from the vertical plane.

[0192] A first sensor is provided to detect the pivoting of the cable driven member 3204 about the axis of rotation of the pulley. In the illustrated embodiment, the first sensor detects the rotation of a sensor element. The sensor element includes a magnet 3214, and the first sensor includes a Hall effect sensor 3215 to detect the rotation of the magnet. The magnet 3214 is attached to a pinion gear 3216 that engages a gear 3217 coupled to the pivot frame 3205, as described above for the earlier embodiment 200. The gear 3217 includes gear teeth formed in the edge of the pivot frame 3205. In the illustrated embodiment, the Hall effect sensor 215 is mounted to the shaft support / second frame 3203, 3224 so that there is relative rotation between the magnet and the Hall effect sensor. Thus, the first sensor 3214, 3215 can be calibrated to provide an output indicative of the angle Θ of the cable 5.

[0193] The axis of rotation of the pulley 3201 is a first pivot axis 3211 about which the pivot frame 3205 and the cable driven member 3204 pivot (i.e., the axis of the pulley shaft). Additionally, the pulley 3201, pivot frame 3205, and cable driven member 3204 are pivotally mounted to pivot about a second pivot axis 3212 that is orthogonal to the first pivot axis 3211, as shown. FIG. 5E A second sensor is provided to detect the pivoting of the cable driven member 3204, pivot frame 3205, and pulley 3201 about the second pivot axis 3212 as they pivot. Thus, the second sensor can be calibrated to provide an output indicative of the angle of the cable 5 that is orthogonal to the angle Θ.

[0194] In the illustrated embodiment, the second sensor detects rotation of the sensor element. For example, the sensor element includes a magnet 3218, and the second sensor includes a Hall effect sensor 3219 to detect rotation of the magnet. The magnet 3218 is attached to the carriage 3225, and the second sensor is attached to the shaft support / second frame 3203, 3224. Referring to FIG. 5B , the first and second sensors can be mounted together in a single sensor housing 3220 that is mounted to the shaft support / second frame 3203, 3224.

[0195] The shaft support 3203, the pivot frame 3205 with cable follower 3204, and the pulley 3201 are pivotally mounted on two spaced apart pivot mounts 3221 to pivot about a second pivot axis 3212. The pivot mounts 3221 attach the sensor arrangement 300 within the device 1c. The shaft support 3203 is supported on the pivot mounts with the pulley 3201 mounted between the two pivot mounts 3221. The pivot mounts provide the second pivot axis below the axis of rotation of the pulley 3201, and the second pivot axis coincides with the central plane of the pulley. The pivot mounts 221 present a horizontal second pivot axis. The pivot mounts 221 each provide a base to mount the sensor arrangement 300 to a surface extending below the sensor arrangement 300. The arrangement of pivot mounts provides a compact sensor arrangement. The arrangement of pivot mounts allows the sensor arrangement 300 to be mounted close to the surface on which it is mounted to achieve a low assembly height of the device 1c.

[0196] The pivot mounts 3221 are positioned so that the second pivot axis 3212 is collinear (coincident) with the longitudinal axis of the cable 5 extending from the pulley 3201 on the resistance mechanism (motor) side of the pulley 3201, as described above for the earlier embodiment 200, with a first of the pivot mounts configured to receive the cable therethrough. The second frame 3224 includes a pair of aligned sleeves 3227 each supported at a respective pivot mount 3221 for pivoting thereon. The sleeve received in the first pivot mount includes a channel to receive the cable therethrough to the pulley 3201 through the pivot mount and sleeve.

[0197] The sensor arrangement 300 includes limit stops to limit the pivoting amount of the cable follower about the first pivot axis 3211 and / or the second pivot axis 3212. Referring to FIG. 5C , FIG. 5D and FIG. 5FThe pivot frame 3205 includes a first surface 3228 for abutting a corresponding surface 3229 on the at least one axle support 3203 or the second frame 3224 to limit pivoting of the cable follower 3204 about the first pivot axis 321 1 in a first rotational direction and a second surface 3230 for abutting a corresponding surface 3231 on the at least one axle support 3203 or the second frame 3224 to limit pivoting of the cable follower 3204 about the first pivot axis 321 1 in a second, opposite rotational direction. FIG. 5D The first surface 3228 is shown abutting the corresponding surface 3229, and FIG. 5C The second surface 3230 is shown abutting the corresponding surface 3231. Referring to FIG. 5F The second surface 3230 is shown abutting the corresponding surface 3231. Referring to FIG. 5G The second surface 3230 is shown abutting the corresponding surface 3231. Referring to FIG. 5H The axle support 3203 or the second frame 3224 includes a first surface 3232 for abutting a corresponding surface 3233 on the at least one pivot mount 3221 to limit pivoting of the cable follower 3204 about the second pivot axis 3212 in a first rotational direction and a second surface 3234 for abutting a corresponding surface 3235 on the at least one pivot mount 3221 to limit pivoting of the cable follower 3204 about the second pivot axis 3212 in a second, opposite rotational direction. Alternatively or additionally, the housing 2 of the device 1c can present a surface 16 to limit the amount of pivoting of the sensor arrangement 300 about the second pivot axis 3212 by contacting an outer surface of the sensor arrangement 300.

