Motorized fitness wheel

Abstract

Systems and methods disclosed herein relate to motorized fitness wheels. A fitness wheel includes a wheel rotating about an axis having two handles extending outwardly from respective sides of the wheel along the axis of rotation. In use, a user grasps the handle with their hand and rolls the wheels back and forth along the floor. The motor is configured to apply torque to the wheels in a forward direction or a rearward direction to apply resistance or assist and enhance exercise. The position sensor feeds position information of the motor to the microcontroller. Based on the position information, the microcontroller dynamically controls the output torque of the motor according to one or more torque trajectories. The torque trajectory defines the output torque of the motor over the exercise cycle as a function of a spatial variable (e.g., wheel position) and / or time.

Description

Technical Field

[0001] The present invention relates to wheeled exercise devices, and more particularly to electric motor assisted wheeled exercise devices for achieving core and upper body training. Background Art

[0002] §1.1 Related technologies

[0003] Wheel-based exercise devices (also known as fitness wheels, exercise wheels, or abdominal exercisers) are often used to achieve core and upper body training. Such devices are typically composed of a wheel about 6 inches to 8 inches in diameter mounted on the center of an axle, with static handles extending axially from both sides of the wheel. The user grasps the device by the handles and rolls the wheel back and forth along the floor or other exercise surface.

[0004] Different types of wheel-based exercise devices are best categorized by their internal mechanisms, which ultimately affect the exercise experience.

[0005] The most common internal mechanism is simply a wheel bearing shaft assembly that facilitates mass production. Since the user is limited to exercising by resisting their own body weight, most beginners cannot even complete a single repetition exercise, and starting to exercise is frustrating. At the same time, advanced users find it difficult to get enough training, so they need to compensate by doing many high-repetition sets. Existing "abdominal exercisers" do little to correct these problems. Internal mechanisms that provide assistance and / or resistance to the user include elastic member assist mechanisms, pneumatic mechanisms, spring assist mechanisms, and motors.

[0006] The elastic assist mechanism is a crude solution to the above problems in that it employs an elastic cord, band, or strap to provide assistance (note: in marketing materials these are often referred to as "resistance bands," but the function is to assist (not "resist") the user in pulling back on the wheel; for purposes of this patent, we will refer to the force that promotes forward motion as "assistance"). The elastic solution sacrifices portability and usability by requiring more equipment, especially if the user wants to change their assistance over time. The elastic cord solution is very limited in the type and amount of assistance it provides. In addition to the functional disadvantages, the elastic cord can pose a significant safety issue if the user assembles the product incorrectly or slips and releases the handle. If the user reasonably decides to leave during a workout, the large amount of energy stored in the elastic cord can be dangerously discharged toward the user.

[0007] The pneumatic mechanism changes the tire pressure to change the effective friction between the wheel and the ground, thereby resisting inertia during exercise. However, pneumatic solutions only provide resistance within a limited range and only provide a constant amount of difficulty in each repetition of the exercise.

[0008] The spring-assist mechanism uses an internal torsion spring at the center of the wheel to provide assistance. However, the amount of assistance received by the user is limited due to the material properties that define the internal spring. The geometry of the torsion spring also limits the mechanism from rolling in one direction from the resting position for exercise. Therefore, only beginners benefit from the assistive properties of the mechanism; experienced users cannot make their training more difficult than with a standard bearing wheel.

[0009] Motors have been used to push out exercise wheels that exceed spring-assisted mechanisms. Motor-driven, geared exercise wheels with manual speed control have been developed. As a way to provide exercise, some motor-assisted devices attempt to reverse drive the motor to generate electricity. To supplement the above features, motor control has been adjusted to provide resistance to the user during the reeling exercise, thereby increasing the difficulty of the exercise for more experienced users. Motorized exercise wheel devices in the prior art have not been commercially successful because they use basic motor control methods (such as constant speed control), resulting in a subpar exercise experience for the user. None of the existing motor-assisted exercise wheels provide for dynamic or real-time control of the motor: a feature of the present invention is to increase accessibility and promote exercise progression (i.e., increase difficulty over time). Existing motor-assisted exercise wheels also lack an effective and practical safety mechanism that will prevent the motor from running when the exercise is suspended. Finally, existing motor-assisted exercise wheels do not have an intuitive and attractive user interface.

[0010] It is with these and other considerations in mind that the disclosure herein is made. Summary of the invention

[0011] According to aspects of the present disclosure, a motorized exercise wheel is provided for performing an exercise having at least one cycle in which a user rolls a wheel mechanism (which we refer to as a "wheel" with the understanding that it may have more than one wheel) from a substantially resting position to an extended position along a surface in a forward direction, and then rolls the wheel from the extended position toward the resting position along the surface in a rearward direction. The motorized exercise wheel includes a wheel assembly including a ground contacting element configured to contact a surface and rotate about an axis in a forward rotational direction and a rearward rotational direction and thereby roll along the ground in a forward direction or a rearward direction. The motorized exercise wheel also includes a first handle and a second handle configured to receive each hand of a user, the first handle and the second handle extending outward from respective sides of the wheel assembly. The motorized exercise wheel also includes a motor coupled to the wheel assembly and configured to apply an output torque to the ground contacting element in a forward rotational direction or a rearward rotational direction. The motorized exercise wheel also includes a microcontroller including one or more processors and configured to control the output torque of the motor. The motorized exercise wheel also includes a sensor in communication with the microcontroller and configured to determine a movement variable of the exercise wheel. The motorized exercise wheel also includes a non-transitory computer-readable storage medium accessible by the microcontroller. In addition, the microcontroller is further configured to control the output torque of the motor during an exercise cycle as a function of the determined movement variable.

[0012] According to another aspect, a method of operating a motorized exercise wheel for performing an exercise is disclosed. The exercise involves at least one cycle in which a user rolls the wheel in a forward direction along a surface from a substantially resting position to an extended position, and then rolls the wheel in a rearward direction along the surface from the extended position toward the resting position, thereby forming a cycle. The wheel includes a wheel assembly including a ground contacting element, a motor coupled to the wheel assembly, a first handle and a second handle extending from the wheel assembly for manipulation by a user, and a microcontroller. A method performed by the microcontroller includes the steps of determining a movement variable associated with movement of the exercise wheel during the exercise using a sensor, the movement variable being determined using the sensor over at least one cycle. The method also includes determining a target output torque of the motor based at least in part on the movement variable determination. The method also includes controlling the output torque of the motor during the exercise cycle as a function of the target output torque.

[0013] These and other aspects, features and advantages may be understood from the accompanying description of certain embodiments of the invention and from the accompanying drawings and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1A is a perspective view of an exemplary motorized exercise wheel according to an embodiment;

[0015] Figure 1BAccording to the embodiment Figure 1A A cross-sectional view of the exercise wheel taken along line AA;

[0016] Figure 2 is a block diagram illustrating the interconnected and interoperating mechanical, electrical, and software components of a motorized exercise wheel according to an embodiment;

[0017] Figure 3 is a block diagram illustrating an exemplary configuration of electronics of a motorized exercise wheel according to an embodiment;

[0018] Figure 4 One possibility of a user's form at the beginning of an exercise is shown. This is an animation produced by digitally simulating an actual exercise using an exercise wheel according to an embodiment;

[0019] Figure 5 One possibility of a user's form during an initial stretch is shown. This is an animation produced by digitally simulating an actual exercise using an exercise wheel according to an embodiment;

[0020] Figure 6 One possibility of a user's form when fully extended is shown. This is an animation produced by digitally simulating an actual exercise using an exercise wheel according to an embodiment;

[0021] Figure 7 One possibility of a user's form during flexion is shown. This is an animation produced by digitally simulating an actual exercise using an exercise wheel according to an embodiment;

[0022] Figure 8 One possibility of a user's form in flexion back to the (approximately) starting position is shown. This is an animation produced by digitally simulating an actual exercise using an exercise wheel according to an embodiment;

[0023] Fig. 9 The following is shown according to an embodiment of the present invention. Figures 4 to 8 An example of the displacement of the exercise wheel in the x-direction produced in the simulation shown in;

[0024] Fig.10 According to an embodiment, the Figures 4 to 8 Three examples of the torque applied by the simulated exercise wheel for the simulated input shown in FIG: (1) no assistance, 0 N·m, (2) maximum assistance, -6 N·m, (3) maximum resistance, +6 N·m;

[0025] Fig.11 The following is shown according to an embodiment of the present invention. Figures 4 to 8 Three examples of hip torque generated using an exercise wheel in the simulation are shown: (1) no assistance, (2) maximum assistance, and (3) maximum resistance.

[0026] Fig.12 Shown according to an embodiment during exercise such as Figures 4 to 8 The simulations shown use an exercise wheel to generate shoulder torque for three conditions during exercise: (1) no assistance, (2) maximum assistance, and (3) maximum resistance;

[0027] Fig.13 Three related graphs are shown illustrating exemplary assist motor torque curves, corresponding wheel speed measurements, and distance measurements for an exemplary exercise cycle, according to an embodiment;

[0028] Fig.14 Two graphs illustrating exemplary drag torque curves are shown according to an embodiment;

[0029] Fig.15 Three graphs illustrating exemplary damping torque curves according to an embodiment are shown;

[0030] Fig.16 An embodiment of a structure for transmitting wrist torque to a user's forearm according to an embodiment is shown;

[0031] Fig.17 An embodiment of a structure for transmitting wrist torque to a floor according to an embodiment is shown; and

[0032] Fig.18 is used for operation according to an embodiment Figure 1A A flow chart of an embodiment of a method of a motor controller for an exercise wheel.

[0033] It should be noted that the drawings are illustrative and not necessarily drawn to scale. DETAILED DESCRIPTION

[0034] §2.1 Overview

[0035] By way of overview and introduction, the systems and methods disclosed herein relate to a motorized exercise wheel. Figure 1A is a perspective view of an exemplary exercise wheel 100 according to an embodiment. Figure 1B It is along Figure 1A 1 is a cross-sectional view of exercise wheel 100 taken along line AA shown in FIG. 1 , such that an upper half of the exercise wheel has been cut away to show the internal components of the exercise wheel.

[0036] like Figure 1A and Figure 1BAs shown, the hardware of the exercise wheel 100 includes a motor 9 mounted inside the wheel 1. A bearing assembly 10 is located at the inner radius of the motor, and the bearing assembly 10 is configured to allow the motor to provide torque between the rotating portion of the wheel 14 and the static wheel axle 15 connected to the handle 7. The outer radius of the wheel includes a ground contact element 21 configured to roll along the ground. The handle 7 generally extends outward from each side of the wheel along the rotation axis of the wheel and is intended to be grasped by the user during use. The wheel is enclosed by two hub caps 8, the interior of which houses the internal components including the battery 11, the electronic device 12, the motor 9, etc.

