User Feedback Resistance Training Device

Abstract

Motorized exercise equipment comprising a motor and pull cable, through which the motor exerts resistance forces experienced by a user. In some examples, the exercise equipment is configured to communicate haptic signals to the user by modulating forces exerted on the cable. In some examples, operation of a main resistance motor is modulated to generate vibrations through which the haptic signals are communicated to a user end of the pull cable. In some examples, a dedicated vibration device induces vibrations in the pull cable, through which the haptic signals are communicated to the user end. In some examples, forces are modulated according to one or more waveforms which induce massaging vibrations at a user end of the pull cable.

Description

FIELD AND BACKGROUND OF THE INVENTION

[0001] The present invention, in some embodiments thereof, relates to the field of exercise equipment and more particularly, but not exclusively, to resistance cable operated exercise equipment.

[0002] Resistance training promotes the building and strengthening of muscles and bone tissue, and burns fat. Some motor-operated resistance training devices transmit resistance forces to users through a cable. Haptic signals have been used to provide user indications during workout training regimes.SUMMARY OF THE INVENTION

[0003] According to an aspect of some examples of the presently described subject matter, there is provided an exercise machine comprising: at least one motor; a tension cable extending from a user end to attachment at the at least one motor, the motor providing adjustable force resisting force applied to the user end; and a controller controlling the adjustable force provided by the motor; wherein the controller comprises processing circuitry and a memory storing instructions configuring the processing circuitry to: access event data, using the event data, determine a user notification, and communicate the user notification as a haptic signal; wherein controller communicates the haptic signal through the tension cable by modulation of the adjustable force.

[0004] According to some examples of the presently described subject matter, the at least one motor comprises a resistance motor, and the controller commands the resistance motor to induce at least a portion of the adjustable force modulation communicating the haptic signals.

[0005] According to some examples of the presently described subject matter, the user notification notifies the user of one or more of: progress of a current exercise workout, progress of a current exercise set, a personal performance milestone, a characteristic of exercise form for one or more reps performed by the user, a change in parameters used with a current exercise set.

[0006] According to some examples of the presently described subject matter, the user notification notifies the user of an event, status, and / or reminder communicated from an external computer in data communication with the controller.

[0007] According to some examples of the presently described subject matter, the external computer comprises a server configured to control scheduling of the exercise machine, and communicates the event, status, and / or reminder based on a schedule associated with the exercise machine.

[0008] According to some examples of the presently described subject matter, the event data comprise data indicative of use of the exercise machine.

[0009] According to some examples of the presently described subject matter, the event data are indicative of timings of user activity.

[0010] According to some examples of the presently described subject matter, the timing event data comprise one or more of: duration of a rest period after a set, intervals between reps performed within a set, timing of full and / or partial tension cable extension during a rep, and timing of full and / or partial tension cable return during a rep.

[0011] According to some examples of the presently described subject matter, the event data comprise one or more of: targeted timing of the user activity, and measured timing of the user activity.

[0012] According to some examples of the presently described subject matter, the controller includes a data communications interface, and wherein the event data are indicative of events communicated to the controller through the data communications interface.

[0013] According to some examples of the presently described subject matter, the controller includes a data communications interface, and wherein the events communicated to the controller through the data communications interface comprise events of a game using the exercise machine as a haptic signaling device.

[0014] According to some examples of the presently described subject matter, the controller includes a data communications interface, and wherein the controller is configured to transmit data corresponding to the event data through the data communications interface, in time co-ordination with communication of the haptic signal.

[0015] According to some examples of the presently described subject matter, the data communicated in time-coordination is communicated sufficiently near in time to the communication of the haptic signal to allow a receiving device to generate a visual and / or audible signal coinciding with the haptic signal.

[0016] According to some examples of the presently described subject matter, the user notification associated with the haptic signal comprises a notification to the user to attend to the visual and / or audible signal.

[0017] According to some examples of the presently described subject matter, the controller is configured to: activate a gamified mode upon selection from a plurality of operating modes; access gamification data associated with the gamified mode, and comprising one or more data structures indicating at least one of: how event data should be used to determine user notifications, and how haptic signals should be communicated through the tension cable; and while in the gamified mode, determine the user notification and / or communicate the haptic signal in accordance with the gamification information.

[0018] According to some examples of the presently described subject matter, the controller is configured to access user-personalized settings data comprising a data structure indicating which of a plurality of selectable event types should be converted to user notifications communicated as haptic signals; and the controller determines the user notification also using the user-personalized event type selections.

[0019] According to some examples of the presently described subject matter, the controller is configured to access user-personalized settings data comprising a data structure indicating parameters of one or more haptic signals used to communicate user notifications; and the controller determines the haptic signal also using the indicated parameters.

[0020] According to some examples of the presently described subject matter, the controller is configured to access machine configuration state data comprising one or more data structures, each respectively relating an associated physical configuration of the exercise machine to the user notifications used with the physical configuration.

[0021] According to some examples of the presently described subject matter, the controller is configured to access machine configuration state data comprising one or more data structures, each respectively relating an associated physical configuration of the exercise machine to parameters of haptic signals used to communicate user notifications while the exercise machine is configured with the physical configuration.

[0022] According to some examples of the presently described subject matter, the processing circuitry commands the at least one motor to alternately retract the tension cable and allow the tension cable to extend, resulting in vibration that communicates the haptic signals.

[0023] According to some examples of the presently described subject matter, the processing circuitry commands the at least one motor to alternate between exertion of a lower force and exertion of a higher force, resulting in vibration that communicates the haptic signals.

[0024] According to some examples of the presently described subject matter, the processing circuitry commands allow the tension cable to continue extending during both exertion of the lower force and exertion of the higher force.

[0025] According to some examples of the presently described subject matter, the processing circuitry commands comprise commands to continuously retract the tension cable during both exertion of the lower force and exertion of the higher force.

[0026] According to some examples of the presently described subject matter, the processing circuitry is configured to communicate a simultaneous plurality of haptic signals to the user end of the tension cable, the simultaneous plurality of haptic signals being distinguishable to a user according to at least one of their vibration parameters.

[0027] According to some examples of the presently described subject matter, the at least one distinguishing vibration parameter includes at least one of: a frequency, a pulse pattern, a duration, and an amplitude.

[0028] According to some examples of the presently described subject matter, the haptic signals comprise a first signal modulated over time, and a second signal concurrent with the first signal.

[0029] According to some examples of the presently described subject matter, the exercise machine comprises at least one vibration sensor configured to sense vibrations indicative of haptic signals received at the user end of the tension cable; wherein the controller is functionally coupled to receive data from the vibration sensor; and wherein the processing circuitry adjusts commands to communicate haptic signals in accordance with the received data.

[0030] According to some examples of the presently described subject matter, the processing circuitry determines a current transfer function of vibrations to the user end of the tension cable, and adjusts commands to communicate haptic signals in accordance with the received data.

[0031] According to some examples of the presently described subject matter, the processing circuitry adjusts commands to adjust modulation of the adjustable forces to compensate for changes in the transfer function.

[0032] According to some examples of the presently described subject matter, the exercise machine comprises at least one force sensor configured to provide the controller with force data indicative of tension exerted between the user end of the tension cable and the motor end of the tension cable; and wherein the processing circuitry adjusts commands to communicate haptic signals in accordance with the force data.

[0033] According to some examples of the presently described subject matter, at a first level of the tension, the processing circuitry commands forces that alternately allow the tension cable to extend and induce it to retract.

[0034] According to some examples of the presently described subject matter, at a second level of the tension, the processing circuitry commands forces that modulate without changing a direction of motion of the user end of the tension cable.

[0035] According to some examples of the presently described subject matter, the second level of the tension is greater than the first level of the tension.

[0036] According to some examples of the presently described subject matter, the haptic signal comprises a vibration with parameters updated according to a sensed measurement of extension of the tension cable.

[0037] According to some examples of the presently described subject matter, the vibration parameters are also updated during the extension of the tension cable being measured.

[0038] According to some examples of the presently described subject matter, the exercise machine comprises a frame, wherein: the motor is attached to the frame; and the tension cable is supported by contact with the frame in one or more locations along an extent of the tension cable between the at least one motor and the user end.

[0039] According to some examples of the presently described subject matter, the tension cable changes direction at least one of the one or more locations.

[0040] According to some examples of the presently described subject matter, at least one change in direction comprises bending of the tension cable at a pulley attached to the frame.

[0041] According to some examples of the presently described subject matter, the at least one motor comprises a vibration device, and the controller commands the vibration device to induce at least a portion of the adjustable force modulation communicating the haptic signals.

[0042] According to some examples of the presently described subject matter, the vibration device is attached to the tension cable.

[0043] According to some examples of the presently described subject matter, the vibration device is positioned within the frame.

[0044] According to some examples of the presently described subject matter, the frame comprises an arm, and the vibration device is positioned within the arm.

[0045] According to some examples of the presently described subject matter, the frame comprises a track, to which the arm is mounted, and the vibration device is positioned along the track.

[0046] According to some examples of the presently described subject matter, the vibration device is affixed to the tension cable.

[0047] According to some examples of the presently described subject matter, the tension cable extends through a lumen of the vibration device.

[0048] According to some examples of the presently described subject matter, the tension cable is configured to slide through a lumen of the vibration device during extension of the tension cable by an exercising user.

[0049] According to an aspect of some examples of the presently described subject matter, there is provided a method of communicating a user notification to a user engaged with a tension cable of an exercise machine, the method comprising: accessing event data, using the event data, determining the user notification, and communicating the user notification as a haptic signal; wherein the haptic signal is communicated to the user through the tension cable and by modulation of resistance force applied to the tension cable.

[0050] According to an aspect of some examples of the presently described subject matter, there is provided an exercise machine comprising: a motor; a tension cable, wherein: the motor is operatively connected to apply resistance force to a first end of the tension cable, and a second end of the cable connects to an accessory enabling a user to exert a force on the cable; a user interface; a controller configured to output signals to the motor controlling the resistance force according to at least one of a plurality of modes of operation; wherein the plurality of modes of operation include a vibration mode comprising signals controlling the motor to apply vibrations to the tension cable; and wherein the vibrations are applied according to an intensity of vibrational force configured using the user interface.

[0051] According to some examples of the presently described subject matter, the signals oscillate the motor at a predetermined frequency and amplitude to apply the vibrational force at the configured intensity.

[0052] According to some examples of the presently described subject matter, the controller is configured to apply the vibrational force together with a constant base resistance level.

[0053] According to some examples of the presently described subject matter, the controller is configured to apply the vibrational force while a user pulls to extend the tension cable from the exercise machine.

[0054] According to some examples of the presently described subject matter, the controller is configured to apply the vibrational force while a user allows the tension cable to return to the exercise machine.

[0055] According to some examples of the presently described subject matter, the vibrational force comprises variations in force exerted by the motor of at least one pound at a frequency of at least 5 Hz.

[0056] According to some examples of the presently described subject matter, the vibrational force comprises variations in force exerted by the motor of at least two pounds.

[0057] According to some examples of the presently described subject matter, the vibrational force comprises variations in force exerted by the motor at a frequency of at least 10 Hz.

[0058] According to some examples of the presently described subject matter, the user interface is configured to allow a user to select from among predetermined values of a lower frequency vibration, a higher frequency vibration, and a middle frequency vibration.

[0059] According to some examples of the presently described subject matter, the vibrational force is exerted using sinusoidal modulations of motor current.

[0060] According to some examples of the presently described subject matter, the vibrational force is exerted using square wave modulations of motor current.

[0061] According to an aspect of some examples of the presently described subject matter, there is provided an exercise machine comprising: at least one motor; a user operated grip accessory, the motor providing adjustable force to the grip accessory; and a controller controlling the adjustable force provided by the motor; wherein the controller comprises processing circuitry and a memory storing instructions configuring the processing circuitry to: access event data, using the event data, determine a user notification, and communicate the user notification as a haptic signal; wherein the event data specifies a triggering condition, and the controller delays producing the haptic signal in accordance with the triggering condition.

[0062] According to some examples of the presently described subject matter, the triggering condition comprises a time delay, and the controller delays producing the haptic signal in accordance with the time delay specified.

[0063] According to some examples of the presently described subject matter, the time delay comprises a delay greater than 50 msec.

[0064] According to some examples of the presently described subject matter, the triggering condition comprises a selected phase during movements of the grip accessory by the user.

[0065] According to some examples of the presently described subject matter, the controller is configured to provide a preparation signal in advance of the triggering condition being met, the preparation signal being provided to a device which synchronizes an audible and / or visible presentation to the haptic signal in accordance with the preparation signal.

[0066] According to some examples of the presently described subject matter, the preparation signal is provided at least 50 msec before the triggering condition is met and the haptic signal provided.

[0067] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the present disclosure, exemplary methods and / or materials are described below. In case of conflict, the patent specification, including definitions, controls. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.

[0068] As will be appreciated by one skilled in the art, aspects of the present disclosure may be embodied as a system, method, or computer program product. Accordingly, aspects of the present disclosure, as appropriate to the disclosure and to the state of technology, may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, microcode, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,”“module” or “system” (e.g., a method may be implemented using “computer circuitry” or “processing circuitry”).

[0069] Furthermore, aspects of some examples of the present disclosure may take the form of a computer program product embodied in one or more computer-readable medium(s) having computer-readable program code embodied thereon. Implementation of the method and / or system of some examples of the present disclosure can involve performing and / or completing selected tasks manually, automatically, or a combination thereof. Moreover, in accordance with instrumentation and equipment provided for implementation of some examples of the method(s) and / or system(s) of the present disclosure, selected operations of these methods() and / or system(s) could be variously implemented by hardware, by software, by firmware, and / or by a combination thereof.

[0070] For example, hardware for performing selected operations in accordance with some examples of the present disclosure is optionally implemented as a chip or a circuit. As software, selected operations in accordance with some examples of the present disclosure is optionally implemented as a plurality of software instructions. Optionally, implementation aspects are built on a general-purpose computing device, e.g., making use of the services of an operating system.

[0071] In some examples of the present disclosure, one or more operations performed in method(s) and / or by system(s) are performed by a data processor, such as a computing platform configured to execute pluralities of instructions in sequence and / or concurrently. Such a data processor may be alternatively referred to herein, e.g., as a “digital processor”, in reference to data processors which operate using groups of digital bits, and / or as “processing circuitry” in reference to the use of electronic circuitry in data processing applications.

[0072] Instruction executing elements of a data processor may comprise, for example, one or more microprocessor chips, ASICs, and / or FPGAs. Optionally, the data processor includes a volatile memory for storing instructions and / or data; and / or a non-volatile storage, for example, a magnetic hard-disk and / or removable media, for storing instructions and / or data. The terms “non-transitory memory” and “non-transitory storage medium”, where they may be used herein, should be expansively construed to cover any volatile or non-volatile computer memory suitable to the presently disclosed subject matter.

[0073] Optionally, a network connection conferring data communication capabilities is provided. A display and / or a user input device such as a keyboard or mouse are optionally provided. Any of these implementations are referred to herein more generally as instances and / or elements of, e.g., computer circuitry and / or processing circuitry.

[0074] Any combination of one or more computer-readable medium(s) may be used by some examples of the present disclosure. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. Without limitation, a computer-readable storage medium may comprise, for example, an electronic-, magnetic-, optical-, electromagnetic-, infrared-, and / or semiconductor-implemented system, apparatus, or device; in any suitable combination.

[0075] A non-exhaustive list of further examples of computer-readable storage medium(s) includes: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device. Any suitable combination of the foregoing is optionally provided.