[0198] The sensor arrangement 300 can include a weight or ballast such that the center of gravity of the pivot assembly including the pulley, pivot frame, and cable follower pivoting on the pivot mount about the second pivot axis is located at the second pivot axis. With the center of gravity or balance point of the pivot assembly located at the second pivot axis, the pivot assembly including the pulley does not drop or fall to one side or the other when the user is not applying tension to the cable. When tension is removed from the cable, the pulley remains in its last orientation about the second pivot axis to improve the user’s experience when using the device. For example, to balance the pivot assembly, the second frame 3224 can carry a weight 3236 as schematically indicated in FIG. 5D The weight 3236 is carried by the second frame 3224 below the second pivot axis 3212 such that the center of gravity of the second frame and components carried by the second frame is located at the second pivot axis.

[0199] FIG. 5A to FIG. 5HEmbodiments of the sensor arrangement 300 include a top cover 3226. The cable passes through a slot in the top cover. Unlike the earlier embodiment 200, the top cover does not move with the cable follower. The top cover 3226 is fixed to the shaft support / second frame 3203, 3224 to pivot about the second pivot axis 3212. The second frame, together with the top cover, provides a housing for the internal components of the sensor arrangement 300. This provides robust protection of the sensitive sensor components of the device 300. Any forces or loads applied to the top cover 3226 are transmitted to the pivot mount and bearing 3206, and not to other, more sensitive components of the sensor arrangement, such as the gears and sensor elements. The sensitive components of the sensor arrangement are isolated from the top cover. The pivot frame 3205 includes a circumferentially extending flange to cover the slot in the top cover 3226, such that the internal components of the sensor arrangement are substantially fully enclosed.

[0200] With reference to FIG. 7 and FIG. 8 the sensor arrangement 300 is mounted to the housing 2 of the device so as to be visible from the outside of the housing. The sensor arrangement 300 is located in a recess in the top of the housing 2. The outer cover 3226 is substantially visible from the outside of the device. However, the bearing mount 3221 is housed / covered by the housing 2 of the device 1c. The sensor arrangement 300 extends between two opposite sides 17 of the recess of the housing, extending from the housing via apertures 18 in each side of the recess. The recess includes open areas 19 on either side of the sensor arrangement 300 which present a passageway through the device 1c, such that any debris or liquid entering the recess can pass through the recess to beneath the device 1c. This arrangement reduces the risk of debris or liquid entering the housing 2 of the device 1c or gathering around the sensor arrangement 300. The bearing mount 3221 is also protected by being located within the device housing 2.

[0201] FIG. 1A and FIG. 2A the device 1a as shown includes the sensor arrangement 100, FIG. 2A and FIG. 2B the device 1b as shown includes the sensor arrangement 200, and FIG. 6 to FIG. 8 the device 1c as shown includes the sensor arrangement 300. However, it will be appreciated by the skilled person that any of the devices 1a, 1b and 1c can include the sensor arrangement 100, 200 or 300.

[0202] As described above, the system controller is configured to determine the handle position within the three-dimensional space from the orthogonal angle Q and the length of the cable extending in the three-dimensional space, these three data points representing three coordinates in a spherical coordinate system. It will be appreciated that the length of the cable extending from the device / housing can be represented as the length of the cable extending from a spool or other cable length reference point within the device. Reference is made below to FIG. 3A to FIG. 3GExemplary calculations for determining handle position for embodiments.

[0203] With reference to FIG. 9 , the system controller is configured to calculate a three-dimensional coordinate position of the handle in a three-dimensional space in which the handle is movable during use. In a preferred embodiment, the controller is configured to determine (x, y, z) Cartesian coordinates of the handle position P. In the example shown, the x-dimension is the left-right direction of the device (extending between the handles), the y-direction is the front-back direction of the device, and the z-direction is the vertical direction.

