Upper limb rotation exercise device

Abstract

The invention relates to an upper limb rotation exercise device comprising a base (1), a tower (3) extending from the base (1), and a rotator (5) coupled to the tower (3) via a coupling member (7). The coupling member (7) is configured to allow the rotator (5) to rotate around an exercise rotation axis (6), and the coupling member (7) is configured to allow the orientation of the exercise rotation axis (6) to be changed. The invention also relates to an upper limb rotation exercise method comprising the steps of providing an upper limb rotation exercise device, adjusting the orientation of the exercise rotation axis to a desired position, and performing an exercise by rotating the rotator around the exercise rotation axis.

Description

Technical Field

[0001] This invention relates to a rotational device for exercising a user's upper limbs, particularly the shoulders. Background Technology

[0002] For a long time, the pursuit of upper limb strength and shoulder development has been the cornerstone of physical training. As a complex joint system, the shoulder plays a crucial role in the overall function of the upper limb. The shoulder is capable of a wide range of movements, from lifting and pushing to extension and rotation. However, despite its importance, effective training of the shoulder is notoriously difficult. This difficulty stems from the complex nature of the shoulder joint, which has an extremely high range of motion and involves the coordinated work of multiple muscles and tendons.

[0003] The complex anatomy of the shoulder presents a unique set of training challenges. The shoulder joint encompasses a wide range of motion, allowing for diverse movements across different planes. Furthermore, the shoulder is susceptible to a variety of injuries, including rotator cuff tears, impingement syndrome, and instability. Inadequate or inappropriate training techniques can exacerbate these vulnerabilities, highlighting the necessity of safe and targeted shoulder exercises. Traditional upper limb exercises often emphasize chest and arm muscles, resulting in insufficient shoulder muscle development. Neglecting shoulder development can lead to muscle imbalances and hinder overall upper limb strength and stability.

[0004] Furthermore, arm rotation movements can be a fundamental movement pattern or sequence in daily life, sports, and manual labor. However, complex arm, shoulder, back / spine, and chest movements can be interwoven within such movements. To enable targeted training of the relevant muscles, endurance, and mobility (ligaments, tendons, muscles) of this complex movement sequence, multiple individual exercises using various fitness equipment are typically required.

[0005] Furthermore, other devices cannot reproduce rotational motion very well, but most sports require this rotational motion to strengthen the shoulder joint and rotator cuff, as it is a typical cause of most injuries during sports.

[0006] Recognizing these challenges, specially designed rotation devices are needed to address the specific requirements of shoulder training. Summary of the Invention

[0007] This invention relates to an upper limb rotational exercise device, comprising a base, a tower extending from the base, and a rotator connected to the tower via a connecting member. The connecting member is configured to allow the rotator to rotate about an exercise rotation axis. Furthermore, the connecting member may be configured to allow changes in the orientation of the exercise rotation axis.

[0008] The present invention also relates to an upper limb rotation exercise method, comprising the steps of: providing an upper limb rotation exercise device; adjusting the orientation of the exercise rotation axis to a desired position; and performing exercise by rotating the rotator around the exercise rotation axis.

[0009] It should be understood that the features discussed below also apply to upper limb rotation exercise devices and upper limb rotation exercise methods.

[0010] Upper limb rotation exercise devices can also be interchangeably referred to as exercise devices, training devices, rotation training devices and / or devices.

[0011] The device offers several technical advantages that can benefit users who wish to exercise their upper limbs, particularly shoulder rotation.

[0012] The presence of a stable base and tower provides a safe platform for users to exercise. This stability improves safety during exercise and reduces the risk of accidents or injuries when performing shoulder rotations.

[0013] The ability to change the orientation of the exercise rotation axis provides versatility for training. Users can adjust the device to target different muscle groups and perform various exercises. In other words, with the device's adjustable exercise rotation axis, users can customize their workouts to meet their specific training goals. Users can change the orientation of the axis to focus on different aspects of shoulder rotation, such as internal or external rotation, abduction or adduction.

[0014] In other words, the present invention relates to a novel rotational training device for use in the fields of rehabilitation and sports, for training the muscles of the upper limbs, trunk, and arms. This training device can achieve specific movement exercises, particularly shoulder movements, through rotational movements of the arm.

[0015] The trainee's force can be transmitted via handles that allow for circular motion within an individual's radius. Asynchronous and synchronous grip positions allow for flexible manipulation based on individual training goals. These goals might include strengthening and mobilizing the rotator cuff in all three dimensions, resulting in improved flexibility, agility, and strength. Simultaneously, fascia and deep muscles can be trained. Product development could include an electronic resistance system that enables stepless and intuitive training control. This control allows for automatic adjustment of resistance based on the trainee's individual effort. An electronic display provides information on energy expenditure, strength expenditure, and exercise units.

[0016] Compared to other training devices, such as power meters and gyroscope trainers, exertion of the rotator cuff in every direction (360°) may be equally necessary. Therefore, it is possible to ergonomically mimic the typical rotational movements required in sports such as boxing, swimming, tennis, handball, and basketball, and to tailor them to training goals, intensity, and body size as needed. Rotational exercises can be performed in both directions. Other applications may include rehabilitation after surgery or injury, injury prevention, and upper limb training for wheelchair users.

[0017] The exercise device of this invention enables training with a single piece of equipment and mimics natural movements one-to-one. The radius of the rotating arm movement, the height of the plane of rotation, and the horizontal and vertical tilt of the circular motion can be individually adjusted according to the user and their training goals. Circular motion can be performed equally in both directions. The handle can move freely in all directions. This makes the training highly ergonomic and gentle on the user's entire musculoskeletal system. The intensity of the exercise can be intuitively varied by the user's controlled effort, depending on physical ability and training goals. The device can be configured for use by anyone without extensive instruction. Simple guidance helps avoid using the device for harmful training.

[0018] The device may also include a user interface. A user interface can be particularly advantageous for allowing users to provide instructions to the exercise device and / or receive feedback from the exercise device.

[0019] The device may also include a control system. The control system may include a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), APU (Accelerated Processing Unit), and / or FPGA (Field Programmable Gate Array). The control system may be configured to exchange electronic data with other electronic systems of the exercise device. In this way, the control system can control other electronic systems of the exercise device.

[0020] The device may also include a display.

[0021] The monitor can provide users with real-time feedback on their performance during exercise. This feedback can include data such as exercise duration, number of repetitions completed, range of motion, and other relevant metrics. Real-time feedback helps users adjust their technique immediately and track their progress.

[0022] The monitor can output exercise guidance. For example, the monitor can provide visual and text instructions or animations demonstrating the correct form and technique of the exercise. This guidance is especially helpful for beginners who may not be familiar with the correct way to perform shoulder rotation exercises.

[0023] The monitor can allow users to customize their workouts. For example, users can use the monitor to tailor their workouts to their specific needs and goals. They can adjust variables such as workout intensity, duration, and the orientation of the workout's rotation axis based on their preferences and abilities. For instance, the monitor can be configured to display a graphical user interface that allows users to provide at least one user input.

[0024] The monitor can also be used for entertainment: It allows users to watch videos, listen to music, or even connect to external devices for additional entertainment during their workouts. This can make the training experience more enjoyable and engaging.

[0025] The device may also include an actuator system. The actuator system can allow for automatic adjustment of the exercise device. For example, the actuator system can allow for automatic adjustment of the orientation of the exercise rotation axis. Additionally or alternatively, the actuator system can provide variable resistance or assistance during exercise, allowing users to customize their level of challenge. This makes it suitable for users of different fitness levels and supports progressive training. It should be understood that the actuator system may include multiple different actuators configured to actuate different parts of the exercise device.

[0026] The device may also include a sensor system. This system provides precise tracking of the user's movements, allowing for accurate feedback on exercise type, range of motion, and progress. The sensor system can collect performance data, enabling the user to monitor progress and adjust their workout accordingly. Users can receive immediate feedback on their technique and performance, helping them maintain proper form and avoid injury.

[0027] The device may also include a handle element, which can be configured to be gripped by a user, and wherein the handle assembly can be coupled to a rotator. Thus, the handle element allows the user to engage the exercise device for exercise.

[0028] The handle components can be configured to provide the user with an ergonomic and secure grip during exercise. This can be particularly beneficial in reducing the risk of injury to the user during exercise.

[0029] The device may also include a handle assembly that includes a handle element.

[0030] The handle assembly may include a handle support configured to connect a handle element to a rotator. That is, the handle element can be connected to the rotator via the handle support.

[0031] The handle support can be configured to allow the handle element to rotate relative to the rotator with at least one degree of freedom. This ability to rotate with at least one degree of freedom allows the user to adjust the position of the handle element relative to the rotator. This provides an ergonomic and secure grip, as the handle element can be aligned, for example, with the user's hand. Additionally or alternatively, the ability of the handle support to rotate with at least one degree of freedom can help keep the wrist fixed during rotational movements.

[0032] The handle support can be configured to reduce the dependence of the handle element on the rotation of the rotator. Therefore, the handle support reduces the need for wrist rotation and / or any relative movement between the handle element and the user's hand. Furthermore, reducing the dependence of the handle element on the rotator's rotation allows the user to more effectively isolate and target specific muscle groups during rotational exercises. For example, this feature allows the user to engage and exercise the muscles responsible for shoulder rotation without interference from unnecessary movements of other parts of the body. It enhances the precision and effectiveness of the exercise, helping users achieve their fitness goals more efficiently.