[0037] The user interface is disposed on the exterior of one of the hubcaps and includes a physical interface including a rotatable difficulty selection rotary dial 4, a Bluetooth button 5, and a power button 6. The exercise wheel 100 also includes visual indicators, such as an exercise difficulty display 3, which displays the difficulty selected by the user using, for example, the difficulty selection rotary dial 4. The visual indicators also include LEDs 2, which are used to provide feedback to the user on exercise status and progress, making the exercise experience more engaging and enjoyable.

[0038] Figure 2 is a block diagram illustrating the interconnected and interoperating mechanical, electrical, and software components of exercise wheel 100 configured to provide real-time dynamic control of a motorized exercise wheel in response to user actions, according to an embodiment. Figure 3 is a block diagram illustrating an exemplary configuration of electronics of the exercise wheel 100 according to an embodiment.

[0039] The exercise wheel 100 provides unique advantages because it can provide assisted exercise to beginners and resisted exercise to experts, thereby maximizing the use of any athlete's available time and energy. The exercise wheel 100 is configured so that a user can physically interact with the device by providing input (arrow 201) via a physical interface including electromechanical hardware and digitally interact with the device by providing input (arrow 202) via a digital interface (e.g., a software application executed on a smartphone, tablet computer, personal computer, etc.). Both types of input can be received and processed using a microcontroller 210 and used to define the type and difficulty of exercise, which is generally given by the user's strength, fitness and / or experience level. For example, a user can select a difficulty level using a rotating difficulty selection rotary dial 4, which is received at the microcontroller 210 (arrow 201). Similarly, a user can select difficulty and / or exercise type using a smartphone application 250, which is received at the microcontroller via a wireless communication connection (e.g., Bluetooth) (arrow 202). In response to user input sent to the microcontroller on the exercise wheel, the microcontroller initiates a motor feedback loop (arrow 203) to control the operation of the exercise wheel in accordance with the user input, thereby facilitating exercise. In an embodiment, the motor feedback loop subsystem is configured to operate as follows: sensor 215 measures real-time current data measured from the motor and relays it to microcontroller 210; microcontroller 210 calculates the torque-producing portion of the current and identifies any difference between the measured torque-producing current and the target torque-producing current; microcontroller 210 generates correction information based on the difference, which is sent as a new voltage command (as a duty cycle) to the motor electronics 220 that drives the motor 9. As further described herein (see §2.4.2), the "target" torque output depends on certain data derived from the user input described above, among other parameters. At the same time, a battery management loop (arrow 204) is provided to ensure that the battery voltage is properly managed, including indicating to the user when the battery needs to be charged. Alternatively, the battery management electronics 230 can control the battery without any additional software input from the microcontroller 210. In an embodiment, the battery 240 (which may include a single or multiple battery cells referred to herein simply as a "battery") is managed by the electronics: the microcontroller 210 reads the battery voltage for control, and the battery manager / electronics 230 charges the battery whenever the battery is inserted for charging and the battery needs to be charged. The battery supplies voltage and current to the electronics 220. Figure 2 As shown, the microcontroller 210 may also be configured to output information to a digital interface to a user (arrow 206 ), such as via an onboard user interface including edge mounted LEDs 2 , or via a physical interface such as a difficulty display 3 (arrow 205 ).

[0040] §2.2 Mechanical

[0041] §2.2.1 Internal organization

[0042] In an embodiment, exercise wheel 100 includes an outrunner motor 9, where the stator is the hub of the motor and the rotor (moving part) is outside, surrounding the stator. The windings of the motor are connected to a motor drive (not shown) that energizes the motor. Although Figure 1B The illustrated embodiment shows the motor 9 coupled directly to the rotating part of the wheel 1 , but this is exemplary and non-limiting as it will be appreciated that the motor may be coupled to the wheel via a suitable transmission (eg gears, belts etc.).

[0043] §2.2.2 External interface

[0044] In an embodiment, physical user interface elements 255 are located on the hubcap 8, on one side of the exercise wheel. Various features and functions of the exercise wheel 100 are controlled by the microcontroller 210 based on user input provided using the physical tactile elements of the interface 255, including the difficulty selection rotary dial 4, the Bluetooth button 5, and the power button 6. As will be appreciated, the Bluetooth button enables the exercise wheel 100 to connect to a remote device such as a user's smartphone via a wireless communication interface (e.g., Bluetooth). The exercise digital interface application can run on the smartphone, allowing the user to interact with the exercise wheel 100 via the smartphone.

[0045] In one embodiment, the microcontroller 210 is configured to display a value representing the selected exercise difficulty on the difficulty display 3. As shown, the difficulty display 3 may include a series of numbers on the hubcap of the exercise wheel (displayed as: 54321012345). For example, when the difficulty is selected using the selection rotary dial 4, the selected number may be illuminated by the microcontroller in red (to the left of zero, indicating a high difficulty) or green (to the right of zero, indicating a low difficulty). Although the power function can be automatically controlled via a software application, a mechanical power button 6 may be provided to give the user control and confidence in the state of the exercise wheel 100. In an embodiment, a Bluetooth control button 5 is provided as a separate button to avoid unnecessary power cycles, rather than incorporating Bluetooth into the power button for dual functionality. In an embodiment, the Bluetooth button may be eliminated, relying on Bluetooth Low Energy (BLE) to allow a portable device to establish a connection to the exercise wheel. This feature will be particularly beneficial in public gyms, personal training or physical therapy facilities because the user can walk up to the exercise wheel and quickly establish communication with the exercise wheel.

[0046] Other elements of the interface 255 may include: visual status communication means (LEDs 2 on the wheel rim) and tactile feedback (motor control signals cause movement that the user can feel on the handles). Another interactive user interface element may include an exercise digital interface 250 (i.e., a smartphone application) executed on the user's smartphone and configured to wirelessly send user input and control commands to the microcontroller 210.

[0047] The LEDs 2 mounted on the wheel rim can be controlled by the microcontroller 210 to convey information about different states of the wheel (e.g., low battery, full repeat, Bluetooth connection status, etc.) to the user through different colors, patterns and animations (e.g., see Table 1 below).

[0048] Table 1. LED feedback

[0049]

[0050]

[0051] Text description

[0052]

[0053] In an embodiment, LEDs 2 are specifically placed on the edge of the wheel to maximize their presence in the user's field of view. In an embodiment, as further described herein, the exercise wheel may be configured to provide tactile feedback via a "flutter" command (see §2.4.2.4) to specify wheel status. In an embodiment, smartphone app 250 may also be configured to operate in conjunction with the exercise wheel as a digital interface to communicate exercise progress and health statistics in more detail.

[0054] §2.3 Electrical

[0055] In an embodiment, the two circuit boards contain the electronics onboard exercise wheel 100 for controlling its operation. It is well understood that the two boards may be combined into one or split into more than two for any reason including improved packaging or reduced cost.

[0056] §2.3.1 Microcontroller

[0057] like Figure 3 As shown, and as described above, in an embodiment, microcontroller 210 receives user input via selection dial (arrow 301) and digital interface 250 (arrow 302) and controls the operation of the exercise wheel accordingly. Similarly, the microcontroller can be configured to output information related to the operation of the exercise wheel via LED 2 (arrow 305) and digital interface 250 (arrow 306).

[0058] The microcontroller 210 connected to the motor 9 is configured to control the motor torque during exercise. References to "microcontroller" in this document may refer to: a) a single microcontroller or microprocessor that performs one or more of the functions; b) multiple microcontrollers or microprocessors that perform different functions in unison; or c) a mixture of microcontrollers or microprocessors that perform different functions in unison. It should also be understood that references to microcontrollers may include other types of custom or pre-programmed logic devices, circuits, or processors, such as programmable logic controllers (PLCs), computers, software, or other circuits (e.g., ASICs, FPGAs) that are configured by code or logic to perform their assigned tasks.

[0059] like Figure 3 As shown, in an embodiment, the microcontroller 210 is part of the motor drive circuit identified by the connection marked 304. More specifically, the motor controller module 214 of the microcontroller controls a two-phase or three-phase bridge, which controls the voltage / current provided to the brushed or brushless motor 9. Brushless motors are preferred for smoother operation. The motor drive circuit also includes a feedback loop. When the user exercises with the fitness wheel, a feedback loop including a combination of sensors (e.g., Hall sensors, magnetic sensors, current sensors, and encoders) relays motor position and current data to the controlling microcontroller unit 210. In an embodiment, the feedback loop of the motor drive circuit may include a current sensor 270 with signal conditioning. This feedback loop is in place to ensure that the motor follows the correct torque curve along the exercise path.

[0060] §2.3.2 Batteries and battery management chips

[0061] In a preferred embodiment, the electronics are powered by a battery 240 which is powered by the battery management electronics (230, Figure 2 ) management. In an embodiment, microcontroller 210 includes two microprocessor units, motor controller 214 and supervisory controller 212. Supervisory controller 212 communicates with motor controller 214 and peripheral devices, which include user interface devices (e.g., LED driver 280 for driving LED 2) in addition to other electronic hardware components.

[0062] In an embodiment, the motor controller 214 manages control of the device's brushless DC (BLDC) motor 9. In addition, the motor controller utilizes gate drives and a three-phase bridge 260 to control the brushless three-phase motor 9. The supervisory controller 212 processes user input from a peripheral device (such as a rotary dial 4) or input received from a smartphone application 250 via Bluetooth. In some embodiments, the supervisory controller 212 communicates with the motor controller via a bus (such as an SPI bus) that conveys information such as requested state changes or exercise measurements. Note that this architecture is an example, however, many related alternatives are possible, for example, one MCU can be used for both motor control and user interface, and different motor types (induction, brushed DC, variable reluctance, etc.) can be used without departing from the scope of the present disclosure.