[0076] In the context of this document, a computer-readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium may also contain or store information for use by such a program; for example, data structured in the way it is recorded by the computer-readable storage medium so that a computer program can access it as, for example, one or more tables, lists, arrays, data trees, and / or another data structure. Herein a computer-readable storage medium which records data in a form retrievable as groups of digital bits is also referred to as a digital memory. It should be understood that a computer-readable storage medium, in some examples, is optionally also used as a computer writable storage medium, in the case of a computer-readable storage medium which is not read-only in nature, and / or in a read-only state.

[0077] Certain data are optionally referred to herein as being derived from one or more sensors, e.g., as “sensed data” and / or “sensor data”. Such data comprise one or more physical effects transduced into a machine-readable form, e.g., one or more of the computer readable medium(s) described herein. Sensed / sensor data optionally represent physical quantities and / or objects, e.g., measurements and / or images. The sensed data typically are converted to a digital form used in data processing. However, transmitting, maintaining and / or processing sensed data in analog form (e.g., as amplitudes, frequencies, and / or phase encodings of voltage and / or current using suitable analog circuitry; e.g., for operations of comparison and / or combination) is not excluded.

[0078] Herein, a data processor (optionally referred to, e.g., as processing circuitry and / or computer circuitry) is said to be “configured” to perform data processing actions (e.g.), accessing and / or manipulation of stored and / or streamed data according to one or more algorithmic operations) insofar as it is coupled to a computer-readable medium to receive instructions and / or data therefrom, process them, and / or store processing results in the same or another computer-readable medium. The processing performed (e.g., using the stored and / or streamed data) is specified by the instructions, with the effect that the processor operates according to the instructions. The act of processing may be referred to additionally or alternatively by one or more other terms; for example: comparing, estimating, determining, calculating, computing, comparing, encrypting, decrypting, identifying, associating, storing, accessing, receiving, obtaining, analyzing, selecting, and / or transforming. For example, in some examples, a processing circuitry accesses and / or receives instructions and data stored in volatile and / or non-volatile memory and / or provided over a communication link, processes the data according to the instructions, stores processing results in volatile and / or non-volatile memory, and / or provides processing results. In some examples, “providing” processing results comprises one or more of transmitting, storing and / or presenting processing results. Presenting optionally comprises showing on a display, indicating by sound, printing on a printout, or otherwise producing results in a form accessible to human sensory capabilities.

[0079] A computer-readable signal medium optionally includes a propagated data signal with computer-readable program code embodied therein; for example, in baseband and / or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to: electro-magnetic, optical, or any suitable combination thereof. A computer-readable signal medium may be any computer-readable medium that is not a computer-readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0080] Program code embodied on a computer-readable medium and / or data used thereby is optionally transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination thereof.

[0081] Computer program code for carrying out operations for some examples of the present disclosure is optionally written in any combination of one or more programming languages; for example, an object-programming, procedural and / or functional programming language. Non-limiting examples include C, Java, Smalltalk, C++, Python, ECMAScript (e.g., JavaScript), and Rust, among many other programming languages known to persons of ordinary skill in the art. As is known to persons of ordinary skill in the art, programs written in such languages specify logical operations which may be variously converted to computer instructions suitable for direct use by particular instances of processing circuitry, before and / or during processing.

[0082] Additionally or alternatively, sequences of logical operations (e.g., in the form of instructions from a machine instruction set supported by processing circuitry) may be embedded in the design of an ASIC and / or in the configuration of an FPGA device. The program code may execute entirely on the user’s computer, partly on the user’s computer (e.g., as a stand-alone software package), partly on the user’s computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user’s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), and / or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0083] Some examples of the present disclosure may be described below with reference to one or more flowchart illustrations and / or block diagrams of methods, apparatus (systems) and / or computer program products. For such examples, it will be understood by persons of ordinary skill in the art that each block of the flowchart illustrations and / or block diagrams, along with combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented, to apply teachings provided herein, through use of suitable computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus (e.g., processing circuitry) to produce a machine; such that the instructions, upon their execution, carry out the functions and / or operations specified in the flowchart and / or block diagram block or blocks.

[0084] These computer program instructions may also be stored in a computer-readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0085] The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0086] Some of the methods described herein are generally designed only for use by a computer; and may not be feasible or practical for performing purely manually by a human expert. A human expert who wanted to manually perform similar tasks, if feasible (e.g., such as inspecting objects, and / or making determinations from data), might be expected to use completely different methods, e.g., making use of human expert knowledge and / or the pattern recognition capabilities of the human brain.BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0087] Some embodiments of the present disclosure are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example, and for purposes of illustrative discussion of embodiments of the present disclosure. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the present disclosure may be practiced.

[0088] In the drawings:

[0089] FIG. 1A–1C schematically illustrate examples of an exercise equipment, according to some examples of the present disclosure;

[0090] FIG. 2A is a block diagram of an exercise equipment, according to some examples of the present disclosure;

[0091] FIG. 2B schematically represents a data communications network to which an exercise machine is connected, according to some examples of the present disclosure;

[0092] FIG. 3A is a schematic block diagram of haptic signaling events optionally provided by exercise equipment to a user during use, according to some examples of the present disclosure;

[0093] FIG. 3B is a schematic flowchart of a method of communicating user notifications to a user engaged with a tension cable of an exercise machine, according to some examples of the present disclosure;

[0094] FIG. 3C is a schematic flowchart of a method of communicating user notifications to a user engaged with a tension cable of an exercise machine in coordination with presentations by a second device, according to some examples of the present disclosure;

[0095] FIG. 3D is a schematic flowchart of a method of defining (and then communicating) gamification user notifications for a user engaged with a tension cable of an exercise machine, according to some examples of the present disclosure;

[0096] FIG. 3E–3F are schematic flowcharts of methods of configuring haptic signal-communicated user notifications to users engaged with a tension cable of an exercise machine, according to some examples of the present disclosure;

[0097] FIG. 4A–4B schematically represent haptic vibration signals provided as guidance during a repetition (“rep”) of an exercise using exercise equipment, according to some examples of the present disclosure;

[0098] FIG. 4C schematically represents haptic vibration signals provided during a set of repetitions using exercise equipment, according to some examples of the present disclosure;

[0099] FIG. 5A–5E schematically illustrate vibration waveforms superimposed on pull cable extension as a function of time, according to some example of the present disclosure;

[0100] FIG. 6A–6B schematically represent amplitude-modulated waveforms, according to some examples of the present disclosure;

[0101] FIGS. 6C schematically represents a multi-frequency waveform, according to some examples of the present disclosure;

[0102] FIG. 7A–7C illustrate use of probing vibrations to help calibrate production of haptic signals, according to some examples of the present disclosure;

[0103] FIG. 8A schematically illustrates an adjustable center-offset arrangement for vibrating a pull cable, according to some examples of the present disclosure;

[0104] FIG. 8B–8D schematically illustrate an arrangements for vibrating a tension cable, according to some examples of the present disclosure;

[0105] FIG. 9A–9D schematically represent various forms of grip accessories, according to some examples of the present disclosure; and

[0106] FIG. 10 schematically illustrates three frequencies of massaging waveforms generated by exercise equipment, according to some examples of the present disclosure.DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

[0107] The present invention, in some embodiments thereof, relates to the field of exercise equipment and more particularly, but not exclusively, to resistance cable operated exercise equipment.OVERVIEW

[0108] An aspect of some examples of the present disclosure relates to notifications and optionally other indications provided to users of a motorized exercise machine (e.g., a resistance training device) using vibration-generated haptic signals transmitted along and / or using a tension cable which the user uses also to operate the exercise machine. In some examples, the exercise machine comprises an electric motor, and the vibration signal is generated by varying operation of the electric motor to modulate forces it produces.

[0109] In some examples, haptic signals are used as notifications which alert a user of one or more events which occur during the course of a use session (herein, a use session is also referred to interchangeably as “a workout”). Examples of workout events include: end of a set, beginning of a rest period, and achievement of a specific goal. In some examples, workout events are generated in accordance with one or more aspects of user performance. For example, workout events are generated to guide the user’s workout form and / or in response to the user’s workout form.

[0110] Use of vibrations for user signaling provides potential advantages including:

[0111] Vibrations are transmitted directly to the user, making them, e.g., potentially less distracting to neighbors and / or unlikely to generate confusion as to source (for example, in case several exercise machine stations are in use at the same time).

[0112] Vibrations are sensed potentially without the user’s directed attention. For example, the user doesn’t have to be looking in a particular direction.

[0113] For users who exercise with music or other sounds, using tactile vibrations in signaling potentially avoids being missed within a noisy background, and / or interfering with their enjoyment.

[0114] Vibrations are delivered through a device with which the user is already engaged (e.g., engaged using their hands to grasp it).

[0115] More generally, the somatosensory nature of vibrations provides a potential advantage insofar as they coordinate with the intensive movements and exertions of a workout. For example, they are physically transmitted through some of the same limbs which are already centrally involved in the activity; coordinating with and / or supporting a user’s mental focus and motivation, potentially while the user performs a workout near their limits of performance and / or exhaustion. Potentially, these effects enhance workout efficiency and / or engagement.

[0116] Regarding use of the tension cable specifically to transmit forces of haptic signaling to users: this approach may be distinguished, e.g., from haptic signaling using devices integrated with handles attached to the cable. Particularly for examples making use of the resistance motor for haptic signaling, the range of potential signals optionally includes forces with a definite directionality. For example, relaxing a baseline force level could encourage the user’s limbs to fall, e.g., as a signal that it is time to rest. Optionally, a pull exerted on the cable draws the user forward, e.g., signaling time to begin an exercise, and / or shift into a different position. Vibration amplitudes are optionally variable over a wide range (e.g., making use of any suitable portion of the power of the resistance motor). With a stronger motor available, haptic signals are optionally provided in ranges of distance and / or power (e.g., power varied by changing current) that give the exercise machine a certain illusion of agency, intent, and / or “emoting”. Examples include: persistent, tentative, and / or repeated tugs; sudden jerks (potentially experienced as aggressive and / or humorous); protesting vibrations; resistance followed by relaxation signaling “agreement”; and / or other patterns which use the tension cable to provide emotive physicality to haptic signaling. There are also potential differences in technical implementation, e.g., resulting from differences in how effectively a haptic signal is transmitted to a user as a function of cable tension and / or dynamic movements. For example, haptic signals are optionally superimposed on ongoing motions by the user pulling or returning the tension cable. In some examples, motor force modulations conveying a user notification are determined variably according to conditions, e.g., how much tension is in the tension cable, whether the tension cable is moving, and / or how fast and / or in what direction.

[0117] Optionally, haptic signaling is coupled to one or more other indicating and / or signaling modalities. For example, haptic signals are presented at the same time as sounds or images, optionally as shown on a personal computing device (e.g., a mobile communications device) such as a smartphone or tablet. In some examples of the present disclosure, haptic signals for user notification are produced as part of a process comprising accessing data indicative of use of the exercise machine; based on the data, determining a user notification; and communicating the user notification as a haptic signal. Examples of data indicative of use of the exercise machine include data indicating extension distance of the tension cable. Extension distance is measured, for example, by a rotary motion encoder coupled to the resistance motor and / or coupled to a spool upon which the tension cable is wound and unwound during use. In some examples, motion of the tension cable is detected, e.g., by optically scanning its motion, and / or analyzing sounds of its motion. In some examples, movements are indicative of counts of exercise repetitions (reps), and / or sets thereof.

[0118] In some examples, passage of time is used as part of the data indicative of use of the exercise machine. For example, timing of movements is measured. In some examples, rest periods are timed. Optionally, rep counts in a set are determined and / or updated from a user’s movements during a workout; once detected, the rep count can be used to provide user notification as to the progress of a set and / or number of sets completed. Optionally, workout parameters are selected using a user interface comprising, e.g., a dial, button, touchscreen, and / or another device.

[0119] Although they are optionally provided together, haptic signaling of user notifications should be distinguished from simulations of the “feel” of a device such as an elastic band, chain, and / or inertially coupled mass. In some examples, a user notification conveys a message to the user which informs and / or instructs them with respect to their own actions, beyond immediate physical causation or its imitation. For example, a user notification indicates a status of the user’s exercise routine and / or an indication coupled to the user’s performance quality. While it is not excluded that a haptic simulation (e.g., of dynamic chain weights) could be itself modulated to perform haptic signaling of user notifications, the user-informing aspect would in this case be added on, and in this sense remains distinct from the simulation aspect as such.

[0120] Similarly, haptic signaling of user notifications is distinguished from vibrations provided for their physical effects, e.g., relating to muscle relaxation and / or muscle tightening. Again, while it is not excluded that such vibrations are, e.g., delivered, interrupted, and / or modulated in order to communicate a user notification, such use comprises additional operations such as the identification of a condition to be signaled, and determination of what force modulation(s) would communicate that condition.Movement Modes

[0121] Haptic signals are optionally generated in one or more movement modes (also referred to simply as “movement modes” herein, in the context of vibrations of the tension cable). The first two movement modes (next discussed) both relate to vibration movements (while vibrations are commonly cyclical, they are not necessarily repeating, and even a single "jerk" can be a vibration) oriented along a longitudinal axis of the tension cable. As categories, these two movement modes tend to blend into each other depending on circumstances, but it is useful to distinguish the two extremes of this blended category for purposes of descriptions and discussion.

[0122] The first movement mode is referred to herein as a “sub-modulation” movement mode (or more particularly as a “sub-modulation longitudinal” vibration movement mode. In some examples, motor / spool velocity and / or motor current (or another parameter affecting motor power output) is repeatedly varied through a range comprising some fraction of the average motor / spool velocity and / or motor current (power), without actually reversing velocity. Additionally or alternatively, deflections imposed on the tension cable are of lower amplitude, so that the cable does not actually reverse extension distance. In some examples, haptic signals are produced through the tension cable during one or both of being at rest (with zero pull velocity) or in motion (e.g., during cable extension and / or cable return). At zero pull velocity (user just “holding” the tension cable), substantially any longitudinal vibration of sufficient amplitude to sense is “reversing” (at least by a small amount). Conversely, while the tension cable moves rapidly, longitudinal vibration may tend to be of the “sub-modulation” type. Intermediately, either movement mode is optionally used. In particular when produced using a resistance motor, longitudinal vibration amplitude can optionally be fairly large, e.g., up to 1 cm or more of displacement (and optionally larger, where frequency selection and user comfort permit). This large amplitude is potentially unavailable with a source of vibration generation that does not make use of the cable itself. Furthermore, when operating a resistance force exercise machine, there are potential differences in the transmission of vibrations to a user depending on how much user load (pulling force) is being applied. During a period of weaker user load, a relatively larger amplitude of longitudinal vibration is optionally used in order to assure that that user clearly senses a haptic signal. During a period of higher user load, a lower amplitude of longitudinal vibration is optionally used, although the force generated may be just as significant. The difference may be understood, e.g., in terms of mechanical frequency filtering. The cable potentially transmits certain vibrations more efficiently when under higher user load, so that there is a benefit to modulating longitudinal vibrations accordingly.

[0123] The second of these is a “reversing” movement mode, in which extension distance of the tension cable alternately increases and decreases during a reversing movement mode vibration. In some examples, implementation of this comprises a rotational velocity of the motor and / or of a spool bearing the tension cable becoming alternately positive and negative (i.e., stopping motion then resuming it in the opposite direction). Another implementation of this, used in some examples, comprises deflections imposed on the tension cable of sufficient amplitude to result in back-and-forth (longitudinal) motions at the user end of the tension cable.

[0124] A third movement mode, typically excited at least to some degree along with either of the first two, comprises transverse vibrations; that is, vibration characterized by tension cable movement perpendicular to the longitudinal axis of the tension cable. Optionally, transverse vibrations are induced as the primary vibrational mode; optionally they arise secondary to vibrations induced by longitudinal movements (e.g., movements of a spool on which the tension cable is wound).Vibration Control Modes

[0125] Vibration effects actually produced optionally also depend on the control mode applied to the device which generates haptic signals, whether it is the resistance motor, or (at least in some examples) another vibration device. As the term is used herein, “control mode” is distinct from “movement mode”. “Control mode” refers to the manner in which the motor movement is controlled, separately from characteristics of the movement itself (the “movement mode”).