[0033] The handle support helps maintain a specific orientation of the handle element during rotator rotation.

[0034] The handle support may include at least one support element.

[0035] At least one of the support elements can be directly mounted on the rotator, such that the support element rotates about a support rotation axis, which can be parallel to the exercise rotation axis. The handle support element can particularly reduce the need for wrist rotation and / or any relative movement between the handle element and the user's hand.

[0036] The handle support may include a first support element and a second support element, wherein the first support element may be mounted on the rotator, and wherein the handle element may be mounted on the second support element.

[0037] The first and second support elements are configured to rotate about their respective support axes, which are orthogonal to each other. This orthogonal arrangement of the support axes allows for a wider and more varied range of motion in the handle support and thus the handle element. This enhances the ergonomics of the handle support.

[0038] The second support element can be mounted on the first support element. In other words, the handle element can be connected to the rotator via the first and second support elements. The first support element can rotate relative to the rotator, and the second support element can rotate relative to the first support element.

[0039] The handle support may include a third support element located between the first and second support elements, wherein the second support element may be mounted on the third support element, and wherein the third support element may be mounted on the first support element.

[0040] The first support element, the second support element, and the third support element are configured to rotate about their respective support axes, which are orthogonal to each other.

[0041] The handle assembly may include at least one handle actuator configured to change the orientation of the handle elements. This can be particularly advantageous for exercises requiring a specific grip position, such as a specific wrist position.

[0042] The control system can be configured to control the handle actuator to change the orientation of the handle elements.

[0043] The control system can be configured to receive a handle orientation command that indicates a specific orientation of the handle element, and control the handle actuator based on the command to orient the handle element to that specific orientation.

[0044] The distance between the connecting component and the handle assembly can limit the rotation radius.

[0045] The radius of rotation can extend from the exercise rotation axis to the interface between the handle assembly and the rotator.

[0046] The radius of rotation can extend along the length of the rotator.

[0047] In short, the radius of rotation can be the radius of the circle or sphere that the handle element can trace during exercise. The radius of rotation can be used as an indicator of the rotation radius during exercise.

[0048] The rotation radius can be permanently constant. A permanently constant rotation radius provides a direct and consistent workout experience. Users do not need to make adjustments, making it user-friendly. This is particularly beneficial for users who wish to focus on a specific range of motion during their workout and maintain that focus without change.

[0049] The rotation radius can be variable. A variable rotation radius provides flexibility and versatility during exercise, allowing users to target different muscle groups or change the difficulty of the exercise by altering the range of motion. Individuals with different fitness levels, body types, and specific training goals can customize the rotation radius to suit their needs, making the device suitable for a wider range of users.

[0050] The rotator may include multiple handle interfaces, each configured to facilitate the attachment of a handle to the rotator, and the rotation radius may be different at each handle interface. This provides a simple and user-friendly mechanism for changing the rotation radius. Furthermore, the rotation radius can be changed in discrete steps. Users can gradually adjust the rotation radius to progressively and controllably increase the difficulty of their workout. Discrete steps allow users to change their range of motion during their workout in a clear and predictable manner.

[0051] The handle can be connected to the rotator via a handle connection mechanism.

[0052] The handle coupling mechanism can be configured to allow the position of the handle along the rotator to be changed, wherein the radius of rotation can be different at each allowed position of the handle along the rotator.

[0053] It allows for the formation of discrete and finite sets of positions. That is, the rotation radius can be changed in discrete steps. Users can gradually adjust the rotation radius to progressively and controllably increase the difficulty of their workout. Discrete steps allow users to change the range of motion in their workout in a clear and predictable way.

[0054] The handle coupling mechanism can be configured to allow the handle to slide along the rotator, thereby changing the handle's position along the rotator. This allows the user to precisely adjust the radius of rotation by sliding the handle along the rotator. This allows for fine-tuning and customization of the radius of rotation, ensuring the workout experience can be adapted to individual preferences and requirements. Furthermore, fine-tuning allows users to find the optimal range of motion for their specific workout needs. This can be particularly useful for exercises requiring very precise control or targeting specific muscle groups.

[0055] The handle coupling mechanism can be configured to connect the handle assembly to at least one of a plurality of handle interfaces.

[0056] The connecting member can be configured to allow for changes in the radius of rotation. Therefore, the connecting member can provide several means for adjusting the exercise device according to user needs. It allows not only changes in the orientation of the exercise rotation axis but also changes in the radius of rotation.

[0057] The connecting member can be configured to allow the rotator to be connected to the tower at different connection locations along the rotator, wherein the radius of rotation can be different at each allowed connection location along the rotator.

[0058] It allows the connection locations to form a discrete and finite set.

[0059] The connecting member can be configured to allow relative sliding between the rotator and the connecting member, thereby changing the connection position between the tower and the rotator along the rotator.

[0060] The connecting member can be configured to allow the rotator to slide through a portion of the connecting member.

[0061] The rotator can be configured to allow the connecting components to slide along the rotator.

[0062] The device may also include a radius actuator configured to change the radius of rotation.

[0063] The control system can be configured to receive a radius command that indicates a specific radius value for the rotation radius, and control the radius actuator based on the command to change the rotation radius to be equal to that specific radius value.

[0064] The device may also include a height adjustment mechanism for changing the vertical position of the rotator relative to the standing surface the user is on during exercise. Therefore, users of different heights can adjust the device to ensure proper alignment of their body, particularly their shoulders and arms. This customization can be important for users of different body types, making the device suitable for a wider range of individuals.

[0065] The height adjustment mechanism may include one or more locking pins for directly or indirectly securing the rotator in the desired vertical position. The locking pins provide a secure and stable attachment, ensuring the rotator remains firmly in place during exercise. This stability can be important for safe and effective exercise. Users can efficiently adjust the height by simply unlocking the pins, adjusting the height, and then relocking them. Furthermore, the locking pins allow for precise positioning, enabling users to select the exact height suitable for their needs.

[0066] The height adjustment mechanism may include a height actuator configured to change the vertical position of the rotator. This allows users to easily and quickly adjust the vertical height without manual effort. This feature enhances the convenience of setting up the device for different users. The height actuator also allows for precise and controlled adjustments, ensuring that users can fine-tune the rotator's positioning to match their specific exercise needs and body size.

[0067] The control system can be configured to control the height actuator to change the vertical position of the rotator.

[0068] The control system can be configured to receive a height command indicating a specific vertical position of the rotator, and control a height actuator based on the command to position the rotator at that specific vertical position.

[0069] The tower may include tower components interconnected via at least one tower joint configured to allow relative movement between the tower components. The joint provides the flexibility to configure the tower in different ways to suit the user's specific exercise needs and various exercise patterns.

[0070] The relative movement between the tower components can cause displacement of the rotator. In other words, the orientation of the rotator can be adjusted via the joints.

[0071] The relative movement between the tower components can change the vertical position of the rotator relative to the standing surface the user is standing on during exercise. This allows for height adjustment, which is advantageous for accommodating users of different heights and ensuring proper alignment during exercise.

[0072] The relative movement between the tower components can change the vertical position of the connecting components relative to the standing surface on which the user stands during exercise.

[0073] The relative movement between the tower components can change the horizontal position of the rotator relative to the standing surface the user is standing on during exercise.

[0074] The relative movement between the tower components can change the horizontal position of the connecting components relative to the standing surface where the user stands during exercise.

[0075] Therefore, users can adjust the horizontal position of the rotator to precisely align it with their body, especially their shoulders and arms. The ability to properly align and customize the horizontal position can improve user comfort and reduce the risk of strains or injuries during exercise.

[0076] Relative motion can include the rotation of one tower component relative to another tower component.

[0077] Relative motion can include the sliding of one tower component relative to another tower component.

[0078] The device may also include at least one tower actuator configured to generate relative movement between tower components. The tower actuator provides a convenient and efficient means of adjusting the vertical and / or relative movement between tower components, allowing users to easily change the vertical and / or horizontal position of the rotator with minimal physical effort. Furthermore, users can achieve precise and controlled adjustments to the vertical and / or horizontal position of the rotator, ensuring optimal alignment and range of motion during exercise.

[0079] The control system can be configured to control the tower actuator.

[0080] The control system can be configured to receive a rotator position command indicating a specific position, and control the tower actuator based on the command to position the rotator at that specific position.

[0081] The connecting member may include a rotator attachment configured to connect to the rotator interface. That is, the connecting member and the rotator can be interconnected via the rotator attachment.

[0082] The connecting component may include a tower attachment configured to connect to a tower interface. In other words, the connecting component and the tower can be interconnected via the tower attachment.

[0083] The connecting components can be configured to provide adjustable resistance to the rotation of the rotator about the exercise axis. Users can therefore customize the resistance level to match their fitness level and training goals. This feature allows both beginners and advanced users to effectively train with this device. Furthermore, by adjusting the resistance, users can gradually increase their training intensity, promoting continuous improvement in strength and endurance.

[0084] The control system can be configured to control the connecting components to set specific resistance to the rotation of the rotator about the exercise rotation axis.

