Fitness training device

Abstract

A fitness training device that includes a housing, a cable extending through a cable aperture in the housing, a motor operable to apply a force to the cable to control a motion of the cable, and a controller including an electronic processor and a memory. The controller is configured to record, during a first portion of a fitness action, motion parameters associated with the motion of the cable, determine the force to be applied to the cable based on the motion parameters associated with the motion of the cable, and control, during a second portion of the fitness action following the first portion of the fitness action, the motor to apply the force to the cable.

Description

RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 671,988, filed Jul. 16, 2024, the entire content of which is hereby incorporated by reference.FIELD

[0002] This disclosure relates to a fitness training device.SUMMARY

[0003] Fitness training typically involves a user selecting free weights having predefined static weight values or configuring a weight training device to provide a user-selected level of resistance. The free weights or the weight training device can then be used to perform a variety of fitness actions. In both situations, a user must either make a specific selection of an amount of weight to lift, or personally configure the weight training device to a desired level of resistance. These actions require the user to have knowledge of their own strength and fitness capabilities, which makes fitness training a very personalized endeavor. If an inappropriate amount of weight or an inappropriate level of resistance is selected, the user could be at risk for injury (e.g., too much weight or resistance selected) or non-optimal fitness training (e.g., too little weight or resistance selected).

[0004] As a result, it would be desirable to have a fitness training device that was capable of adapting to a user's own strength and fitness capabilities in a parameter-less manner. A parameter-less fitness training device is capable of being used to achieve the user's personal training goals without having to, for example, input settings related to a desired amount of weight to lift, a resistance setting, a range of motion, user height, user weight, etc. Instead, the parameter-less fitness training device is configured to learn from the manner in which the parameter-less fitness training device is being used during a first portion of a fitness action (e.g., during a concentric portion of the fitness action), and then adapt operation of the parameter-less fitness training device during a second portion of the fitness action (e.g., during an eccentric portion of the fitness action).

[0005] The adaptation of the operation of the parameter-less fitness training device in the second portion of the fitness action is controlled based on the manner of use of the parameter-less fitness training device during the first portion of the fitness action. For example, during the first portion of the fitness action, the parameter-less fitness training device will control (e.g., limit) a speed of movement associated with the parameter-less fitness training device (e.g., a handle connected to a connector cable) to a predetermined value while allowing a variable application of force. During the second portion of the fitness action, the parameter-less fitness training device will apply a specific force or resistance for the user to overcome. The specific force or resistance is determined based on the variable application of force by the user during the first portion of the fitness action. These control techniques can be performed for each fitness action or repetition using the parameter-less fitness training device. Because the parameter-less fitness training device is always being adapted to a particular user's capabilities, the parameter-less fitness training device will provide fitness training that is tailored to the particular user.

[0006] Fitness training devices described herein include a housing, a connector cable, a cable drum spool, a motor, and a controller. The housing includes a top portion. The top portion is configured to support a user when operating the fitness training device to perform a fitness action. The connector cable extends through a cable aperture in the top portion of the housing. The cable drum spool is operable to receive the connector cable. The motor is connected to the cable drum spool. The motor is operable to apply a force to the connector cable through the cable drum spool to control a motion of the connector cable. The controller includes an electronic processor and a memory. The controller is configured to control, during a first portion of the fitness action, the motor to limit a speed for the motion of the connector cable, record, during the first portion of the fitness action, motion parameters associated with the motion of the connector cable, determine the force to be applied to the connector cable based on the motion parameters associated with the motion of the connector cable, and control, during a second portion of the fitness action following the first portion of the fitness action, the motor to apply the force to the connector cable.

[0007] In some aspects, the motion parameters associated with the motion of the connector cable include a first force applied to the connector cable during the first portion of the fitness action.

[0008] In some aspects, the force to be applied to the connector cable is greater than the first force applied to the connector cable during the first portion of the fitness action.

[0009] In some aspects, the force to be applied to the connector cable is equal to or less than the first force applied to the connector cable during the first portion of the fitness action.

[0010] In some aspects, the fitness training device further includes an accessory configured to connect to the connector cable. The accessory is operable to be manipulated by a user to perform the fitness action.

[0011] In some aspects, the first portion of the fitness action corresponds to an unwinding of the connector cable from the cable drum spool, and the second portion of the fitness action corresponds to a winding of the connector cable around the cable drum spool.

[0012] In some aspects, the cable drum spool, the motor, and the controller are located within an electronics module, and the electronics module is at least partially located within the housing.

[0013] Methods described herein for controlling a fitness training device that includes a connector cable, a motor, and a controller include controlling, using the controller and during a first portion of a fitness action, the motor to limit a speed for a motion of the connector cable, recording, using the controller and during the first portion of the fitness action, motion parameters associated with the motion of the connector cable, determining, using the controller, a force to be applied to the connector cable based on the motion parameters associated with the motion of the connector cable, and controlling, using the controller and during a second portion of the fitness action following the first portion of the fitness action, the motor to apply the force to the connector cable.

[0014] In some aspects, the motion parameters associated with the motion of the connector cable include a first force applied to the connector cable during the first portion of the fitness action.

[0015] In some aspects, the force to be applied to the connector cable is greater than the first force applied to the connector cable during the first portion of the fitness action.

[0016] In some aspects, the force to be applied to the connector cable is equal to or less than the first force applied to the connector cable during the first portion of the fitness action.

[0017] In some aspects, the method further includes unwinding the connector cable from a cable drum spool during the first portion of the fitness action, and winding the connector cable around the cable drum spool during the second portion of the fitness action.

[0018] In some aspects, the method further includes determining a velocity of the connector cable, and limiting a rate of change increase in force on the connector cable based on the velocity of the connector cable.

[0019] In some aspects, the method further includes limiting a rate of change decrease in force on the connector cable based on the velocity of the connector cable.

[0020] Fitness training devices described herein include a housing, a cable extending through a cable aperture in the housing, a motor operable to apply a force to the cable to control a motion of the cable, and a controller including an electronic processor and a memory. The controller is configured to record, during a first portion of a fitness action, motion parameters associated with the motion of the cable, determine the force to be applied to the cable based on the motion parameters associated with the motion of the cable, and control, during a second portion of the fitness action following the first portion of the fitness action, the motor to apply the force to the cable.

[0021] In some aspects, the motion parameters associated with the motion of the cable include a first force applied to the cable during the first portion of the fitness action.

[0022] In some aspects, the force to be applied to the cable is greater than the first force applied to the cable during the first portion of the fitness action.

[0023] In some aspects, the force to be applied to the cable is equal to or less than the first force applied to the cable during the first portion of the fitness action.

[0024] In some aspects, the fitness training device further includes an accessory configured to connect to the cable. The accessory is operable to be manipulated by a user to perform the fitness action.

[0025] In some aspects, the motor and the controller are located within an electronics module, and the electronics module is at least partially located within the housing.

[0026] Before any embodiments are explained in detail, it is to be understood that the embodiments are not limited in application to the details of the configurations and arrangements of components set forth in the following description or illustrated in the accompanying drawings. The embodiments are capable of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein are for the purpose of description and should not be regarded as limiting. The use of “including,”“comprising,” or “having” and variations thereof are meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms “mounted,”“connected,”“supported,” and “coupled” and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings.

[0027] Unless the context of their usage unambiguously indicates otherwise, the articles “a,”“an,” and “the” should not be interpreted as meaning “one” or “only one.” Rather these articles should be interpreted as meaning “at least one” or “one or more.” Likewise, when the terms “the” or “said” are used to refer to a noun previously introduced by the indefinite article “a” or “an,”“the” and “said” mean “at least one” or “one or more” unless the usage unambiguously indicates otherwise.

[0028] In addition, it should be understood that embodiments may include hardware, software, and electronic components or modules that, for purposes of discussion, may be illustrated and described as if the majority of the components were implemented solely in hardware. However, one of ordinary skill in the art, and based on a reading of this detailed description, would recognize that, in at least one embodiment, the electronic-based aspects may be implemented in software (e.g., stored on non-transitory computer-readable medium) executable by one or more processing units, such as a microprocessor and / or application specific integrated circuits (“ASICs”). As such, it should be noted that a plurality of hardware and software based devices, as well as a plurality of different structural components, may be utilized to implement the embodiments. For example, “servers,”“computing devices,”“controllers,”“processors,” etc., described in the specification can include one or more processing units, one or more computer-readable medium modules, one or more input / output interfaces, and various connections (e.g., a system bus) connecting the components.