[0126] In a first control mode, motor current (or another power-adjusting parameter) is the target of control. For example, a current, voltage, duty cycle, or other parameter is modulated to affect how much power is delivered to the motor. Herein, control of a motor to produce a constant force (e.g., as measured by a force gauge) is also considered as a type of power control mode, although in this case power consumed by a motor may fluctuate somewhat for a given force output depending, e.g., on torque conditions. In a second control mode, motor dynamics are controlled; e.g., in terms of velocity, position, and / or acceleration. The two control modes are not exclusive. In some examples, they are blended into each other, e.g., as discussed below.

[0127] For example, depending on the load (pulling force) placed on the device by a user, the effect of a given same fluctuation in resistance motor power may alternatively operate the device in the reversing mode (e.g., when the user load is lower than the resulting fluctuation in motor force), or in the sub-modulation mode (e.g., when the user load is larger). If, however, the motor dynamics are being controlled in terms of velocity, position, and / or acceleration, then (within appropriate limiting conditions), the movement mode produced is the same whether the user load is larger or small. In examples supporting operation in a dynamics-controlling mode, there is provided one or more forms of feedback (“sensing”) from which the current dynamic state of the system can be determined, e.g., data from a motor encoder, power output measurement (e.g., current produced in response to a given command), and / or another sensor type.

[0128] It should be noted that even when the resistance motor is generally operated to control its dynamics, a controller is optionally configured to control vibration itself in terms of power; and the inverse is also true. For example, an exercise machine may be set to exert force equivalent to the resistance to lifting a certain mass against the earth’s gravity. To extend the tension cable against this force, the user supplies at least as much user load force on average—more when accelerating, and less when decelerating. Vibrations can, however, be superimposed on this using dynamics control principles. Indeed, the main resistance force output itself may be subject to dynamics-mode control in at least some aspects, e.g., to maintain safe operating limits in one or more aspects.

[0129] Optionally, the choice of movement mode, control mode, and / or details of control parameters used is according to what is presently being done with the device. For example, reversing movement mode is optionally used when the tension cable is under relatively lighter loads, and a non-reversing sub-modulation mode is used when the tension cable is under heavier loads.

[0130] Selection of and / or switching between movement modes is not necessarily limited to embodiments using power control mode. Optionally, vibration amplitude is changed as a function of user force in a manner which is above or below the change which would occur for vibrations generated with constant force. In some examples, vibrations are produced in an “adjusting dynamics”-controlled mode, transitioning between reversing movement mode and sub-modulation movement mode in part “as if” according to the force of the user load, but also by adjusting the targeted movement amplitudes of the system. For example, vibration amplitudes are optionally reduced to avoid excessive roughness in force fluctuations at high user loads. At lower user loads, vibration amplitudes are optionally increased.Vibration Actuators

[0131] For transmitting vibrations, there are potential advantages in using the same motor from which resistance forces are being transmitted to the user more generally. For example, there is potential savings in cost and / or componentry over providing a separate vibration-generating element.

[0132] To perform its role in generating resistance to user movements, a resistance motor is typically of rugged construction, and capable of converting electrical power into force, up to a level of several hundred watts, e.g., 1 kW (optionally more). Using this motor as a vibration generator allows vibrational signaling through a dynamic range of forces which (at its upper side) is potentially equal to any reasonable performance magnitude requirement specified for use with the human physique. Oscillation frequency, in some examples, is selected from within an operating range from, e.g., 1 Hz or less up to about 250–300 Hz. In some examples, more than one frequency is produced simultaneously. This can optionally comprise a perceptually unified haptic signal (e.g., a single “message” perceived through the user’s senses), or a plurality of perceptually separate haptic signals.

[0133] Additionally or alternatively, in some examples, a dedicated vibration module is provided. The dedicated vibration module, in some examples, operates by coupling a vibrating mass to the tension cable directly or indirectly, at any suitable position along the tension cable. In some examples, vibrations are is exerted on the tension cable by deflecting it. In some examples, the vibration module comprises one or more of: an element which impinges on the cable to deflect it by pushing; an element which is clamped to (e.g., fixedly or slidingly clamped to) the cable and vibrates itself to vibrate the cable; and / or an element which is coupled to a pulley mount, arm, or other part of the frame of the resistance training device, and induces vibration in the cable indirectly through the component it is coupled to. In some examples, the vibration module comprises one or more magnets (e.g., electromagnets and / or permanent magnets) which are alternately powered and / or moved (e.g., spun) to adjust magnetic field effects exerted on the tension cable. Examples of vibration modules are also described, e.g., in relation to FIGS. 1C and / or 8. Use of a dedicated vibration module provides a potential advantage by allowing it to be designed and operated according to requirements focused on vibration generation. For example, its operating parameters are potentially less constrained by a need to perform another task like maintaining a selected resistance to pull.

[0134] Motor-generated vibrations (whether generated by a resistance motor and / or by a dedicated vibration module) are potentially subject to various constraints affecting controllability. For example, the motor and its power circuitry may set limits on frequencies, slew rates and / or resolutions at which power can be increased / decreased. There may be, e.g., a highest frequency at which vibrations of a certain amplitude can be reliably generated, and / or a minimum step size which limits the fineness with which low-frequency vibration amplitudes can be controlled. Certain vibration actuators (e.g., those which operate by rotating an eccentric weight) tend to couple vibration frequency to vibration amplitude, potentially depending on how they are operated.

[0135] In some examples, sensing frequencies and / or integration times available with commercially practical componentry may establish engineering limits on the timing and / or generation of vibrations used in haptic signaling. In some examples, accuracy of control may be affected by lag and / or jitter in the feedback loop; e.g., due to limitations imposed by electronics frequencies, rotor inertia, rotor electronics design (e.g., the uniformity, predictability, and / or “addressable resolution” of motor coils), encoder design (e.g., angular resolution), and / or algorithm quality. In some examples, system controllability is different at different magnitudes of average power and / or power fluctuation. Controllability may be different at different frequencies. For example, the system may be more sensitive to control exerted at one or more resonant frequencies and / or harmonics thereof.Vibrations

[0136] In some examples of the present disclosure, parameters of vibrations used in haptic signaling are software controlled. Jointly, however, the character of the vibration generating device(s) provided potentially influences the character of the vibrations which an exercise machine generates. As enabled jointly by software and vibration generating device(s) which software controls, it is a potential advantage for to have available a large and controllably-accessed parameter space to select from for generating vibration. The “parameter space”, in this regard, is at least partially defined in terms of options for, e.g., power amplitude, distance amplitude, duration, and / or frequency.

[0137] Among reasons to have a large parameter space are that users potentially have different personal preferences—e.g., for more- or less-energetic haptic signaling. Preferences themselves may vary according to circumstance, e.g., when using bare hands or gloves, and / or according to the mood of the user. Preferences for vibration may vary, e.g., according to which exercise is being performed, and / or potentially simply for the sake of novelty and / or generating interest. Furthermore, different accessory equipment (e.g., handles of different shapes and / or materials attached to a tension cable) potentially transmits vibrations with greater or lesser efficiency to the senses of a user. Such accessories may themselves change aspects of device vibration response such as resonant frequency.

[0138] In another aspect: the greater the range of available vibrations that can be produced, potentially the greater the number of distinctions which can be communicated, and / or the greater the “expressiveness” with which signals can be produced. For example, different types of sensory mechanoreceptors (vibration-sensitive nerve cells) have different frequency sensitivity ranges (and potentially distinguishably graded responses within those ranges). Reported types and frequency ranges include, e.g., Merkel cells (5–15 Hz), tactile corpuscles (10–50 Hz), and Pacinian corpuscles (around 250 Hz). Different frequencies are potentially associated with different sensory qualities, e.g., suitable for finer or coarser distinctions, and / or suitable for transient and / or persistent stimuli. Potentially, different “channels” of vibration-carried information can be established, allowing users to distinguish more than one “message” at a time. The availability of a channel (for at least some of its frequencies) may depend on there being enough tension in the tension cable to transmit it reliably to the user.

[0139] Additionally or alternatively to amplitudes and fundamental frequencies, vibration patterns can optionally be delivered with different waveforms analogous to auditory frequency “tone”, e.g., square-wave, triangle-wave, saw-tooth sinusoidal wave, fundamental mixed with harmonic overtones, mixed fundamentals with varying beat frequencies, and / or another variation potentially producing a sensibly distinct “feel” to the vibrations being delivered. As examples: a completely sinusoidal waveform potentially has the “softest” feel at its particular fundamental frequency, since it has no higher frequency overtones which “jerk” or “buzz” the tension cable in the hands of the user. At certain frequencies, a sinusoidal waveform in particular may be experienced as “deep”. For example, the frequency may cause portions of the user’s own body to move in resonance, to a degree greater than superficial mechanosensory neurons (e.g., the user’s skin sensors) themselves detect. In some examples, this is used as and / or experienced as vibration producing a physiological effect on muscles, as further described, e.g., below, and / or in relation to FIG. 10. A square wave, by contrast, has more high-frequency components, marked, e.g., by a sharp transition from a low-force output to a high-force output. As the duty cycle of a square wave approaches 0% or 100%, changes in applied force may begin to feel like isolated quick jerks and / or sudden releases. At higher fundamental frequencies, waveform distinctions are potentially less easily distinguished.

[0140] Conversely, the sensitivity of the apparatus itself to vibration may be different, e.g., shifting to lower resonant frequencies at greater extension of the tension cable, and / or transmitting more or less efficiently depending on cable tension applied. In some examples, uniformity of vibration signaling is maintained by adjusting vibration signals to reduce effects of varying cable tension and / or cable extension.

[0141] Patterns of vibration may also be used to distinguish haptic signals, e.g., beat patterns may be delivered with distinct rhythms and / or intervals.

[0142] Certain occupational disorders are associated with the long-term use of intensely vibrating hand tools (“vibration syndrome”). Accordingly, care may be taken to mitigate potential desensitizing effects, numbing (“tingling”), and / or overstimulation, e.g., by placing suitable limits on vibration amplitudes and / or durations. Optionally, use of intensely vibrating modes is limited (e.g., limited in amplitude and / or duration; and / or restricted during periods of a workout before a user’s circulation has “warmed up”).

[0143] Optionally, users are provided with one or more control methods for setting vibration parameter(s) to a comfortable (or otherwise preferred) level as they work out, e.g., a finger-operated slider, appropriately positioned push-button (e.g., positioned along a bar near where the fingers grip it), and / or another control type.Vibration Mode

[0144] An aspect of some examples of the present disclosure relates to use of a resistance motor of motorized exercise machine for providing high-power (high-amplitude) vibrations to a user through a tension cable of the exercise machine. High-power vibrations, in some examples are distinguished by the delivery of power beyond what is sufficient generally to generate a haptic signal sensed by the user (although a high-power haptic signal may itself be used as a type of haptic signal). High-power vibrations are optionally characterized by the creation of vibrating relative motion within tissue at a significant distance from the grip that transmits these vibrations to the user. For example, high-power vibrations may induce oscillating forces in muscles of the forearm, upper arm, and optionally more distant parts of the body. High-power vibrations may cause muscle mass to stretch / shrink periodically within itself, may generate periodic shear forces within muscle, and / or may generate oscillating forces transmitted to bone, to joints, and / or to ligaments to which muscle mass is attached. High-power vibrations are potentially capable of producing physiological user effects (e.g., other than the neural effects of sensory notification). Examples of reported effects include, e.g., relaxation and / or tightening of muscles themselves. In some examples, physiological effects are parameter dependent, e.g., dependent on frequency and / or amplitude. Herein, such vibrations are also referred to as “massaging” vibrations, and / or “deep tissue” vibrations. A related aspect of some examples of the present disclosure relates to providing deep tissue vibrations through a tension cable of exercise machine, the exercise machine being used at the same time for performing resistance exercises using tension on the tension cable as it is extended from the exercise machine and / or returned to it.

[0145] Vibrations of suitable frequency and / or amplitude may generate effects and / or sensations beyond initial surfaces of contact (and / or in the case of, e.g., gloved hands, nearest surfaces).

[0146] In some examples of the present disclosure, vibration amplitudes potentially experienced by users as deep tissue vibrations are reached by modulating forces generated by a resistance motor of the exercise equipment. The modulation, in some examples, comprises a fundamental frequency in the range of, e.g., 5–50 Hz, and optionally comprises force amplitude modulations reaching a range of at least about 1–15 pounds.

[0147] Insofar as the tension cable is already attached to a resistance motor—and sturdy enough to resist operating tensions of potentially hundreds of pounds—the tension cable is potentially capable of transmitting significant levels of mechanical vibration power to the user. In some examples, the resistance motor is used to generate force and / or position modulations which are transmitted to the user through the tension cable. Accordingly, in addition to use in generating a main resistance force of the exercise machine, the motor is operated in some examples of the present disclosure to provide relatively rapid variations in the forces it generates, e.g., from about 1 Hz (optionally lower), up to 50 Hz, 100 Hz, 200 Hz, or higher.

[0148] Additionally or alternatively, in some embodiments, a dedicated vibration device is provided and used to vibrate the tension cable. This continues to have potential advantages for the levels of force variation which can be brought to bear. For example, the vibration device can be itself powered from the main electrical power supply of the exercise machine, and so may itself be capable of signifiant power, e.g., it may itself be capable of exerting up to 5, 10, 15 or more pounds of force as experienced by the user at the user end of the tension cable (actual force directly exerted on the cable may differ depending on details of implementation, e.g., torque and / or leverage). Optionally, the dedicated vibration device can make use of the frame of the exercise machine to impart vibrations to the tension cable. Being separate from a requirement to provide main resistance forces, design and / or selection of the vibration device is optionally capable of improving on one or more other parameters of operation, e.g., available frequency range and / or controllability when operated in higher frequency ranges.

[0149] For use in deep tissue vibration, vibration waveforms which are substantially sinusoidal provide a potential advantage insofar as they concentrate energy in a wavelength closer to the waveform’s fundamental frequency. This fundamental frequency is optionally selected to “resonate the body” of the user, to which the vibrations are coupled via the tension cable and optionally the grip of the user themself. Higher frequencies associated with more triangular and / or square waveforms potentially add frequencies which may increase coupling of vibrations to the induction of vibration in deep tissue and / or in a range of tissue depths and / or types.

[0150] Before explaining at least one embodiment of the present disclosure in detail, it is to be understood that the present disclosure is not necessarily limited in its application to the details of construction and the arrangement of the components and / or methods set forth in the following description and / or illustrated in the drawings and / or given in the Examples. drawings. Features described in the current disclosure, including features of the invention, are capable of other embodiments or of being practiced or carried out in various ways.Implementation of VibrationExercise equipment

[0151] Reference is now made to FIG. 1A–1C, which schematically illustrate examples of an exercise machine 100, according to some examples of the present disclosure. FIG. 1A emphasizes externally visible features. FIG. 1B illustrates certain internal features of an example corresponding also to the example of FIG. 1A. The example of FIG. 1C adds a dedicated vibration device (vibration generator 140), and otherwise corresponds to the examples of FIG. 1A–1B.

[0152] Reference is also made to FIG. 2A, which is a block diagram of an exercise machine 100, according to some examples of the present disclosure. The example of FIG. 2A includes the examples of FIG. 1A–1C. It should be understood in particular that vibration generator 140 is an optional feature of FIG. 2A; e.g., optionally provided or omitted in examples where controller 129 uses motor 125 and spool 121 to generate haptic signaling vibrations. It should also be understood that sensor 145 is an optional feature of FIG. 2A; provided, for example, to support (likewise optional) features using sensed physical responses of the tension cable 105 to haptic signals to calibrate, modulate, or otherwise control haptic signaling.