[0204] It can be desirable to determine the (x, y, z) coordinates of the handle position from the cable length and two orthogonal angles Θ extending from the device, and the relevant equations based on a spherical coordinate system are:

[0205]

[0206]

[0207]

[0208] However, the inventors have found that there is a significant error in calculating the cable length using the above equation that depends on the cable wrap angle on the lower pulley. For example, in the case where the cable extends horizontally from the pulley (Θ = 90 degrees), as the cable rotates upward toward the vertical direction (Θ decreases), more cable unwinds from the pulley, which causes the cable to extend further in three-dimensional space from the pulley, even if the motor remains stationary. Conversely, in the case where the cable extends vertically from the pulley (Θ = 0), as the cable rotates downward (Θ increases), more cable winds onto the pulley, thereby decreasing the length of the cable that extends in three-dimensional space, again even if the motor is stationary. Thus, the “functional” or “effective” length of the cable in three-dimensional space varies with the wrap angle of the cable around the pulley, which is not measured by changes in the motor position.

[0209] To account for the winding of the cable around the lower pulley, the inventors have determined a method of calculation whereby the cable length extending from the device is determined from the bottom of the pulley 101, and wherein the origin (0, 0, 0) of the Cartesian coordinate system is located at or relative to the axis of rotation 111 of the pulley 101. Preferably, the origin of the Cartesian system is centered on or relative to a central plane of the pulley 101 (i.e., a central plane perpendicular to the axis of rotation 111). Based on this definition of the coordinate system, the following equations can be derived:

[0210] L 功能性 = L 马达 -R 滑轮 (Θ + π / 2) - L 从动件

[0211]

[0212]

[0213]

[0214] wherein reference FIG. 10 and FIG. 11 , the variables are:

[0215] R 滑轮 radius of the lower pulley;

[0216] L 从动件 length of the cable extending between the pulley and the origin (S in FIG. 11 ) of the sensor measuring the angle of the cable follower, for example the length of the cable extending from the pulley to the second pivot axis, wherein the origin S of the angle sensor is located at the second pivot axis;

[0217] L 功能性 distance from the origin S of the sensor measuring the angle of the cable follower to the position of the handle measured along a line of the cable (i.e. tangential to the cable), for example the distance from the second pivot axis to the position (P in FIG. 10 and FIG. 11 ) on the handle to be gripped by the user;

[0218] L 马达 length of the cable extending from a reference point (zero point) of the cable to the handle (in this example, from the vertical bottom of the pulley 101 to the handle);

[0219] θ angle (first angle) in the Z-X plane (vertical first plane) between the plane tangential to the cable extending in three-dimensional space to the lower pulley and the Z-Y plane (vertical second plane) orthogonal to the Z-X plane.

[0220] angle (second angle) in the plane tangential to the lower pulley between the cable extending in three-dimensional space and the Z-X plane (vertical first plane).

[0221] The length of the cable extending from the origin of the sensor S measuring the angle of the cable is incorporated in the above calculations. This is important because the angle θ measured and the length of the cable extending from this point. In the exemplary calculations, the origin S of the sensor is provided at the second pivot axis 112, however the origin of the sensor can be in an alternative position.

[0222] In the above calculation, the length of the cable from the motor is given as the length of the cable extending from the bottom of the pulley 101, where the length of the cable 5 between the bottom of the pulley and the spool is considered constant. It will be appreciated by those skilled in the art that alternative reference points can be used. The length of the cable extending from the bottom of the pulley or other reference point can be calculated based on the output of a position sensor providing the position of the motor and / or spool, the number of revolutions of the spool or motor from a calibrated motor or spool zero position, and the spool diameter.

[0223] The inventors have found that, where the sensor arrangement comprises upper pulleys 110, a further error is introduced in the calculation of the handle position. This error is introduced by the difference between the cable angle and the measured angle of the cable follower.

[0224] As shown in FIG. 12 , the second pivot axis 112 follows the axis of rotation of the pair of upper pulleys. Where the second pivot axis 112 follows the axis of rotation of the upper pulleys 110, the angle of the follower 104 is slightly less than the angle of the cable 5 extending from the follower 104 due to the cable being slightly wrapped around one of the upper pulleys 110. Thus, the measured angle of the follower 104 is less than the angle of the cable 5 in three-dimensional space, introducing an error in the calculation of the handle position based on the two orthogonal angles and the cable length.