[0085] The control system can be configured to receive a resistance command that indicates a specific resistance, and based on the command, control the connecting member to provide that specific resistance to the rotation of the rotator about the exercise rotation axis.

[0086] The connecting component can be configured to allow the rotator to rotate fully about the exercise rotation axis.

[0087] The connecting component can be configured to allow the rotator to rotate fully clockwise and counterclockwise about the exercise rotation axis.

[0088] The connecting component can be configured to allow the rotator to rotate without restriction about the exercise rotation axis.

[0089] Therefore, the connecting components allow for full rotation around the exercise axis in either direction (clockwise and counterclockwise), providing users with the opportunity for a comprehensive workout. Unrestricted rotation allows for dynamic and fluid movements.

[0090] The connecting member can be configured to operate in a free state and a restricted state, in which the orientation of the exercise rotation axis can be freely changed, and in the restricted state the exercise rotation axis is locked in a specific orientation.

[0091] The connection components, which simultaneously offer both free and restricted states, provide a diverse training experience, balancing dynamic full-range workouts with controlled, precise-focused training. Users can choose the mode that best suits their specific training needs, preferences, and safety considerations.

[0092] In free state, users can enjoy dynamic, fluid movements, making it possible to exercise that mimics natural, unrestricted motion. This enhances the realism and engagement of the workout. Furthermore, users in free state can perform a full range of movements, engaging various muscle groups and allowing for comprehensive upper limb training. Moreover, for users undergoing physical therapy or rehabilitation, free state can be beneficial for certain exercises requiring unrestricted movement to restore mobility and strength.

[0093] The restricted state allows users to lock the exercise rotation axis in a specific orientation, providing safety and control during certain exercises, especially those requiring precise positioning or for users who need to limit their range of motion. Furthermore, for targeted exercises, the restricted state allows users to isolate specific muscle groups by limiting unnecessary movement.

[0094] The connecting components in a fixed state can be configured to keep the exercise rotation axis fixed.

[0095] The connecting component may include a connecting locking mechanism for changing the connecting component from a free state to a restricted state and vice versa.

[0096] The control system can be configured to control the coupling locking mechanism to place the coupling member in a free state or a restricted state.

[0097] The control system can be configured to receive a status command indicating either a free state or a restricted state, and based on the command, control the coupling locking mechanism to position the coupling member in either the free state or the restricted state.

[0098] The connecting components can be configured to allow the orientation of the exercise rotation axis to vary steplessly within a range. This allows users precise control over the orientation of the exercise rotation axis, enabling exceptionally fine adjustments. This level of control can be particularly beneficial for targeting specific muscle groups or adapting to individual preferences. Furthermore, the steplessly variable orientation allows users to achieve the precise alignment required for their workout. Going further, users can perform highly customized workouts by fine-tuning the orientation. This feature promotes versatility and adaptability.

[0099] The connecting components can be configured to allow the rotator to rotate in multiple planes. More specifically, the rotator can rotate in a plane perpendicular to the exercise rotation axis. The plane of rotation can also be changed by altering the orientation of the exercise rotation axis.

[0100] The connecting component may include an orientation actuator configured to change the orientation of the exercise rotation axis. This allows users to precisely and conveniently adjust the orientation of the exercise rotation axis, improving the overall user experience.

[0101] The control system can be configured to control the orientation actuator to change the orientation of the exercise rotation axis.

[0102] The control system can be configured to receive a rotator orientation command that indicates a specific orientation of the exercise rotation axis, and control the orientation actuator based on the command to orient the exercise rotation axis according to that specific orientation.

[0103] The connecting component may include a pin joint assembly configured to allow the rotator to rotate about a joint axis that coincides with the exercise rotation axis.

[0104] The connecting component may include a pin joint assembly configured to allow the rotator to rotate in a single degree of freedom.

[0105] The connecting components may include a first pin joint assembly and a second pin joint assembly, the first pin joint assembly being configured to allow the rotator to rotate about an exercise rotation axis, and the second pin joint assembly being configured to allow the exercise rotation axis to rotate with a single degree of freedom.

[0106] The connecting components may include ball joint assemblies.

[0107] The device may also include a stabilization mechanism to maintain its stability during use. This mechanism helps prevent the device from tipping over or wobbling during exercise, reducing the risk of accidents and injuries. Furthermore, users can exercise with confidence, knowing the device will remain stable, allowing them to focus on their workout without worrying about balance or stability.

[0108] The base may include a stabilizing mechanism.

[0109] The device may also include mounting components for securely mounting the base to the support surface.

[0110] The supporting surface can be a standing surface, on which the user stands during exercise.

[0111] The supporting surface can be the wall surface of a wall that extends from the standing surface, on which the user stands during exercise.

[0112] The wall can be vertical relative to the standing surface where the user stands during exercise.

[0113] The tower can be removed from the base.

[0114] The rotator can be detached from the tower for easy storage and transportation.

[0115] The handle can be detached from the rotator.

[0116] At least two tower components can be disassembled from each other.

[0117] In other words, in some embodiments, the exercise device may include a modular structure. A modular structure makes the device more portable because it can be broken down into smaller, more manageable components for transport or storage, catering to users who may need to move or transport the equipment. Furthermore, modular components are generally easier to maintain and replace, reducing downtime and extending the device's lifespan.

[0118] The device can be configured to operate in both a free motion state and a restricted motion state. In the free motion state, the rotator is allowed to move freely within the entire range of motion provided by the device, while in the restricted motion state, the rotator is allowed to move freely within a restricted range of motion. The restricted range of motion can be a subset of the entire range of motion provided by the device.

[0119] In the free movement state, the rotator is allowed to move freely within the entire range of motion provided by the device. This means that users can perform exercises involving complete rotation without limitations on the degree of movement. Therefore, users can perform dynamic and diverse exercises. The free movement state can be particularly advantageous for exercises requiring complete upper limb rotation or movements requiring a wide range of motion.

[0120] In a restricted range of motion state, the rotator is allowed free movement, but within a limited area. This subset of the entire range of motion can provide controlled and focused exercise. Users can target specific muscle groups or areas by working within the restricted range of motion. This can be beneficial for exercises requiring precise muscle isolation or for users with specific rehabilitation or training goals.

[0121] An example of a restricted motion state could be one where the rotator is allowed to rotate only a certain angle.

[0122] The device can include multiple restricted motion states, in which the rotator is allowed to move freely within its respective restricted range of motion. Each restricted motion state can correspond to a specific range of motion targeting different muscle groups or regions. Therefore, users can select a state consistent with their training goals, allowing for precise muscle isolation. Furthermore, the availability of multiple restricted motion states provides users with a variety of training options. Thus, users can switch between states to create diverse routines, preventing training monotony and plateaus.

[0123] Each restricted range of motion can include its own trajectory for the rotator. Different trajectories can mimic real-life movements or specific sports movements to enhance functional training and athletic performance. For example, a restricted range of motion can be configured to mimic the arm movements of a user hitting a tennis ball.

[0124] Each restricted range of motion can be customized for a specific workout.

[0125] Each restricted range of motion can be configured to prioritize the training of specific muscles or muscle groups.

[0126] The control system can be configured to change the operating state of the device from a free motion state to a restricted motion state and vice versa.

[0127] The control system can be configured to set the device to a specific state of restricted motion.

[0128] The device can be configured to allow manual changes in its operating state from free motion to restricted motion and vice versa.

[0129] The device can be configured to allow manual setting of a specific state of restricted motion.

[0130] The connecting member can be configured to provide an adjustable support force on the rotation of the rotator about the exercise rotation axis. This support force can also be referred to as an accelerating force, or more specifically, a positive accelerating force. That is, the support force can induce a positive acceleration on the rotator in the direction of rotation. The support force can include the same orientation as the force that the user can apply to the rotator to rotate it about the exercise rotation axis.

[0131] Typically, the supporting force and the resistance to the rotation of the rotator about the exercise axis can be opposite to each other. The connecting member can be configured to selectively provide either a supporting force or a resistance to the rotation of the rotator about the exercise axis, with the supporting force and resistance being opposite to each other.

[0132] The control system can be configured to control the connecting components to set a specific support force on the rotation of the rotator about the exercise rotation axis.

[0133] The control system can be configured to receive a support force command that indicates a specific support force, and based on the command, control the connecting members to provide that specific support force to the rotation of the rotator about the exercise rotation axis.

[0134] The control system can be configured to control the connecting members to set specific resistance or support forces for the rotation of the rotator about the exercise rotation axis for each of at least one individual segment of the rotation of the rotator about the exercise rotation axis.

[0135] The control system can be configured to receive segment configuration instructions, which define at least one individual segment of the rotation of the rotator about the exercise rotation axis and define a respective resistance or support force for each individual segment. Based on these instructions, the control system can be configured to control the connecting members to provide a respective resistance or support force for the rotation of the rotator about the exercise rotation axis for each of the at least one individual segment.

[0136] The control system can be configured to store configuration settings associated with the user. The configuration settings may include at least one of the following: a specific resistance to the rotation of the rotator about the exercise rotation axis; a specific support force to the rotation of the rotator about the exercise rotation axis; and a respective resistance or support force to the rotation of the rotator about the exercise rotation axis for each of at least one individual segment of the rotation of the rotator about the exercise rotation axis.