[0153] In the example shown, exercise machine 100 comprises a power section 120. Tension cable 105 extends from power section 120 through frame 110, and connects at its terminal end (e.g., via accessory connector 107B) to a grip accessory 107. In some examples (e.g., as shown in the examples of FIGS. 1B, 1C and 2A) power section 120 comprises motor 125 and spool 121, linked via belt 122. Optionally, belt 122 comprises a v-belt or timing belt. Optionally, power is transmitted from motor 125 to spool 121 by gears. Optionally, motor 125 drives spool 121 directly. In some examples, at least a portion of controller 129 is housed within housing 120A. Additionally or alternatively, a portion of controller 129 is housed in user interface 130, along beam 111 (e.g., within beam housing 111A), and / or elsewhere. In some examples, functional interconnection between controller 129 and motor 125 includes feedback that allows controller 129 to determine one or more dynamic parameters of motor operation, e.g., sensing data from a position encoder, and / or data indicative of voltage, current, and / or power. Optionally, controller 129 receives position data sensed directly from spool 121. This has potential advantages for managing backlash and / or slippage which may potentially occur in the driving mechanisms used to couple motor 125 to spool 121.

[0154] In some examples, controller 129 comprises processing circuitry (e.g., one or more microprocessors and / or other processing circuitry) which accesses data and instructions stored in a memory of controller 129 in order to determine motor control commands to send to motor 125 during user of exercise machine 100 by a user. In some examples, controller 129 comprises communications interface 133, and is configured to receive and / or transmit data through communications interface 133 for use in configuration and / or real-time operation, for example as described in relation to FIG. 2B.

[0155] Frame 110 comprises structural support elements along and / or through which tension cable 105 is routed between power section 120 and exit aperture 112A or another last point of contact between frame 110 and tension cable 105.

[0156] In some examples, frame 110 comprises arm 112, optionally configured to swivel around swivel joint 114). Optionally, swivel joint 114 is loosened and tightened using locking knob 115. Swivel joint 114 comprises one or more degrees of rotational freedom; for example, it swivels to allow arm 112 to be stored in a vertical position.

[0157] In some examples, arm 112 is furthermore mounted (e.g., via trolley 113) to a beam 111, along which its position can be adjusted. Beam housing 111A is optionally provided to at least partially enclose a track 111B extending along beam 111. Trolley 113 travels vertically along track 111B to adjust a vertical position of swivel joint 114 and arm 112 along track 111B. Optionally, locking knob 115 also acts to loosen and lock this travelling movement; optionally, a separate mechanism is provided.

[0158] Optionally, a user can adjust swivel joint 114 so that pulling from exit aperture 112A aligns more nearly parallel to the orientation of arm 112 and the direction of trolley 113 and / or swivel joint 114, or otherwise as convenient; e.g., according to the exercise performed, the size of the user, and / or the position of trolley 113 along track 111. Optionally, one or more additional or alternative positioning mechanisms are provided as part of frame 110.

[0159] It should be noted that adjustments to frame 110 potentially result in variations in the length of tension cable 105 extending between power section 120 and exit aperture 112A. This variation can potentially interact with haptic signaling, e.g., by affecting a resonant frequency of an adjustable-length section such as cable section 105C. Additionally or alternatively, resonant frequencies of tension cable 105 and / or any section thereof (e.g., cable sections 105A–105D) may vary as a function of tension applied during use. Varying resonances of tension cable 105 may, for example, induce variation in haptic signal amplitude at certain frequencies, and / or shift haptic signal frequencies. More generally, a transfer function representing coupling correspondence between control inputs to a vibrating device (e.g., motor 125 and / or vibration generator 140) and vibrations actually delivered to a user engaged with grip accessory 107 is potentially variable according to a range of parameters, as further discussed herein.

[0160] Frame 110, in some examples, is configured to be mounted to a wall; e.g., anchored to a wall stud, bricks and / or blocks, and / or another structural element of a building. In some examples, one wall attachment comprises attachment at a lower end, e.g., at the position of housing 120A. In some examples, a second wall attachment comprises attachment at an upper end, e.g., brace 116.

[0161] It should be understood that some in examples of the present disclosure, frame 110 comprises any suitable arrangement of structural elements serving to route tension cable 105 to a position that designates the location which the user experiences as the direction from which resistance forces are generated. For example, a user pulling on accessory connector 107B (e.g., using a grip accessory 107) from below arm 112 experiences resistance forces from an upward direction; a user pulling on grip accessory 107 from above arm 112 experiences resistance forces from a downward direction. In some examples, frame 110 comprises a seating arrangement.

[0162] Brief reference is now made to FIG. 9A–9D, which schematically represent various forms of grip accessories 107, according to some examples of the present disclosure. For example, bar 930 of FIG. 9C comprises a rigid bar operated with a two-handed grip on either side of connector 901, which is itself configured to connect to accessory connector 107B. Handle 920 of FIG. 9B represents a one-handed grip accessory 107, again rigid (optionally, a connected pair of such handles is provided). Press-down rope 910 (tricep rope) of FIG. 9A comprises a two-handed accessory with flexible interconnections between gripped regions and connector 901. Another press-down rope 940 (FIG. 9D) is optionally operated one-handed and / or with two hands together.

[0163] With returning reference to the examples of FIG. 1A–2A: it is not excluded that portions of power section 120 (e.g., spool 121 itself) are moved as part of a mechanism which adjusts the position of exit aperture 112A. Nor is it excluded that power section 120 itself serves as frame 110 (e.g., exit aperture 112A is optionally provided directly from a housing 120A of power section 120).

[0164] In some examples, tension cable 105 is coupled to power section 120 through spool 121 (e.g., FIG. 1B), from which a portion of tension cable 105 unwinds when grip accessory 107 is pulled away from frame 110 (e.g., away from an exit aperture 112A of arm 112), and onto which tension cable 105 re-winds when grip accessory 107 is released. Between exit aperture 112A and power section 120, tension cable 105 optionally passes through a plurality of cable sections 105A, 105B, 105C articulated from each other by arrangements of one or more pulleys 106A, 106B, 106C. It should be understood that the configuration of power section 120 to comprise a separate spool 121 and motor 125 (e.g., as shown in FIG. 2A) is optional. For example, tension cable 105 optionally winds onto a portion of motor 125 itself. In other examples, tension cable 105 is anchored to a system of pulleys, and motor 125 controls forces on tension cable 105 by movement of the pulleys. In other examples, tension cable 105 is anchored by a plurality of windings to a motor-powered capstan (in any suitable orientation), with one portion of tension cable 105 leading from the capstan to the user end of the tension cable 105, and a portion leading to the other end also leading away from the capstan.

[0165] In some examples, there is provided a user interface 130, through which a user can control settings of exercise machine 100, and / or receive visual and / or auditory feedback. In some example, user interface 130 comprises a rotary knob 131 with embedded screen 132. User input is provided, for example, by rotating and / or pressing (“clicking”) the rotary knob 131. Optionally , embedded screen 132 comprises a touch-receptive surface and can itself be used as an input device. Optionally, exercise machine 100 is configured to establish a data connection with a user-provided personal computing device such as a smart phone or tablet, which can itself be used as a part of user interface 130.Vibrating mechanisms and sensing

[0166] In some examples, controller 129 implements haptic signaling vibrations by manipulation of tension cable 105. This mode of haptic signaling is distinguished, e.g., from haptic signaling delivered through one or more vibrating motors mechanically coupled directly to grip accessory 107 itself (e.g., directly connecting and / or embedded within grip accessory 107). Since grip accessory 107 is optionally exchangeable among a plurality of accessories, (e.g., loop, bar, rope, and / or ring devices), it is a potential advantage to avoid a need for duplication of actuating componentry by producing vibrations from within the main assembly of exercise machine 100.

[0167] It is also a potential advantage to avoid a need for detachable electromagnetic coupling (e.g., wired and / or wireless power and / or communication) of external componentry hosted by grip accessory 107 to controller 129. Some examples of this approach provide a potential advantage by placing vibration-actuating componentry in locations isolated from potentially rough direct user handling.

[0168] In some examples, the same motor 125 which is used by exercise machine 100 to generate the main resistance forces experienced by a user (e.g., via spool 121 and then tension cable 105) is also used to generate haptic signaling vibrations. This provides a potential advantage by reducing a need for added componentry. Potentially, it allows benefiting from robustness of construction which is potentially already required as a consequence of the need to generate large, controlled resistance forces during operation of exercise machine 100. Encoder sensing provided with spool 121 and / or motor 125 is optionally used to provide controller 129 with feedback on characteristics of vibrations actually produced (i.e., as measurements indicative of a present transfer function).

[0169] Additionally or alternatively, in some examples, vibrations used in haptic signaling are provided using an optional vibration generator 140. In some examples, vibration generator 140 is attached to tension cable 105 itself, e.g., clamped to it at a location which moves along with tension cable 105. Optionally, vibration generator 140 comprises a motor with an eccentrically-rotating weight, and / or a longitudinally-vibrating weight. In some examples, vibration generator 140 is placed at a location that allows cable tension cable 105 to move through its full range of travel without vibration generator 140 itself impinging on an obstruction. Optionally, vibration generator 140 normally travels along with tension cable 105, but slides when encountering a restriction at the end of its particular segment of tension cable 105, e.g., a guard near spool 121, near one of pulleys 106A–106C, and / or a guard near exit aperture 112A. In some examples, vibration generator 140 is attached to tension cable 105 outside of exit aperture 112A. For example, accessory connector 107B optionally houses vibration generator 140.

[0170] To receive power and / or communications, vibration generator 140 may be connected by a flexible wire harness to a power connector provided by / near frame 110, power section 120, and / or in another location. Optionally, tension cable 105 itself is used to provide a power and / or communication connection for vibration generator 140. Optionally, vibration generator 140 recharges wirelessly; e.g., a wireless charging station for it is provided at its resting location. Optionally, vibration generator 140 is controlled by wireless (e.g., radio) communication. Optionally, vibrations are produced by vibration generator 140 by mechanical interactions of one or more protruding elements attached along tension cable 105 with an actuated device placed along track 111, along arm 112, or elsewhere along frame 110. Under the control of controller 129, the actuated device moves into and out of luminal positions where it interferes with the protruding elements, thereby controlling the production of vibrations as the user pulls on tension cable 105.

[0171] In the example of FIG. 1C, vibration generator 140 is shown implemented as an eccentrically-rotating ring mounted along a lumen of arm 112. Optionally, the eccentricity of the ring itself is adjustable.

[0172] Brief reference is now made to FIG. 8A, which schematically illustrates an adjustable center-offset arrangement for vibrating a tension cable, according to some examples of the present disclosure. Tension cable 105 (shown in cross-section) passes through an open lumen 805 of a plate or cylinder 803, which itself rotates (e.g., in directions shown by double arrow 811) on an axis of inner motor 808. Inner motor 808 is mounted (e.g., via mounting plate 807) to rotor 802. Rotor 802 rotates in directions indicated by double arrow 811 due to electromagnetic interactions between its own magnets and / or electromagnetic coils 802A, and electromagnetic coils and / or magnets 801A of stator 801. The whole arrangement fits, e.g., within a lumen of arm 112 (also shown in cross-section). In the configuration shown, tension cable 105 oscillates in a generally circular motion with maximum amplitude when rotor 802 rotates. Amplitude can be reduced by rotating open lumen 805 toward the center of rotor 802. To generate larger amplitudes, optionally a plurality of such devices are provided, and operated out-of phase to impose a “zig zag” deflection on tension cable 105. This illustrates a non-limiting example of how separate control of vibration amplitude (according to the position of open lumen 805) and frequency (according to the driving frequency / ies of rotor 802) may be achieved. In some examples, motors of standard construction are used with suitable gearing and mounting sets to provide torques and speeds appropriate to the application. Optionally, e.g., by suitable choice of a slot shape for open lumen 805 and other adjustments, tension cable 105 is oscillated in one direction only, or with different amplitudes in different directions. In another example, an oscillating cam with an adjustable offset is placed on one side of tension cable 105 (e.g., within a lumen of frame 110 such as a lumen of arm 112), and rotated while impinging on it to produce vibrations in tension cable 105.

[0173] Brief reference is now made to FIG. 8B–8D, which schematically illustrate an arrangements for vibrating a tension cable, according to some examples of the present disclosure. In the example of FIG. 8B, pulley 821 is mounted upon a variably extending strut 822. In some examples, strut 822 is actuated by operation of an extending electromagnetic solenoid 823, which is in turn secured to a portion of frame 110. In the example shown, tension cable 105 is ordinarily bent (under tension) around pulley 821. This potentially results in relatively low mechanical advantage, such that variation in extension (e.g., between resting position 830 and activated position 831) requires a relatively large exertion of force, but potentially also a larger distance amplitude felt at the user end of the cable. In the example of FIG. 8C, pulley 821 is located in a resting position 832 (left) which does not deflect tension cable 105. Actuation is by a retracting electromagnetic solenoid 824, causing pulley 821 to deflect tension cable 105 as shown in activated position 833. Here the mechanical advantage is potentially greater, allowing deflection with lessened force though potentially for a smaller motion amplitude felt at the user end. In the example of FIG. 8D, a retracting solenoid 825 is optionally arranged within accessory connector 820 (e.g., an example of an accessory connector 107B). Power for solenoid 825 is optionally delivered over tension cable 105 itself, e.g., from a low-voltage power supply of 5–20 V. An extended configuration 834 is shown at left; an activated and retracted configuration 835 is shown at right. A potential advantage of the example of FIG. 8D is that it is closely coupled to an accessory held by the user, so that even when loosely held, the user experiences at least some shaking. When the cable is under tension, the haptic signaling behavior is potentially different, e.g., a lower distance amplitude for a same input of driving current. Optionally, controller 129 compensates for such differences in haptic signals it generates, and / or considers such differences in tension when selecting haptic signals to be generated. It should be understood that any of these devices is optionally operated with quick jerks, and / or in continuously oscillating mode. Optionally, any two or more of the devices of FIG. 8A–8D are provided together, and optionally they are used together with resistance motor 125 to produce haptic signals. Such combinations have the potential advantage of allowing a larger range of haptic signaling parameters to be generated, simultaneously and / or separately.

[0174] With returning reference to FIG. 1C: insofar as tension cable 105 is left free to pass through and / or over vibration generator 140, it translates freely, e.g., when tension cable 105 is pulled on by a user. Activation of vibration generator 140 (e.g., spinning the eccentrically-rotating ring or cam) causes tension cable 105 to undergo a periodic deflection, resulting in vibrations which transmit to a user gripping grip accessory 107.

[0175] Additionally or alternatively, deflections vibrating tension cable 105 are induced by periodic variations of a magnetic field generated by vibration generator 140 in a region through which tension cable 105 passes. For example, tension cable 105 itself comprises a magnetically attracted material. In some examples, tension cable 105 itself comprises magnets (e.g., permanent magnets and / or electromagnets), and these are activated to produce vibrations by a combination of power delivered to vibration generator 140, and user-generated movements which pull the magnets past vibration generator 140. In another example, exit aperture 112A itself is vibrated by vibration generator 140, e.g., by rotating it eccentrically around a central longitudinal axis of arm 112.

[0176] It is noted that different mechanisms of producing vibrations potentially have significantly different characteristics in terms of the selectability and / or separability of frequency and / or amplitude. For example, vibration implemented using an eccentric rotating weight on a motor spindle tends to result in strong coupling of frequency to amplitude, except potentially when very short (and optionally also rapidly reversing) bursts of driving current are used.