[0029] Relative terminology, such as, for example, “about,”“approximately,”“substantially,” etc., used in connection with a quantity or condition would be understood by those of ordinary skill to be inclusive of the stated value and has the meaning dictated by the context (e.g., the term includes at least the degree of error associated with the measurement accuracy, tolerances [e.g., manufacturing, assembly, use, etc.] associated with the particular value, etc.). Such terminology should also be considered as disclosing the range defined by the absolute values of the two endpoints. For example, the expression “from about 2 to about 4” also discloses the range “from 2 to 4”. The relative terminology may refer to plus or minus a percentage (e.g., 1%, 5%, 10%) of an indicated value.

[0030] It should be understood that although certain drawings illustrate hardware and software located within particular devices, these depictions are for illustrative purposes only. Functionality described herein as being performed by one component may be performed by multiple components in a distributed manner. Likewise, functionality performed by multiple components may be consolidated and performed by a single component. In some embodiments, the illustrated components may be combined or divided into separate software, firmware and / or hardware. For example, instead of being located within and performed by a single electronic processor, logic and processing may be distributed among multiple electronic processors. Regardless of how they are combined or divided, hardware and software components may be located on the same computing device or may be distributed among different computing devices connected by one or more networks or other suitable communication links. Similarly, a component described as performing particular functionality may also perform additional functionality not described herein. For example, a device or structure that is “configured” in a certain way is configured in at least that way but may also be configured in ways that are not explicitly listed.

[0031] Accordingly, in the claims, if an apparatus, method, or system is claimed, for example, as including a controller, control unit, electronic processor, computing device, logic element, module, memory module, communication channel or network, or other element configured in a certain manner, for example, to perform multiple functions, the claim or claim element should be interpreted as meaning one or more of such elements where any one of the one or more elements is configured as claimed, for example, to make any one or more of the recited multiple functions, such that the one or more elements, as a set, perform the multiple functions collectively.BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG. 1 is an isometric view of a fitness training device.

[0033] FIG. 2 is an isometric view of the fitness training device of FIG. 1 with multiple electronics modules removed.

[0034] FIG. 3 is an isometric view of a fitness training device with a single electronics module removed.

[0035] FIG. 4 is a top view of the fitness training device of FIG. 1.

[0036] FIG. 5 is a side view of the fitness training device of FIG. 1.

[0037] FIG. 6 is a bottom view of the fitness training device of FIG. 1.

[0038] FIG. 7 is a front side view of the fitness training device of FIG. 1.

[0039] FIG. 8 is an isometric bottom view of the fitness training device of FIG. 1.

[0040] FIG. 9 is a top partial transparent view of the fitness training device of FIG. 1.

[0041] FIG. 10 illustrates a control system for the fitness training device of FIG. 1.

[0042] FIG. 11A illustrates a parameter-less control system for the fitness training device of FIG. 1.

[0043] FIG. 11B illustrates a parameter-less control system for the fitness training device of FIG. 1.

[0044] FIG. 12 illustrates a graph of force versus position for concentric movement of an accessory of the fitness training device of FIG. 1.

[0045] FIG. 13 illustrates a graph of force versus position for concentric movement and eccentric movement of an accessory of the fitness training device of FIG. 1.

[0046] FIG. 14 is a process for operating the fitness training device of FIG. 1.

[0047] FIG. 15 illustrates a graph of force versus position for concentric movement and eccentric movement of an accessory of the fitness training device of FIG. 1.

[0048] FIG. 16 is a process for operating the fitness training device of FIG. 1.

[0049] FIG. 17 illustrates a graph of force versus position for concentric movement and eccentric movement of an accessory of the fitness device of FIG. 1.

[0050] FIG. 18 is a process for operating the fitness training device of FIG. 1.

[0051] FIG. 19 is a graph illustrating increasing and decreasing force slew rates for the fitness training device of FIG. 1.

[0052] FIG. 20 is a process for operating the fitness training device of FIG. 1.

[0053] FIG. 21 is a process for operating the fitness training device of FIG. 1.DETAILED DESCRIPTION

[0054] A fitness training device as described herein is configured to be operated in a parameter-less manner. A parameter-less manner means that a user of the fitness training device is capable of using the fitness training device to achieve their personal training goals without having to, for example, input settings related to a desired amount of weight to lift, a resistance setting, etc. A fitness training device configured to implement parameter-less training includes an accessory connected to a connector cable of the fitness training device. The connector cable is connected to a cable drum spool around which the connector cable will be wound and unwound. A motor is used to control motion parameters of the accessory and the connector cable during a fitness action. In a first portion of the fitness action, a speed of the accessory is controlled (e.g., limited) to a predetermined value as the connector cable is unwound from the cable drum spool, and motion parameters for the accessory are recorded. After the first portion of the fitness action is completed, a second portion of fitness action is completed as the connector cable winds back up around the cable drum spool. During the second portion of the fitness action, the fitness training device determines a force to apply to the accessory and the connector cable. The force is determined based on the motion parameters recorded during the first portion of the fitness action. In this way, the fitness training device is able to constantly adapt operation of the fitness training device based on a particular user's use of the fitness training device, and without requiring the input of any parameters for controlling the fitness training device.

[0055] FIG. 1 illustrates a fitness training device 100 for implementing a parameter-less training mode. The fitness training device 100 is configured as a platform or step upon which a user can stand, sit, or lay in order to perform fitness actions. The fitness training device 100 includes a top portion 105 and a bottom portion 110 that collectively form a housing or cabinet. The top portion 105 is configured as a flat surface upon which the user can stand, sit, lay, or otherwise be supported, in order to perform the fitness actions. In some implementations, a bench is placed on and / or over the fitness training device 100 and the user sits or lays on the bench. In some implementations, the top portion 105 is made of wood and is fastened (e.g., screwed) to the bottom portion 110. In other implementations, the top portion is made of a different material, such as a metal, a plastic, a composite, etc. The top portion 105 of the fitness training device 100 includes a plurality of apertures associated with the connection of one or more accessories to the fitness training device 100. For example, a plurality of different types of accessories can be connected to the fitness training device 100, and can be manipulated by a user to perform a fitness action. FIG. 1 illustrates the accessory as a handle 115. In various implementations, a second handle 115 can be connected to the fitness training device 100. Other accessories that can be connected to the fitness training device 100 include a long bar, a waist belt, a short bar, a tricep strap, an ankle strap, a wrist strap, etc. In some implementations, the top portion 105 can be configured as a front portion when the fitness training device 100 is oriented vertically (e.g., if the fitness training device 100 is mounted to a wall).

[0056] The accessories are configured to connect to the fitness training device 100 via a cable or connector cable 120. In some implementations, the connector cable includes a connector that is configured to mate with the accessories such that the accessories can be quickly connected and disconnected from the fitness training device 100. The connector cable 120 is configured to be normally retracted into a cable aperture 125 formed in the top portion 105 of the housing of the fitness training device 100. In some implementations, the cable aperture 125 is funnel-shaped. In the implementation of the fitness training device 100 illustrated in FIG. 1, the fitness training device 100 includes first and second cable apertures 125. As will be described in greater detail below, the connector cables 120 are retractable into the cable apertures 125 using one or more cable pulley and drum systems. The cable pulley and drum systems include, for example, a motor that is configured to apply force through a cable pulley drum to the connector cables 120 to control a force and / or speed at which the connector cables 120 can be moved with respect to the fitness training device 100 (e.g., as a result of a user grasping and moving the handle 115 that is connected to the connector cable 120). In some implementations, each connector cable 120 has a predetermined full range-of-motion (“ROM”), such as approximately 2-3 meters. First and second fixed cable apertures 130 are also provided in the top portion 105 of the housing of the fitness training device 100. Each of the fixed cable apertures 130 include an end connector for connecting to a second end of a cable device. For example, in some implementations, an accessory can be connected to the fitness training device 100 via an external pulley that can function as a force multiplier. As a result, each side of the top portion 105 of the fitness training device 100 includes two connections to accessories, rather than a single connection using the connector cable 120.