[0137] At least one individual segment may include at least two individual segments of the rotation of the rotator about the exercise rotation axis.

[0138] The control system can be configured to control the connecting components based on the force applied by the user to the rotator to rotate the rotator about the exercise rotation axis.

[0139] The control system can be configured to dynamically change the resistance or support force on the rotation of the rotator about the exercise rotation axis based on the force applied by the user.

[0140] The control system can be configured to dynamically change the resistance or support force on the rotation of the rotator about the exercise rotation axis for each of at least one individual segment of the rotation of the rotator about the exercise rotation axis, based on the force applied by the user.

[0141] The control system can be configured to dynamically change the resistance or support force on the rotation of the rotator about the exercise rotation axis based on a predetermined training program.

[0142] The connecting component may include at least one connecting actuator, such as at least one electric motor, configured to provide resistance or support force to the rotation of the rotator about the exercise rotation axis.

[0143] The connecting component may include at least one connecting actuator, such as at least one electric motor, configured to provide adjustable resistance or support force to the rotation of the rotator about the exercise rotation axis.

[0144] The connecting components can be configured to generate and utilize electromagnetic fields to provide adjustable resistance or support force to the rotation of the rotator about the exercise rotation axis.

[0145] The connecting components may include eddy current braking or acceleration mechanisms.

[0146] The connecting components may include magnetic braking or acceleration mechanisms.

[0147] The connecting components may include non-contact braking or acceleration mechanisms.

[0148] In other words, the connecting component, such as its motor, can generate stepless and smooth resistance and support for the rotational motion of the rotator about the exercise axis. For this purpose, individual segments of rotation can be defined and configured with corresponding resistance or support forces. Depending on the training goals, users can define individual segments and assign individual resistance or support forces to each segment. When used, for example, in rehabilitation, patients after surgery, injury, or illness can specifically use the connecting component, such as the support features of its motor, to activate the musculoskeletal system as part of the treatment. During further treatment or routine training, support forces or resistances can be configured for the defined combination of segments. These settings can be saved to the respective user. The connecting component can also allow training of only individual segments without performing the full rotational motion.

[0149] The connecting components can also adaptively respond to the force applied by the user. For example, if the force applied by the user increases, the resistance can automatically increase, and if a smaller force from the user is detected, the resistance also adjusts downwards. Training programs can also be defined, giving the user certain specifications regarding the resistance, such as intermittent training with different resistances or continuously increasing resistance.

[0150] Measurement data can be recorded and read out via an interface, allowing users, trainers, and physical therapists to measure, compare, and control training progress and success.

[0151] This disclosure also relates to embodiments numbered as follows.

[0152] The following discussion will focus on device embodiments. When device embodiments are mentioned herein, these embodiments are intended to refer to.

[0153] 1. An upper limb rotation exercise device, comprising: Base (1) Tower (3) extending from the base (1); Rotator (5) connected to tower (3) via connecting member (7). The connecting member (7) is configured to allow the rotator (5) to rotate about the exercise rotation axis (6), and The connecting member (7) is configured to allow the orientation of the exercise rotation axis (6) to be changed.

[0154] 2. The apparatus according to the foregoing embodiments further includes a user interface (10).

[0155] 3. The apparatus according to any of the foregoing embodiments further includes a control system (20).

[0156] 4. The apparatus according to any of the foregoing embodiments further includes a display (30).

[0157] 5. The apparatus according to any of the foregoing embodiments further includes an actuator system (50).

[0158] 6. The apparatus according to any of the foregoing embodiments further includes a sensor system (80).

[0159] 7. The device according to any of the foregoing embodiments further includes a handle element (92), wherein the handle element (92) is configured to be gripped by a user, and wherein the handle assembly (9) is connected to the rotator (5).

[0160] It should be understood that the handle assembly may be optional.

[0161] 8. The device according to the foregoing embodiments, wherein the handle element (92) is configured to provide the user with an ergonomic and secure grip during exercise.

[0162] 9. The device according to any one of the foregoing two embodiments further includes a handle assembly (9) that includes a handle element.

[0163] 10. The device according to the foregoing embodiments, wherein the handle assembly (9) includes a handle support (94) configured to connect the handle element (92) to the rotator (5).

[0164] 11. The device according to any one of the two embodiments described above, wherein the handle support (94) is configured to allow the handle element (92) to rotate relative to the rotator (5) with at least one degree of freedom.

[0165] 12. The device according to any one of the three embodiments described above, wherein the handle support (94) is configured to reduce the dependence of the handle element (92) on the rotation of the rotator (5).

[0166] 13. The device according to any of the four embodiments described above, wherein the handle support (94) helps to maintain a specific orientation of the handle element (92) during rotation of the rotator (5).

[0167] 14. The device according to any one of the foregoing five embodiments, wherein the handle support (94) includes at least one support element (96, 98).

[0168] 15. In the apparatus according to the foregoing embodiments, one of at least one support element (96, 98) is directly mounted on the rotator (5) such that the support element (96) rotates about a support rotation axis parallel to the exercise rotation axis (6).

[0169] 16. The device according to any one of the foregoing seven embodiments, wherein the handle support (94) includes a first support element (96) and a second support element (98), wherein the first support element (96) is mounted on the rotator (5), and wherein the handle element (92) is mounted on the second support element (98).

[0170] 17. The apparatus according to the foregoing embodiments, wherein the first support element (96) and the second support element (98) are configured to rotate about their respective support axes, which are orthogonal to each other.

[0171] 18. The apparatus according to any one of the two embodiments described above, wherein the second support element (98) is mounted on the first support element (96).

[0172] 19. The device according to any one of the three embodiments described above, wherein the handle support (94) includes a third support element located between the first support element and the second support element (98), wherein the second support element (98) is mounted on the third support element, and wherein the third support element is mounted on the first support element (96).

[0173] 20. The apparatus according to any one of the foregoing four embodiments, wherein the first support element, the second support element and the third support element are configured to rotate about their respective support axes, which are orthogonal to each other.

[0174] 21. The device according to any of the preceding 11 embodiments, wherein the handle assembly (9) includes at least one handle actuator (95) configured to change the orientation of the handle element (92).

[0175] 22. The apparatus according to the foregoing embodiments, wherein the control system (20) is configured to control the handle actuator (95) to change the orientation of the handle element (92).

[0176] 23. The apparatus according to any one of the foregoing two embodiments, wherein the control system (20) is configured to: Receive handle orientation command, which indicates a specific orientation of the handle element (92), and based on this... Control the handle actuator (95) to orient the handle element (92) to that particular orientation.

[0177] 24. The device according to any of the foregoing embodiments, wherein the distance between the connecting member (7) and the handle assembly (9) defines the rotation radius (97).

[0178] 25. The device according to the foregoing embodiment, wherein the rotation radius (97) extends from the exercise rotation axis (6) to the interface between the handle assembly (9) and the rotator (5).

[0179] 26. The device according to any one of the two embodiments described above, wherein the rotation radius (97) extends along the length of the rotator (5).

[0180] 27. The apparatus according to any one of the three embodiments described above, wherein the rotation radius (97) is permanently constant.

[0181] 28. The apparatus according to any one of the foregoing four embodiments, wherein the rotation radius (97) is variable.

[0182] 29. The apparatus according to any one of the foregoing five embodiments, wherein the rotator (5) includes a plurality of handle interfaces (52), each handle interface being configured to facilitate the connection of a handle to the rotator (5), and wherein the radius of rotation (97) is different at each handle interface (52).

[0183] 30. The device according to any one of the preceding six embodiments, wherein the handle is connected to the rotator (5) via a handle connecting mechanism (54).

[0184] 31. The device according to the foregoing embodiment, wherein the handle coupling mechanism (54) is configured to allow the position of the handle along the rotator (5) to be changed, wherein the radius of rotation (97) is different at each allowed position of the handle along the rotator (5).

[0185] 32. The apparatus according to the foregoing embodiments, wherein positions are allowed to form a discrete and finite set.

[0186] 33. The device according to any one of the three embodiments above, wherein the handle coupling mechanism (54) is configured to allow the handle to slide along the rotator (5), thereby changing the position of the handle along the rotator (5).

[0187] 34. The device according to any of the four embodiments described above, wherein the handle coupling mechanism (54) is configured to couple the handle assembly (9) to at least one of the plurality of handle interfaces (52).

[0188] 35. The apparatus according to any one of the foregoing 11 embodiments, wherein the connecting member (7) is configured to allow a change in the radius of rotation (97).

[0189] 36. The apparatus according to the foregoing embodiments, wherein the connecting member (7) is configured to allow the rotator (5) to be connected to the tower (3) at different connection positions along the rotator (5), wherein the rotation radius (97) is different at each allowed connection position along the rotator (5).

[0190] 37. The apparatus according to the foregoing embodiments, wherein the connection locations are allowed to form a discrete and finite set.

[0191] 38. The device according to any one of the two embodiments described above, wherein the connecting member (7) is configured to allow relative sliding between the rotator (5) and the connecting member (7), thereby changing the connection position between the tower (3) and the rotator (5) along the rotator (5).