[0177] In some examples, one or more optional vibration sensors 145, 145A–145C is provided to record feedback indications as to the efficacy of generated vibration forces in transmitting haptic signals to a user (e.g., signal amplitude). Sensors used to detect vibration optionally include, for example, one or more of a microphone, piezoelectric pickup, and / or accelerometer. In some examples, sensed data is used to calibration haptic signaling amplitude, e.g., as described in relation to FIG. 7A–7C.

[0178] Sensors are optionally placed at any location suitable to pick up vibrations correlated with what the user experiences. In FIG. 1B, indicated options for sensor locations include attached on device-internal location of tension cable 105 (e.g., vibration sensor 145A), at the exit of tension cable 105 from arm 112 (e.g., vibration sensor 145C), and integrated into accessory connector 107B (e.g., vibration sensor 145B). Other options include sensors positioned on grip accessory 107, sensors integrated elsewhere along arm 112 (e.g., at a place a structural member of frame 110 vibrates in correlation with what the user experiences), and / or sensors integrated into one or more of pulleys 106A–106C and / or the elements that support them.

[0179] In some examples, one or more vibration sensors is used to provided vibration actuated user control. Potential advantages of this method of user control include that it can be performed using a device that the user is already (and anyway) gripping, and that the signaling device itself need not require power / communication components, and potentially can even be integrally formed into the surface of the grip accessory 107 itself. Optionally, sounds are made simply by tapping on grip accessory 107, or by another gesture. However, a sound-transducing sensor is optionally provided on grip accessory 107 itself, with data connections being made, e.g., wirelessly and / or through connector 901. Power is, e.g., battery-provided and / or supplied from exercise machine 100 through connector 901. It is noted, however, that once power and sensing is supplied to grip accessory 107, other electronics-enabled options such as contact switches are potentially available for use. For example, a ridged or otherwise irregular area is positioned on the grip accessory 107 where the user can make sounds using a rubbing finger and / or palm movement. Optionally, the user produces vibrations by operating a noise making device such as a clicker—e.g., by rotating a handle or knob. A vibration sensor integrated into accessory connector 107B is potentially well-positioned to detect such vibrations (e.g., transmitted via a connector 901, as illustrated in FIGS. 9A-9C), with noise frequencies (and / or another characteristic such as click intervals) not associated with control operation being optionally rejected by use of suitable filtering. Accordingly, in some examples, signal-producing elements of / on grip accessory 107 are “tuned” with sonically distinctive characteristics such as a regular or irregular (though identifiable, e.g., known and / or predetermined) pattern of ridges, a resonant body frequency, or another mechanism.

[0180] Sounds made by “tactile signaling” can be interpreted by controller 129, e.g., according to sound length, sound repetition, sound frequency, sound amplitude, and / or another parameter. Examples of signals which can be sent by users in this connection include informing exercise machine 100 which grip accessory 107 is currently attached to it, e.g., by providing different grip accessories 107 with different noise-making surfaces, resonances, and / or mechanisms. Optionally, users can use tactile (sound vibration) signaling to adjust a parameter of a current workout session with exercise machine 100, e.g., to adjust a resistance force, rep count, rest duration, or another parameter. In some examples, user signaling sounds sensed by exercise machine 100 are relayed to another device, e.g., a user-provided personal computing device such as a smart phone or tablet. It is noted that vibration sensors at certain locations are optionally used as additional and / or alternative indications of the dynamics of tension cable 105. Sensed sounds are optionally sounds produced incidentally; e.g., as a result of bearing movements as any of pulleys 106A–106C rotate, and / or due to movements of surfaces of tension cable 105 in contact with other surfaces of exercise machine 100. Optionally, sensed sounds are produced using mechanisms deliberately provided as sound generators; e.g., gently contacting elements making clicks, “zipping” sounds, or another vibrating indication as tension cable 105 is operated. Such vibrations are optionally measured and used as indications of tension cable 105 velocity, position, and / or acceleration. Even when this information is also available from, e.g., a motor encoder, sound recording data provides a sensing channel which can potentially provide high-frequency feedback (e.g., a typical audio recording frequency is 44.1 KHz) allowing interpolated estimates of acceleration values between encoder positions.Data Communications

[0181] Reference is now made to FIG. 2B, which schematically represents a data communications network to which an exercise machine 100 is connected, according to some examples of the present disclosure. In some examples, controller 129 includes a communications interface 133 (e.g., as described in relation to FIG. 2A). Illustrated as examples of other nodes of a network 201 to which exercise machine 100 is optionally connected, are server / cloud 220, portable communications device 222, and another exercise machine 100A of the same or a different type (and shown with its own controller 129A). Network 201 is optionally used in any one or more of several ways, for example as next described.

[0182] In some examples, connection to network 201 is used to store and / or retrieve configuration data. Configuration data is optionally indexed, e.g., to the identity of a particular user, and / or to a particular mode of use of exercise machine 100 (e.g., an exercise type, physical configuration of the device, and / or selected gamification mode). Configuration data represent “state”. Configuration data can be used in particular to modify parameters governing how exercise machine 100 responds to the user, and can optionally allow the same exercise machine 100 to created different environments according to, e.g., who the user is and / or what the user is doing.

[0183] In some examples, connection to network 201 is used to send event data and / or notification data from exercise machine 100. In some examples, events detected during operation of exercise machine 100 are sent to another device. Additionally or alternatively, exercise machine 100 sends notifications, e.g., related to device use and / or user status. In some examples, exercise machine 100 receives events and / or notifications from other nodes of network 201. Event data and notifications represent time-dependent “activity”. They may be logged and / or interact with (cause changes in ) configuration data, but in themselves, they are otherwise generally transient.

[0184] Where a distinction is made herein, “event data” are distinguished from a “notification” in the sense that event data are interpreted (“processed”, in some examples) in order to determine a further layer of meaning which is then relayed onward as a notification. In a technical sense, the relayed “layer of meaning” is identifiable by features such as transformation of the event data, designation of a recipient, binding of additional content, and / or the addition of a label indicative of type and / or utility.

[0185] Also and accordingly, the relationship is a relative one; e.g., it is not excluded that “event data” itself may stand as a “notification” in relation to some prior and / or lower-level event data. In relevant aspects of the event data which it preserves (optionally with transformation), a notification may be referred to herein as “indicative” of the event data. In some examples, event data are joined to an additional descriptor to create a notification. In some examples, event data trigger a notification, but are not conveyed as part of the notification itself. In between these, event data may be transformed in any suitable fashion.

[0186] A user notification refers more particularly to a signal provided to the senses of a user, e.g., sight and / or hearing, and / or in the case of haptic signaling, touch. The processing of translating event data into a user notification is referred to herein as “determining” the user notification. It may be understood, for example, that event data as such are commonly not in user-sensible form. Accordingly, determining a user notification optionally comprises one or more of: determining that the event data should produce a user notification (e.g., via operations of a detection algorithm operating on the event data), determining contents of the user notification (e.g., according to predetermined notification templates and / or contents of the event data itself), and determining characteristics of the presentation of the user notification (e.g., determining what actions will be performed in order to convey the notification contents to the user).

[0187] Applications and features of exercise machine 100 using network 201 include, for example, personalized configuration data, optionally stored on portable communications device 222 and / or server / cloud 220, which is provided to whichever exercise machine 100 a user happens to have access to. Conversely, device settings which a user changes on exercise machine 100 itself are optionally provided back to portable communications device 222 and / or server / cloud 220 for long term storage.

[0188] Optionally, exercise machine 100 receives software updates over network 201. Optionally, exercise machine 100 receives general notifications over network 201, e.g., facility-specified messages for purposes of advertising, scheduling, notification, and / or another use.

[0189] In some examples, exercise machines 100, 101A (and optionally one or more additional exercise machines) are directly linked in a peer-to-peer network. Optionally, they are linked through server / cloud 220 and / or through portable communications devices 222. Exercise machines 100, 100A optionally co-operate in aspects of their operation including indicating schedules and / or availability for use, optionally in coordination with server / cloud 220 overseeing them and / or providing information such as waiting users, scheduled uses (e.g., upcoming classes), operating hours, or other time relevant information. In some examples, exercise machines 100, 100A (again, optionally in coordination with server / cloud 220) coordinate to encourage users toward particular stations, e.g., to even out maintenance requirements for machines installed in a facility.

[0190] In some examples, exercise machine 100 uses network 201 as part of workout gamification. It is noted that haptic signals have potential advantages for guiding users, tracking progress, and celebrating achievements. This can be useful in transforming routine workouts into engaging, interactive sessions. Gamification has potential to increase user motivation, adherence, and / or satisfaction. Optionally, gamification comprises converting exercise machine 100 itself into a “game controller”, wherein server / cloud 220 and / or portable communications device 222 act as the central computing device of a game. In some examples, exercise machine 100 takes the role of the lead device, specifying game characteristics to an attached device (e.g., acting as a web page server for a connected portable communications device 222), and sending events / notifications to clients according to user selections and / or operations. Optionally, server / cloud 220 mediates and / or coordinates message exchanges between an exercise machine 100 and an associated portable communications device 222.

[0191] In some examples, exercise machine 100 optionally provides a “palette” of predefined (optionally reconfigurable) haptic signals. In some examples, haptic signals are specified by and / or to exercise machine 100 in detail according to generating and / or descriptive parameters.

[0192] Optionally, haptic signals are described according to their raw signal parameters (e.g., in terms of duration, frequency, and / or amplitude) and / or in terms of their “valance” or sensed qualities; e.g., whether they are perceived by users as sharp, smooth, subtle, aggressive, and / or otherwise. In some examples, there is a dual mapping—from the game definition to targeted characteristics (e.g., the game may have moments when an “aggressive” haptic signal is to be used), and from user preferences and / or device capabilities to the same targeted characteristics.

[0193] Gamification optionally provides a theme or “skin” to a workout, e.g., mappings of device-standard and / or game-specific notifications to haptic signals selected to work together, and optionally work together appropriately with additional multimedia resources such as images and sounds. For example, a “waterski” gamification mode optionally includes haptic bumps indicative of wave crossings, while also showing the waves on a display screen to which exercise machine 100 is directly or indirectly coupled. In this case, gamification aspects related to game status and / or rewards may be conveyed, e.g., by coupling wave properties such as amplitude and / or direction to user performance. Other examples of haptic coupling include use to highlight interactions with gamification and / or theme characters and / or objects more generally; e.g., hits, bumps, and / or pushes. Optionally, characters in the gamified world communicate to the user through haptic indications such as pulling, releasing, and / or vibrating the tension cable to “talk” and / or “emote”.

[0194] In some examples, haptics and haptic notifications are used as direct indicators, e.g., of progress, performance, and / or the present stage (e.g., resting stage) of a workout. Such haptic indications are optionally relatively “light”, e.g., inducing force variations with an amplitude less than a pound of force and / or less than 5–10 mm of distance variation.

[0195] In some examples, haptic notifications are amplified to become significant contributions relative to the baseline resistance forces the user has selected. Amplification is optionally, e.g., to 1–15 pounds of force amplitude or more; optionally to 10%, 20%, 50% or even 100% or more of baseline pulling force.

[0196] For example, a gamification mode may include workout periods during which the user struggles with an increase in resistance, e.g., conveying to the user the sense of a game-world acceleration, change in environment, contention with an adversary, or another theme- and / or game-specified and / or suggested “cause”. Changes in resistance are optionally relatively brief, (e.g., surprising) jerks; optionally they are more sustained.

[0197] In some examples, coordination of haptic signals with auditory and / or visual presentations among separate devices participating in a theme and / or gamification mode is assisted by associating at least one stream of instructions with suitable timing data. In some examples, this comprises providing haptic signal generating commands slightly in advance of their generation time, together with a suitably specified delay which is waited out before the haptic signal is actually generated. This has the potential benefit of smoothing out communication lags, e.g., in the case of client / server connections with human-perceptible lags and / or jitter. In some examples, haptics signal generating data are provided to an exercise machine 100 together with data providing time-delay indications with respect to an agreed-upon synchronization clock. In some examples; the time-delay indications indicate a delay of, e.g., 50 milliseconds to 1 second, optionally more or less. In some examples, during an exercise rep, there may be only particular phases and / or moments to which a certain haptic signal is targeted. Additionally or alternatively, there may be a certain lead-in period needed for smooth delivery of visual and / or auditory presentations accompanying the haptic signal, and / or a lead-in period for the haptic signal itself. As an example, an on-screen “cause” of the haptic signal (e.g., a character such as a whale which is going to give the user a “bump”) may need a few frames to come into view.

[0198] In some examples, a protocol is provided in which the exercise machine 100 is first “prepared” for delivery of the haptic signal (by receiving suitably descriptive event data)—after which exercise machine 100 becomes responsible for providing a synchronizing indication in return (a “preparation signal”), sufficiently in advance of the targeted time for the haptic signal to provide the targeted lead-in time. In some examples, the lead-in time is at least 50 msec, e.g., a lead-in time in the range of 50 msec-500 msec, 100 msec-1000 msec, or another range.Haptic SignalingHaptic Signaling Messages

[0199] Reference is now made to FIG. 3A, which is a schematic block diagram of haptic signaling events optionally provided by exercise machine 100 to a user during use, according to some examples of the present disclosure.

[0200] In some examples of the present disclosure, haptic signaling is synchronized to align with workout events, allowing signaling to align with the user’s activity. FIG. 3A represents some of these events, and optional examples which indicate and / or respond to those events with haptic signals. Controller 129 determines when events happen through the use of monitoring measurements, e.g., measurements counting repeated extensions and returns of tension cable 105. At a finer scale, measurements optionally determine the phase of a particular pull (rep), e.g., extension of tension cable 105, its return, and / or pauses between these movements. In some examples, measurements made during a rep are used to assess the form of the user, and optionally to provide immediate feedback (on how well they did) and / or live-updating guidance (toward a better form).

[0201] In some examples, sensors tracking a current rep, set and / or user session operate to detect movements in “device coordinates”, e.g., the current extension state of tension cable 105, optionally including information about velocity and / or acceleration. For example, data from one or more motor encoders is monitored. Optionally, auxiliary information is used, e.g., motor power and / or current is measured. Optionally, position sensors are used to determine a current configuration of the hardware of exercise machine 100, e.g., the configuration of frame 110.

[0202] In some examples, device sounds (e.g., of moving cable tension cable 105 and or pulleys 106A–106C are measured as indications of device state (e.g., as also described in relation to FIGS. 1A–1C and 2A). In some examples, strain (e.g., strain on tension cable 105) is measured. Optionally, the user is monitored as well, e.g., using a camera and / or microphone provided with the exercise machine 100 itself, and / or provided on a data-linked user-provided personal computing device such as a smart phone or tablet. For example, the user can use a portable communication device to start a “conference call” with the exercise machine 100, providing it with a video feed which can be used to assess user form (e.g., range of limb movement and / or activation of muscle groups), user physiology (e.g., breathing rate, and other signs of physical exertion), or another parameter. Optionally, exercise machine 100 receives such information in analyzed form from a remote service which receives raw information from the user’s own device, and transmits analysis results to exercise machine 100. Accordingly, exercise machine 100 itself does not necessarily access the user’s raw data stream directly, and analysis capabilities available for use are not necessarily limited to those built into the local software of exercise machine 100 itself. User sensing is optionally used together with gamification aspects of haptics signaling, e.g., as described in relation to FIG. 3D. Block 301 represents a period of time corresponding to a set of repetitions or “reps”. During a given user session, there are typically a plurality of sets, and this is represented by an arrow leading from the end of block 301 back to its beginning. Stages of individual reps are represented by the labels “extend”, “pause”, “return”, and “pause” within block 304. Recurrence of reps within a set is represented by an arrow leading from the end of block 304 back to its beginning. Also represented are starting (a first set) or restarting (subsequent sets) at block 302, and resting at block 306.