[0057] The bottom portion 110 of the fitness training device 100 can be configured as an enclosed housing that houses electronics and other hardware of the fitness training device 100. In other implementations, the bottom portion 110 of the fitness training device 100 can be configured as an open-bottom housing that can removably or fixedly receive electronics and other hardware of the fitness training device. The bottom portion 110 of the fitness training device 100 can be made of a metal, a plastic, a composite, or another material.

[0058] The fitness training device 100 also includes first and second indicators 135. The indicators 135 can be configured as light strips (e.g., light-emitting diode [“LED”] light strips, LED light pipes, etc.) that can be controlled to be illuminated to convey information to a user. For example, the indicators 135 can be configured to illuminate in different patterns and / or colors to convey different information to the user. The patterns can include solid ON, blinking, wave, etc., to provide indications of the force or speed at which an accessory is moving or another parameter of the fitness training device 100. In some implementations, the first and second indicators 135 include a visual display (e.g., a liquid crystal display [“LCD”]), one or more audible indicators (e.g., speakers), and / or one or more tactile indicators.

[0059] FIG. 2 illustrates the fitness training device 100 with the top portion 105 and the bottom portion 110 elevated to expose a first electronics module 140 and a second electronics module 145. As described above, the bottom portion 110 can be configured as an enclosed housing or an open-bottom housing. If the bottom portion 110 is an enclosed housing, the first electronics module 140 and the second electronics module 145 can be located within the bottom portion 110 and fully enclosed except for the cable apertures 125 and fixed cable apertures 130 which extend through the top portion 105 of the fitness training device 100. If the bottom portion 110 is an open-bottom housing, the first electronics module 140 and the second electronics module 145 can be fastened to the bottom portion 110 (e.g., using one or more screws, clips, etc.) and are at least partially located within the housing. The first electronics module 140 and the second electronics module 145 include, among other things, a cable pulley and drum system and a printed circuit board (“PCB”) including control electronics. The first electronics module 140 and the second electronics module 145 are described in greater detail below. While the implementation illustrated in FIG. 2 includes the first electronics module 140 and the second electronics module 145, in other implementations, the first electronics module 140 and the second electronics module 145 are configured as a single electronics module. When implemented as separate electronics modules, the first electronics module 140 and the second electronics module 145 can be electrically connected to one another using an electrical connector. In such a configuration, the first electronics module 140 can function as a master electronics module for controlling operation of the fitness training device 100.

[0060] FIG. 3 illustrates a different implementation of a fitness training device 100A. In the implementation of FIG. 3, a single electronics module 140A is included in the fitness training device 100A. As a result, the fitness training device 100A includes only one cable aperture 125A and one fixed cable aperture 130A. The fitness training device 100A of FIG. 3 is otherwise configured to operate in the same manner as the fitness training device 100 of FIG. 1.

[0061] FIG. 4 illustrates a top view of the fitness training device 100. As illustrated in the top view, the fitness training device 100 is rectangular in shape with rounded corners. The top portion 105 includes a sub-portion 105A that is configured to be used by a user when operating the fitness training device 100. Specifically, the user can stand, sit, or lay in the sub-portion 105A and grip an accessory (e.g., handle 115) to perform a fitness action. As can be seen from the top view of the fitness training device 100, the first and second indicators 135 are visible such that a user would be able to see both the first and second indicators 135 when within the sub-portion 105A.

[0062] FIG. 5 illustrates a side view of the fitness training device 100. The top portion 105 and the bottom portion 110 are shown being connected to one another. In some implementations the top portion 105 and the bottom portion 110 can be formed as a single device (e.g., made of the same material) rather than having the top portion 105 secured to the bottom portion 110. For example, the top portion 105 and the bottom portion 110 can be integrally formed of the same material (e.g., metal, plastic, composite, etc.). The fitness training device 100 also includes one or more wheels 150. In some implementations, the wheels 150 can be incorporated into the bottom portion 110. In other implementations, the wheels 150 can be incorporated into the first electronics module 140 and / or the second electronics module 145. In some implementations, the wheels 150 are included on each side of the fitness training device 100 (e.g., four total wheels with two wheels on each side) to facilitate movement of the fitness training device 100 from one location to another.

[0063] FIG. 6 illustrates a bottom view of the fitness training device 100. In the illustrated implementation, the fitness training device 100 includes two wheels 150, and the fitness training device 100 includes an open-bottom bottom portion 110 that exposes the first electronics module 140 and the second electronics module 145. In the illustrated implementation, the wheels 150 are incorporated into the second electronics module 145. Also illustrated in FIG. 6 are first and second cable drum spools 155, as will be described in greater detail below.

[0064] FIG. 7 is a front side view of the fitness training device 100. As illustrated in FIG. 7, the first electronics module 140 includes a power input port 160 configured to receive a power cord connected, for example, an to alternating current (“AC”) power source (e.g., AC mains power). In some implementations, the power input port 160 is a C14 inlet configured to receive a C13 connector, commonly referred to as an IEC inlet / connector. Although a particular type of power input port 160 is illustrated, any of a variety of different power input ports 160 can be used with the fitness training device 100 to supply AC power to the fitness training device 100. In some implementations, the fitness training device 100 includes an internal power source (e.g., including a plurality of battery cells) such that the fitness training device 100 can power operated independently of an AC power source. For example, the fitness training device 100 can include a plurality of Lithium-ion (“Li-ion”) battery cells within a battery pack or power supply. The battery cells can be located in one or both of the first electronics module 140 and the second electronics module 145. In such implementations, power received through the power input port 160 can be used to charge the battery cells when the fitness training device 100 is connected to an AC power source. The plurality of battery cells allow the fitness training device 100 to be powered for multiple hours without being connected to an AC power source. In some implementations, the power supply is configured to be separate from the first electronics module 140 and the second electronics module 145, and is configured to be removably attached to the fitness training device 100 such that the power supply can be replaced with another power supply when depleted. In some implementations, the first and second indicators 135 can be used to provide an indication of the state-of-charge of the power supply (e.g., blinking red when the power supply is nearly fully depleted).

[0065] The fitness training device 100 also includes a user input 165 configured, for example, as an ON / OFF power button for the fitness training device 100. As described in greater detail below, the user input 165 can be connected to a controller for selectively turning the fitness training device ON and OFF or for performing other actions. For example, when the fitness training device 100 is powered OFF, no force is applied to the connector cables 120. However, when the fitness training device 100 is powered ON, force can be applied to the connector cables 120. In some implementations, the user input is configured as a pushbutton that activates a momentary switch when the pushbutton is depressed. The momentary switch provides a signal to the controller that causes the fitness training device 100 to power ON. In other implementations, different types of input can be used, such as a touch sensor (e.g., a capacitive sensor), to turn the fitness training device 100 ON and OFF.

[0066] The fitness training device 100 also includes input / output connection ports 170 that allow the fitness training device 100 to connect to an external device (e.g., smart phone, computer, etc.). In some implementations, the input / output connection ports 170 are USB ports (e.g., USB-A ports, USB-C ports, etc.). The input / output connection ports 170 (illustrated as two USB-C ports) allow a user to access information stored within the fitness training device 100. For example, a user may want to download or otherwise access information related to a particular workout or a series of workouts (e.g., total time, weight lifted, number of repetitions, consistency of repetitions, weight lifted from each side of the fitness training device 100, etc.). Similarly, the input / output connection ports 170 can also be used to update the fitness training device 100. For example, a user can connect the fitness training device to an external device to update the firmware of the fitness training device 100.

[0067] FIG. 8 is a bottom perspective view of the fitness training device with lower portions of the first electronics module 140 and the second electronics module 145 removed. As shown in FIG. 8, the fitness training module includes the first and second cable drum spools 155, first and second motors 175, and first and second control printed circuit boards (“PCBs”) 180. The first and second control PCBs will be described in greater detail below with respect to FIG. 10. Although both first and second control PCBs 180 are illustrated in FIG. (i.e., one associated with each of the first electronics module 140 and the second electronics module 145, a single control PCB 180 can be used to control the fitness training device 100 (e.g., a single control PCB 180 located in the first electronics module 140). The first and second motors 175 are, for example, configured as direct drive motors. As a result, the output shafts of the motors 175 directly drive the first and second cable drum spools 155 to apply force to the connector cable 120 to let out (e.g., unwind) or retract (e.g., wind) the connector cables 120. The fitness training device 100 can also include a pulley system to guide the connection cables 120 from the first and second cable drum spools 155 out to the cable apertures 125. In some implementations, a transmission or gearbox can be positioned between the motors 175 and the first and second cable drum spools 155.