[0063] In order to properly control the motor 9, one or more sensors (e.g., sensor 215, Figure 2 ; Sensors 270, 275, Figure 3 ) can be used to collect information about one or more movement variables of microcontroller 210 and its software. The information measured by the sensor and used by the microcontroller to control the motor may include position information, which represents a spatial and / or temporal variable (e.g., displacement, velocity, acceleration, etc.) about the movement of exercise wheel 100. For example, in an embodiment, position sensor 275 may include a rotary encoder for measuring the angle of motor 9. In an embodiment, position sensor 275 may include a Hall effect or magnetic sensor to measure the angle of the motor within the phase. Based on this position information, motor controller 214 can calculate the angle, velocity (number of revolutions over time) and acceleration (e.g., rate of change of velocity) of the motor for commutating and controlling the exercise of the motor. It should be understood that, in addition or alternatively, Hall effect sensors, magnetic sensors, or any other suitable position feedback sensors may be used for this function. It should be understood that references to position sensors are not limited to sensor devices and may include estimators configured to estimate a given variable based on other measured information. The information collected by the sensor and used to control the motor may also include motor output variables, such as torque. Sensors that may be used to measure the torque output may include, for example, a current sensor (eg, sensor 270 ) configured to measure the torque producing current of the motor that is representative of the torque output.

[0064] §2.3.3 Power Electronic Devices

[0065] In an embodiment, Figure 3As shown, microcontroller 210 (particularly motor controller 214) can use a pulse width modulation (PWM) peripheral to send switching commands using field effect transistors (FETs, not shown) to a three-phase inverter including three half-bridges 260. The inverter modulates the voltage to the motor to control it.

[0066] §2.4 Software

[0067] In the motor feedback loop ( Figure 2 Connection 203 and Figure 3 In connection 304 of FIG. 1 , software executed in microcontroller 210 (particularly motor controller 214) configures microcontroller 210 to generate a "target" torque command (which can be expressed as a fraction of the torque-producing current). The torque command controls the output torque of the motor drive, thereby defining the user's exercise experience. By defining the torque as a function of certain variables (see §2.4.2.2), the resulting characteristic motor response is used to challenge the user to exercise in different ways.

[0068] §2.4.1 Motor Control

[0069] In an embodiment, the output torque (τ) of the brushed DC motor driver may be expressed as follows:

[0070] τ=I a k T , Equation 1.1

[0071] Among them, I a is the armature current, k T is the torque constant (depending on the motor). In the case of vector control of a three-phase motor, I a is the DQ-current (I q ) is the torque generating component. It is important to note that I in Equation 1.1 a The size of is bounded such that:

[0072] τ max =I a，max k T ,

[0073] τ min =-I a，max k T , Equation 1.2.1-2

[0074] Among them, I a，max is the maximum operating torque producing current, which is determined by the limitations of the motor 9, the electronics 220, and the battery 240. a Probably no more than I a，max or -I a，max , I a Will always be Ia，max The score is shown by the following relationship:

[0075]

[0076] The torque-generating current (I*) is defined in dimensionless form a ), and manipulating this variable allows increased utilization of the precision of the digital representation used in the microcontroller / software 210. By controlling the motor using the DQ formula [1], the motor controller 214 can control the current by commanding the current I q Components (Group I q →I a ) commands the motor torque. An angle sensor (encoder, Hall effect, magnetic, etc.) is used to calculate the D and Q directions and align the currents.

[0077] §2.4.2 Structure

[0078] In an embodiment, the different algorithms for controlling the motor 9 are organized to assist in developing and implementing programmed exercises through a selective combination of various algorithms. "Exercises" are the most general and are defined by information such as (but not limited to):

[0079] 1. The user's "form" as determined from one or more measured parameters

[0080] Or the sequence of movements: how far the user moves the wheel forward or backward; whether the movement is forward or backward or to one side or the other; whether the user is kneeling or standing, etc.

[0081] 2. "Trajectory" - in the context of this disclosure refers to the torque command (or current) in the exercise wheel. Note that the torque trajectory is not necessarily static - the wheel torque can and usually does vary with respect to one or more space / time variables (including, for example, displacement, velocity, time, etc.). The trajectory (the torque curve during a repetition (rep)) is constructed from one or more "profiles" and "events". The trajectory is typically implemented algorithmically - by combining parameters with the profile equation and conditions measured by the wheel. As non-limiting examples, the trajectory can be represented in the form of a digital table, one or more parameterized equations, etc., or a combination of the foregoing.

[0082] a. A curve is a curve that plots torque against a measured parameter (such as speed or position or time)

[0083] A function (also called a "curve") associated with a spring can be represented as a curve - torque as a function of distance from an initial position. The trajectory can be a continuous curve or a series of curves stitched together, for example, a linear spring for a certain distance (a first curve) followed by a nonlinear spring for another distance (a second curve). As non-limiting examples, the curve can be represented in the form of a numerical table, one or more parameterized equations, etc., or a combination of the foregoing.

[0084] b. An "event" is a change in torque or curve that is triggered by some condition. For example, increasing the torque to help the user return to the original position would be an event. Also, transitions between curves (to avoid sudden torque changes) would be events. Events can be used to convey information to the user (e.g., haptic tremors). Events can be juxtaposed with curves or other events, or superimposed on curves. For example, haptic tremors (§2.4.2.4) can be superimposed on curves.

[0085] These and other algorithms for controlling the motor may be stored in a non-transitory computer readable storage medium (not shown) that is accessible to the microcontroller to enable execution during use. In embodiments, the digital interface 250 may also be configured to store exercises, tracks, curves, events, and other such motor control algorithms, and provide selected algorithms to the microcontroller for local storage and implementation.

[0086] The user's form plays a key role in dictating what muscle groups receive activity throughout the workout, regardless of trajectory and events. In an embodiment, the training software matches the trajectory to the proposed user's form (movements) so that the user can perform the recommended exercises (usually by performing "reps").

[0087] §2.4.2.1 User form

[0088] The following is a discussion of user form and how form factor enters into motor control.

[0089] For illustrative purposes, a computer simulation of exercise wheel 100 and a user is used to generate Figures 4 to 8 A "tin man" exercise simulation and animation depicted in Figure 1. Representative body part lengths, masses, and joint angles correspond to actual human subjects. Visual targets were mounted on test subjects while an exercise wheel was used and the subjects were recorded with a camera. The joint angles used in the simulation were obtained from analysis of videos of human subjects performing the exercise. Figures 4 to 8 The position of the user in a 3-D animation created by a simulation of performing an exercise at joint angles based on the above video analysis is shown. Figures 4 to 8Also shown in dashed lines are the paths of the user's hips and shoulders and the center of the wheel during the exercise.

[0090] If exercise wheel 100 is inactive, the torques produced by the muscles at the subject's shoulder joint 405, hip joint 410, and wrist joint 415 during exercise are primarily caused by the pull against gravity. These torques vary with the user's morphology during exercise. In addition, if the exercise wheel is active, the working torques occurring at the subject's joints may be altered by the exercise wheel. The exercise wheel may assist or hinder (resist) the user's movements.

[0091] Muscles can only generate tension in tendons, i.e., they can only pull. In the body, different muscle groups are arranged antagonistically to generate positive and negative torques acting at the subject's joints. Thus, when the sign of the torque changes from positive to negative, the main muscle group used changes as the exercise begins, for example, from the back muscles to the abdominal muscles.

[0092] Fig. 9 The displacement (d) of the center of the exercise wheel during exercise is plotted in FIG. This graph can be used to correlate the position of the wheel (and the user's form) during exercise.

[0093] As an example, Fig.10 The torque (τ) that the exercise wheel motor can apply to the wheel is plotted in . Specifically, Fig.10 Three cases of torque applied by the simulated exercise wheel are illustrated: (1) no assistance, 0 N·m (represented by squares), (2) maximum assistance, -6 N·m (represented by circles), and (3) maximum resistance, +6 N·m (represented by triangles). Note that the applied torque also appears as the torque at the user's wrist with the opposite sign. Furthermore, while the examples show a constant torque being applied, it should also be noted that during exercise, the torque applied by exercise wheel 100 under the control of microcontroller 210 may vary anywhere between the maximum assistance value and the maximum resistance value.

[0094] If the exercise wheel 100 is inactive, the motor applies 0 N·m torque, otherwise the motor can apply anywhere between positive full torque and negative full torque. In an embodiment, the maximum torque is between 6 N·m and 16 N·m. In the simulations shown herein, the maximum torque was selected to be only 6 N·m, so the torques in the figure range from +6 N·m and -6 N·m torques, depending on programming. The torque applied by the motor results in opposite reaction torques of -6 N·m and +6 N·m at the exercise wheel handles, respectively. In addition to the reaction torque, a horizontal force is generated at the wheel-floor interface, for example, Fx = (-6 N·m / wheel radius). The horizontal force also appears at the exercise wheel handles and acts on the subject.

[0095] Both the torque and force at the exercise wheel handles change the joint torque to be produced by the various muscle groups. Changing the radius of the wheel changes the ratio between the force and torque at the handles. For the same torque, a smaller radius produces a larger force.

[0096] Fig.11 The hip joint torque generated by the muscle groups during the simulated exercise is plotted. Three curves are plotted, the middle curve is for an applied 0 N·m motor torque, the upper curve is for an applied -6 N·m motor torque, and the lower curve is for an applied +6 N·m motor torque. For this simulation, the wheel radius was set to 4 inches (8 inch diameter).

[0097] As the curve crosses the zero torque level, the primary muscle group changes from the back muscles to the abdominal muscles. Thus, at the beginning and end of a workout, the motor torque can be adjusted to change the workout of the back muscles, while during the middle of a workout, the motor torque can be adjusted to change the workout of the abdominal muscles.

[0098] Many different modifications are possible by selectively adjusting the motor torque by the microcontroller 210. Back muscle exercise can be minimized or maximized at the extremes of the exercise cycle (i.e., when the back muscles are the primary muscle group), and separately but during the same exercise sequence, abdominal muscle exercise can be maximized or minimized in the middle of the exercise (i.e., when the abdominal muscles are the primary muscle group).

[0099] It will be appreciated that for a novice, minimizing the exercise of the back and abdominal muscles will make the exercise easier (or perhaps even possible). For an experienced user, maximizing the exercise of the back and abdominal muscles will make the exercise most challenging and beneficial. Minimizing the exercise of the back muscles alone will only benefit users with sensitive back muscles.

[0100] In addition to minimizing or maximizing, in embodiments, the working joint torque can be "leveled." More specifically, the microcontroller 210 can be configured to selectively adjust the motor torque so that the working joint torque remains as close as possible to a set level that challenges a given user. Thus, the user will gain as much benefit as possible from each cycle of exercise.

[0101] Fig.12 The shoulder joint torques generated by the muscle groups during the simulated exercise are plotted. Three curves are plotted, the middle curve is for an applied 0 N·m motor torque, the upper curve is for an applied -6 N·m motor torque, and the lower curve is for an applied +6 N·m motor torque.

[0102] In addition to being minimized, maximized, and leveled (as working hip torque), working shoulder torque can be used as a constraint to limit the stress on muscle groups associated with positive and negative working shoulder torques.