[0192] 39. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) is configured to allow the rotator (5) to slide through a portion of the connecting member (7).

[0193] 40. The apparatus according to any of the foregoing embodiments, wherein the rotator (5) is configured to allow the connecting member (7) to slide along the rotator (5).

[0194] 41. The apparatus according to any of the foregoing embodiments and having the features of embodiment 24 further includes a radius actuator (99) configured to change the radius of rotation (97).

[0195] 42. The apparatus according to the foregoing embodiments, wherein the control system (20) is configured to: Receive radius command, which indicates a specific radius value for the rotation radius (97), and based on this... The control radius actuator (99) is used to change the rotation radius (97) to be equal to that specific radius value.

[0196] 43. The apparatus according to any of the foregoing embodiments further includes a height adjustment mechanism for changing the vertical position of the rotator (5) relative to the standing surface on which the user stands during exercise.

[0197] 44. The device according to the foregoing embodiments, wherein the height adjustment mechanism includes one or more locking pins (37) for directly or indirectly securing the rotator (5) in a desired vertical position.

[0198] 45. The device according to any one of the two embodiments above, wherein the height adjustment mechanism (30) includes a height actuator (45) configured to change the vertical position of the rotator (5).

[0199] 46. ​​The apparatus according to the foregoing embodiments, wherein the control system (20) is configured to control the height actuator (45) to change the vertical position of the rotator (5).

[0200] 47. The apparatus according to any one of the foregoing two embodiments, wherein the control system (20) is configured to: Receive a height command, which indicates a specific vertical position of the rotator (5), and based on this... Control the height actuator (45) to position the rotator (5) in that specific vertical position.

[0201] 48. The apparatus according to any of the foregoing embodiments, wherein the tower (3) includes tower components (31) interconnected via at least one tower joint (33) configured to allow relative movement between the tower components (31).

[0202] 49. The apparatus according to the foregoing embodiments, wherein the relative motion between the tower components (31) causes displacement of the rotator (5).

[0203] 50. The device according to any one of the two embodiments described above, wherein the relative motion between the tower components (31) changes the vertical position of the rotator (5) relative to the standing surface on which the user stands during exercise.

[0204] 51. The device according to any one of the three embodiments described above, wherein the relative movement between the tower components (31) changes the vertical position of the connecting member (7) relative to the standing surface on which the user stands during exercise.

[0205] 52. The device according to any one of the foregoing four embodiments, wherein the relative motion between the tower components (31) changes the horizontal position of the rotator (5) relative to the standing surface on which the user stands during exercise.

[0206] 53. The device according to any of the foregoing five embodiments, wherein the relative movement between the tower components (31) changes the horizontal position of the connecting member (7) relative to the standing surface on which the user stands during exercise.

[0207] 54. The apparatus according to any one of the foregoing six embodiments, wherein the relative motion includes rotation of one tower member (31) relative to another tower member (31).

[0208] 55. The apparatus according to any one of the foregoing seven embodiments, wherein the relative motion includes sliding of one tower member (31) relative to another tower member (31).

[0209] 56. The apparatus according to any one of the preceding eight embodiments further includes at least one tower actuator (35) configured to generate relative movement between tower components (31).

[0210] 57. The apparatus according to the foregoing embodiments, wherein the control system (20) is configured to control the tower actuator (35).

[0211] 58. The apparatus according to any one of the foregoing two embodiments, wherein the control system (20) is configured to: Receive rotator position command, which specifies a particular position, and based on this... Control the tower actuator (35) to position the rotator (5) at that specific location.

[0212] 59. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes a rotator attachment member (72) configured to interface with the rotator (5).

[0213] 60. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes a tower attachment member (74) configured to interface with the tower (3).

[0214] 61. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) is configured to provide adjustable resistance to the rotation of the rotator (5) about the exercise rotation axis (6).

[0215] 62. The apparatus according to any of the foregoing embodiments, wherein the control system (20) is configured to control the connecting member (7) to set a specific resistance to the rotation of the rotator (5) about the exercise rotation axis (6).

[0216] 63. The apparatus according to any of the foregoing embodiments, wherein the control system (20) is configured to: Receives a resistance command, which specifies a particular resistance, and based on this... The control link (7) provides that specific resistance to the rotation of the rotator (5) about the exercise rotation axis (6).

[0217] 64. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) is configured to allow the rotator (5) to rotate fully about the exercise rotation axis (6).

[0218] 65. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) is configured to allow the rotator (5) to rotate fully clockwise and counterclockwise about the exercise rotation axis (6).

[0219] 66. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) is configured to allow the rotator (5) to rotate without restriction about the exercise rotation axis (6).

[0220] 67. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) is configured to be operable in: A free state, in which the orientation of the rotation axis (6) is allowed to change freely; and In a restricted state, the exercise rotation axis (6) is locked in a specific orientation.

[0221] 68. The apparatus according to the foregoing embodiments, wherein the connecting member (7) in a fixed state is configured to keep the exercise rotation axis (6) fixed.

[0222] 69. The apparatus according to any one of the two embodiments described above, wherein the connecting member (7) includes a connecting locking mechanism (76) for changing the connecting member (7) from a free state to a restricted state and vice versa.

[0223] 70. The apparatus according to any one of the three embodiments described above, wherein the control system (20) is configured to control the coupling locking mechanism (76) to place the coupling member (7) in a free state or a restricted state.

[0224] 71. The apparatus according to any one of the foregoing four embodiments, wherein the control system (20) is configured to: Receive a state instruction indicating either a free state or a restricted state, and based on this... Control the connection locking mechanism (76) to place the connection member (7) in a free state or a restricted state.

[0225] 72. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) is configured such that the orientation of the exercise rotation axis (6) is infinitely variable within a range.

[0226] 73. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) is configured to allow the rotator (5) to rotate in a plurality of planes.

[0227] 74. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes an orientation actuator (75) configured to change the orientation of the exercise rotation axis (6).

[0228] 75. The apparatus according to the foregoing embodiments, wherein the control system (20) is configured to control the orientation actuator (75) to change the orientation of the exercise rotation axis (6).

[0229] 76. The apparatus according to any one of the foregoing two embodiments, wherein the control system (20) is configured to: Receive the orientation command of the rotator (5), which indicates the specific orientation of the exercise rotation axis (6), and based on this... Control the orientation actuator (75) to exercise the rotation axis (6) according to the specific orientation.

[0230] 77. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes a pin joint assembly configured to allow the rotator (5) to rotate about a joint axis that coincides with the exercise rotation axis (6).

[0231] 78. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes a pin joint assembly configured to allow the rotator (5) to rotate with a single degree of freedom.

[0232] 79. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) comprises: The first pin connector assembly (78) is configured to allow the rotator (5) to rotate about the exercise rotation axis (6), and The second pin joint assembly (79) is configured to allow the exercise rotation axis (6) to rotate in a single degree of freedom.

[0233] 80. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes a ball joint assembly.

[0234] 81. The apparatus according to any of the foregoing embodiments further includes a stabilizing mechanism for maintaining the stability of the apparatus during use.

[0235] 82. The apparatus according to the foregoing embodiments, wherein the base (1) includes a stabilizing mechanism.

[0236] 83. The apparatus according to any of the foregoing embodiments further includes a mounting component for securely mounting the base (1) to the support surface.

[0237] 84. The device according to the foregoing embodiments, wherein the supporting surface is a standing surface, wherein the user stands on the standing surface during exercise.

[0238] 85. The device according to any one of the foregoing two embodiments, wherein the supporting surface is a wall surface extending from the standing surface, wherein the user stands on the standing surface during exercise.

[0239] 86. The device according to the foregoing embodiments, wherein the wall surface is vertical relative to the standing surface on which the user stands during exercise.

[0240] 87. The apparatus according to any of the foregoing embodiments, wherein the tower (3) can be detached from the base (1).

[0241] 88. The apparatus according to any of the foregoing embodiments, wherein the rotator (5) can be detached from the tower (3) for storage and transport.

[0242] 89. The device according to any of the foregoing embodiments, wherein the handle can be detached from the rotator (5).

[0243] 90. The apparatus according to any of the foregoing embodiments and having the features of embodiment 48, wherein at least two tower components (31) are detachable from each other.

[0244] 91. The apparatus according to any of the foregoing embodiments, wherein the apparatus is configured to operate in: A free motion state, wherein the rotator (5) is allowed to move freely over the entire range of motion provided by the device; and A restricted motion state, in which the rotator (5) is allowed to move freely within a restricted motion range. The restricted range of motion is a subset of the total range of motion provided by the device.

[0245] 92. The apparatus according to any of the foregoing embodiments, wherein the apparatus includes a plurality of restricted motion states, wherein in each restricted motion state the rotator (5) is allowed to move freely within its respective restricted motion range.

[0246] 93. The apparatus according to the foregoing embodiments, wherein each restricted range of motion includes the respective trajectory of the rotator (5).

[0247] 94. The device according to any one of the foregoing two embodiments, wherein each restricted range of motion is customized for a specific exercise.

[0248] 95. The device according to any one of the foregoing three embodiments, wherein each restricted range of motion is configured to preferentially exercise a specific muscle or muscle group.