[0203] In some examples, haptic signaling (e.g., vibration of tension cable 105) is provided according to a current stage of a set and / or rep. The examples next described in relation to FIG. 3A are non-limiting. Each should be considered optional, and they are optionally provided in any suitable combination.

[0204] At block 310, a “preparation” haptic signal is optionally provided to a user during a time corresponding with (re)start block 302. This can be a signal which indicates to a user that exercise machine 100 itself is ready for use, and / or that there has been a suitable elapse of time corresponding to a duration of a rest period, e.g., corresponding to a duration of block 306. Parameters of the preparation haptic signal are optionally selected for their attention-getting characteristics. For example, since exercise machine 100 is typically in a non-active mode at this time, motor 125 is optionally operated to move tension cable 105 forward-and-backward during vibration signaling. This movement (and potentially also associated sound) of this vibration potentially act to attract user attention. Optionally, controller 129 tracks and / or detects a current position of tension cable 105 and adjusts the intrusiveness of the preparation haptic signal according to whether the user appears to already be actively handling grip accessory 107.

[0205] At block 304 (that is, during reps themselves), haptic signaling is optionally provided to provide the user with information of one or more types. In FIG. 3A, there are distinguished “guidance” at block 312, “feedback” at block 314, and “progress / 'hyping'” at block 318. For the sake of (non-limiting) description, “guidance” is associated with the “extend” period of a rep, “feedback” with the “return” period, and “progress / 'hyping'” with the rep of block 304 overall. In some examples, “guidance” haptic signaling is used to help a user adjust how they perform a rep, as they perform it. The example of FIG. 3A confines this to the “extend” phase of a rep, during which a user is actively pulling on tension cable 105 against resistance, but the guidance of block 312 is optionally provided during the whole repetition, or during some other part of it. In one example (e.g., corresponding also to descriptions of FIG. 4A), guidance haptic signaling is provided in the form of discrete signals. For example, there may be provided distinct “speed up” and “slow down” signals, as further described in relation to FIG. 4A.

[0206] In another example, (e.g., corresponding also to descriptions of FIG. 4B), guidance haptic signaling is provided in the form of continuous signals which are modulated according to how the user is performing the rep. For example, there is optionally specified a targeted (e.g., ideal) form for the rep, e.g., in terms of a velocity of movement of tension cable 105, a distance of extension of tension cable 105, and / or another parameter. Guidance haptic signaling is then modulated according to a comparison of the user’s actual performance with the ideal.

[0207] Block 314, in some examples, corresponds to “feedback” haptic signaling, which in the context of FIG. 3A refers to an indication to a user of how well they have performed a previous rep and / or phase of a rep. For example, the rep is scored according to how closely the rep followed a given targeted form for the rep, and the feedback haptic signaling selected to indicate this score to the user. Feedback haptic signaling is further discussed in relation to row 422 (amplitude A2) of FIG. 4C.

[0208] Block 318, in some examples, corresponds to “progress / 'hyping'” haptic signaling. This signaling is optionally used to indicate to a user the currently completed (and / or remaining) portion of a set of reps in progress. This can help, e.g., to encourage a user as they approach the end of a set, and / or provide indications about whether the user needs their reserves for only one or more two reps before they will be afforded a rest. Optionally, this signal is modulated in correspondence to user performance. For example, a user who performs with noticeably decreased pace near the end of a set may receive “extra” (e.g., larger-amplitude, rhythmically pulsed, and / or otherwise modified) haptic signaling as encouragement. This is further discussed in relation to row 423 (amplitude A3) of FIG. 4C.

[0209] Block 316, in some examples, corresponds to progress / milestone indications provided through haptic signaling (“achievement accomplished”, for example). A signal with a more basic message is an “end of set” signal, e.g., a quick pulse delivered upon the completion of a set. Optionally, haptic signaling of varied character is provided to mark the end of sets which are notable for some reason. For example, haptic signaling optionally is provided to indicate one or more “midpoints” within a group of sets (e.g., the half-way point, every third set, or another interval). In another example, haptic signaling is optionally used to forewarn of an upcoming change in operating parameters; for example, an upcoming reduction in resistance force to be applied during a "drop set". In some examples, haptic signals are provided in “celebratory” response to an event; e.g., completion of a set which is a personal best in terms of quality of form, magnitude of resistance used, and / or another parameter. In some examples, vibrations of a haptic signal of this type are chosen to convey a celebratory character; e.g., pulsing / beating, high-amplitude, chirping, and / or upward-moving in frequency.

[0210] During a rest period leading up to a next set, haptic signaling optionally crosses back over to a “preparation” type signal, e.g., as mentioned in relation to block 310. The user may, for example, receive countdown pulses of vibration, or another vibration pattern indicating that it is time to begin the next set.

[0211] Vibrations used in haptic signaling with different meanings are optionally distinguished from each other not only according to when they are produced, but also how. There may, for example, be distinctions of amplitude, frequency, and / or patterning. In some examples, vibration parameters associated with different haptic signaling events are sufficiently distinct as to allow simultaneous signaling. For example, users may be able to distinguish two simultaneous haptic al signaling events because their amplitudes are cumulative, and / or because they are provided at frequencies sufficiently distinct as to create a perceptual distinction. Frequencies are optionally selected to stimulate selected sensory cell types and / or combinations thereof; for example: Merkel cells (5–15 Hz), tactile corpuscles (10–50 Hz), and Pacinian corpuscles (around 250 Hz, potentially higher). Optionally, haptic signals are coupled to auditory and / or visual (e.g., screen-displayed) cues, with the non-haptic aspect of the cue being at least partially relied on for differentiation. of the signaling being used as an alertHaptic Signaling Method Examples

[0212] Reference is now made to FIG. 3B, which is a schematic flowchart of a method of communicating user notifications to a user engaged with a tension cable of an exercise machine, according to some examples of the present disclosure. Reference is also made to FIG. 3C, which is a schematic flowchart of a method of communicating user notifications to a user engaged with a tension cable of an exercise machine in coordination with presentations by a second device, according to some examples of the present disclosure. At blocks 320 and 330, in some examples, a controller 129 of the exercise machine accesses event data indicative of an event which is potentially the subject of a user notification. In some examples, the event data is indicative, e.g., of one of the events described in relation to FIG. 3A. For example, the event data is related to preparation 310, guidance 312, feedback 314, progress / milestones 316, and / or progress / "hyping" 318. In some examples, the event data is indicative of an external event; for example, a calendar and / or message notification received from a network-connected portable communication device. At blocks 322 and 332, in some examples, controller 129 determines a user notification to be conveyed by haptic signaling, using the event data accessed at block 320. For example, the user notification is determined according to a rep count, a tension cable position (e.g., distance of extension), a tension cable velocity, and / or an elapsed time (e.g., elapsed time since the end of the last set and / or rep). In some examples, the determined notification is selected according to a type of the event data; e.g., a calendar and / or message notification is optionally converted to a determination of a user notification signaling the user (more generically) that an external message has been received on their portable communications device 222.

[0213] At blocks 324 and 334, in some examples, a haptic signal corresponding to the notification determined in block 322 is generated and communicated to the user via manipulation of the tension cable 105. In some examples, this comprises operation of the resistance motor to alternately change an extension distance of the tension cable 105. In some examples, this comprises operation of the resistance motor with a variable force. In some examples (additionally or alternatively), this comprises operation of a dedicated vibration device, e.g., a vibration device as described in relation to FIG. 8A–8D.

[0214] In the example of FIG. 3C, the flowchart also optionally continues with block 336, in which notification data are sent to a second device. The notification data are indicative of the same conditions as led to the determination of a user notification at block 332, and are provided to induce the second device, at block 338, to present a further user-perceived stimulus (e.g., a visual and / or auditory stimulus) in synchrony with the haptic signal communicated at block 334. In some example, notification data sent at block 336 are sent together with synchronizing data, e.g., a time offset delay.

[0215] In some examples, the synchronizing signal is used to give the second device time to “ease in” (e.g., over the course of a few image frames) to the presentation of an appropriate stimulus at the same time as the user receives the haptic signal through the cable at block 334.

[0216] In some examples, the event data provided at 330 comprise a request to provide the haptic signal at a particular phase of a rep, with the notification and sync data provided in block 336 being in part responsive to this request, to allow appropriate multimedia synchronization. It is noted that this latter case essentially involves a three-fold synchronization, since both the haptic signal provided by the exercise machine 100 and the second-device visual presentation are being synchronized to a third event, which is potentially under the control of the user and not necessarily predictable at the time of the operations of block 330.

[0217] It is noted that the operations of block 332–338 are optionally initiated conditionally, e.g., based on whether or not the user reaches a certain phase of the rep within a certain time window. In this case, the “easing time” provided by this arrangement potentially allows the second device presentations to differ more dramatically but still gradually, while also maintaining a convincing degree of temporal synchronization between haptic signals, and non-haptic (e.g., auditory and / or visual) presentations.

[0218] It should be understood that the “second device” is optionally a device which is tightly under the control of 129; e.g., a speaker and / or screen display driven by controller 129.

[0219] Reference is now made to FIG. 3D, which is a schematic flowchart of a method of defining (and then communicating) gamification user notifications for a user engaged with a tension cable of an exercise machine, according to some examples of the present disclosure. Reference is also made to FIG. 3E–3F, which are schematic flowcharts of methods of configuring haptic signal-communicated user notifications to users engaged with a tension cable of an exercise machine, according to some examples of the present disclosure.

[0220] For the sake of condensing descriptions, the operations of FIG. 3D are described as “built upon” the operations of FIG. 3E–3F. However, it should be understood that the operations of FIG. 3D–3F are optionally performed separately (e.g., without each other), and optionally in any order. Optionally, operations of these figures are performed concurrently.

[0221] At block 340, in some example, a gamified operating mode is activated. This comprises controller 129 receiving an indication that it should enter a “gamified” mode (e.g., based on an input provided from user interface 130 and / or provided as part of configuration data associated with the user, e.g., provided over communications interface 133. Optionally, the gamified mode selected is one of a plurality of gamified modes available.

[0222] At block 342, in some examples, controller 129 accesses gamification data for the activated gamified mode, according to its role. In some examples, controller 129 acts as an input / output device for another device, e.g., a mobile communications device and / or networked server device. Accordingly, gamification data accessed optionally comprises data defining (in particular) haptic signaling definitions and / or definitions of notifications to be provided using haptic signaling, as appropriate to the particular gamified operating mode selected. In some examples, controller 129 itself provides primary computational processing for the gamified mode. Accordingly, gamification data optionally further comprises most or all code defining remaining operations particular to the gamification operating mode.

[0223] At block 344, in some examples, controller 129 optionally configures event map / haptic signal parameters. The “event map” comprises one or more data structures through which linkage is made between haptic signals and gamified operating mode events. The event map is optionally a multi-part map; e.g., mapping gamified operating mode requirements / requests (as defined for the gamified mode itself) to available options for haptic signaling through one or more levels of data abstraction.

[0224] Mapping of events to haptic signal parameters is optionally preconfigured; i.e., the operations of block 342 are optionally themselves sufficient to define the mapping directly. This is optionally a “direct” mapping, e.g., from gamified operation mode requirements directly to low-level parameters used for haptic signaling.

[0225] However, in some embodiments, additional mapping is performed to connect the gamification data to other configuration data relevant to the production of haptic signals by exercise machine 100. In some examples, this comprises an optional dependency of the operations of FIG. 3D on the operations of one or both of FIG. 3E–3F.

[0226] In the course of FIG. 3E, user-associated configuration data is determined. For example, at block 350, in some examples, the current user is identified, e.g., according to user credentials, use of a portable computing device associated with a specific user, and / or according to another method. At block 352, in some examples, user-specific configuration data is accessed. This is optionally data stored on exercise machine 100, and / or accessed over network 201, e.g., as described in relation to FIG. 2B. At block 354, in some examples, event map / haptic signal parameters are defined. This is described here (e.g., in a following paragraphs) with particular reference to a gamified operating mode.

[0227] It should be understood, however, that user configuration of haptic signal parameters is optionally used in other operating modes, e.g., different exercise workout types, whether or not they are gamified. It is noted that haptic signaling of notifications (particularly when personalized) has potential advantages for accessibility, e.g., by establishing a channel of communication with the user which requires neither vision nor hearing. Regarding personalization options and accessibility specifically, certain users with accessibility needs may accept and / or prefer, e.g., longer, stronger, and / or more frequent use of haptic signaling to transmit notifications to them. In some examples, exercise machine 100 is optionally configurable to transmit haptic signal equivalents of user notifications including user interface navigation cues. Optionally, user menu positions and / or parameter values are communicated using suitably defined patterns of haptic signals. Optionally, haptic aspects of user notifications have selectable levels of “verbosity”, allowing them to communicate more information by touch for users who prefer it. In some examples, haptic signaling by “shaking” tension cable 105 creates noise that can be used by a low-vision user to help locate the grip accessory 107. In the course of FIG. 3F, physical configuration-associated device configuration data is determined. For example, at block 360, in some examples, the physical state of exercise machine 100 is identified. This optionally comprises identification of a connected grip accessory 107, and / or identification of positions of articulating joints of frame 110, e.g., positions of trolley 113 and / or arm 112. Haptic signals may be generated differently for different accessory connections, e.g., according to how signals are transmitted to the user through handles of different masses and / or design. Haptic signals may be generated differently for different device positionings, e.g., according to whether the tension cable is being held in tension by pulling it upward, sideways, or downward. For example, there is potentially a difference in how the tension cable end responds to movements when it is hanging from arm 112 as opposed to being held up above arm 112. Optionally, another configurable aspect of exercise machine 100 is determined. In some examples, exercise machine 100 also defines “baseline” or reference configuration data. These comprise, for example, default haptic signaling settings optionally specific to a particular exercise machine 100; optionally provided as global “factory” settings.

[0228] At block 362, in some examples, exercise machine 100 configuration state configuration data is accessed. This is optionally data stored on exercise machine 100, and / or accessed over network 201, e.g., as described in relation to FIG. 2B.

[0229] At block 364, in some examples, event map / haptic signal parameters are defined. In some examples, this comprises processing the configuration data of block 362 to resolve a particular event map suitable for current operations underway. For example, default parameters are optionally modified by one or more of the available physical configuration states which can be applied to exercise machine 100. These settings optionally interact with other settings, e.g., for a particular user. For example, a user may have selected the use of different haptic signal parameters depending on which accessory 107 they are using and / or which other physical configuration of exercise machine 100 they have selected during a workout.

[0230] Configuration parameter interactions are next described with additional reference to a gamified operating mode. It should again be understood, however, that machine and / or machine-state configuration of haptic signal parameters is optionally used in other operating modes, e.g., different exercise workout types, whether or not they are gamified and optionally with or without modification based on user-specific selections.

[0231] Returning now to block 334 of FIG. 3D: in some examples, the mapping operations of this block include use of user- and / or device-defined settings (not necessarily specific to the selected gamified operating mode) to turn certain types of notification on or off. Additionally or alternatively, the mapping operations of block 344 optionally link user-defined (e.g., FIG. 3E) and / or device-defined (e.g., FIG. 3F) haptic signaling preferences to corresponding “requests” for haptic signaling which may be generated as part of the gamified operations mode.

[0232] For example, a user’s general settings preferences optionally link gamified operating mode requests for “strong” or “soft” haptic signaling to corresponding user-customized parameter sets. Accordingly, the mapping operations of block 344 link the selected gamified operating mode to produce haptic signals according to these parameter sets, e.g., as described, in relation to blocks of FIG. 3E–3F.