[0103] In summary, microcontroller 210 may be configured to selectively adjust motor torques such that hip working joint torques, shoulder working joint torques, and wrist working joint torques may be maintained within limits while optimizing exercise benefit for a given user.

[0104] Human subjects tend to adjust to a given biomechanical task so that their muscle energy expenditure is minimized. This adjustment takes some time, so it is expected that users will need an adjustment period when making program changes.

[0105] §2.4.2.2 Curve

[0106] The curve is the building block of the torque trajectory that exercise wheel 100 follows throughout the exercise. Broadly speaking, the curve can define the torque applied by motor 9 as a function of motion variable data, which can include data determined by position (e.g., displacement, velocity, etc.), or data determined by time.

[0107] The curve may include a spatial curve that defines the torque producing current of the motor and therefore the torque output of the motor as a function of the position of the wheel. As described above, the wheel position input data may be measured using a position sensor (e.g., 275). In an embodiment, the wheel position input data may be differentiated with respect to time (m times) and the resulting quantity may be raised to a power (n) to provide different torque curve variants. An overall gain factor (α) is applied to scale the torque curve, thereby generating a family of intensities for a given characteristic torque curve:

[0108]

[0109] Equation 2.1 can be expanded to more rigorously show the variables and calculations necessary to provide the appropriate torque-producing current—and therefore output torque—to be commanded (Equation 2.2).

[0110]

[0111] The "maximum" term in the denominator is experimentally determined. While the numerator in equation 2.2 is based on sensor data measured throughout the exercise, the denominator (e.g., maximum position, maximum speed, etc.) is preferably specified before starting the exercise. There are two main methods for providing this information to the microcontroller 210 software: it can be manually entered by the user through a user interface (e.g., via digital interface 250 or physical interface 255 on exercise wheel 100) (or indirectly calculated from manual input); and / or programmed into the microcontroller as a default value (e.g., maximum position obtained from average human deployment distance, maximum speed obtained from safest exercise speed, etc.). Data can be automatically collected while the wheel is in use, and an upper limit for this term determined.

[0112] Each characteristic torque curve (defined by constants m and n) is represented by a function β(α, x), where position (x) drives the curve and a scaling factor (α) amplifies the curve. The dimensionless value from the function β(α, x) produces a current I specific to the motor's maximum torque. a,max (constant) scaled to provide the value in physical units I q The torque-generating current required for (α,x):

[0113] I q (α,x)=β(α,x)I a,max . Equation 2.3

[0114] In an embodiment, the curve generated using the above formula can be designed to simulate physical phenomena. Table 2 below describes three example space curves, their respective variables and control equations. In the examples in the table below, the curves are configured to mimic the characteristics of springs and dampers. The scaling factor (α) is shown to represent the spring constant (k) and the damping constant (c), which are also limited to the interval [-1,1].

[0115] Table 2. Example of position-dependent curves (positive x direction)

[0116]

[0117]

[0118] Similar to the position-based curves, a set of time-based curves can be created by constraining the torque-producing current as a function of time:

[0119]

[0120] Equation 3.1 can be expanded and rearranged to solve for the maximum torque producing current (I a,max ) fraction of the torque-producing current (I a ):

[0121]

[0122] has a time period T and an exponent n. Configuring the constants (T,n) in Equation 3.2 changes the characteristics of the resulting torque curve. Each characteristic torque curve is represented by a function γ(α,t), where time (t) drives the curve and a scaling factor (α) amplifies the curve. Similar to the spatial curve, the dimensionless function γ(α,t) generates the current I from the maximum torque of the motor a,max (Constant) scaling (Equation 3.3). Result I q (α,t) is in physical units I q (a, x) represents the desired torque producing current.

[0123] I q (α,t)=γ(α,t)I a,max Equation 3.3

[0124] For example, where a user is guided through an exercise at a predetermined speed, a time curve (torque as a function of time) may be applied.

[0125] §2.4.2.3 Trajectory

[0126] The human body is composed of a complex system of muscles. Sometimes, as described above in Section 2.4.2.1, a simple torque curve relationship is not optimized for consistent muscle activity throughout a workout. Other times, the torque curve may get in the way of achieving the desired workout experience. Therefore, in an embodiment, multiple torque curves (and / or events) may be combined to optimize a user's workout. Trajectories constructed by combining torque curves and events may be pre-programmed into the microcontroller 210 or sent to the microcontroller from the digital interface 250.

[0127] In an embodiment, the microcontroller 210 may be configured to use a linear combination of the above torque curves to construct a new complex curve using a weighting function:

[0128]

[0129] Among them I a,total is the total combined torque producing current, w i is the weight of each, I a,i is the torque producing current specific to each curve. The weights can be a combination of positive and negative values, as long as I a,total In the interval [-1,1]. The overlapping torque curves produce complex torque relationships ( Fig.13 ), which in some cases provides a smoother workout experience.

[0130] In embodiments, the torque curves may be further combined in a piecewise manner so that certain aspects of the exercise path have different characteristics. For example, a spring model may be used to smoothly increase the torque in the first 10% of the deployment so that the beginning of the reverse damper model curve does not cause too much sudden torque to the user.

[0131] Humans are good at sensing small force perturbations, so the feel of the wheel is important. An important aspect of the exercise experience that the microcontroller is to achieve is to develop a torque curve that feels smooth and conducive to exercise. In order to create a smooth curve, the microcontroller 210 is configured to "stitch" the curves together without torque discontinuities from one curve to the next. It should be understood that the above is an example method implemented by a microcontroller for combining torque curves to create complex trajectories and provide a smooth experience; variations can be used to achieve similar results that fall within the scope of the disclosed embodiments. It should be understood that, in addition or alternatively, the example steps of generating simple curves or complex trajectories by combining or adjusting curves, events, etc. can be performed by other devices that communicate with the microcontroller, such as a digital interface on 250 or another remote computing device that communicates directly or indirectly with the microcontroller 210.

[0132] For example, Table 3 below describes two example simultaneous combined trajectories, including their respective variables and control equations. Table 3. Example trajectories (positive x direction)

[0133]

[0134] §2.4.2.4 Events

[0135] As previously described, an event is a specific event selectively applied on top of a track by the microcontroller 210 in response to the detection of a specified condition along the track, i.e., a supplemental wheel torque control function. Similar to a torque curve, a supplemental torque event (or simply an "event") defines a target output torque value as a function of a motion variable (such as a spatial variable and / or a temporal variable). However, an event is intended to be applied to a portion of a workout cycle.

[0136] In an embodiment, a boost event for selectively increasing torque can be integrated on top of the original exercise trajectory, for example, in situations where a user may need an extra kick of torque to progress along the exercise. While the details of the boost implementation may vary depending on the exercise type, all boost variants generally share the same features: one or more threshold conditions required to initiate the boost; torque ramps up from current torque to target boost torque; ramps down to the original exercise curve.

[0137] For example, the microcontroller can be configured to activate an enhancement event when it is determined that the user has exceeded a certain position threshold of the outward movement of the exercise and when the user passes below a specified speed threshold. When both items are met, the enhancement event is applied on top of the basic assist torque curve. For example, as shown in the figure, when the speed of the wheel approaches zero, the enhancement event ramps the torque up to a target torque value, which is defined as a function of the difficulty of the exercise. On the way back to the rest position of the exercise, the torque will gradually rejoin the nominal curve. The enhancement gives the user an additional feeling of pushing backwards to start returning to the original position.

[0138] Fig.13 Three related graphs of exemplary assist torque trajectories / curves implemented by the fitness wheel 100 in an exemplary full cycle of exercise are illustrated. Trajectories include a combination of curves and events. A first graph 1305 illustrates the motor torque percentage over time, a second graph 1310 illustrates the wheel speed over time, and a third graph 1315 illustrates the distance covered over time. The wheel speed graph and the distance graph represent the spatial variables and time variables measured by the user during the execution of the exercise cycle. The motor torque percentage graph illustrates the percentage of the motor torque output corresponding to the distance and speed curve. The positive torque values ​​in the figure represent the torque that opposes the positive forward motion and the auxiliary return motion (assistance in exercise) of the wheel. At the top of the first graph 1305 is a series of marked modes (A)-(J) indicating the operating mode executed by the microcontroller 210. The mode transition time points in the graphs 1310 and 1315 are marked as ①-⑨. As shown, the wheel starts in standby mode (A), where the microcontroller 210 waits for movement. Once the microcontroller 210 detects that the rotation speed of the wheel exceeds a threshold value, such as 0.03 revolutions per second (marked as ① in the graph 1310) in either direction, the microcontroller 210 switches to "deadband" mode (B). In deadband mode, no torque is generated, and the microcontroller 210 waits to see how far the wheel moves. If the user stops moving, the microcontroller 210 switches back to standby mode (A) and resets. If the user continues to move in the same direction and passes, for example, the position of 0.2 turns ②, the microcontroller 210 enters cross mode (C). In cross mode (C), as the wheel moves a specified distance (e.g., from 0.2 turns to 0.4 turns), the microcontroller controls the motor torque to ramp up linearly. After the wheel distance passes the position of 0.4 turns ③, the microcontroller 210 enters "curve" mode (D). In curve mode, the microcontroller sets the motor torque according to a curve (e.g., a curve that defines torque as a quadratic function of position (e.g., torque_current = overall_gain * quadratic_gain * (position^2) / maximum_position^2)), where overall_gain varies with the selected mode (in Fig.13) changes with the quadratic_gain = 1.0, and the maximum_position = 2.0 (corresponding to appropriate values ​​for a tall adult). The quadratic function is followed until the distance traveled is at least the specified distance, for example, 0.75*maximum_position = 1.5 turns, and at the same time, the speed drops below a threshold, for example, 0.05 rev / sec④. The deceleration signals to the microcontroller 210 that the user is about to end the exercise and is stretched out. At this point, the microcontroller 210 can increase the torque by a specified amount (for example, 20%) to give the user additional assistance to start backwards and return to the starting position. To implement "Boost", the microcontroller 210 enters an enhanced ramp mode (E) and, for example, increases the torque linearly from its current value to 120% of its current value as a linear function of the speed decreasing from 0.05 rev / sec to 0.005 rev / sec. As Fig.13 As shown, the maximum allowable torque is exceeded at this time, so the torque is saturated at the maximum value. When the wheel speed drops below the set value, for example 0.005 rpm ⑤, the microcontroller 210 switches to the enhanced ramp-down mode (F). In the enhanced ramp-down mode (F), the torque is linearly scaled between the peak and the "re-engagement" value, at which time the wheel motion re-engages the original quadratic torque curve. The re-engagement point is set to 0.75*maximum_position=1.5 turns ⑥. At this position, the microcontroller 210 switches back to the curve mode (G) as described above. When the wheel position crosses below, for example 0.4 turns ⑦, the wheel returns to the crossover mode (H) as described above. When the wheel position drops below, for example 0.2 turns ⑧, the wheel switches back to the dead zone mode (I) as described above, in which the wheel motor does not output torque. In the dead zone mode, the microcontroller waits for the speed to drop to, for example, 0.01 rpm ⑨ (at which time it re-enters the standby mode (J)) and resets. This completes a complete exercise cycle.