[0249] 96. The apparatus according to any of the foregoing embodiments and having the features of embodiment 91, wherein the control system (20) is configured to change the operating state of the apparatus (100) from a free motion state to a restricted motion state and vice versa.

[0250] 97. The apparatus according to any of the foregoing embodiments and having the features of embodiment 92, wherein the control system (20) is configured to set the apparatus (100) to a particular one of restricted motion states.

[0251] 98. The apparatus according to any of the foregoing embodiments and having the features of embodiment 91, wherein the apparatus is configured to allow manual change of the operating state of the apparatus from a free motion state to a restricted motion state and vice versa.

[0252] 99. The apparatus according to any of the foregoing embodiments and having the features of embodiment 92, wherein the apparatus is configured to allow manual setting of the apparatus to a particular one of restricted motion states.

[0253] 100. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) is configured to provide an adjustable support force for the rotation of the rotator (5) about the exercise rotation axis (6).

[0254] 101. The apparatus according to any of the foregoing embodiments, wherein the control system (20) is configured to control the connecting member (7) to set a specific support force on the rotation of the rotator (5) about the exercise rotation axis (6).

[0255] 102. The apparatus according to any of the foregoing embodiments, wherein the control system (20) is configured to: Receives a support force command, which specifies a particular support force, and based on this... The control link (7) provides that specific support force to the rotation of the rotator (5) about the exercise rotation axis (6).

[0256] 103. The apparatus according to any of the foregoing embodiments, wherein the control system (20) is configured to control the connecting member (7) to set a specific resistance or support force for the rotation of the rotator (5) about the exercise rotation axis (6) for each of at least one individual segment of the rotation of the rotator (5) about the exercise rotation axis (6).

[0257] 104. The apparatus according to any of the foregoing embodiments, wherein the control system (20) is configured to: Receive segment configuration instructions, which configure the segment as defined: At least one individual segment of the rotation of the rotator (5) about the exercise rotation axis (6) and Define the resistance or support force for each individual segment; Based on this, the connecting member (7) is controlled to provide respective resistance or support force to the rotation of the rotator (5) about the exercise rotation axis (6) for each of at least one individual segment.

[0258] 105. The apparatus according to any of the foregoing embodiments, wherein the control system (20) is configured to store configuration settings associated with a user, and wherein the configuration settings include at least one of the following: Specific resistance to the rotation of the rotator (5) around the exercise rotation axis (6); A specific supporting force on the rotation of the rotator (5) about the exercise rotation axis (6); and For each of at least one individual segment of the rotation of the rotator (5) about the exercise rotation axis (6), there is a respective resistance or support force for the rotation of the rotator (5) about the exercise rotation axis (6).

[0259] 106. The apparatus according to any one of the foregoing three embodiments, wherein the at least one individual segment comprises at least two individual segments of the rotation of the rotator (5) about the exercise rotation axis (6).

[0260] 107. The apparatus according to any of the foregoing embodiments, wherein the control system (20) is configured to control the connecting member (7) based on the force applied by the user to the rotator (5) for rotating the rotator (5) about the exercise rotation axis (6).

[0261] 108. The apparatus according to the foregoing embodiments, wherein the control system is configured to dynamically change the resistance or support force on the rotation of the rotator (5) about the exercise rotation axis (6) based on the force applied by the user.

[0262] 109. The apparatus according to any one of the foregoing two embodiments, wherein the control system is configured to dynamically change the resistance or support force on the rotation of the rotator (5) about the exercise rotation axis (6) for each of at least one individual segment of the rotation of the rotator (5) about the exercise rotation axis (6) based on the force applied by the user.

[0263] 110. The apparatus according to any of the foregoing embodiments, wherein the control system is configured to dynamically change the resistance or support force on the rotation of the rotator (5) about the exercise rotation axis (6) based on a predetermined training program.

[0264] 111. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes at least one connecting actuator, such as at least one electric motor, configured to provide resistance or support force to the rotation of the rotator (5) about the exercise rotation axis (6).

[0265] 112. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes at least one connecting actuator, such as at least one electric motor, configured to provide adjustable resistance or support force to the rotation of the rotator (5) about the exercise rotation axis (6).

[0266] 113. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) is configured to generate and utilize an electromagnetic field to provide adjustable resistance or support force to the rotation of the rotator (5) about the exercise rotation axis (6).

[0267] 114. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes an eddy current braking or acceleration mechanism.

[0268] 115. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes a magnetic braking or acceleration mechanism.

[0269] 116. The apparatus according to any of the foregoing embodiments, wherein the connecting member (7) includes a non-contact braking or acceleration mechanism.

[0270] The following discussion will focus on embodiments of the method. These embodiments are abbreviated with the letter "M" followed by a number. When the method embodiments are mentioned herein, these embodiments are intended to refer to the present embodiments.

[0271] M1. Upper limb rotation exercise method, including steps: Provide an upper limb rotation exercise device according to any of the foregoing device embodiments; Adjust the orientation of the exercise rotation axis to the desired position; The exercise is performed by rotating the rotator around the exercise axis. Attached Figure Description

[0272] Figure 1 Showing an upper limb rotation exercise device; Figure 2 Show Figure 1 An upper limb rotation exercise device, wherein the exercise rotation axis has different orientations; Figure 3 Another upper limb rotation exercise device is shown; Figure 4 and Figure 5 Show Figure 3 An upper limb rotation exercise device, wherein the exercise rotation axis has different orientations; Figure 6 Detailed views of the connecting components and handle assembly that may be included in the upper limb rotation exercise device of this disclosure are provided; Figure 7 Detailed views of another connecting member that may be included in the upper limb rotation exercise device of this disclosure are provided; Figure 8Another upper limb rotation exercise device is shown; Figure 9 An upper limb rotation exercise device with a bifurcated tower is shown; Figure 10 An upper limb rotation exercise device with two towers is shown; Figure 11 Show Figure 10 An upper limb rotation exercise device, wherein the rotation axes have different orientations; Figure 12-14 Different upper limb rotation exercise devices are shown; Figure 15 This is a block diagram of the electronic components of an upper limb rotation exercise device. Detailed Implementation

[0273] In this specification, the term "upper limb rotation exercise device" may be used interchangeably with "upper limb exercise device", "upper limb rotation device", "exercise device" and "device" for the sake of brevity.

[0274] Figure 1 The image depicts an upper limb rotation exercise device 100 according to a first example. The device 100 includes a base 1, a tower 3 extending from the base 1, and a rotator 5 connected to the tower 3 via a connecting member 7. The connecting member 7 is configured to allow the rotator 5 to rotate about an exercise rotation axis 6. Furthermore, the connecting member 7 is configured to allow changing the orientation of the exercise rotation axis 6.

[0275] It should be understood that although the exercise rotation axis 6 is depicted in all the accompanying drawings, it is not a physical component of the device 100. The exercise rotation axis 6 is an imaginary line around which the rotator 5 rotates.

[0276] The tower 3 may include a plurality of tower components 31, which may be interconnected via at least one tower joint 33. The tower joint 33 may be configured to allow relative movement between the tower components. Relative movement may cause displacement of the rotator 5. In particular, relative movement may allow changes in the vertical position of the rotator 5 and / or the connecting member 7 relative to the standing surface on which the user stands during exercise. In this way, the device 100 can be adjusted for users of different heights. Relative movement may also allow changes in the horizontal position of the rotator 5 and / or the connecting member 7 relative to the standing surface. This can increase the ergonomics of the device 100.

[0277] The nature of this relative motion can include rotational or sliding motion between the tower components 31. Figure 1 In the depicted example, the tower joint 33 is configured to allow rotational movement between tower components 31.

[0278] To facilitate these dynamic interactions, tower 3 may include at least one tower actuator 35 (not shown, see below). Figure 15 It can be configured to generate the required relative motion between the tower components 31. Control system 20 (see...) Figure 15 The control system 20 can control the operation of the tower actuator. The control system 20 can receive commands, such as a rotator position command specifying a particular location. Based on these commands, the control system 20 can control the tower actuator 35 to precisely position the rotator at the specified location.

[0279] The base 1 may include a stabilizing mechanism (not shown) configured to stabilize the device 100. The stabilizing mechanism may, for example, include a heavy-duty element (not shown). The heavy-duty element may include a weight exceeding the maximum force expected to be applied to the device 100 during normal operation. The base 1 may include mounting components (not shown) that facilitate mounting the device 100 to a supporting surface. The supporting surface may be a standing surface on which a user stands during exercise, or a wall extending from the standing surface on which the user stands during exercise. The mounting components may, for example, include at least one threaded component. If a mounting component is provided, the stabilizing mechanism may not be necessary.

[0280] The device 100 may also include a handle 9 connected to the arm 5 via a handle connection mechanism 54.

[0281] The device 100 may also include a display 4. The display 4 may be configured to display data indicating an exercise being performed using the device 100. For example, the display 4 may be configured to display the number of rotations performed during the exercise. The display 4 may also be configured to provide instructions to the user regarding the exercise. These instructions may include corrective instructions to guide the user when the exercise is not performed correctly and instructions on how to perform the exercise correctly.

[0282] The device 100 may include two different operating states: a free motion state, in which the rotator 5 can move without restriction over the entire range of motion provided by the device 100; and a restricted motion state, in which the rotator 5 is constrained to a limited range of motion, which is a subset of the overall range of the device.