[0225] To address this angle error, the relationship between the follower angle and the cable angle is derived based on the known (measured) angle of the cable follower and the estimated cable angle as follows.

[0226] Referring to FIG. 12 , first, the position x, y of the cable follower is calculated based on the distance from the cable follower to the second pivot axis as the origin, although the origin can be chosen from any point. The radius of the upper pulley is:

[0227]

[0228]

[0229] The distance d from the middle of the upper pulley around which the cable is wrapped to the x, y position of the cable follower is determined as:

[0230]

[0231] The middle angle is determined as:

[0232] β = arcsin ((r - x) / d)

[0233] Another middle angle is determined, where r is the length of the follower arm from the second pivot axis to the x, y position of the cable follower.

[0234] ω = arccos(r 滑轮 / L f )

[0235] Finally, the angle of the cable is calculated as:

[0236]

[0237] In some embodiments, the second pivot axis can be positioned on the lower pulley side of the wire extending between the rotational axes of the upper pulley. For example, the second pivot axis 112 can be positioned between the wire extending between the rotational axes of the upper pulley 110 and the rotational axis 111 of the lower pulley 101. For example, in embodiments where the wire is attached to the lower pulley 101 at a point 113 on the rotational axis 111 of the lower pulley 101, the second pivot axis 112 can be positioned between the point 113 and the rotational axis 111 of the lower pulley 101. FIG. 3A to FIG. 3G In embodiments where the wire is attached to the lower pulley 101 at a point 113 on the rotational axis 111 of the lower pulley 101, the pivot frame 105 and the arm 108 connecting the wire cable 104 to the pivot frame 105 can be configured such that the second pivot axis 112 is co-linear with the wire cable 5 extending on the resistance mechanism side of the lower pulley.

[0238] It will be appreciated by the skilled person that the calculation of the cable length and thus the handle position can also take into account the winding of the cable around the upper pulley. The above equations are provided by way of example.

[0239] The above handle position calculation is provided by way of example with the sensor arrangement of FIG. 3A to FIG. 3G Reference is made below to FIG. 13 and FIG. 14 Alternative preferred calculations for determining the length of the wire extending from the device of FIG. 4A to FIG. 4H and FIG. 5A to FIG. 5H embodiments are provided. The origin (0, 0, 0) of the coordinate system is located at or relative to the vertical bottom of the pulley 201, 3201 (i.e. a position on the circumference of the pulley vertically below the centre of the pulley). Preferably, the origin of the Cartesian system is centred on or relative to the centre plane of the pulley 201, 3201 (i.e. the centre plane perpendicular to the rotational axis 211, 3211). Based on this definition of the coordinate system, the following equations can be derived:

[0240] L 功能性 = L motor -R 滑轮 (θ + π / 2)

[0241] A = L 功能性 cos(θ) + R 滑轮 sin(θ) + R 滑轮

[0242] x = L 功能性 sin(θ) - R 滑轮 cos(θ)

[0243]

[0244]

[0245] wherein the reference FIG. 13 and FIG. 14 , the variables are:

[0246] R 滑轮 the radius of the pulley 201, 3201;

[0247] L 功能性 the cable length from the pulley to the handle position (i.e., P in FIG. 13 ), measured along the line of the cable (i.e., the tangent to the pulley);

[0248] L 马达 the cable length extending from a reference point (zero point) of the cable to the handle (in this example, extending from the vertical bottom of the pulley 201, 3201 to the handle). In this example, the origin point (0, 0, 0) of the coordinate system and the reference point (zero point) of the cable are at the same point;

[0249] θ the angle (first angle) that the cable extends in a first plane that is orthogonal to the axis of rotation of the pulley. The first plane pivots about the second pivot axis. When the pulley is oriented vertically, the first plane is vertical.

[0250] the angle (second angle) relative to the vertical direction in the Z-Y plane (vertical second plane). This angle is between the first plane (or pulley) and a vertical plane that intersects the first plane at the second pivot axis.

[0251] The sensor arrangements described herein are described with reference to exercise devices that include an electric resistance mechanism (electric motor and spool). It will be appreciated by those skilled in the art that the sensor arrangements 100, 200, 300 described can be used in any exercise device that includes a handle and a cord attached to a resistance mechanism, including a conventional weight lifting device that contains a stack of metal plates, or an exercise device that utilizes the user’s body weight to generate resistance.

[0252] Where, in the foregoing description, reference has been made to integers having known equivalents the equivalents have been incorporated as if individually set forth.