[0139] Fig.14 Two graphs are included that illustrate exemplary drag torque curves. In particular, Fig.14 The bottom graph of shows the distance (in revolutions) traveled by exercise wheel 100 relative to the time of one repetition (or "cycle") of the exercise. Fig.14 The top graph of depicts the percentage of motor torque applied corresponding to the distance-time curve. Negative torque values ​​in this graph represent torque pulling in the direction of motion of the wheel (resistance in exercise). Fig.14 The diagram shows the torque ramping smoothly at start-up and end so that there is no torque discontinuity. Fig.14 In the embodiment shown in FIG. , the torque pulling away from the user decreases (becomes less negative) with distance to make the effort more balanced—since the user is in this position (e.g., Figure 6The extended position shown in FIG. 1 has less leverage, so the user has to fight less against the wheel as she extends more fully. The effect of reducing torque in this way is to make the user's effort more balanced throughout the exercise.

[0140] Fig.15 Included are three graphs illustrating exemplary damping torque curves. In particular, Fig.15 The bottom graph of represents the distance (in revolutions) traveled by exercise wheel 100 relative to the time of one repetition (or "cycle") of the exercise. More importantly, for this exercise, Fig.15 The middle graph of represents the speed (in revolutions per second) of exercise wheel 100 relative to the time of one repetition (or "cycle") of the exercise. Fig.15 The top graph of depicts the percentage of motor torque applied versus speed-time. Positive torque values ​​in this graph represent torque that opposes the positive forward motion of the wheel. Fig.15 In the embodiment shown in , the exercise becomes an aerobic exercise because the wheels give the user the feeling that she is moving through sand. The faster the user tries to move, the more the wheels resist the motion. Although the user technically gets "assistance" when moving forward and "resistance" when moving in reverse, the damping exercise is aerobic and difficult because the speed dependency forces the user to actively drive the wheels in both directions. Fig.15 An example of a situation with torque discontinuity at start-up and end is shown. Although it would be better to ramp the torque even in this case, the damping curve is an example where the discontinuity is not particularly noticeable or bothersome to the user. The reason is that this particular exercise is very stable - the wheel never gives the user the feeling of "running away" because it only responds to the speed input controlled by the user. The user feels the wheel suddenly start to resist her movement at start-up.

[0141] In some embodiments, the microcontroller 210 can be configured to apply a ramp event to ramp the torque at one or more positions or speeds during a workout. One way to increase muscle activity and intensity is to increase pressure near the resting position of the workout - an area of ​​the workout that is often overlooked. Therefore, the user should be met with a non-zero torque at the beginning of the workout. Directly commanding a jump in motor torque imposes an unsteady motion on the user's wrist, creating discomfort and safety risks. Instead, it is more effective to ramp the torque to the desired level; however, this is not trivial. In practice, there is a balance between the distance it takes to reach the desired torque and the intensity of the ramp. In one embodiment, the wheel has a dead zone programmed into it so that no torque is applied for a distance (e.g., 0.2 turns), there is a ramp distance (e.g., 0.4 turns) over which the torque ramps as a linear function of distance in the ramp zone (e.g., see Fig.14As an example.) The torque is zero at the beginning of the ramp-up region (0.2 revolutions in the example) and meets the curve torque at the end of the ramp-up distance (0.6=0.2 revolutions+0.4 revolutions in the example).

[0142] Additionally, smooth transitions sometimes require ramping torque over speed. Fig.13 The boost event shown shows that the torque ramps up linearly by 20% as the wheel speed drops below the threshold and reaches full torque near zero speed. The point in the ramp is Fig.13 The middle mark is the speed threshold where reinforcement begins, the zero speed point, and the point where the torque curve rejoins.

[0143] In some embodiments, the microcontroller 210 can be configured to apply a tremor event to provide feedback at one or more points during exercise. A tremor is an event implemented by rapidly switching the motor between two values ​​that deviate from the nominal torque at any position along the torque curve. The event produces a vibration across the wheel and is constructed in one embodiment as follows:

[0144] τ wheel =τ nominal +τ flutter ,

[0145] Among them, τ flutter =A flutter sin(2π flutter t). Equation 5.1.1-2

[0146] In Equation 5.1.1-2, τ flutter (τ 颤动 ) is the output torque as a function of torque-producing current and time, τ nominal (τ 标称 ) is the instantaneous command torque, f flutter (f 颤动 ) is the vibration frequency in Hertz, A flutter (A 颤动 ) is the amplitude of the vibration, τ wheel (τ 轮 ) is the total torque commanded to the wheel, and t is the time. When vibration events are patterned, certain messages may be conveyed to the user. For example, if the user has reached 100% stretch, they may feel a vibration similar to a cell phone to tactically indicate that they should roll back to the rest position and complete the exercise repetition.

[0147] Certain exercises may require the user to pause at certain points along the unwind or rewind (e.g., hold a plank, do push-ups, etc.). Therefore, in an embodiment, the microcontroller 210 may be configured to apply hold events at one or more locations during an exercise. Hold events are an important method for stopping the user in a deliberate but smooth manner. This effect is designed to mimic a wheel in a pothole in the ground (e.g., a depression that resists forward or backward movement). The hold can be a function of two variables: position and time. For a spatial curve, whether position-based or velocity-based, a hold event is defined as a time interval using the position (x*) on the exercise path. 保持 ) as a marker around which the torque is selectively modulated to create a "divot" around that location. For a time profile, the hold effect is triggered by a specified time within the exercise period. Whether the exercise is based on a space or time profile, once the hold effect is activated, it may last for a period of time before smoothly returning the torque output to nominal. Alternatively, if the user pushes over the divot, the hold can be turned off and normal operation can be resumed. An example equation is:

[0148]

[0149] Among them, τ hold (τ 保持 ) is the total holding torque, defined as being in the direction opposite to the wheel speed, and amplified by the amplitude A hold (A 保持 ). Although Equation 6.1.1 is essentially a damping relationship, the magnitude of the damping varies from the wheel to the holding position x* hold (x* 保持 ) is controlled by the proximity of the constant S hold (S 保持 ) describes τ 保持 The effective position range makes τ 保持 In the interval [x* 保持 -S 保持 ,x* 保持 +S 保持 ]middle.

[0150] §2.4.2.5 Exercise

[0151] Combining the building blocks of the above sections (§2.4.2.1-4), and supplemented with instructional information about the form of the exercise (given in a digital product, such as a smartphone app), provides the final product: the exercise.

[0152] §2.4.3 Communication

[0153] In an embodiment, the exercise wheel 100 can have Bluetooth connectivity and can be integrated with software applications for smartphones and watches. The wheel can be configured to function independently of the smartphone application using the input selection rotary dial. However, the smartphone application can enhance the user experience by adding customization, advanced exercises, and in-app training.

[0154] In an embodiment of exercise wheel 100, a separate Bluetooth and monitoring control microcontroller (e.g., 212) is configured to operate the wheel, and the detailed exercise (i.e., instantaneous motor torque) is controlled by a second microcontroller (e.g., 214). However, it should be understood that a single microcontroller can be configured to handle both functions.

[0155] §2.4.4 Security Mechanism

[0156] Because exercise wheel 100 incorporates the use of a motor, there are some inherent dangers, and therefore the exercise wheel is preferably configured to implement safety measures and protocols.

[0157] The main risk of using a motorized exercise wheel is that the motor provides unexpected torque or rotation. This may happen in the middle of an exercise if the user releases the wheel, picks it up from the floor, or the wheel slips on the ground. All three abnormal events share a single condition: a sudden increase / decrease in wheel speed. Therefore, in an embodiment, a specific speed threshold can be specified, and the microcontroller 210 is configured to shut down the wheel if the speed threshold is exceeded. Alternatively, acceleration can be used as a criterion for emergency shutdown. Alternatively, if the motor rotates too far for a particular exercise, the microcontroller can shut down the wheel.

[0158] In resistance mode, special attention must be paid to safety because the wheel is moving away from the user. In an embodiment, if the wheel travels too far (indicating an abnormal event such as the user picking up the wheel, losing grip on the wheel, or excessive wheel slippage), the wheel will shut down. The inertia of the handle 7 and stator assembly is intentionally designed to be less than the inertia of the rotor and wheel assembly, so if the user releases the wheel, the handle will rotate, but the wheel will remain in place. This is an important safety feature.

[0159] Another risk of performing wheel-based exercises with a motorized exercise wheel is overspeeding during an exercise. For a user, improperly performing the range of motion of an exercise at too much speed may cause muscle strain. Therefore, in an embodiment, to prevent overspeeding, a manually entered speed limit can be programmed into the software, and the microcontroller is configured to apply a damping effect to the wheel torque when the speed limit is exceeded. In addition, in an embodiment, if the sensor on the wheel detects that excessive force is still present (indicating abuse), the microcontroller can shut down the motor to prevent overcurrent.

[0160] §2.4.5 Reducing wrist torque

[0161] The simulations in Section 2.4.2.1 indicate that the wrist will be subject to the full torque of the wheel. This is good for building wrist strength, however, there are situations where some users want / need to reduce wrist stress. In one example, wrist torque reduction can be achieved by changing the programming of the wheel - either by reducing the torque or slowing down the application of torque. In another example, wrist torque reduction features can be selectively added to exercise wheel 100 to transfer torque from the handle to the forearm in the form of force and shear. For example, Fig.16 is a side view of an exemplary embodiment of an exercise wheel 100 including a wrist torque reduction structure 1600. Fig.16 Only one structure 1600 is shown in FIG, but it should be understood that the second wrist torque reduction structure 1600 will be similarly attached to another handle (not shown). Structure 1600 includes two members extending from handle 7. One member 1605 is coupled to the handle near the inner end of the handle near the hub, and a second member 1610 is coupled to the handle near the free end of the handle. Extending between the members is a wrist guard. The wrist guard has a central opening through which a user can insert their hand to grasp the handle. Members 1605, 1610 are coupled to the handle in a fixed relationship (i.e., so as not to rotate relative to the handle),

[0162] In another embodiment, the wrist torque structure may include wheels and / or sliders attached to the handle and configured to interact with the floor to reduce or eliminate torque depending on their compliance. Fig.17 is a side view of an exercise wheel that also includes an example embodiment of a wrist torque reduction structure 1700 that includes two ground contacting elements 1710 attached to handle 7 using brackets 1720 that are configured to maintain elements 1710 in a fixed relationship with handle 7. Although not shown, a similar wrist reduction structure may be mounted to an opposing handle.