[0068] FIG. 9 is a top view of the fitness training device 100 with a portion of the top portion 105 removed to expose the first and second motors 175. The first and second motors 175 can be brushed motors or brushless direct current (“BLDC”) motors. The first and second motors 175 in the illustrated implementation are BLDC motors that are driven or electronically-commutated, for example, by an inverter bridge (e.g., a six FET inverter bridge). The illustrated first and second motors 175 are outer-rotor radial flux motors. However, in other implementations, the first and second motors 175 are inner-rotor motors, or have a different motor configuration (e.g., axial flux motors, transverse flux motors, etc.). Each of the first and second motors 175 includes a stator, a rotor, and an output shaft. The stator includes a plurality of stator windings that are selectively energized to create a magnetic field that interacts with permanent magnets in or on the rotor to produce a rotational force on the rotor. The first and second motors 175 can additionally include a separate PCB (see FIG. 10) configured for measuring a rotational position of the rotor of the motors 175. For example, the separate PCB can include a plurality of magnetic sensors (e.g., Hall effect sensors) for precisely measuring the rotational positions of the rotors of the motors 175. In some implementations, the separate PCBs are not included in the fitness training device 100. By knowing the rotational position of the rotors of the motors 175, velocity and acceleration information can be determined and used to control the motors 175. In some implementations, the motors do not include the separate PCBs. Rather, a sensorless motor control technique can be used where the rotational position of the rotors of the motors 175 are determined by measuring back-electromotive force and monitoring phase currents. Additionally, in some implementations, the motors 175 are driven using block commutation (e.g., when magnetic sensors are used for position detection). In some implementations, the motors 175 are driven using field-oriented control (“FOC”) (e.g., when a sensorless motor control technique is being used). In some implementations, the motors 175 are configured to apply forces in the range of about 10 Newtons (“N”) to 1000 N (e.g., about 1 kilogram [“kg”] to 100 kg).

[0069] FIG. 10 illustrates a control system 1000 for the fitness training device 100. The control system 1000 includes a controller 1005. As described above, the fitness training device 100 can include both the first electronics module 140 and the second electronics module 145. As a result, each of the motors 175 can be driven independently by respective controllers within the first electronics module 140 and the second electronics module 145. However, for descriptive purposes, the control system 1000 will be described as controlling both motors 175. The operation of the first electronics module 140 and the second electronics module 145 are substantially the same. Therefore, the description of the operation of the control system 1000 is applicable to both the first electronics module 140 and the second electronics module 145. The controller 1005 is electrically and / or communicatively connected to a variety of modules or components of the fitness training device 100. For example, the illustrated controller 1005 is electrically connected to the indicators 135, the user input 165, the input / output connection ports 170, the first and second motors 175, a power input module 1010, one or more sensors 1015 (e.g., current sensors, voltage sensors, position sensors [e.g., a Hall effect sensors, encoders, etc.], speed sensors, temperature sensors, etc.), first and second motor drivers 1020, and a wireless communications module 1025. The wireless communications module 1025 is configured to communicate through a network 1030. In some implementations, the controller 1005 may receive signals wirelessly from a device external to the fitness training device 100 (e.g., a user's mobile phone) over the network 1030 and via the wireless communications module 1025.

[0070] In some implementations, the network 1030 is a cellular network, such as, for example, a Global System for Mobile Communications (“GSM”) network, a General Packet Radio Service (“GPRS”) network, a Code Division Multiple Access (“CDMA”) network, an Evolution-Data Optimized (“EV-DO”) network, an Enhanced Data Rates for GSM Evolution (“EDGE”) network, a 3GSM network, 4GSM network, a 4G LTE network, 5G New Radio, a Digital AMPS (“IS-136 / TDMA”) network, or an Integral Digital Enhanced Network (“iDEN”) network, etc. In other implementations, the network 1030 is a short range wireless network that uses, for example, ZigBee (IEEE 802.15.4 radio), Bluetooth®, Wi-Fi®, or a similar protocol for communication.

[0071] As previously described, in some implementations, each motor 175 includes a PCB 1075 including position sensors (e.g., Hall effect sensors) for detecting a rotational position of the rotors of the motors 175. However, in some implementations, the fitness training device 100 does not include the PCBs 1075.

[0072] The controller 1005 includes combinations of hardware and software that are operable to, among other things, control the operation of the fitness training device 100, monitor the operation of the fitness training device 100, activate the indicators 135, control the motors 175, etc. The controller 1005 includes a plurality of electrical and electronic components that provide power, operational control, and protection to the components and modules within the controller 1005 and / or the fitness training device 100. For example, the controller 1005 includes, among other things, a processing unit 1035 (e.g., a microprocessor, a microcontroller, an electronic controller, an electronic processor, or another suitable programmable device), a memory 1040, input units 1045, and output units 1050. The processing unit 1035 includes, among other things, a control unit 1055, an arithmetic logic unit (“ALU”) 1060, and a plurality of registers 1065 (shown as a group of registers in FIG. 10), and is implemented using a known computer architecture (e.g., a modified Harvard architecture, a von Neumann architecture, etc.). The processing unit 1035, the memory 1040, the input units 1045, and the output units 1050, as well as the various modules or circuits connected to the controller 1005 are connected by one or more control and / or data buses (e.g., common bus 1070). The control and / or data buses are shown generally in FIG. 10 for illustrative purposes.

[0073] The memory 1040 is a non-transitory computer readable medium and includes, for example, a program storage area and a data storage area. The program storage area and the data storage area can include combinations of different types of memory, such as a ROM, a RAM (e.g., DRAM, SDRAM, etc.), EEPROM, flash memory, a hard disk, an SD card, or other suitable magnetic, optical, physical, or electronic memory devices. The processing unit 1035 is connected to the memory 1040 and executes software instructions that are capable of being stored in a RAM of the memory 1040 (e.g., during execution), a ROM of the memory 1040 (e.g., on a generally permanent basis), or another non-transitory computer readable medium such as another memory or a disc. Software included in the implementation of the fitness training device 100 can be stored in the memory 1040 of the controller 1005. The software includes, for example, firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions. The controller 1005 is configured to retrieve from the memory 1040 and execute, among other things, instructions related to the control processes and methods described herein. In other implementations, the controller 1005 includes additional, fewer, or different components.

[0074] As previously described, the indicators 135 include, for example, one or more light-emitting diodes (“LEDs”) (e.g., an LED strip). The indicators 135 can be configured to display conditions of, or information associated with, the fitness training device 100. For example, the indicators 135 can be configured to indicate measured weight or force characteristics of the fitness training device 100, a status of the fitness training device 100, the completion of a fitness action, the completion of a set of fitness actions, consistency from one fitness action to the next fitness action, an imbalance between the force applied to two accessories, etc.

[0075] The power input module 1010 is configured to receive power from a power source (e.g., an AC power source), and distribute that power to the various components of the fitness training device 100. In some implementations, the power input module 1010 includes combinations of active and passive components to regulate or control the power received from the power source prior to power being provided to the controller 1005 or motors 175. The motor drivers 1020 are configured, for example, to convert a direct current (“DC”) voltage to phase signals for powering the stator phases of the motors 175.

[0076] The sensors 1015 can include, for example, voltage sensors, current sensors, speed sensors, position sensors (e.g., encoders, etc.), motions sensors (e.g., accelerometers, gyroscopes, inertial measurement units [“IMUs”], etc.) for detecting various parameters of the fitness training device 100, magnetic sensors (e.g., Hall effect sensors) for detecting the rotational position of the rotors of the motors 175, and the like.

[0077] FIG. 11A illustrates a control system 1100 for operating the fitness training device 100 in a parameter-less manner. A parameter-less manner means that a user of the fitness training device 100 is capable of using the fitness training device 100 to achieve their personal training goals without having to, for example, input settings related to a desired amount of weight to lift, a resistance setting, a range of motion, user height, user weight, etc. Instead, the fitness training device 100 is configured to learn from the manner in which the fitness training device 100 is being used during a first portion of a fitness action (e.g., during a concentric portion of the fitness action), and then adapt operation of the fitness training device 100 during a second portion of the fitness action (e.g., during an eccentric portion of the fitness action). The adaptation of the operation of the fitness training device 100 in the second portion of the fitness action is controlled based on the manner of use of the fitness training device 100 during the first portion of the fitness action.