[0283] Furthermore, the device 100 may be equipped with multiple restricted motion states, each state allowing the rotator 5 to freely traverse a specific restricted range of motion. These restricted ranges of motion are individually designed to correspond to specific exercise routines and are customized to preferentially activate specific muscles or muscle groups.

[0284] To manage these operational states, control system 20 (see...) can be used. Figure 15 The control system can switch between free movement and restricted movement modes. This can be based on user preference or exercise requirements. Furthermore, the user can also select the operating mode of the device manually.

[0285] Figure 2 Show Figure 1 The device 100, wherein the exercise rotation axis 6 includes different orientations.

[0286] As discussed, the connecting member 7 is configured to allow the orientation of the exercise rotation axis 6 to be changed. The connecting member 7 can allow the exercise rotation axis 6 to have an unlimited range of orientations. The range of orientations can be defined by the physical structure of the connecting member 7. By changing the exercise rotation axis 6, different upper limb rotations can be exercised.

[0287] This is Figure 1 and Figure 2 As shown, the exercise rotation axis 6 includes different orientations. Figure 1 In the example shown, the exercise rotation axis 6 is parallel to the standing surface on which the user stands during the exercise, while Figure 2 In the example, the exercise rotation axis 6 is tilted relative to the standing surface. Specifically, in... Figure 2 In the example, the exercise rotation axis 6 forms a 45° angle with the standing surface.

[0288] The exercise rotation axis 6 can define a plane of rotation (not shown). The plane of rotation can be the plane on which the rotator 5 rotates. The plane of rotation can be a plane perpendicular to the exercise rotation axis 6. By changing the exercise rotation axis 6, the plane of rotation changes accordingly.

[0289] exist Figure 1 In the depicted example, the rotator 5 includes a longitudinal arm 5. Furthermore, in Figure 1 In the depicted example, the tower joint 33 is configured to allow relative rotation between tower components 31.

[0290] Figure 3 An example of another upper limb rotation exercise device 100 is depicted. Figure 3 In the text (and throughout the description of the accompanying drawings), the same reference numerals denote the same structures. Furthermore, the above text is combined with… Figure 1 and Figure 2 Some of the features and properties described are also used Figure 3 The examples depicted. For the sake of brevity, the following discussion will focus on... Figure 3 The different features present in the examples depicted (the same principle also applies to the description of other figures).

[0291] like Figure 3 As shown, the tower joint 33 can be configured to allow sliding between the tower components 31. This allows for changes in the vertical position of the swivel 5 and / or the connecting member 7 relative to the standing surface from which the user stands during exercise. Locking pins 37 can be provided for manually securing the tower components 31 to each other. Figure 1 and Figure 2The tower joint 33 shown may be more advantageous because it allows for finer adjustments to the position of the rotator 5 not only in the vertical direction but also in the horizontal direction. On the other hand, Figure 3 The tower joint 33 shown can be used more easily and directly.

[0292] In addition, such as Figure 3 As shown, the rotator 5 may include a wheel 5. The wheel 5 may include at least one handle interface 52 along the diameter of the wheel, preferably multiple handle interfaces 52. At least one handle interface 52 may be configured to facilitate connection of the handle assembly 9 to the rotator 5.

[0293] Figure 4 and Figure 5 Show Figure 3 The device 100, wherein the exercise rotation axis 6 includes different orientations. Specifically, in Figure 3 The rotation axis 6 during exercise is tilted relative to the standing surface where the user stands during exercise. Figure 4 The rotation axis 6 of the exercise is vertically oriented relative to the standing surface, while... Figure 5 The rotation axis 6 of the exercise is horizontally oriented relative to the standing surface.

[0294] Furthermore, the connecting member 7 can be configured to allow for changes in the orientation of the exercise rotation axis 6. Figure 3-5 In the illustrated example, the connecting component includes a pin joint assembly that allows the exercise rotation axis 6 to rotate at least 180° about an axis (not shown) parallel to the standing surface.

[0295] Figure 6 and Figure 7 Detailed views of the connecting member 7 are depicted according to different examples.

[0296] The connecting member 7 may include a rotator attachment member 72 configured to interface with the rotator 5. The rotator attachment member 72 facilitates attaching the rotator 5 to the connecting member 7 or vice versa. Similarly, the connecting member may include a tower attachment member 74 configured to interface with the tower 3. The tower attachment member 74 facilitates attaching the tower 3 to the connecting member 7 or vice versa.

[0297] The connecting member 7 can provide adjustable resistance to the rotation of the rotator 5 about the exercise rotation axis 6. This adjustable resistance allows users to customize their workout according to their specific needs and fitness level. The resistance of the connecting member can be finely adjusted and controlled by the control system 20 to ensure a customized and efficient workout experience. The control system 20 can control the connecting member to set a specific resistance level for the rotation of the rotator 5. Furthermore, the control system 20 can be configured to receive resistance commands based on user preferences or specific workout routines and then adjust the connecting member accordingly. This level of control enhances the user's ability to fine-tune their workout program for optimal results.

[0298] In terms of rotational freedom, the connecting member 7 can be configured to allow the rotator 5 to rotate fully about the exercise rotation axis 6. This unrestricted range of motion can be advantageous for performing upper limb rotational exercises. Furthermore, the connecting member 7 can allow both full clockwise and counterclockwise rotation.

[0299] The versatility of the connecting member extends beyond the rotation of rotator 5. It also allows for changing the orientation of the exercise rotation axis 6. The connecting member 7 can operate in two different states: a free state and a restricted state. In the free state, the orientation of the exercise rotation axis 6 can be freely changed. This allows for adaptation to dynamic movements and exercises. Conversely, in the restricted state, the exercise rotation axis 6 can be locked in a specific orientation. This can be useful for targeting specific muscle groups or achieving precise training goals.

[0300] To facilitate transitions between these states, the connecting member 7 may be equipped with a connection locking mechanism 76. This mechanism 76 allows the user to switch between a free state and a restricted state. The control system 20 can control the locking mechanism 76 to set the connecting member 7 to the desired state based on user input or exercise program requirements.

[0301] Furthermore, the connecting member 7 can be designed to provide an unlimited range of orientation variation for the exercise rotation axis 6. This feature allows users to precisely adjust the orientation of the exercise rotation axis 6 to meet their exercise needs and goals.

[0302] The connecting member 7 may include pin joint assemblies that enable the rotator 5 to rotate about a joint axis coinciding with the exercise rotation axis 6 and to change the orientation of the exercise rotation axis 6. Each of these pin joint assemblies can provide a single and corresponding rotational degree of freedom. Alternatively, the connecting member 7 may utilize ball joint assemblies to further enhance its mechanical adaptability.

[0303] In the depicted example, the connecting member 7 includes a first pin joint assembly 78 and a second pin joint assembly 79, the first pin joint assembly 78 being configured to allow the rotator 5 to rotate about the exercise rotation axis 6, and the second pin joint assembly 79 being configured to allow the exercise rotation axis 6 to rotate with a single degree of freedom.

[0304] Figure 6 A detailed view of the handle assembly 9 that can be used with the device 100 is further depicted.

[0305] The handle assembly 9 may include a handle element 92, which can be used as a gripping interface for the user during exercise. The handle element 92 can be configured to provide both ergonomic comfort and a secure grip.

[0306] The handle assembly may include a handle support 94, which can be configured to allow rotation relative to the rotator 5 in at least one degree of freedom. On one hand, this may be advantageous because it reduces the dependence of the handle element 92 on the movement of the rotator 5, ensuring that the handle element 92 maintains a specific orientation even when the rotator 5 rotates. On the other hand, the handle element 92 can be oriented in different orientations, thus increasing the ergonomics of the device 100 and allowing the user to exercise in different grip styles.

[0307] The handle support 94 may include several support elements, including a first support element 96 that can be directly mounted on the rotator 5. Additionally, there may be a second support element 98 mounted on the first support element 96, and optionally a third support element (not shown) even between the first and second support elements 96 and 98. These support elements 96, 98 can be configured to rotate about an orthogonal axis, increasing the versatility of the handle assembly 9.

[0308] In addition, the handle assembly 9 may include a handle actuator 95, see Figure 15 It can be controlled by the central control system 20. The actuator 95 allows the orientation of the handle element 92 to be changed as needed before the user exercises, enhancing flexibility and adaptability.

[0309] The concept associated with the handle assembly 9 is the rotation radius 97. This is the distance between the connecting member 7 and the handle assembly 9. The rotation radius 97 can extend along the length of the rotator 5 and can be constant or adjustable depending on the specific requirements of the exercise equipment.

[0310] To increase customization, the handle assembly 9 can be connected to the rotator 5 via a handle coupling mechanism that allows the position of the handle assembly along the rotator 5 to be changed. These allowed positions can form a discrete and limited set, giving the user the option of different handle positions to suit their preferences and exercise goals.

[0311] Therefore, the handle assembly 9 can provide a combination of ergonomic design, orientation control, and rotation radius and handle positioning flexibility, all designed to improve the user's workout experience.