[0233] The operations of block 344 optionally comprise specification of haptic signal parameters themselves. For example, parameters for newly-defined haptic signals may be synthesized as part of resolving interactions between what the gamified operating mode requests and / or requires, and what other configuration settings may allow and / or provide.

[0234] At block 346, in some examples, the gamified operating mode is in operation. Controller 129 now communicates haptic signals through the tension cable 105 according to the event map of block 344 and / or haptic signal parameters generated as part of the operations of block 344. The operations of blocks 356 and 366 also correspond to haptic signal communication. Optionally, they are performed as part of the operations of block 346.Haptic Signal Examples

[0235] Reference is now made to FIG. 4A–4B, which schematically represent haptic vibration signals provided as guidance during a repetition (“rep”) of an exercise using exercise machine 100, according to some examples of the present disclosure. FIG. 4A represents a schematic timeline of a single rep 304 comprising “extend” and “return” phases (tension cable extend phase, tension cable return phase). In between these phases are rest phases. Increasing time is represented along the horizontal axis (arbitrary units).

[0236] Along row 401 of FIG. 4A are represented target time brackets, each indicating a period within which some event of the rep is targeted to occur. Inset 401A labels three potential determinations related to event time. When an event occurs within the span of a central (“ok”) bracket, it occurs at the “correct time”; that is, the user form is deemed correct for this event. Otherwise, the event occurs early (-) or late (+) compared to its targeted time.

[0237] Events shown with target time brackets include beginning of extension (e.g., onset of cable lengthening), stop of extension (e.g., zero velocity at full extension), beginning of return (e.g., onset of cable shortening), and end of return (e.g., zero velocity with the cable returned to a minimally extended state). Optionally, e.g., when the event happens too early or too late, haptic signaling is used to notify the user that their form deviates from target timing.

[0238] Examples of vibrations used as haptic signaling include waveforms 404, 405. Time-amplitude graphs are shown in the inset. Amplitude is optionally understood as force-change amplitude, distance-change amplitude, electrical current-change amplitude, or another amplitude.

[0239] Waveform 404 is an example of a “whoop”-type signal, beginning at a lower frequency and rising in frequency (and amplitude) towards its end. Users may be instructed to understand this as an “urging” indication, telling them that they should speed their movements in order to match the corresponding target time bracket.

[0240] Waveform 405 is an example of a “caw”-type signal, beginning at a higher frequency and reducing in frequency (and amplitude) towards its end. Users may be instructed to understand this as an “slowing” indication, telling them that they should slow their movements in order to match the corresponding target time bracket. These indications are optionally provided immediately upon detection of a deviation in form, and / or provided with a delay, e.g., during a resting and / or low-demand portion of a rep. Optionally or alternatively, signaling is delayed to the end of a set, e.g., to indicate to a user their overall and / or average form.

[0241] It is not a requirement to differentiate between haptic signals intrinsically; for example, a same set of generically generated haptic signal parameters can be associated with a plurality of distinctive visual and / or auditory signals that differentiate for a user what the feedback means. The haptic signal portion of the notification then acts, for example, to draw attention to the device and / or signal that there is information available. However, it is a potential advantage for haptic signals to be intrinsically distinct from each other; e.g., because this places fewer cognitive demands on the user, and / or allows users to “feel” the meaning of provided feedback with just one of their senses.

[0242] FIG. 4B represents a schematic timeline of an extension phase of a single rep, and another method of using haptic signaling to provide “guidance” in the sense described in relation to block 312 of FIG. 3A. Increasing time is represented along the horizontal axis, and increasing extension distance along the vertical axis (arbitrary units are used). In this example, dotted line 413 represents a targeted time-distance relationship for the rep, while solid lines 411, 412 represent a performed time-distance relationship. As a result the user’s actual form during the rep deviates from the target.

[0243] In this example, haptic signaling is provided substantially continuously during rep extension. Haptic signal amplitude (represented between the two curves) is modulated according to an amount by which actual and targeted distance differ at any given time. Furthermore, frequency switches between a higher frequency when the user is pulling “too fast” (left side, along line 411), and a lower frequency when the user is puling “too slow” (right side, along line 412). Amplitude envelope 414 (horizontal “double loop” at the top of FIG. 4B) represents relative amplitudes of feedback given during the pull, corresponding to the oscillating line between dotted line 413 and and solid lines 411, 412. This oscillating line represents signal frequency and relative amplitude. Amplitude of this oscillating line is not, in general, to scale with the pull distance. Similarly, the frequencies shown are selected to be indicative of “faster” and “slower” (“higher frequency” and “lower frequency”); they are not, in general, to scale with time.

[0244] In the example of FIG. 4B, continuous signaling potentially helps a user adjust their form substantially immediately and on the fly. With sufficient immediacy provided, vibrations used in haptic signaling potentially are experienced by the user as “part of the load” that they are pulling. This allows the vibrations to be both informative and potentially non-distracting.

[0245] It may be noted that in this example, a “slow” oscillation is indicative of “you are too slow”, while in the example of FIG. 4A, a “slowing” oscillation is indicative of “you should be slower”. There is no particular requirement as to what signaling conventions are adopted; e.g., in either or both cases, users are optionally given and taught to expect the opposite of what is illustrated here. Optionally, an amplitude of vibration increases as user performance more closely matches a target, e.g., a larger-amplitude vibration is optionally a positive signal of “good form”. Modulation of frequency is also optional. It may help a user more readily determine “which side” of a difference function their performance lies on—too fast, or too slow.

[0246] Regardless of haptic signaling conventions adopted, there is a potential advantage in applying them consistently and in accordance with clearly established user expectations.

[0247] In some examples, users are provided with the ability to select haptic signaling conventions suitable to their own expectations, e.g., using user interface 130. For example, users can adjust the characteristics of the signals themselves; e.g., patterns of vibration such as numbers and timings of pulses, intensity (amplitudes) and / or frequency / ies. Optionally, user interface 130 includes options for enabling / disabling haptic feedback for certain events (e.g., end of set, goal achievements) according to a user’s workout preferences. This flexibility lets users prioritize which notifications are most important to their workout experience.

[0248] Optionally, users can assign vibration patterns to events according to general types (e.g., ramps, pulses, rhythms, and / or another pattern type). Types are themselves optionally associated with one or more parameters, allowing customization. In some examples, vibration patterns are grouped and selectable together as (optionally customizable) “themes”. Use of theme associations has potential advantages for establishing coherence in signaling conventions. For example, an upward-shifting frequency in a haptic signal could mean “go faster”, or alternatively “you’re going too fast”. Themed associations of vibration patterns could serve to help express such ideas coherently throughout the haptic signals which accompany a workout. Optionally, themes are simply abstract collections of vibration patterns arranged, e.g., according to principles of intelligibility and / or clarity. In some examples, themes are optionally associated with non-haptic elements; e.g., sounds and / or graphics which connote a setting, mood, and / or subject matter. For example, a haptic signaling theme is optionally designed with associations to topics such as sci-fi / space, military interests, aquatic, sports (e.g., other than use of the exercise machine 100 itself), and / or music genre. Vibration patterns are optionally selected to reinforce such associations, e.g., with rumbling, fizzing, pulsing, or otherwise characterized vibration patterns as appropriate. Use of secondary media (e.g., images and sounds) potentially helps users contextualize vibrations as intended. Optionally, a theme is associated with a story or “plot”, e.g., the workout is optionally cast in terms of defeating an adversary, reaching a destination, and / or completing another type of task. Optionally, haptic signals are associated with gamifying elements, e.g., scoring and / or event sequences related to form, consistency, imitation, pacing, and / or another parameter. Any sensed parameter of device operation by a user is optionally incorporated into such scenarios; in particular, gamifying elements under the control of the user are not necessarily limited to the parameters of resistance force and set / rep count. Reference is now made to FIG. 4C, which schematically represents haptic vibration signals provided during a set of repetitions using exercise machine 100, according to some examples of the present disclosure. Here, reps 304 are indicated as recurring intervals between doted vertical lines, together comprising a set 301. Again, time is represent along the horizontal axis. Three separate signal amplitude graphs are shown (amplitude shown vertically), represented as row 421 (amplitude A1), row 422 (amplitude A2), and row 423 (amplitude A3). Frequencies are not specifically represented.

[0249] The amplitudes of row 421 optionally correspond to “guidance” signal amplitudes; e.g., like those described in relation to FIG. 4B. Factors potentially assisting “perceptual unity” in this case are that the amplitude itself varies continuously, and in a consistent time relation to the extension phase of a rep.

[0250] The amplitudes of row 422 optionally correspond to “feedback” signal amplitudes; e.g., like those described in relation to block 314 of FIG. 3A. In this case, perceptual unity is potentially assisted by giving a consistent number and interval of brief pulses for each signaling event (e.g., three pulses with a fixed time interval). Amplitude is modulated to convey additional information, e.g., to inform the user of form scoring. Here, stronger pulses are associated with relatively poor matching to a target form, and weaker pulses are associated with relatively good matching to target form. Again, conventions adopted are optionally different, e.g., opposite.

[0251] It should be noted that the haptic signals of row 421 and 422 are quite distinct in character. Optionally, they could occur overlapping in time, and still be potentially distinguishable to a user. This is an illustration of a more general principle, by means of which multiple concurrent (and potentially even simultaneous) haptic signaling channels can be established with a user even when using a single haptic signal “source” (e.g., single cable and / or single vibrating device).

[0252] Finally, the amplitudes of row 423 optionally correspond to “progress / 'hype'” haptic signaling as described in relation to block 318 of FIG. 3A. Here, the amplitude is represented as slowly increasing. To allow this to be both simultaneous with and perceptually distinguished from the other two haptic signals, it may optionally be set to a distinct frequency (e.g., a low frequency). Since it is continuous and “background” in nature (at least in this example), this signal may optionally be scaled to a lower amplitude than the other two signals (making it obvious only in the periods when there was previously no vibration at all), or simply suppressed when it is likely to interfere with sensory processing of one of the other signals. The functional role of this of signal as an “almost finished” indication is not limited to gradually increasing vibration. For example, it is optionally fulfilled by signaling with single pulses, modulated as appropriate to be distinctive in character and / or timing from other haptic signals which may be provided.

[0253] The examples of FIG. 4A–4C should be understood as indicative of principles for designing haptic signals which can be used together within a system by suitable attention to maintaining the perceptual unity of individual haptic signals, potentially while still permitting them to be distinctively perceived among a plurality of synchronously and optionally simultaneously delivered haptic signals. For example, distinctiveness of two different haptic signals is optionally assisted by use of different frequencies and / or frequency modulation patterns.Vibration Parameters

[0254] Reference is now made to FIG. 5A–5E, which schematically illustrate vibration waveforms superimposed on tension cable extension as a function of time, according to some example of the present disclosure. In each of these figures, time is shown along the horizontal axis, and distance shown along the vertical axis. Isolated vibration waveforms are shown as insets, this time with change in force (∆f) as the vertical axis. Unit values are arbitrary. FIGS. 5A and 5B each show vibration according to a triangle waveform. Inset 512 shows a large-amplitude triangle waveform, and inset 513 shows a low-amplitude triangle waveform. In the example of FIG. 5A, the waveform amplitude overcomes the average rate of tension cable extension indicated by dotted line 501, resulting in a forward-backward motion indicated by the alternately ascending and descending segments of extension distance plot 502. In the example of FIG. 5B, extension distance plot 503 alternately increases and decrease in slope, without reversing. Accordingly, the example of FIG. 5A corresponds to a “reversing” movement mode, and the example of FIG. 5B corresponds to a “sub-modulation” movement mode.

[0255] The examples of FIG. 5C–5D show sinusoidal motion waveforms, one high amplitude (e.g., inset 514) and one low amplitude (inset 515). Again, the high-amplitude example of extension distance plot 504 is of the “reversing” movement mode type, while the low amplitude example of extension distance plot 505 is of the “sub-modulation” movement mode type.

[0256] It should be understood that waveforms actually experienced at the user end of a tension cable will typically vary from whatever ideal waveform is used as a basis for control, e.g., due to cable losses and / or filtering, due to vibration energy diffusing into transverse modes, due to inertia, and / or for another reason. For example, in the example of FIG. 5E, inset 516 shows an ideal square wave input waveform (force change as a function of time). However the rising and falling edges of extension distance plot 506 are somewhat sloped, representing a finite velocity response of the system.

[0257] In some examples, amplitudes and / or frequencies of haptic signals are selected in accordance with an estimated current tension and / or velocity of tension cable 105. For example, at a relatively lower tensions and / or velocity, a “reversing” movement mode is used with an amplitude (in terms of movement distances) which is exaggerated relative to a “sub-modulation” movement mode used when tension cable 105 is under greater tension. Optionally, the higher-tension “sub-modulation” movement mode comprises vibrations of a different (e.g., higher) frequency than is used for the lower-tension reversing movement. Optionally, another adjustment is made; for example, exercise machine 100 optionally shifts from producing “buzzes” to producing short jerks or wiggles of tension cable 105. Optionally, e.g., when conditions suggest that there is insufficient tension on tension cable 105 and / or that the user is not engaged with tension cable 105, a signaled indication is additionally or alternatively generated using a non-haptic device such as a screen or speaker of user interface 130.

[0258] Reference is now made to FIG. 6A–6B, which schematically represent amplitude- modulated waveforms, according to some examples of the present disclosure. The horizontal axis represents time; the vertical axis represents changing force inputs ∆f.

[0259] Vibrations are not necessarily repeating waveforms. For example, single pulses are optionally used as haptic signals in some embodiments. In some embodiments, waveforms vary continuously over time in frequency and / or amplitude, e.g., as described in relation to the “whoop” and “caw” waveforms 404, 405 of FIG. 4A.

[0260] In the example of FIG. 6A–6B, amplitudes of vibration waveforms 601, 602 increase gradually from zero to its peak, and then decline again. The waveform basis is a square wave in FIG. 6A, and a sinusoidal wave in FIG. 6B. Where frequencies and / or waveforms sufficiently differ, two or more such waveforms are optionally partially superimposed in time, allowing them to potentially be perceived as distinct signals, optionally with different “messages”, e.g., according to what a user has selected and / or according to a configuration of exercise machine 100.

[0261] Reference is now made to FIGS. 6C, which schematically represents a multi-frequency waveform, according to some examples of the present disclosure. The horizontal axis represents time; the vertical axis represents changing force inputs ∆f. In this example, a plurality of sinusoidal frequencies have been superimposed, along with rapid amplitude modulation of one of the frequencies. This example illustrates generation of a haptic signals with complex frequency components. It is noted that use of complex vibrations potentially increases the difficulty of superimposing a plurality of user-distinguishable haptic signals. However, it has potential advantages for increasing the palette of available waveforms for use in haptic signaling overall.Vibration Calibration

[0262] Reference is now made to FIG. 7A–7C, which illustrate use of probing vibrations to help calibrate production of haptic signals, according to some examples of the present disclosure. The transmission of vibrations from a vibration-producing device to the user end of a tension cable may be understood as occurring according to a mechanical vibration transfer function which potentially varies according to the current state of exercise machine 100. In particular, transmission of vibrations along tension cable 105 potentially varies as a function of the tension developed by the user load acting in opposition to force exerted from motor 125. In general, a tighter tension cable 105 is expected to have a higher resonant frequency, and, accordingly, transmit higher frequency vibrations more effectively.

[0263] Optionally, such differences are addressed simply by indexing a selected (targeted) resistance force exerted by motor 125 to vibration generating parameters found suitable to the device in operation. For example (and as also discussed hereinabove): when forces are lower, vibration amplitudes are optionally increased to help overcome a relative lack of transmission efficiency.