[0163] In another embodiment, the wheels may include two, three, or four ground contacting wheels spaced apart in at least the forward / rearward direction to provide stability and eliminate wrist torque.

[0164] §2.4.6 Learning or adapting to users

[0165] The microcontroller constantly monitors the exercise being performed. It can use the data it collects to adapt the exercise to a specific user. For example, by recording the starting position and fully extended position of the exercise, the wheel can automatically adapt to the height of the user. For example, the default setting of the wheel can provide that the user has a given height, such as six feet (6'), and therefore, the torque trajectory can be implemented according to the average deployment distance of a 6' individual. However, during use, the microcontroller can determine from the sensor reading whether the actual distance of the user's deployment is consistent with the actual distance of the default setting. For example, the microcontroller can determine that the actual deployment distance corresponds to a much shorter person, such as a five-foot-tall individual. As can be understood, if the torque trajectory defines the torque as a function of distance, if the torque curve is unchanged, the portion of the torque curve close to the fully extended position will not be reached. Therefore, the microcontroller can be configured to adaptively adjust the torque curve to more optimally fit the actual distance between the starting position and the fully extended position, for example by rescaling the torque trajectory according to the actual distance.

[0166] By recording speed throughout a workout, the wheel can change settings to better control the user's speed. The wheel can use this information in conjunction with a smartphone app to encourage the user to stretch more fully, change the speed of the workout, and other improvements to the workout.

[0167] In some cases, a key to a good workout can be slow repetitions, and a user who performs repetitions too quickly may not get the full benefit of the workout and risk injury. Therefore, the microcontroller can be configured to monitor speed, and in the event that the microcontroller determines that the person is too fast during a cycle (or one or more parts thereof), the microcontroller can be configured to adaptively modulate the output torque so as to force the user to slow down. This can be achieved by the microcontroller reducing the amount of assistance provided by the wheel torque (e.g., providing less assistance) or applying torque to resist the user's movement (e.g., providing more resistance). For example, if the microcontroller is applying an assist torque trajectory and determines that the user is moving too fast during deployment, the microcontroller can increase the torque against the direction of rotation to slow the user during deployment. Similarly, if it is determined that the user is moving too fast during reeling, the microcontroller can reduce the amount of assistance (e.g., the wheel torque pushes the wheel toward the starting position) or even provide resistance as needed to slow the user down accordingly.

[0168] The microcontroller can be configured to adaptively adjust the wheel torque using various methods. For example, the microcontroller can scale the amount of torque by a scaling factor applied to one or more portions of the torque trajectory. In addition or alternatively, the microcontroller can be configured to change the torque trajectory to another torque trajectory that is more suitable for solving the situation. In some embodiments, the microcontroller can be configured to adaptively adjust the torque over the entire cycle, over one or more segments of a cycle (e.g., during the display, reel, and / or smaller portions thereof, or a combination of the above). More generally, the microcontroller can be configured to adaptively adjust the torque trajectory based on one or more parameters including speed, distance, acceleration, torque, and time related to the user's morphology. At the same time, the microcontroller can provide feedback to the user about any detected condition or torque adjustment, for example, by illuminating one or more of the LEDs or outputting a notification via an application interface to inform the user (e.g., a message "Slow down - you will be fast").

[0169] §3 Example configuration and actual scenarios

[0170] These and other features of exercise wheel 100 will be further understood from the following discussion of exemplary embodiments of an exercise wheel and how the exercise wheel may be configured to operate when used in various exemplary scenarios.

[0171] In an exemplary scenario, a user has a motorized exercise wheel 100 that is not associated with a digital interface 250. As previously described, the exercise wheel 100 can be configured to be used without the use of a digital interface 250. In this case, the microcontroller 210 software on the wheel is configured to default to a pre-programmed set of trajectories / events that can be different in assist, resistance, and neutral modes. In one embodiment, in assist mode, the applied trajectory can be a nonlinear spring model trajectory that includes an enhanced event at the end of deployment. For example, in resistance mode, the trajectory is composed of a nonlinear spring and a constant model, and there are no events. In neutral mode, the trajectory is zero torque and there are no events (i.e., no assistance or resistance provided by the motor). The built-in trajectories / events can be versatile enough to allow a user to perform a variety of exercises using different motion sequences (morphologies) without the need for an application.

[0172] In an embodiment, the user turns on the motorized exercise wheel by pressing the power button 6. The motorized exercise wheel 100 provides feedback confirming the power-on state via an animation on the wheel edge LED 2. After the animation, the wheel edge LED 2 illuminates to produce a solid white light while all the LED backlit numbers on the exercise difficulty display 3 flash together, prompting the user to select the exercise difficulty. Numbers to the left of zero flash green (indicating help), numbers to the right of zero flash red (indicating resistance); zero flashes white (indicating neutral). When the user turns the difficulty selection rotary dial 4, the flashing animation stops, and the LEDs behind the selected number are illuminated only in the appropriate color. The wheel edge LED 2 emphasizes the selection by matching the color.

[0173] The user rotates the difficulty selection rotary dial 4 clockwise to, for example, number 2; after a few seconds, the wheel edge LED 2 turns yellow, indicating that the exercise wheel 100 is ready for use. The user places the motorized exercise wheel in the start / rest position for the exercise and begins to deploy (i.e., the user stretches their body, pushing the wheel so that it rolls in a forward direction along the surface). When the microcontroller 210 on the wheel determines from the sensor data that the wheel has begun to roll, the wheel edge LED is turned off (illuminated green for the example selected mode), and the microcontroller 210 causes the motor 9 to begin a specified torque trajectory (e.g., Fig.13 trajectories).

[0174] Since the user has selected the assist mode, the motor controller 214 can be configured to default to a prescribed trajectory. For example, in an embodiment, the trajectory can be based on a quadratic spring curve so that the torque response is proportional to the square of the dimensionless distance from the start / rest position. Therefore, when the user pushes out from the start / rest position, the motor pushes in the opposite direction of the displacement. This response ensures that the user relaxes into the extended position and then helps the user get back to the beginning of the exercise. As the wheel torque increases, the microcontroller 210 makes LED 2 glow brighter. In addition, when the user reaches a threshold (e.g., exceeds the prescribed displacement from the start / rest position and is below the prescribed speed), the edge LED reaches full brightness (green) and the microcontroller 210 activates an enhancement event. This has the effect of a recoil force, helping the user to roll back in the most difficult part of the exercise (extended position). As explained in §2.4.2.4, enhancement is generated by quickly but smoothly increasing the torque above the nominal trajectory.

[0175] In another embodiment of the fitness wheel 100, the user has a motorized fitness wheel and an associated digital interface 250. When the motorized fitness wheel is used with the digital interface 250 enabled on the user's mobile device, the digital interface 250 serves as an additional interface, accompanied by additional features. Most notably, the application running on the digital interface can include a library of exercises and training libraries (exercises grouped in sequence), together with educational videos to increase the effectiveness of the user's exercise experience. During exercise, the digital interface 250 can be configured to provide a live information interface for users to check their repetition counts and exercise duration based on information provided in real time by the microcontroller 210 of the fitness wheel 100. If the user has a connected health device, information such as heart rate and estimated calorie burn can also be displayed on the application interface. The dashboard of the application can display any data related to fitness or health progress as selected by the user. The user can also be provided with the option of displaying recent and favorite exercises directly on the dashboard, so that the exercise can be easily revisited when the application is opened.

[0176] In this exemplary configuration, both the motorized exercise wheel 100 and the digital interface 250 are turned on to start the system. The user has preferably previously connected to the wheel, and as long as their smart device Bluetooth setting is turned on, the device should automatically connect to the motorized exercise wheel. The motorized exercise wheel indicates to the user that it is connected by scanning the wheel edge LED 2 with a blue light. After the scanning animation, the LED pulses in white, prompting the user to select an exercise on their device.

[0177] On digital interface 250, the user can navigate to a library of exercises and select an exercise, such as exercising their core endurance. The trajectory of the exercise can be, for example, a simple damper curve, meaning that the torque response is proportional and inverse to the speed at which the user is engaged. Upon selecting an exercise, relevant information including the trajectory, events, etc. can be transmitted to exercise wheel 100 for storage in a storage medium accessible to the processor and for implementation by the processor (e.g., microcontroller 210).

[0178] After selecting an exercise, the wheel edge LED 2 turns solid white and the LED backlight numbers on the exercise difficulty display 3 flash together, prompting the user to select a difficulty. The user can configure the exercise difficulty by using the selection dial 4 on the wheel or using the application; the latter is configured to allow the user to select non-integer values ​​(e.g., 2.5, 4.2, etc.). The user sees that the application has remembered and highlighted the most recently used difficulty: 4 for the resistance mode.

[0179] The user selects in the app to continue the difficulty they last used, and the wheel edge LED fades to yellow, indicating that the wheel is ready to use. The user places the motorized exercise wheel in the start / rest position for the exercise and begins to deploy. When the microcontroller 210 on the wheel has determined from the data received from the sensor 215 that the user has begun deployment, the wheel edge LED 2 (illuminated in yellow) turns off, and the microcontroller 210 causes the motor to begin the specified torque trajectory. For example, Fig.15 The damping mode torque is shown in FIG.

[0180] As the user pushes outward from the start / resting point of the exercise, the exercise wheel 100 responds to speed according to the torque trajectory. For example, the faster the wheel is pushed, the greater the amount of torque commanded in the opposite direction. The effect produced is as if the ground is muddy or made of sand. As the user performs each repetition, the wheel edge LED 2 lights up green if the user has exceeded a threshold distance designated as representing the full range of motion. In an embodiment, the threshold distance may be estimated based on the user's height information provided in the application. If the user decides not to share their information, the microcontroller 210 may be configured to define the threshold distance by default based on average height or a previously defined threshold distance.

[0181] In digital interface 250, the user can define the number of repetitions they want to perform before performing the exercise. If this information is provided, microcontroller 210 can be configured to perform a flutter event at the second to last repetition, thereby providing tactile feedback to remind the user that the exercise is ending.