[0078] The term concentric motion is used herein to describe a first part or portion of a fitness action that corresponds to, for example, an accessory (e.g., the handle 115) being pulled away the fitness training device 100 (e.g., connector cable 120 unwinds). The term eccentric motion is used herein to describe a second part or portion of the fitness action that corresponds to, for example, the accessory (e.g., the handle 115) being retracted toward the fitness training device 100 (e.g., connector cable 120 winds).

[0079] The concentric motion is controlled using a first branch 1100A of the control system 1100. The first branch 1100A of the control system 1100 includes an operational configuration 1105, such as duration (e.g., duration of a fitness action, duration of the concentric portion of the fitness action, etc.), range of motion, eccentric overload percentage, a speed limit, etc. The operational configuration is used by a velocity controller 1110 that is configured to control the forces that are applied to the accessory in order to limit to, or maintain, a prescribed speed of movement or velocity for the accessory during concentric motion. For example, as will be described in greater detail below, the fitness training device 100 includes one or more encoders that can used to determine how much of the connector cable 120 has been unwound from the cable drum spool 155. Additionally, the encoders can be used to determine the speed at which the connector cables 120 are unwinding. A speed limit for the concentric motion (e.g., a half meter per second [“0.5 m / s”], one meter per second [“1.0 m / s”], etc.) is the target speed (e.g., a target isokinetic speed) that the controller 1005 will permit for the concentric movement of the accessory. A switch 1120 is illustrated within the control system 1100 to signify a switching between the concentric motion of a fitness action and the eccentric motion of the fitness action. During the concentric motion, the output of the control system 1100 is limited to the prescribed speed, variable force output from the first branch 1100A of the control system 1100.

[0080] The eccentric motion is controlled using a second branch 1100B of the control system 1100. During the concentric motion of the accessory, a number of parameters 1125 associated with the fitness training device 100, and particularly the accessory or the connector cable 120, are recorded. Because the accessory is connected to connector cable 120, references to parameters of the accessory also correspond to the parameters of the connector cable 120. The parameters include force (e.g., in kilograms [“kg”]), position (e.g., in meters [“m”]), speed or velocity (e.g., in meters per second [“m / s”]), and acceleration (e.g., in meters per second squared [“m / s2”]). Values for position, velocity, and acceleration are determined using a position sensor. For example, the position sensor can include one or more encoders (e.g., magnetic encoders) for each connector cable 120. The encoder is used to measure an amount of cable 120 that has been unwound from the cable drum spool 155. Velocity and acceleration can be determined from the position measurements. The values for force can be calculated based on a servo output that gets applied to the motors 175 (e.g., values for motor voltage, motor current, motor speed, etc.). The calculated force corresponds to a force required for the velocity control loop of the first branch 1100A to limit or maintain the target or prescribed velocity for the accessory.

[0081] Values for these parameters are continuously recorded throughout the concentric motion of the accessory. In some implementations, values for the parameters are recorded at a frequency of 50 Hertz (“Hz”) or 50 times per second. However, the resolution of the recorded data can be increased by increasing the frequency at which the values for the parameters are recorded. The higher the frequency for recording the values of the parameters, the more data will be available for analyzing the concentric motion of the accessory.

[0082] The values for the parameters are stored in an array 1130. For each row in the array 1130, a value for the force, position, velocity, and acceleration of the accessory can be stored. Each sample of the parameter values corresponds to one row in the array 1130. Multiple levels of analysis can be performed on the data stored in the array 1130. For example, individual rows of the array 1130 or mapped force values (e.g., force values at a given position) can be read out and multiplied by an eccentric overload percentage 1140. The mapped force values are variable based on position. The eccentric overload percentage corresponds to a multiplier for increasing (value above 100%) decreasing (value below 100%) or maintaining (equal to 100%) the forces that were applied during the concentric motion. A heuristics module 1135 is configured to evaluate the entire set of data in the array 1130. For example, the heuristics module 1135 can be configured to evaluate the data in the array 1130 to determine, among other things, an average force value, a maximum force value, a minimum force value, an average velocity, a maximum velocity, a minimum velocity, etc. The heuristics module 1135 can output any of the determined values for use in computing an eccentric force that will be applied during the eccentric motion of the accessory. In some implementations, the heuristics module 1135 outputs an average force value. The average force value can be a weighted average of performance during the concentric motion of the accessory. The average force value is a constant value for each concentric motion of a fitness activity. The average force value is multiplied by the eccentric overload percentage 1140.

[0083] The results of the multiplications of the average force value and mapped force values with the eccentric overload percentage 1140 are then provided to a blending module 1145. The blending module 1145 is configured to average the two values. In some implementations, the blending module 1145 can apply a weighting to the two values to emphasize one of the two values more heavily. The weighting can be tuned to control the feel the user is going to experience during the eccentric motion of the accessory. Weighting the mapped force values more heavily allows for greater dynamic eccentric force. Weighting the average force value more heavily will produce a more consistent application of force.

[0084] The output of the blending module 1145 is provided to a limiter 1150. The limiter 1150 is operable to limit a maximum eccentric force deviation from the average force value. As a result, the limiter 1150 prevents overly large changes in force over the eccentric motion of the fitness activity. The limiter 1150 does not directly act on the eccentric force that will be applied during the eccentric motion of the accessory. Rather, the limiter 1150 is intended to be activated if there is an unusually large variation in force during the concentric motion. During the eccentric motion, the output of the control system 1100 is the variable force value output from the second branch 1100B of the control system 1100.

[0085] The output of the switch 1120 is provided to an optional smart slew module 1155. The smart slew module 1155 is not required to be in the control system 1100, but provides additional functionality to the fitness training device 100. The smart slew module 1155 is configured to limit how quickly forces on the accessory can be changed. The smart slew module 1115 is configured to be operable during both the concentric (e.g., outward) movement of the accessory and the eccentric (e.g., inward) movement of the accessory. The smart slew module 1155 will be described in greater detail below (see FIGS. 19 and 20).

[0086] FIG. 11B illustrates a variation of the control system 1100 for operating the fitness training device 100 in a parameter-less manner. In contrast to the system 1100 illustrated in FIG. 11A, the system 1100 illustrated in FIG. 11B includes a digital inertia module 1160 and a speed limiter module 1165. The digital inertia module 1160 and the speed limiter module 1165 are not required in the system 1100. As a result, the system 1100 in FIG. 11A is fully capable of operating without the digital inertia module 1160 and the speed limiter module 1165. However, the digital inertia module 1160 and the speed limiter module 1165 provide additional functionality to the system 1100 that provides additional advantages to the system 1100.

[0087] The digital inertia module 1160 is configured to provide enhanced feel to the operation of the fitness training device 100. Specifically, the digital inertia module 1160 is configured to simulate the feel of free weights by providing a force that resists changes in velocity. Such an application of force makes the use of the fitness training device 100 feel to a user the way that the user would feel using free weights, which can make for a more familiar exercise experience. An amount of force that can be applied by the system 1100 in order to simulate the feel of using free weights can be set, for example, as a percentage of the maximum eccentric force that is allowed by the limiter 1150. In some implementations, the amount of force that can be added to the output of the limiter 1150 is between zero percent (0%), meaning no additional force applied, and 200%. In some implementations a default or nominal setting for the amount of force added by the digital inertia module 1160 can be set to a 50% increase. However, any value (e.g., discrete value) between 0% and 200% can be set as the default or nominal setting.

[0088] Additionally, the increase in force by the digital inertial module can be fixed or can be varied based on the operation of the fitness training device 100 (e.g., based on position, speed, acceleration, etc., of the fitness training device 100). For example, the amount of force added by the digital inertia module 1160 can be computed using state information associated with the fitness training machine 100, such as force, position, velocity, acceleration (e.g., of the connector cable 120). As an example implementation, the digital inertia module 1160 can apply additional force when accelerating in the direction of retraction (e.g., eccentric motion), but the additional force may not be applied when slowing to a stop at the bottom of a motion range.