[0253] It should be noted that various changes and modifications can be made to the presently preferred embodiments described herein without departing from the spirit and scope of the application as it is defined by the appended claims. Such changes and modifications can be made to the application in light of the above and depending on the particular requirements of the art to which it pertains, and it is intended to the application to be as broad in scope as the art to which it pertains. It is therefore intended that this application be considered as including all possible embodiments as can be given to it from the description and examples above, and that they fully define the scope of the application.

Claims

1. A personal exercise device, comprising: The user interface, when the device is used, will be moved by the user in three-dimensional space; A resistance mechanism for generating force; A cable connecting the user interface and the resistance mechanism to transmit the force from the resistance mechanism to the user interface; and A sensor arrangement configured to detect two orthogonal angles to define the trajectory of the cable extending in the three-dimensional space during use, the sensor arrangement comprising: A pulley for guiding a cable as it extends from the device during use, the pulley including a rotation axis; The cable passes through a cable follower, which is pivotally mounted to pivot about a first pivot axis and about a second pivot axis, the second pivot axis being orthogonal to the first pivot axis, and wherein the first pivot axis is collinear with the axis of rotation of the pulley. One or more sensors are configured to detect pivoting of the cable follower about the first pivot axis and the second pivot axis and to provide one or more outputs indicating the two orthogonal angles to define the trajectory of the cable extending in the three-dimensional space.

2. The apparatus of claim 1, wherein the cable follower is mounted on a pivoting frame, the pivoting frame being pivotally mounted to pivot on the axis of rotation of the pulley.

3. The apparatus of claim 2, wherein the pivoting frame and the pulley are mounted together on a single axle.

4. The apparatus of claim 2, wherein the cable follower is pivotally mounted to the pivot frame to pivot about the second pivot axis relative to the pivot frame.

5. The apparatus of claim 2, wherein the pulley is a lower pulley, and wherein the sensor arrangement further comprises a pair of upper pulleys rotatably mounted to the pivot frame between the cable follower and the lower pulley to guide the cable to extend from the lower pulley in the central plane of the lower pulley.

6. The apparatus of claim 4, wherein the second pivot axis is aligned with the center plane of the pulley.

7. The apparatus of claim 5, wherein the second pivot axis is positioned on the lower pulley side of a line extending between the rotation axes of the upper pulley.

8. The apparatus of claim 2, wherein the pulley, the pivoting frame, and the cable follower are pivotally mounted on one or more pivoting mounts to pivot about the second pivoting axis.

9. The apparatus of claim 8, wherein the pulley and the pivoting frame are mounted on a shaft supported by one or more shaft supports, and wherein the one or more shaft supports are mounted to the one or more pivoting mounts to pivot on the second pivoting axis.

10. The apparatus of claim 9, wherein the sensor arrangement comprises two spaced-apart pivot mounts, and the one or more shaft supports are mounted on the pivot mounts and the pulley is located between the two pivot mounts.

11. The apparatus of claim 10, wherein the first pivot mount of the pivot mount is located on the resistance mechanism side of the pulley and is configured to receive a cable extending therethrough on the resistance mechanism side of the pulley, such that the cable extends on the pivot axis of the first pivot mount.

12. The apparatus of claim 10, wherein each pivot mount provides a base for arranging the sensor on a surface extending below the pulley.

13. The device of claim 10, wherein the sensor is arranged and mounted in a recess in the top of the housing of the device, wherein the pivot mount is received inside the housing, and the sensor is arranged to extend between two opposite sides of the recess via holes in each opposite side of the recess.

14. The device of claim 13, wherein the recess provides an opening region on either side of the sensor arrangement through the housing of the device, such that any debris or liquid entering the recess can pass through the recess to the underside of the device.

15. The apparatus of claim 10, wherein the sensor arrangement includes a second frame comprising the one or more shaft supports and a pair of aligned sleeves, each sleeve being pivotally supported at a corresponding pivot mount.

16. The apparatus of claim 8, wherein the pivot assembly of the pulley, the pivot frame, and the cable follower is counterweighted such that the center of gravity of the pivot assembly is located at the second pivot axis, such that when the tension applied to the cable by the user is removed during use, the pulley remains in its last orientation around the second pivot axis.

17. The apparatus of claim 2, wherein the first of the two orthogonal angles is the angle of the cable follower in a first plane perpendicular to the axis of rotation of the pulley.

18. The apparatus of claim 17, wherein the first plane pivots together with the pulley on the second pivot axis.

19. The apparatus of claim 17, wherein the first angle indicates the wrap angle of the cable around the pulley.

20. The apparatus of claim 17, wherein the second of the two orthogonal angles is the angle between the first plane and a vertical plane intersecting the first plane at the second pivot axis in a vertical second plane orthogonal to the first plane.