[0182] The digital interface 250 is intended to provide exercise classes, guiding the customer through an exercise routine with continuous instructions. The application can be configured to automatically provide input to the microcontroller 210 for changing wheel settings (such as assist / resistance levels, tracks, events) and instructing the wheel to signal the user at a certain time. For example, part of the routine may be to instruct the user to hold a position (such as in a "plank" exercise) and wait for a vibration of the LED 2 and / or wheel to indicate to continue the exercise. The timing of the wheel will be synchronized with the instructions in the software application, making a seamless and fun exercise routine.

[0183] Fig.181 is a hybrid system and process flow diagram of an example embodiment of a method 1800 for operating a motor 9 (shown as motor 1801), which can be implemented by a motor controller 214 according to the present disclosure. After power-on, the motor controller 214 first orients itself by monitoring specific Hall effect sensor transitions. After orientation, the controller enters a current proportional integral (PI) control loop 1810. The motor controller measures and calculates the position (1831, 1832, 1833) of the motor, the speed (1835), and the measured current (1820). The position (e.g., rotation angle) and speed (collectively referred to as 1834) are used with a training curve 1850 to determine a DQ reference current command (1836, 1837). The current and position (1820, 1832, respectively) are provided as feedback to the PI current control loop. Specifically, a Clarke transform (1811) performed on the measured current (1820), followed by a Park transform (1812) performed on the output (1821) converts the actual {Ia, Ib, Ic} current in the stationary reference frame into the DQ current in the synchronous reference frame (1822, 1823). The DQ current is provided as an input to the PI controller 1813, 1814. The PI controller compares the actual DQ current (1822, 1823) with the reference DQ current (1836, 1837) (e.g., the desired torque) and calculates the DQ current error (i.e., the current that is closer to our reference current), and the PI controller is guided by the PI algorithm. Next, the controller outputs the DQ voltage command (1824, 1825) based on the current error (and their integration over time). The Q voltage (1825) is corrected for back EMF by the voltage decoupler 1815. The inverse Pike transform 1816 and the space vector modulator 1817 convert the DQ voltage into a PWM duty cycle (1828) for output to the three-phase inverter 1840. The three-phase inverter 1840 outputs a PWM voltage signal to the motor 1801 (1830).

[0184] The above configurations and features are non-limiting examples, and they do not include every implementation according to the disclosed embodiments. It should be understood that various combinations, substitutions and modifications of the present disclosure can be designed by those skilled in the art. The present disclosure is intended to cover all such alternatives, modifications and variations that fall within the scope of the appended claims.

[0185] The methods described herein may be performed in part or in full by software or firmware in a machine-readable form on a tangible (e.g., non-transient) storage medium. For example, the software or firmware may be in the form of a computer program comprising a computer program code adapted to perform some or all of the steps of any method described herein when the program is run on a computer or an appropriate hardware device (e.g., an FPGA), and wherein the computer program may be embodied on a computer-readable medium. Examples of tangible storage media include computer storage devices with computer-readable media (such as disks, thumb drives, flash memory, etc.), and do not include propagation signals. Propagation signals may be present in tangible storage media, but the propagation signals themselves are not examples of tangible storage media. The software may be suitable for execution on a parallel processor or a serial processor so that the method steps may be executed in any suitable order or simultaneously.

[0186] It should be further understood that throughout the several drawings, the same or similar reference numerals in the drawings represent the same or similar elements, and not all embodiments or arrangements require all components or steps described and illustrated with reference to the drawings.

[0187] The terms used herein are only used for the purpose of describing specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that when the terms "comprises" and / or "comprising" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or parts is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, parts and / or combinations thereof is not excluded.

[0188] Directional terms are used herein only for the purpose of convention and reference and should not be interpreted as limiting. However, it should be appreciated that these terms can be used with reference to an observer. Therefore, no limitation is implied or inferred. In addition, the use of ordinal numbers (e.g., first, second, third) is used to distinguish rather than count. For example, the use of "third" does not mean that there is a corresponding "first" or "second". Moreover, the wording and terms used herein are for descriptive purposes and should not be considered limiting. "Including", "comprising", "having", "containing", "involving" and variations thereof are used herein to include the items listed thereafter and their equivalents and additional items.

[0189] As used in this disclosure, the terms "a," "an," and "the" mean "one or more," unless expressly specified otherwise.

[0190] As used in this disclosure, the term "communication device" means any hardware, firmware, or software that can transmit or receive data packets, command signals, or data signals over a communication link. A communication device may include a computer or a server. A communication device may be portable or fixed.

[0191] As used in the present disclosure, the term "communication link" or "communication connection" means a wired or wireless medium that communicates data or information between at least two points. The wired or wireless medium may include, for example, a metal conductor link, a radio frequency (RF) communication link, an infrared (IR) communication link, or an optical communication link. The RF communication link may include, for example, Wi-Fi, WiMAX, IEEE802.11, DECT, 0G, 1G, 2G, 3G, 4G or 5G cellular standards, BLE, LoRaWan or Bluetooth.

[0192] As used in this disclosure, the term "computer" or "computing device" means any machine, device, circuit, component or module capable of manipulating data according to one or more instructions, or any system of machines, devices, circuits, components or modules, such as, but not limited to, a processor, a microprocessor, a microcontroller, a graphics processing unit, a central processing unit, a general-purpose computer, a supercomputer, a personal computer, a laptop computer, a handheld computer, a notebook computer, a desktop computer, a workstation computer, a server, a server cluster, a computer cloud, or an array of processors, microprocessors, microcontrollers, central processing units, general-purpose computers, supercomputers, personal computers, laptop computers, handheld computers, notebook computers, desktop computers, workstation computers or servers.

[0193] As used in the present disclosure, the term "computer-readable medium" means any storage medium that participates in providing data (e.g., instructions) that can be read by a computer. Such media can take many forms, including non-volatile media and volatile media. Non-volatile media can include, for example, optical or magnetic disks and other persistent memories. Volatile media can include dynamic random access memory (DRAM). Common forms of computer-readable media include, for example, floppy disks, flexible disks, hard disks, tapes, any other magnetic media, CD-ROMs, DVDs, any other optical media, punch cards, paper tapes, any other physical media with hole patterns, RAM, PROMs, EPROMs, FLASH-EEPROMs, any other memory chips or boxes, carriers, or any other media from which a computer can read. Computer-readable media can include "clouds", which include distributed files across multiple (e.g., thousands) of memory caches on multiple (e.g., thousands) computers.

[0194] Various forms of computer-readable media may be involved in carrying the sequence of instructions to a computer. For example, the sequence of instructions (i) may be delivered to a processor from a RAM, (ii) may be carried via a wireless transmission medium, or (iii) may be formatted according to a variety of formats, standards, or protocols, including, for example, Wi-Fi, WiMAX, IEEE 802.11, DECT, 0G, 1G, 2G, 3G, 4G or 5G cellular standards, BLE, LoRaWan, or Bluetooth.

[0195] As used in this disclosure, the term "database" means any combination of software or hardware, including at least one application or at least one computer. The database may include a structured collection of records or data organized according to a database model, such as but not limited to at least one of a relational model, a hierarchical model, or a network model. The database may include a database management system application (DBMS) as known in the art. The at least one application may include, but is not limited to, an application that can accept a connection to a service request from a client, such as by sending a response back to the client. The database may be configured to run at least one application, often under heavy load, unattended, and for extended periods of time with minimal human guidance.

[0196] As used in this disclosure, the terms "including," "comprising," and variations thereof mean "including but not limited to," unless expressly stated otherwise.

[0197] As used in the present disclosure, the term "network" means, but is not limited to, at least one of, for example, a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a personal area network (PAN), a campus network, a corporate network, a global area network (GAN), a broadband area network (BAN), a cellular network, or the Internet, any of which may be configured to communicate data via a wireless or wired communication medium. These networks may run various protocols, not limited to TCP / IP, IRC, or HTTP.

[0198] As used in the present disclosure, the term "server" means any combination of software or hardware, including at least one application or at least one computer, that performs services for connected clients as part of a client-server architecture. At least one server application may include, but is not limited to, for example, an application that accepts connections to service requests from clients by sending responses back to the client. The server may be configured to run at least one application, often under heavy load, unattended, and for extended periods of time with minimal human guidance. The server may include multiple computers that are configured such that at least one application is divided between the computers based on workload. For example, under light load, at least one application may run on a single computer. However, under heavy load, multiple computers may be required to run at least one application. The server or any computer (if it is a computer) may also be used as a workstation.

[0199] As used in this disclosure, the term "transmission" means the transfer of signals via electrical, acoustic, optical, and other electromagnetic emissions, such as those generated by communications in the radio frequency (RF) or infrared (IR) spectrum. Transmission media for such transmissions may include coaxial cables, copper wire, and optical fiber, including wires having a system bus coupled to a processor.

[0200] Unless expressly specified otherwise, devices in communication with each other need not be in continuous communication with each other. In addition, devices in communication with each other may communicate directly or indirectly through one or more intermediaries.

[0201] Although process steps, method steps, or algorithms may be described in either a sequential or parallel order, such processes, methods, and algorithms may be configured to work in an alternating order. In other words, any sequence or order of steps that may be described in a sequential order does not necessarily indicate a requirement to perform the steps in that order; some steps may be performed simultaneously. Similarly, if a sequence or order of steps is described in a parallel (or simultaneous) order, such steps may be performed in the order of the sequence. The steps of the processes, methods, or algorithms described in this specification may be performed in any practical order.

[0202] When a single device or article is described, it will be apparent that more than one device or article may be used in place of the single device or article. Similarly, where more than one device or article is described, it will be apparent that a single device or article may be used in place of the more than one device or article. The functions or features of a device may alternatively be embodied by one or more other devices that are not explicitly described as having such functions or features.

[0203] The above-described subject matter is provided by way of illustration only and should not be construed as limiting. Various modifications and changes may be made to the subject matter described herein without following the illustrated and described example embodiments and applications, and without departing from the true spirit and scope of the invention covered by this disclosure, and by structures and functions or steps equivalent to those stated.