[0312] Figures 8 to 14 A further example of the upper limb rotation exercise device 100 is depicted. Figures 8 to 14 In the text (and throughout the description of the accompanying drawings), the same reference numerals denote the same structures. Furthermore, the above text is combined with… Figures 1 to 7 Some of the features and properties described are also used Figures 8 to 14 The examples depicted are shown below. For the sake of brevity, the different features present in the examples depicted in the corresponding figures will be discussed below.

[0313] Figure 8 The depiction device 100 includes a tower having three tower structure members 31. Specifically, as... Figure 8 As shown, the tower 3 may include a first tower member 31a and a second tower member, which are connected via a first tower joint 33a. The tower may also include a third tower member 31c connected to the second tower member 31b via a second tower joint 33b. This allows for more functional positioning of the connecting member 7 and / or the swivel 5.

[0314] Figure 9 A device 100 with a bifurcated tower 3 is depicted. The bifurcated tower 3 is configured to connect two rotators 5 thereto. Therefore, in such embodiments, the device 100 may include two rotators 5 connected to the bifurcated tower 3 via respective connecting members 7. Each connecting member 7 may be configured to allow the respective rotator 5 to rotate about its respective exercise rotation axis 6. Furthermore, each connecting member 7 may be configured to allow a change in the orientation of the respective exercise rotation axis 6. This embodiment allows for simultaneous training of both shoulders. It should be understood that any example of the device 100 can be implemented using the bifurcated tower 3, such as... Figure 9 As shown.

[0315] Figure 10 A device 100 is depicted having two towers 3 extending from a base 1. Therefore, in such embodiments, the device 100 may include two rotators 5, each rotator being connected to a corresponding one of the two towers 3 via a respective connecting member 7. Each connecting member 7 may be configured to allow the respective rotator 5 to rotate about a respective exercise rotation axis 6. Furthermore, each connecting member 7 may be configured to allow changing the orientation of the respective exercise rotation axis 6. This embodiment allows for simultaneous training of both shoulders. It should be understood that any example of the device 100 can be implemented using two towers 3 extending from the same base 1, such as... Figure 10 As shown.

[0316] Figure 11 Depicting Figure 10 The device 100, wherein the exercise rotation axis 6 has different orientations.

[0317] Figure 12The depicted device 100 includes a handle assembly 9, which includes a handle support 94 comprising a rope 94. Specifically, the handle assembly 9 includes a handle element 92 suspended from a rotator 5 via the rope 94. The handle assembly 9 in this example provides a simple and flexible handle. It should be understood that any example of device 100 may include a handle assembly 9, such as... Figure 12 As shown.

[0318] Figure 13 The drawing device 100, in particular, includes a rotator 4 comprising a wheel 4 and a reference. Figure 6 The handle assembly 9 is discussed. This example shows that embodiments of the elements of device 100 can be combined in different ways.

[0319] Figure 14 The depiction device 100 specifically includes a rotator 4 comprising a wheel 4, wherein the wheel 4 is reinforced by several internal structures. Therefore, a wheel 4 with enhanced robustness is provided. Furthermore, as... Figure 14 As shown, the handle assembly 9 can also be connected to the wheel 4 along the circumference of the wheel 4.

[0320] Figure 15 A schematic diagram depicting the control circuit of device 100.

[0321] Device 100 may include control system 20. Control system 20 may include one or more processing units configured to execute computer instructions (i.e., machine-readable and executable instructions) of a program. The processing units may be single or multiple. For example, the control system may include at least one of a CPU, GPU, DSP, APU, or FPGA. Control system 20 may include memory components such as main memory (e.g., RAM), cache memory (e.g., SRAM), and / or secondary memory (e.g., HDD, SDD). Control system 20 may include volatile and / or non-volatile memory such as SDRAM, DRAM, SRAM, Flash Memory, MRAM, F-RAM, or P-RAM. Control system 20 may include internal communication interfaces (e.g., buses) configured to facilitate electronic data exchange between components of control system 20, such as communication between memory components and processing units. Control system 20 may include external communication interfaces configured to facilitate electronic data exchange with devices outside of control system 20. Control system 20 may be configured for wired and / or wireless data communication. For example, control system 20 may be configured to transmit electronic data using standardized communication protocols. The control system 20 may include a system-on-a-chip, which includes a processing unit, a memory component, and a bus.

[0322] The control system 20 can be a centralized or distributed computing system. In some embodiments, the control system 20 can be external to the device 10. Alternatively, the control system 20 and the device 100 can be integrated into a single device. For example, the device 100 may include the control system 20.

[0323] The control system 20 can facilitate the operation of the automation device 100. The control system 20 can be operatively connected to other components.

[0324] The control system 20 can be connected for electronic data exchange with the user interface 10. The user interface 10 is configured to recognize at least one input from a user and provide said input to the control system 20. The input may include data describing the user, data describing exercise, and / or commands. The user interface 10 may include a graphical user interface displayed on a screen (e.g., display 30). The user interface 10 may include one or more buttons. The user interface 10 may be at least partially integrated into the handle assembly 9. The user interface 10 is configured to recognize voice commands and / or gestures from the user.

[0325] The control system 20 can be connected for electronic data exchange with the display 30. The display 30 can be configured to display a graphical user interface 10. The display 30 can also be configured to display exercise indicators.

[0326] The control system 20 can be connected to the actuator system 50. This allows for automatic adjustment of the device 100. The actuator system may include at least one tower actuator 35 configured to generate relative movement between tower components, a height actuator 45 configured to change the vertical position of the rotator 5, an orientation actuator 75 configured to change the orientation of the exercise rotation axis 6, at least one handle actuator 95 configured to change the orientation of the handle element 92, and / or a radius actuator 99 configured to change the rotation radius 97.

[0327] The control system 20 can be connected to the sensor system 80, which can be configured to collect data about the device 100, the user, and / or the exercise.

Claims

1. An upper limb rotation exercise device, comprising: Base (1) Tower (3) extending from the base (1); Rotator (5) connected to the tower (3) via connecting member (7). The connecting member (7) is configured to allow the rotator (5) to rotate about the exercise rotation axis (6), and The connecting member (7) is configured to allow the orientation of the exercise rotation axis (6) to be changed.

2. The apparatus according to the preceding claim, characterized in that, It also includes a handle element (92) configured to be gripped by a user, and wherein the handle assembly (9) is coupled to the rotator (5).

3. The apparatus according to the preceding claims, characterized in that, It also includes a handle assembly (9) containing handle elements. The handle support (94) is configured to allow the handle element (92) to rotate relative to the rotator (5) with at least one degree of freedom; and The handle support (94) is configured to reduce the dependence of the handle element (92) on the rotation of the rotator (5).

4. The apparatus according to the preceding claims, characterized in that, The handle support (94) includes a first support element (96) and a second support element (98), wherein the first support element (96) is mounted on the rotator (5), and wherein the handle element (92) is mounted on the second support element (98); The first support element (96) and the second support element (98) are configured to rotate about their respective support axes, which are orthogonal to each other.

5. The apparatus according to any one of the preceding claims, characterized in that, It also includes a height adjustment mechanism for changing the vertical position of the rotator (5) relative to the standing surface on which the user stands during exercise.

6. The apparatus according to the preceding claim, characterized in that, The height adjustment mechanism (30) includes a height actuator (45) configured to change the vertical position of the rotator (5).

7. The apparatus according to any one of the preceding claims, characterized in that, The tower (3) includes tower components (31) interconnected via at least one tower joint (33) configured to allow relative movement between the tower components (31); and The relative motion between the tower components (31) causes displacement of the rotator (5).

8. The apparatus according to the preceding claims, characterized in that, The relative movement between the tower components (31) changes the vertical and / or horizontal position of the rotator (5) relative to the standing surface on which the user stands during exercise.

9. The apparatus according to any one of the preceding claims, characterized in that, The connecting member (7) is configured to provide adjustable resistance to the rotation of the rotator (5) about the exercise rotation axis (6).

10. The apparatus according to any one of the preceding claims, characterized in that, The connecting member (7) is configured to be operable in: A free state, wherein the orientation of the exercise rotation axis (6) is allowed to change freely; and In a restricted state, the exercise rotation axis (6) is locked in a specific orientation.

11. The apparatus according to any one of the preceding claims, characterized in that, The connecting member (7) is configured such that the orientation of the exercise rotation axis (6) can be infinitely varied within a range.

12. The apparatus according to any one of the preceding claims, characterized in that, The connecting member (7) includes an orientation actuator (75) configured to change the orientation of the exercise rotation axis (6).

13. The apparatus according to any one of the preceding claims, characterized in that, The device is configured to be operable in: A free motion state, wherein the rotator (5) is allowed to move freely over the entire range of motion provided by the device; and A restricted motion state, wherein the rotator (5) is allowed to move freely within a restricted motion range. The restricted range of motion is a subset of the total range of motion provided by the device.

14. The apparatus according to any one of the preceding claims, characterized in that, The device includes multiple restricted motion states, wherein in each restricted motion state the rotator (5) is allowed to move freely within its respective restricted motion range; Each restricted range of motion includes the respective trajectory of the rotator (5).

15. Upper limb rotation exercise method, including steps: Provide an upper limb rotation exercise device according to any of the preceding claims; Adjust the orientation of the exercise rotation axis to the desired position; Exercise is performed by rotating the rotator around the exercise rotation axis.

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