21. The apparatus of claim 20, wherein the one or more sensors comprise: A first sensor, configured to detect pivoting of the cable follower about the first pivot axis and provide an output indicating the first angle, and A second sensor is configured to detect the pivoting of the cable follower about the second pivot axis and provide an output indicating the second angle.

22. The apparatus of claim 21, wherein the sensor arrangement further comprises a gear located between the pivot frame and the first sensor or a sensor element sensed by the first sensor, the gear providing an increased gear ratio from the pivot frame to the first sensor or the sensor element.

23. The apparatus of claim 22, wherein the first sensor and the second sensor are mounted together.

24. The apparatus of claim 1, wherein the sensor arrangement further includes a limiting stop to limit the amount of pivoting of the cable follower about the first pivot axis and / or the second pivot axis.

25. The apparatus of claim 1, wherein the second pivot axis is collinear with the cable extending on the resistance mechanism side of the pulley.

26. The apparatus of claim 1, wherein the resistance mechanism comprises an electric motor and a reel rotatably driven by the motor. The cable is connected to the reel; and The device includes a motor controller configured to operate the motor to generate the force.

27. The apparatus of claim 26, further comprising a position sensor and a system controller, the system controller being configured to: The length of the cable extending in the three-dimensional space is determined based on one or more outputs from the position sensor; The two orthogonal angles are determined based on the outputs from the one or more sensors. as well as The position of the user interface in the three-dimensional space during use is determined based on the length of the cable and the two orthogonal angles.

28. The apparatus of claim 27, wherein the position sensor provides one or more outputs indicating the rotational position of the motor and / or the spool, and The length of the cable is based on the position of the motor and / or the reel and the diameter of the reel.

29. The apparatus of claim 27, wherein the controller is configured to determine the coordinates of the user interface position in the three-dimensional space in a coordinate system.

30. The apparatus of claim 29, wherein the controller is configured to determine the coordinates based on the origin of the coordinate system, the origin being located at or relative to the axis of rotation of the pulley or the vertical bottom of the pulley.

31. The apparatus of claim 27, wherein the controller is configured to determine the length of the cable and / or the coordinates of the user interface in the three-dimensional space based on the wrap angle of the cable around the pulley.

32. The apparatus of claim 27, wherein the controller is configured to determine the length of the cable relative to the vertical bottom of the pulley.

33. The apparatus of claim 27, wherein the origin of the one or more sensors used to measure the two orthogonal angles is located at the second pivot axis.

34. The apparatus of claim 27, wherein the system controller is configured to provide feedback to the user via a feedback device based on the position of the user interface in the three-dimensional space.

35. A method for determining the position of a user interface of a personal exercise device in three-dimensional space during use, the exercise device comprising: The user interface, the resistance mechanism for generating force, the cable connecting the user interface and the resistance mechanism to transmit the force from the resistance mechanism to the user interface, the pulley guiding the cable from the exercise device in the three-dimensional space, and the cable follower through which the cable passes, the cable follower being pivotally mounted to pivot about a first pivot axis and a second pivot axis, the second pivot axis being orthogonal to the first pivot axis, and wherein the first pivot axis is collinear with the axis of rotation of the pulley; The method includes: Determine the length of the cable extending in the three-dimensional space; Two orthogonal angles are determined based on the pivoting of the cable follower about the first pivot axis and the second pivot axis to define the trajectory of the cable extending in the three-dimensional space; and Based on the length of the cable and the two orthogonal angles, the position of the user interface in the three-dimensional space during use is determined.

36. The method of claim 35, further comprising determining the coordinates of the user interface position in the three-dimensional space in a coordinate system.

37. The method of claim 36, wherein determining the coordinates comprises determining the coordinates based on the origin of the coordinate system, the origin being located at or relative to the axis of rotation of the pulley or the vertical bottom of the pulley.

38. The method of claim 35, wherein determining the length of the cable includes determining the length of the cable and / or the coordinates of the user interface in the three-dimensional space based on the wrap angle of the cable around the pulley.

39. The method of claim 35, wherein determining the length of the cable includes determining the length of the cable relative to the vertical bottom of the pulley.

40. The method according to any one of claims 35 to 39, wherein determining the two orthogonal angles comprises determining the two orthogonal angles relative to the origin, wherein the origin is located at the second pivot axis.

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