[0089] The speed limiter 1165 is configured to limit a retraction speed of the connector cable 120 when the retraction speed reaches or exceeds a speed threshold. The speed limiter 1165 limits the retraction speed of the connector cable 120 by, for example, reducing an active force on the connector cable 120 to thereby prevent any further increases in speed. During normal operation of the fitness training device 100, the speed limiter 1165 will have little or no effect on the force applied to the connector cable or a user's experience when using the fitness training machine 100. The effect of limiting the retraction speed of the connector cable 120 in such a manner is to limit extreme use cases of the fitness training device 100. For example, the speed limiter 1165 can function to ensure retraction of the connector cable 120 in a controlled manner. In some implementations, the speed threshold can have a value of between 0.3 meters per second (“m / s”) and 1.5 m / s. In some implementations, the speed threshold has a nominal or default value of 0.5 m / s. However, any value between 0.3 m / s and 1.5 m / s can be set as the nominal or default setting. In some implementations, the speed threshold can be fixed or can be varied based on the operation of the fitness training device 100. For example, the speed threshold can be calculated based on parameters of the fitness training device, such as concentric motion duration, range of motion, rep-to-rep performance, acceleration, etc.

[0090] FIG. 12 is a graph 1200 that includes a plot 1205 of force versus position for an accessory (e.g., handle 115) of the fitness training device 100. The graph 1200 corresponds to a concentric motion of the accessory, and the motion of the accessory corresponds to the accessory going from a home position (e.g., zero meters away from the fitness training device) to a maximum extension for the accessory during a fitness action (e.g., 1 meter away from the fitness training device 100). The plot 1205 illustrates that an initial force is applied to the accessory before movement of the accessory begins. This initial force is applied in order to avoid a sharp increase in force at the beginning of the concentric motion. The force applied to the accessory is relatively constant for a large portion of the plot 1205. As the accessory reaches the full extension position, the force that is applied to the accessory is again maintained at, for example, the initial force value in order to avoid a zero force scenario.

[0091] During the motion illustrated in FIG. 12, the controller 1005 is recording the force applied to the accessory, the position of the accessory, a velocity of the accessory, and an acceleration of the accessory. As described above with respect to FIG. 11A, these values are stored in a memory (e.g., array 1130) in order to compile a detailed record of the motion of the accessory. During the concentric motion of the accessory, the speed of the accessory is controlled to not exceed a predetermined value or velocity curve. For example, the speed at which the accessory can be moved away from the fitness training device 100 is limited to, for example, a half meter per second (“0.5 m / s”), one meter per second (“1.0 m / s”), etc.

[0092] As described above with respect to FIG. 11A, after the concentric motion of the accessory has been completed, the controller 1005 controls the force applied to the accessory (through the connector cable 120) to provide a desired level of force to the accessory during the eccentric motion of the accessory. There are several ways in which the controller can control the force that is applied to the accessory during eccentric motion. A first option is to apply no force at all (e.g., lift only). This control technique is illustrated in a graph 1300 in FIG. 13. As shown in FIG. 13, a plot 1305 of the concentric motion of the accessory looks very similar to the plot 1205 of concentric motion in FIG. 12. However, the controller 1005 does not apply any force to the accessory during eccentric motion, as illustrated by plot 1310.

[0093] FIG. 14 is a process 1400 associated with the graph 1300 of concentric and eccentric motion of the accessory illustrated in FIG. 13. Although the process 1400 is described with reference to one accessory, the same process 1400 can be applied at the same time for a second accessory connected to the fitness training device 100. The process 1400 begins with concentric motion of the accessory beginning or being initiated (STEP 1405). During the concentric motion of the accessory, the motion of the accessory is limited by speed (STEP 1410). For example, the speed of the accessory can be limited to a speed threshold value, such as a half meter per second (“0.5 m / s”), one meter per second (“1.0 m / s”), etc. Throughout the concentric motion of the accessory, the controller 1005 records concentric motion parameters of the accessory (STEP 1415). Specifically, the controller 1005 records force on (e.g., kilograms), acceleration of, velocity of, and position of the accessory. In some implementations, additional motion parameters can be recorded or determined.

[0094] At STEP 1420, the controller 1005 determines whether concentric motion of the accessory has ended. In some implementations, the end of the concentric motion is based on the position of the accessory reaching an end of the concentric motion (e.g., based on a determined range of motion [“ROM”]). In other implementations, the end of the concentric motion can be based on the force being applied to the accessory. If the concentric motion of the accessory has not ended at STEP 1420, the process 1400 returns to STEP 1415, and the controller 1005 continues to record concentric motion parameters for the accessory. If, at STEP 1420, the concentric motion of the accessory has ended, the process 1400 proceeds to STEP 1425. At STEP 1425, the controller 1005 applies no force to the accessory. Rather, the connector cable 120 is merely allowed to retract and wind up around the cable drum spool 155. In some implementations, a user can select the lift only mode using, for example, the user input 165 on the fitness training device 100. In other implementations, a user can select the lift only mode using an external device (e.g., a mobile phone) that can communicate the desired mode setting to the controller 1005 over the network 1030. The process 1400 can then be repeated for each subsequent fitness action.

[0095] FIG. 15 is another graph 1500 that includes a plot 1505 of force versus position for an accessory (e.g., handle 115) of the fitness training device 100. The plot 1205 corresponds to a concentric motion of the accessory, and the motion of the accessory corresponds to the accessory going from a home position (e.g., zero meters away from the fitness training device) to a maximum extension for the accessory during a fitness action (e.g., 1 meter away from the fitness training device 100). As described above with respect to the control system 1100 of FIG. 11, during the concentric motion of the accessory, the controller 1005 is recording concentric motion parameters for the accessory. Unlike the plot 1310 in FIG. 13, in the illustrated plot 1510, the controller 1005 is mimicking or mirroring the force that was applied by the user during the concentric motion of the accessory during the eccentric motion of the accessory. As described above with respect to FIG. 11A, this control is achieved using the recorded concentric motion parameters, heuristics associated with the concentric motion parameters, and a blending of the data to determine what force should be applied to the accessory at every position of the eccentric motion. Although it is possible for the controller 1005 to exactly or nearly exactly reproduce the forces applied during concentric motion during the eccentric motion, exact replication is not always desirable. As a result, based on the concentric motion parameters, heuristics, and a blending of the data, the plot 1510 is produced for the eccentric motion of the accessory. The plot 1510 generally closely tracks the forces that were applied to the accessory during concentric motion. The result of the correlation between the forces applied by a user during the concentric motion of the accessory and the forces applied by the controller 1005 during eccentric motion is that the fitness training device 100 will provide a consistent experience and feel throughout a complete fitness action.

[0096] FIG. 16 is a process 1600 associated with the graph 1500 of concentric and eccentric motion of the accessory illustrated in FIG. 15. Although the process 1600 is described with reference to one accessory, the same process 1600 can be applied at the same time for a second accessory connected to the fitness training device 100. The process 1600 begins with concentric motion of the accessory beginning or being initiated (STEP 1605). During the concentric motion of the accessory, the motion of the accessory is limited by speed (STEP 1610). For example, the speed of the accessory can be limited to a speed threshold value, such as a half meter per second (“0.5 m / s”), one meter per second (“1.0 m / s”), etc. Throughout the concentric motion of the accessory, the controller 1005 records concentric motion parameters of the accessory (STEP 1615). Specifically, the controller 1005 records force on (e.g., kilograms), acceleration of, velocity of, and position of the accessory. In some implementations, additional motion parameters can be recorded or determined.

[0097] At STEP 1620, the controller 1005 determines whether concentric motion of the accessory has ended. In some implementations, the end of the concentric motion is based on the position of the accessory reaching an end of the concentric motion (e.g., based on a determined range of motion [“ROM”]). In other implementations, the end of the concentric motion can be based on the force being applied to the accessory. If the concentric motion of the accessory has not ended at STEP 1620, the process 1600 returns to STEP 1615, and the controller 1005 continues to record concentric motion parameters for the accessory. If, at STEP 1620, the concentric motion of the accessory has ended, the process 1600 proceeds to STEP 1625. At STEP 1625, the controller 1005 is configured to apply force to the accessory to mimic or mirror the motion parameters recorded during the concentric motion of the accessory at STEP 1615. As described above with respect to FIG. 15, mimicking or mirroring the concentric motion parameters does not require that the motion parameters be exactly the same. Rather, the goal of the process 1600 is for the fitness training device 100 to provide a consistent experience and feel throughout a complete fitness action. At STEP 1630, the controller 1005 is configured to limit the force that is applied to the accessory during the eccentric motion of the accessory. By limiting speed during the concentric motion and determining or deriving applied force during eccentric motion in this manner, the controller 1005 is able to implement fully parameter-less training that does not require any input from the user. A user only needs to perform the concentric motion with the accessory, and the fitness training device 100 will adapt to the force applied by the user and correspondingly control the force applied during the eccentric motion of the accessory. The process 1600 can then be repeated for each subsequent fitness action.