Claims

1. A motorized exercise wheel for performing an exercise having at least one cycle in which a user rolls the wheel in a forward direction along a surface from a generally resting position to an extended position and then in a rearward direction along the surface from the extended position toward the resting position, thereby forming the cycle, the motorized exercise wheel comprising: a wheel assembly including a ground-contacting element configured to contact the surface and rotate about an axis in a forward rotational direction or a rearward rotational direction to roll along the ground in a forward direction or a rearward direction; a first handle and a second handle, the first handle and the second handle being configured to receive each hand of a user, the first handle and the second handle extending outwardly from a side of the wheel assembly; a motor coupled to the wheel assembly and configured to apply an output torque to the ground-contacting element in the forward rotational direction or the rearward rotational direction; a microcontroller comprising one or more processors and configured to control the output torque of the motor; a sensor in communication with the microcontroller and configured to determine a variable of movement of the exercise wheel; as well as A non-transitory computer-readable storage medium accessible by the microcontroller, wherein the microcontroller is further configured to control the output torque of the motor during the exercise cycle based on the determined movement variable.

2. The motorized exercise wheel of claim 1, wherein: The storage medium includes one or more torque trajectory parameters including a torque curve that defines a target output torque value as a function of the shift variable and the one or more torque trajectory parameters.

3. The motorized exercise wheel of claim 2, wherein: The torque curve is one or more of: A spatial torque curve defines the target output torque value as a function of a spatial variable, the spatial variable including one or more of position information and speed information.

4. The motorized exercise wheel of claim 2, wherein: The torque curve is one or more of: a spatial torque curve defining the target output torque value as a function of a spatial variable, the spatial variable including one or more of position information and speed information, and A time torque curve defines the target output torque value as a function of a time variable, wherein the time variable is time.

5. The motorized exercise wheel of claim 2, wherein: The one or more torque trajectory parameters include a combined plurality of torque curves, wherein the generated combined torque curve defines the target output torque value as a function of one or more of a spatial variable and a temporal variable.

6. The motorized exercise wheel of claim 5, wherein: The plurality of torque curves are based on a weighting function and one or more of a piecewise combination and a linear combination.

7. The motorized exercise wheel of claim 2, wherein: The microcontroller is configured to monitor the movement variable to detect an occurrence of a specified condition and, in response to detecting the occurrence, control the output torque of the motor during a portion of the exercise cycle based on the torque curve in combination with a supplemental torque event, wherein the supplemental torque event defines the target output torque for the portion of the exercise cycle as a function of the movement variable.

8. The motorized exercise wheel of claim 1 , further comprising a sensor in operable communication with the microcontroller, the sensor configured to measure information representative of the output torque of the motor, wherein: The sensor is arranged to feed back measured information to the microcontroller, and wherein the microcontroller is configured to control the output torque of the motor as a function of the measured sensor information.

9. The motorized exercise wheel of claim 1, wherein: The sensor comprises a position, velocity, current or voltage sensor, and wherein the movement variable is one or more of displacement, velocity and acceleration.

10. The motorized exercise wheel of claim 9, wherein: The sensor is of a type selected from a rotary encoder, a Hall effect sensor, a magnetic sensor, a current sensor, and a voltage sensor.

11. The motorized exercise wheel of claim 1 , wherein: The torque curve defines the target output torque value according to a function simulating one or more of a linear spring, a non-linear spring, a linear damper, a non-linear damper, and a constant torque.

12. The motorized exercise wheel of claim 1, wherein: The first handle and the second handle are in fixed relationship with the shaft.

13. The motorized exercise wheel of claim 1 further comprising: a user interface in operable communication with the microcontroller and configured to receive user input indicative of one or more of a plurality of exercise parameters, a plurality of torque trajectory parameters stored in the storage medium; as well as Wherein, the microcontroller is configured to select a torque trajectory parameter from a plurality of torque trajectory parameters based on the one or more exercise parameters and control the output torque of the motor according to the selected torque trajectory parameter.

14. The motorized exercise wheel of claim 13, further comprising: The wheel assembly includes a first hub cap on a first side of the wheel assembly and a second hub cap on a second side of the wheel assembly opposite the first side; as well as The user interface is mounted to the handle or hub cap, wherein the user interface allows selection among a plurality of settings, wherein the plurality of settings respectively correspond to the plurality of exercise parameters.

15. The motorized exercise wheel of claim 13, further comprising: The user interface includes a rotary selector dial mounted to the first hub cap and rotatable about the first handle between a plurality of rotational positions, wherein the plurality of rotational positions respectively correspond to the plurality of exercise parameters.

16. The motorized exercise wheel of claim 13, wherein: The plurality of exercise parameters include an exercise mode and a difficulty level, the exercise mode including a resistance mode or an assistance mode, wherein, in the assist mode, the microcontroller controls the output torque of the motor so as to make it easier for the user to exercise, and Wherein, in the resistance mode, the microcontroller controls the output torque of the motor to make it harder for the user to exercise.

17. The motorized exercise wheel of claim 1, wherein: The microcontroller is configured to shut down the motor in response to detecting an abnormal event.

18. The motorized exercise wheel of claim 1, wherein: The microcontroller is configured to increase torque to provide a damping effect in response to detecting a wheel speed exceeding a specified maximum speed.

19. The motorized exercise wheel of claim 1, wherein: The microcontroller is configured to generate a first torque trajectory in the forward direction and a second torque trajectory in a reverse direction, wherein the first torque trajectory and the second torque trajectory are different.

20. The motorized exercise wheel of claim 1, wherein: The microcontroller is configured to generate a torque increase at a point in the exercise.

21. The motorized exercise wheel of claim 1, wherein: The microcontroller is configured to generate tactile feedback for the user.

22. The motorized exercise wheel of claim 1, wherein: The microcontroller is configured to maintain wheel position approximately at a point in the exercise.

23. The motorized exercise wheel of claim 1, wherein: LED lights are used to provide visual feedback to the user before, during or after the exercise.

24. The motorized exercise wheel of claim 1, comprising structure configured to reduce wrist torque mounted to at least one of the first handle and the second handle.

25. The motorized exercise wheel of claim 2, wherein: The microcontroller is configured to learn from and adapt to the user.

26. The motorized exercise wheel of claim 2, wherein: The torque trajectory is based on the user's morphology, with the torque trajectory parameters targeting different muscle groups during different phases of the workout.

27. The motorized exercise wheel of claim 26, wherein: The torque trajectory parameters place loads on different muscle groups based on the user's training level, physical condition or physical limitations.

28. The motorized exercise wheel of claim 1, wherein: The motor includes a stator and a rotor, and wherein the first and second handles and the stator have a rotational inertia that is less than the rotational inertia of the rotor and the wheel assembly, so that when the user releases the first and second handles during the exercise, the first and second handles rotate while the wheel assembly remains substantially in place.

29. A method of operating a motorized exercise wheel for performing an exercise having at least one cycle in which a user rolls the wheel in a forward direction along a surface from a generally resting position to an extended position and then in a rearward direction along the surface from the extended position toward the resting position, thereby forming the cycle, the wheel having a wheel assembly including a ground contacting element, a motor coupled to the wheel assembly, first and second handles extending from the wheel assembly for manipulation by the user, and a microcontroller, the method performed by the microcontroller comprising: determining, using a sensor, a movement variable regarding the movement of the exercise wheel during exercise, the movement variable being determined by the sensor throughout the at least one cycle, determining a target output torque for the motor based at least in part on the movement variable; as well as The output torque of the motor is controlled during an exercise cycle as a function of the target output torque.

30. The method of claim 29, wherein: The target output torque is determined based on one or more torque trajectory parameters including a torque curve that defines the target output torque as a function of the shift variable determination and the one or more torque trajectory parameters.

31. The method according to claim 30, wherein: The torque curve is one or more of: a spatial torque curve defining the target output torque as a function of a spatial variable, the spatial variable including one or more of position information and speed information, and a time torque curve defining the target output torque as a function of time.

32. The method according to claim 31, wherein: The one or more torque trajectory parameters include a plurality of torque curves, wherein the generated torque curves define the target output torque as a function of one or more of the spatial variable and the temporal variable.

33. The method of claim 32, wherein: The plurality of torque curves are one or more of piecewise combined and linearly combined based on a weighting function.

34. The method of claim 29, wherein: The sensor comprises a position, velocity, voltage or current sensor and wherein the movement variable is one or more of displacement, velocity and acceleration.

35. The method of claim 30, wherein: The torque curve defines the target output torque according to a function simulating one or more of a linear spring, a non-linear spring, a linear damper, a non-linear damper, and a constant torque.

36. The method of claim 30, further comprising: monitoring the movement variable to detect the occurrence of a predetermined condition; as well as responsive to detecting the occurrence, controlling the output torque of the motor during the portion of the exercise cycle based on the torque curve in conjunction with a supplemental torque event, Wherein the supplemental torque event defines the target output torque for a portion of the exercise cycle as a function of one or more of movement variable measures.

37. The method of operating a motorized exercise wheel of claim 29, further comprising: receiving a torque measurement from a sensor, the torque measurement representing the output torque of the motor; as well as The output torque of the motor is controlled as a function of the received torque measurement.

38. The method of claim 34, wherein: The sensor is of a type selected from a rotary encoder, a Hall effect sensor, a magnetic sensor, a current sensor, and a voltage sensor.

39. The method of claim 29, further comprising: receiving, via a user interface in operative communication with the microcontroller, a user-selected exercise parameter among a plurality of exercise parameters, and The output torque of the motor is controlled according to the selected exercise parameters.

40. The motorized exercise wheel of claim 39, wherein: The multiple exercise parameters include an exercise mode and a difficulty level, the exercise mode including a resistance mode or an assist mode, wherein, in the assist mode, the output torque of the motor is controlled to make it easier for the user to perform the exercise, and wherein, in the resistance mode, the output torque of the motor is controlled to make it more difficult for the user to perform the exercise.

41. The method of claim 29, further comprising: Torque is increased to provide a damping effect in response to detecting a wheel speed exceeding a predetermined maximum speed.

42. The method of claim 30, further comprising: A first torque trajectory parameter in the forward direction and a second torque trajectory parameter in a reverse direction are generated, wherein the first torque trajectory parameter and the second torque trajectory parameter are different.

43. The method of claim 29, further comprising: A torque increase is generated at the point of the exercise.

44. The method of claim 29, further comprising: In response to detecting the occurrence of a specified event, tactile feedback is generated to the user.

45. The method of claim 29, further comprising: The wheels are held in a given position at a given point in the exercise.

46. ​​The method of claim 29, further comprising: The user's form is monitored during the exercise based on the movement variables, wherein the microcontroller is configured to learn from and adapt to the user.

47. The method of claim 46, further comprising: One or more torque trajectory parameters are selected, wherein the torque trajectory parameters are selected based on the morphology of the user and the torque trajectory parameters target different muscle groups during different phases of the workout.

48. The method of claim 47, wherein: The torque trajectory parameters apply loads to different muscle groups based on the user's training level, physical condition, or physical limitations.

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