[0098] FIG. 17 is another graph 1700 that includes a plot 1705 of force versus position for an accessory (e.g., handle 115) of the fitness training device 100. The plot 1705 corresponds to a concentric motion of the accessory, and the motion of the accessory corresponds to the accessory going from a home position (e.g., zero meters away from the fitness training device 100) to a maximum extension for the accessory during a fitness action (e.g., 1 meter away from the fitness training device 100). As described above with respect to the control system 1100 of FIG. 11, during the concentric motion of the accessory, the controller 1005 is recording concentric motion parameters for the accessory. Unlike the plot 1510 in FIG. 15, in the illustrated plot 1710, the controller 1005 is altering (e.g., increasing or decreasing) the force that was applied by the user during the concentric motion of the accessory during the eccentric motion of the accessory. As described above with respect to FIG. 11A, this control is achieved using the recorded concentric motion parameters, heuristics associated with the concentric motion parameters, and a blending of the data to determine what force should be applied to the accessory at every position of the eccentric motion. As a result, based on an eccentric overload percentage, the concentric motion parameters, heuristics, and a blending of the data, the plot 1710 is produced for the eccentric motion of the accessory. The plot 1710 is illustrated as applying a greater force to the accessory during the eccentric motion than was applied by the user to the accessory during concentric motion (e.g., an eccentric overload percentage of greater than 100% [e.g., 120%, 101%-150%, etc.]. Alternatively, the plot 1710 could instead be illustrated as applying a lesser force to the accessory during the eccentric motion than was applied by the user to the accessory during concentric motion (e.g., an eccentric overload percentage of less than 100% [e.g., 80%, 50%-99%, etc.]. The eccentric overload percentage can be a preset value, or could potentially be set by a user (e.g., via user input 165, received by the wireless communication module 1025 over the network 1030 [e.g., from an external device], etc.). The use of the eccentric overload percentage to modify the force applied during eccentric motion as compared to the concentric motion can be beneficial for certain types of fitness training (e.g., rehabilitation).

[0099] FIG. 18 is a process 1800 associated with the graph 1700 of concentric and eccentric motion of the accessory illustrated in FIG. 17. Although the process 1800 is described with reference to one accessory, the same process 1800 can be applied at the same time for a second accessory connected to the fitness training device 100. The process 1800 begins with concentric motion of the accessory beginning or being initiated (STEP 1805). During the concentric motion of the accessory, the motion of the accessory is limited by speed (STEP 1810). For example, the speed of the accessory can be limited to a speed threshold value, such as a half meter per second (“0.5 m / s”), one meter per second (“1.0 m / s”), etc. Throughout the concentric motion of the accessory, the controller 1005 records concentric motion parameters of the accessory. Specifically, the controller 1005 records force on (e.g., kilograms), acceleration of, velocity of, and position of the accessory. In some implementations, additional motion parameters can be recorded or determined.

[0100] At STEP 1820, the controller 1005 determines whether concentric motion of the accessory has ended. In some implementations, the end of the concentric motion is based on the position of the accessory reaching an end of the concentric motion (e.g., based on a determined range of motion [“ROM”]). In other implementations, the end of the concentric motion can be based on the force being applied to the accessory. If the concentric motion of the accessory has not ended at STEP 1820, the process 1800 returns to STEP 1815, and the controller 1005 continues to record concentric motion parameters for the accessory. If, at STEP 1820, the concentric motion of the accessory has ended, the process 1800 proceeds to STEP 1825. At STEP 1825, the controller 1005 is configured to determine an eccentric motion target force or force setpoint. Although described as a single limit, the limit can be determined for each position of the accessory during eccentric motion, and the limits can vary throughout the eccentric motion. The determined eccentric motion target force can then be applied to the accessory. The eccentric motion target force can result in the controller 1005 applying a force to the accessory that is greater than, less than, or equal to the motion parameters recorded during the concentric motion of the accessory at STEP 1815. As described above with respect to FIG. 17, an eccentric overload percentage can be used to scale the force that will be applied during eccentric motion up or down from the recorded parameters of the concentric motion. At STEP 1830, the controller 1005 is configured to limit the force that is applied to the accessory during the eccentric motion of the accessory to the eccentric motion target force. By limiting speed during the concentric motion and limiting applied force during eccentric motion in this manner, the controller 1005 is able to implement fully parameter-less training that does not require any input from the user. A user only needs to perform the concentric motion with the accessory, and the fitness training device 100 will adapt to the force applied by the user and correspondingly control the force applied during the eccentric motion of the accessory. The process 1800 can then be repeated for each subsequent fitness action.

[0101] FIG. 19 is a graph 1900 illustrating rates of change in force applied to the accessory versus the velocity of the accessory. The graph 1900 is a visual illustration of the operation of the smart slew modules 1115, 1155 in FIG. 11A. The vertical (y) axis of the graph illustrates a force slew rate (in kilograms per second [“kg / s”]) and the horizontal (x) axis of the graph illustrates velocity (in centimeters per second [“cm / s”]). As previously described, the position, velocity / speed, and / or acceleration of the accessory can be continuously determined based on output signals from one or more encoders that are used to determine the extent to which the connector cable 120 has been unwound from the cable drum spool 155.

[0102] As previously described with respect to FIG. 11A, the smart slew modules 1115, 1155 are configured to limit how quickly forces on the accessory can be changed. A first slew line 1905 illustrates a limit on the rate at which force is allowed to increase. A second slew line 1910 illustrates a limit on the rate at which force is allowed to decrease. For a given velocity (positive or negative), a value for the limit on the rate at which force is allowed to both increase and decrease can be determined or set. For positive velocities, which represent the accessory's outward velocity (i.e., moving away from the fitness training device 100), the force slew rate will increase with increased velocity. Specifically, as the velocity increases, the rate at which the fitness training device 100 will allow force to be added will increase. For example, each hash mark in the graph 1900 along the horizontal axis can represent an interval of 20 cm / s, and each has mark in the graph 1900 along the vertical axis can represent an interval of 30 kg / s. In such an example, during the lowest velocity segment of operation for the fitness training device 100, both the rate of change increase in force and the rate of change decrease in force are limited to 30 kg / s. However, as the velocity of the accessory increases, the permissible rate of change in increasing applied force increases, while the permissible rate of change in decreasing applied forces decreases. Accordingly, for positive velocities during the concentric motion of the accessory, a user is in control of the force that is applied to the accessory and greater increases in force are permitted. As the velocity of the accessory decreases, the permissible rate of change in increasing applied force decreases, while the permissible rate of change in decreasing applied forces increases. Accordingly, for negative velocities during the eccentric motion of the accessory, a user may not be in full control of the force that is applied to the accessory and greater decreases in force are permitted.

[0103] FIG. 20 is a process 2000 for controlling force slew rates for the fitness training device 100, as illustrated in FIG. 19. The process 2000 begins with the controller 1005 determining a velocity of the accessory (STEP 2005). As previously described, the position, velocity / speed, and / or acceleration of the accessory can be determined based on output signals from one or more encoders. Based on the velocity of the accessory, the controller then determines an increasing force slew rate (STEP 2010). The increasing force slew rate is a limit on the rate at which force is allowed to increase. The controller 1005 also determines a decreasing force slew rate (STEP 2015). The decreasing force slew rate is a limit on the rate at which force is allowed to decrease. After the force slew rate limits are established, the rate at which force on the accessory can be increased is limited (STEP 2020), and the rate at which force on the accessory can be decreased is limited (STEP 2025).

[0104] The process 2000 can be continuously executed during operation of the fitness training device 100. In some implementations, the process 2000 can be turned OFF or disabled by a user. For example, the user input 165 can be used to disable the process 2000, or the controller 1005 can receive a signal over the network 1030 at the wireless communications module 1025 indicating that the process 2000 should be disabled. Additionally, in some implementations, the values for force slew rate can be varied by a user such that different values for increasing and decreasing force slew rates can be implemented.

[0105] FIG. 21 is a process 2100 that can be used to simplify a user's interaction with the fitness training device 100 when, for example, the user is starting an exercise. The process 2100 is intended to remove any requirement for a user to first set the fitness training device 100 for a particular exercise. For example, setting up the fitness training device 100 for a particular exercise can involve a user having to initiate a workout from a user interface (e.g., a smartphone running an application) to select the particular exercise or to indicate an extent of a workout that the user would like to perform. The process 2100 can eliminate any such interaction with a user interface to start the workout.

[0106] The process 2100 begins with a connector cable 120 or connector cables 120 being fully retracted into the fitness training device 100 (STEP 2105). The controller 1005 then detects the connector cable 120 being extended from the fitness training device 100 (STEP 2110). In some implementations, the controller 1005 detects the connector cable 120 being extended based on the connector cable being extended by a threshold amount. For example, the connector cable 120 being extended by approximately 2.5 centimeters (“cm”) to 5.0 cm from the fully retracted position can signify that the connector cable 120 is being extended. If the connector cable 120 is not being extended, the process 2100 returns to STEP 2105.

[0107] If the connector cable 120 is being extended, the controller 1005 then determines whether the connector cable 120 is stationary (STEP 2115). In order to determine whether the connector cable 120 is stationary, the controller is configured to monitor, for example, a position, a velocity, or a position and a velocity of the connector cable 120. When, for example, a position of the connector cable 120 remains within a predetermined window (e.g., + / −5 centimeters [“cm”]) for a predetermined duration, the controller 1005 can determine that the connector cable 120 is stationary. When, for example, the velocity of the connector cable 120 is below a velocity threshold value for a predetermined duration, the controller 1005 can determine that the connector cable 120 is stationary. In some implementations, the velocity threshold has a value of, for example, 2.5 cm per second (“cm / s”) to 5.0 cm / s. In some implementations, the predetermined duration has a value of between, for example, 1 second(s) and 5 s (e.g., 1.5 s). When the position of the connector cable 120, the velocity of the connector cable 120, or both the position of the connector cable 120 and the velocity of the connector cable 120 are indicative of the connector cable 120 being stationary for the predetermined duration, the controller 1005 determines that the user is, for example, waiting to start an exercise. If the connector cable 120 is not stationary, the process 2100 returns to STEP 2105. If the connector cable 120 is stationary, the user can begin performing the desired exercises (STEP 2120). At STEP 2125, the controller 1005 again determines whether the connector cable 120 is stationary (e.g., and not fully retracted). The determination of whether the connector cable 120 is stationary can be made in the same manner as was described with respect to STEP 2115. The connector cable 120 being stationary at this stage in the process 2100 can be indicative of a user taking a short break. In such an instance, the controller 1005 can pause an active exercise (STEP 2130) while waiting for the connector cable 120 to no longer be stationary. The pause of the active exercise will end when the connector cable 120 is no longer stationary, and the controller 1005 can then determine if the exercise should be ended (STEP 2135). In some implementations, the controller 1005 can determine whether the connector cable 120 is, for example, at a bottom of a range of motion for an exercise, which is a typical position where a pause would occur. However, determining that the connector cable is at a bottom of a range of motion is not required.

[0108] If, at STEP 2125, the connector cable 120 is not stationary (e.g., the user is still exercising), the controller 1005 determines whether an exercise end condition is present (STEP 2135). An exercise end condition can be determined, for example, based on the connector cable 120 being outside of a range of motion for a particular exercise, the connector cable 120 being fully retracted for a predetermined amount of time (e.g., 1-5 seconds, 3 seconds, etc.), or the like. If, at STEP 2135, the controller 1005 determines that an exercise end condition is present, the active exercise is stopped (STEP 2140). If, at STEP 2135, no exercise end condition is present, the process 2100 returns to STEP 2120 and the user continues to perform exercises. In some implementations, after the active exercise is stopped, the connector cable 120 must be returned to the fully retracted position for a predetermined amount of time (e.g., 1-5 seconds, 3 seconds, etc.) before the next exercise can be performed.

[0109] Thus, this disclosure provides, among other things, a fitness training device configured for implementing a parameter-less training mode. Various features and advantages are set forth in the following claims.

Claims

1. A fitness training device comprising:a housing including a top portion, the top portion configured to support a user when operating the fitness training device to perform a fitness action;a connector cable extending through a cable aperture in the top portion of the housing;a cable drum spool operable to receive the connector cable;a motor connected to the cable drum spool, the motor operable to apply a force to the connector cable through the cable drum spool to control a motion of the connector cable; anda controller including an electronic processor and a memory, the controller configured to:control, during a first portion of the fitness action, the motor to limit a speed for the motion of the connector cable,record, during the first portion of the fitness action, motion parameters associated with the motion of the connector cable,determine the force to be applied to the connector cable based on the motion parameters associated with the motion of the connector cable, andcontrol, during a second portion of the fitness action following the first portion of the fitness action, the motor to apply the force to the connector cable.

2. The fitness training device of claim 1, wherein the motion parameters associated with the motion of the connector cable include a first force applied to the connector cable during the first portion of the fitness action.

3. The fitness training device of claim 2, wherein the force to be applied to the connector cable is greater than the first force applied to the connector cable during the first portion of the fitness action.

4. The fitness training device of claim 2, wherein the force to be applied to the connector cable is equal to or less than the first force applied to the connector cable during the first portion of the fitness action.

5. The fitness training device of claim 1, further comprising:an accessory configured to connect to the connector cable, the accessory operable to be manipulated by a user to perform the fitness action.

6. The fitness training device of claim 5, wherein:the first portion of the fitness action corresponds to an unwinding of the connector cable from the cable drum spool; andthe second portion of the fitness action corresponds to a winding of the connector cable around the cable drum spool.

7. The fitness training device of claim 6, wherein:the cable drum spool, the motor, and the controller are located within an electronics module; andthe electronics module is at least partially located within the housing.

8. A method of controlling a fitness training device, the fitness training device including a connector cable, a motor, and a controller, the method comprising:controlling, using the controller and during a first portion of a fitness action, the motor to limit a speed for a motion of the connector cable;recording, using the controller and during the first portion of the fitness action, motion parameters associated with the motion of the connector cable;determining, using the controller, a force to be applied to the connector cable based on the motion parameters associated with the motion of the connector cable; andcontrolling, using the controller and during a second portion of the fitness action following the first portion of the fitness action, the motor to apply the force to the connector cable.

9. The method of claim 8, wherein the motion parameters associated with the motion of the connector cable include a first force applied to the connector cable during the first portion of the fitness action.

10. The method of claim 9, wherein the force to be applied to the connector cable is greater than the first force applied to the connector cable during the first portion of the fitness action.

11. The method of claim 9, wherein the force to be applied to the connector cable is equal to or less than the first force applied to the connector cable during the first portion of the fitness action.

12. The method of claim 8, further comprising:unwinding the connector cable from a cable drum spool during the first portion of the fitness action; andwinding the connector cable around the cable drum spool during the second portion of the fitness action.

13. The method of claim 8, further comprising:determining a velocity of the connector cable; andlimiting a rate of change increase in force on the connector cable based on the velocity of the connector cable.

14. The method of claim 13, further comprising:limiting a rate of change decrease in force on the connector cable based on the velocity of the connector cable.

15. A fitness training device comprising:a housing;a cable extending through a cable aperture in the housing;a motor operable to apply a force to the cable to control a motion of the cable; anda controller including an electronic processor and a memory, the controller configured to:record, during a first portion of a fitness action, motion parameters associated with the motion of the cable,determine the force to be applied to the cable based on the motion parameters associated with the motion of the cable, andcontrol, during a second portion of the fitness action following the first portion of the fitness action, the motor to apply the force to the cable.

16. The fitness training device of claim 15, wherein the motion parameters associated with the motion of the cable include a first force applied to the cable during the first portion of the fitness action.

17. The fitness training device of claim 16, wherein the force to be applied to the cable is greater than the first force applied to the cable during the first portion of the fitness action.

18. The fitness training device of claim 16, wherein the force to be applied to the cable is equal to or less than the first force applied to the cable during the first portion of the fitness action.

19. The fitness training device of claim 15, further comprising:an accessory configured to connect to the cable, the accessory operable to be manipulated by a user to perform the fitness action.

20. The fitness training device of claim 15, wherein:the motor and the controller are located within an electronics module; andthe electronics module is at least partially located within the housing.

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