[0264] In some examples, finer real-time control is sought. For example, acceleration differences over time could lead to the tension cable being transiently tighter or looser than the average force setting of motor 125. Optionally, force exerted by motor 125 itself is adjusted during use in accordance with operating limits, potentially complicating the predictability of the mechanical vibration transfer function. Potentially, the mechanical vibration transfer function changes depending on the position settings of exercise machine 100, e.g., the positions of trolley 113 and / or arm 112. Potentially, the extension distance of tension cable 105 itself has a noticeable effect on the mechanical vibration transfer function, e.g., a lower resonant frequency when longer than when shorter.

[0265] In some examples of the present disclosure, at least a portion of the calibration to adjust for such effects is performed on-the fly. In some examples, controller 129 receives measurements of tension cable response to its ordinary haptic signaling vibrations, and makes adjustments to future haptic signals accordingly. Optionally, adjustments are calibrated to one or more of conditions such as tension in tension cable 105, extension distance of tension cable 105, and / or positioning of frame 110.

[0266] Additionally or alternatively, in some examples, specifically designed calibration test signals are used to gather appropriate calibration data. Optionally, vibrations used to communicate a haptic signal to a user are also provide with characteristics making them useful as a calibration signal.

[0267] In FIG. 7A–7B, calibration signal responses 701A–701B represent vibration amplitudes produced at the user end of tension cable 105 in response to the same test signal under different conditions, e.g., different levels of tension exerted on tension cable 105.

[0268] Calibration signal response 701A, represents, for example, a relatively high-tension condition, e.g., with the user load exceeding 22 pounds (weight-equivalent force exceeding 10 kg). Calibration signal response 701B, represents, for example, a relatively low-tension condition, e.g., with the user load less than 5.5 pounds (weight-equivalent force less than 2.5 kg). In these examples, the test signal comprises an amplitude ramp of single frequency.

[0269] After the response to the calibration signal is measured, the device calibrates itself so that the amplitude of subsequent signals is normalized, e.g., forces used to generate the vibrations of haptic signal 700 are adjusted to produce a substantially consistent signal amplitude for the user. For example, inset 710 shows a relatively high amplitude (A) response to a change in force (∆f), compared to inset 711. Accordingly, vibration force amplitudes used to generate haptic signals under the conditions of FIG. 7B are set higher than in FIG. 7A in order to more closely match signals sensed by the user.

[0270] In FIG. 7C, calibrations signal response 703 represents a response to a frequency-modulated vibration force. I An example of variation in relative amplitude as a function of frequency is shown plotted in inset 712, which, accordingly, represents a frequency transfer function. Optionally, frequency amplitudes used in signaling are adjusted to produce a consistent response such as haptic signal 700, e.g., as described in relation to FIG. 7A–7B. Optionally, the selection of signal frequency is itself shifted to match a frequency transfer function, e.g., as estimated from direct measurements, using calibration data, and / or calculated based on device settings and / or operating conditions. For example, signal frequency is selected for compatibility with signaling along tension cable 105 at its currently estimated tension.

[0271] In some examples, haptic (vibration) signaling is modulated qualitatively based on a measured and / or estimated current transfer function. For example (e.g., as also described in the Overview and / or mentioned in relation to FIG. 5A–5E), at low tensions on tension cable 105, a “reversing” type movement mode type is optionally selected, while at higher tensions, a “sub-modulation” (non-reversing) movement mode type is selected.

[0272] Calibration signals are optionally generated, e.g., at user initiation, and / or whenever there is a significant uncertainty as to the present transfer function of the system. For example, calibration signals are optionally sent at one or more tension levels in tension cable 105 after adjusting frame 110. Optionally, this occurs automatically. Optionally, the user is prompted to perform a calibration procedure, e.g., using user interface 130. In some examples, calibrations signals are sent just prior to and / or as part of vibrations for haptic signaling during pulling itself, i.e., when tension levels of tension cable 105 are potentially dynamic due to changing accelerations.

[0273] In some examples, vibrations used as calibration signals are selected to be sub-threshold and / or unobtrusive to users, e.g., by use of frequencies and / or intensities which can be detected by provided sensors, but subtle enough to ignore and / or out of the range of user detection.

[0274] Measurements of tension cable 105 forces and / or accelerations are optionally used to select an appropriate level of haptic signal vibration amplitudes, e.g., based on factory calibration data, installation / setup calibration data, and / or calibration data dynamically generated during a current user session (e.g., in the same session, set, and / or rep). In some examples, vibrating responses of tension cable 105 to induced vibrations are themselves measured for use as indications of tension in tension cable 105 (e.g., tension produced as a result of user load). This is optionally used in estimating device acceleration, velocity, and / or position, e.g., used to refine and / or verify data sensed from a motor encoder and / or motor current sensor. It is noted, for example, that a resonant frequency of tension cable 105 potentially varies with extension of tension cable 105 from exit aperture 112A. Optionally, responses to vibration energy transmitted into tension cable 105 are measured and used, e.g., to augment (e.g., interpolate and / or calibration) data from another source such as a motor encoder.High-Power Vibrations

[0275] Reference is now made to FIG. 10, which schematically illustrates three frequencies of large-amplitude waveforms generated by exercise machine, according to some examples of the present disclosure. In the examples shown, time is along the horizontal axis, with effective amplitude (e.g., distance) along the vertical axis in arbitrary units. Vibration distances are optionally at least partially longitudinal, e.g., when induced by forward / backward motions of a resistance motor, and / or by periodic modulations of resistance force offered by a resistance motor. Vibrations experienced by the user are is not necessarily strictly longitudinal even if induced longitudinally, i.e., there is optionally a transverse component to vibrations.

[0276] Vibrations experienced by the user are not necessarily consequent to a distance oscillation at the source. In some examples, oscillations in exerted force (e.g., by a resistance motor and / or another vibration device) interact with user load to induce oscillation in the user. For example, the user may draw the tension cable out as the resistance motor varies its resistance force, resulting in the user (i.e., at least a limb of the user) alternately accelerating and decelerating, with a concomitant resulting vibration amplitude.

[0277] The frequency waveforms illustrated vary over a range of about 4x. In some examples, the amplitudes of each waveform correspond to forces exerted at the source of the vibrations in ranges up to 1–15 pounds peak force, e.g., at least 2 pounds, at least 5 pounds, at least 8 pounds, at least 10 pounds, or at least 15 pounds. In some examples, waveforms are sinusoidally generated. In some examples, “sinusoidally generated” comprises a generating waveform matching a single fundamental frequency with power in other wavelengths considered as distortion, and having a magnitude of 10% or less of the power of the fundamental wavelength. These numbers refer to the generating input (e.g., the waveform of force oscillation); at the output, effects may vary considerably depending on coupling, mass, measurement orientation, and / or other parameters. In some examples, two or more fundamental frequencies are co-generated, with the non-generated distortion power remaining at 10% of the total power of the waveform. In some examples, less than 10% of the total power of the waveform is generated at distortion frequencies larger than about 1.5x the fundamental frequency.

[0278] Optionally any suitable waveform is used. Square-wave wave forms 1004, 1005, 1006 have the potential advantage of being readily generated from binary (on / off) step functions in control, e.g., motor current steps. Square waves (and other non-sinusoidal waveforms such as sawtooth waveforms, triangle waveforms, and multi-frequency waveforms in general) provide a potential advantage for vibration transmission to the user, insofar as the use of several simultaneous frequencies potentially creates a more general activation and / or potentially is more likely to include frequencies at which various portions of the user’s tissue will resonate.

[0279] In some examples, generating waveforms (force fluctuations over time) are generated with at least 16, 32, 64, or 246 controllable force levels. After mechanical frequency filtering (e.g., as would be generated according to details of applied loads, cable length, etc.), this potentially allows generating waveforms which are experienced by users as smooth (e.g., in the case of sinusoidal waveforms such as waveforms 1001, 1002, 1003).

[0280] Optionally, the highest-frequency waveform 1001, 1004 used corresponds to a wavelength of about 50 Hz, the lowest frequency waveform used 1003, 1006 corresponds to a wavelength of about 10 Hz, and a middle-frequency waveform 1002, 1005 corresponds to a wavelength of about 20 Hz. Each of these waveforms is representative more generally of “high-”, “mid-”, and “low-” frequency ranges, e.g., ranges comprising frequencies of about 5–15 Hz, 15–30 Hz, and 30–60 Hz, respectively. In some examples, the three frequencies are scaled in ratios other than about 2:1 at each step, e.g., ratios of 1.5:1, 1.75:1, or anther ratio. In some examples, the low-frequency waveform is provided a fundamental frequency in the range of 20–25 Hz, the high-frequency waveform a fundamental frequency in the range of 40–50 Hz, and the mid-frequency waveform selected to be about half-way between them, e.g., half-way logarithmically or half-way arithmetically. Optionally the tolerance range on frequencies is about ±5 Hz and / or ±33% (e.g., when the base frequency value is already 5 Hz or below).

[0281] Users may appreciate the capability of switching among different frequencies, e.g., for different perceived effects potentially relating to muscle activation / stimulation, recovery, and / or circulation. In some example, a user interface 130 is provided which allows selecting among wave frequencies by category. In some examples, three categories (e.g., high / medium / low) are available. In some examples, four or more categories are defined. A potential Advantage of using category selection in user interface 130 is that users are not confronted with fine tuning control when they are not aware of what the differential effects of using that fine tuning could be.

[0282] Optionally, each wavelength is predetermined (i.e., not itself selected by the user) from within an overall range of about 10Hz–60Hz. Optionally, each of the selectable frequencies is perceptually different from its neighbors in terms of deep tissue effects (e.g., deeper, and / or affecting different muscles).General

[0283] As used herein with reference to quantity or value, the term “about” means “within ±10% of”.

[0284] The terms “comprises”, “comprising”, “includes”, “including”, “having” and their conjugates mean: “including but not limited to”.

[0285] The term “consisting of” means: “including and limited to”.

[0286] The term “consisting essentially of” means that the composition, method or structure may include additional ingredients, steps and / or parts, but only if the additional ingredients, steps and / or parts do not materially alter the basic and novel characteristics of the claimed composition, method or structure.

[0287] As used herein, the singular form “a”, “an” and “the” include plural references unless the context clearly dictates otherwise. For example, the term “a compound” or “at least one compound” may include a plurality of compounds, including mixtures thereof.

[0288] The words “example” and “exemplary” are used herein to mean “serving as an example, instance or illustration”. Any embodiment described as an “example” or “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments and / or to exclude the incorporation of features from other embodiments.

[0289] The word “optionally” is used herein to mean “is provided in some embodiments and not provided in other embodiments”. Any particular embodiment of the present disclosure may include a plurality of “optional” features except insofar as such features conflict.

[0290] Throughout this application, embodiments may be presented with reference to a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of descriptions of the present disclosure. Accordingly, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. For example, description of a range such as “from 1 to 6” should be considered to have specifically disclosed subranges such as “from 1 to 3”, “from 1 to 4”, “from 1 to 5”, “from 2 to 4”, “from 2 to 6”, “from 3 to 6”, etc.; as well as individual numbers within that range, for example, 1, 2, 3, 4, 5, and 6. This applies regardless of the breadth of the range.

[0291] Whenever a numerical range is indicated herein (for example “10–15”, “10 to 15”, or any pair of numbers linked by these another such range indication), it is meant to include any number (fractional or integral) within the indicated range limits, including the range limits, unless the context clearly dictates otherwise. The phrases “range / ranging / ranges between” a first indicate number and a second indicate number and “range / ranging / ranges from” a first indicate number “to”, “up to”, “until” or “through” (or another such range-indicating term) a second indicate number are used herein interchangeably and are meant to include the first and second indicated numbers and all the fractional and integral numbers therebetween.

[0292] Although descriptions of the present disclosure are provided in conjunction with specific embodiments, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.

[0293] It is appreciated that certain features which are, for clarity, described in the present disclosure in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination or as suitable in any other described embodiment of the present disclosure. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.

[0294] It is the intent of the applicant(s) that all publications, patents and patent applications referred to in this specification are to be incorporated in their entirety by reference into the specification, to the same extent as if each individual publication, patent or patent application was specifically and individually noted when referenced that it is to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present disclosure. To the extent that section headings are used, they should not be construed as necessarily limiting. In addition, any priority document(s) of this application is / are hereby incorporated herein by reference in its / their entirety.

Claims

1. An exercise machine comprising:at least one motor;a tension cable extending from a user end to attachment at the at least one motor, the motor providing adjustable force resisting force applied to the user end; anda controller controlling the adjustable force provided by the motor;wherein the controller comprises processing circuitry and a memory storing instructions configuring the processing circuitry to:access event data,using the event data, determine a user notification, andcommunicate the user notification as a haptic signal;wherein controller communicates the haptic signal through the tension cable by modulation of the adjustable force.

2. The exercise machine of claim 1, wherein the at least one motor comprises a resistance motor, and the controller commands the resistance motor to induce at least a portion of the adjustable force modulation communicating the haptic signals.

3. The exercise machine of claim 1, wherein the user notification notifies the user of one or more of:progress of a current exercise workout,progress of a current exercise set,a personal performance milestone,a characteristic of exercise form for one or more reps performed by the user,a change in parameters used with a current exercise set.

4. The exercise machine of claim 1, wherein the user notification notifies the user of an event, status, and / or reminder communicated from an external computer in data communication with the controller.

5. The exercise machine of claim 1, wherein the event data comprise data indicative of use of the exercise machine.

6. The exercise machine of claim 1, wherein the event data are indicative of timings of user activity.

7. The exercise machine of claim 6, wherein the timing event data comprise one or more of:duration of a rest period after a set,intervals between reps performed within a set,timing of full and / or partial tension cable extension during a rep, andtiming of full and / or partial tension cable return during a rep.

8. The exercise machine of claim 6, wherein the event data comprise one or more of:targeted timing of the user activity, andmeasured timing of the user activity.

9. The exercise machine of claim 1, wherein the controller is configured to:activate a gamified mode upon selection from a plurality of operating modes;access gamification data associated with the gamified mode, and comprising one or more data structures indicating at least one of:how event data should be used to determine user notifications, andhow haptic signals should be communicated through the tension cable; andwhile in the gamified mode, determine the user notification and / or communicate the haptic signal in accordance with the gamification information.

10. The exercise machine of claim 1, wherein:the controller is configured to access user-personalized settings data comprising a data structure indicating which of a plurality of selectable event types should be converted to user notifications communicated as haptic signals; andthe controller determines the user notification also using the user-personalized event type selections.

11. The exercise machine of claim 1, wherein:the controller is configured to access user-personalized settings data comprising a data structure indicating parameters of one or more haptic signals used to communicate user notifications; andthe controller determines the haptic signal also using the indicated parameters.

12. The exercise machine of claim 1, wherein the processing circuitry commands the at least one motor to alternately retract the tension cable and allow the tension cable to extend, resulting in vibration that communicates the haptic signals.

13. The exercise machine of claim 1, wherein the processing circuitry commands the at least one motor to alternate between exertion of a lower force and exertion of a higher force, resulting in vibration that communicates the haptic signals.

14. The exercise machine of claim 13, wherein the processing circuitry commands allow the tension cable to continue extending during both exertion of the lower force and exertion of the higher force.

15. The exercise machine of claim 13, wherein the processing circuitry commands comprise commands to continuously retract the tension cable during both exertion of the lower force and exertion of the higher force.

16. The exercise machine of claim 1, wherein the processing circuitry is configured to communicate a simultaneous plurality of haptic signals to the user end of the tension cable, the simultaneous plurality of haptic signals being distinguishable to a user according to at least one of their vibration parameters.

17. The exercise machine of claim 1, comprising at least one vibration sensor configured to sense vibrations indicative of haptic signals received at the user end of the tension cable; wherein the controller is functionally coupled to receive data from the vibration sensor; and wherein the processing circuitry adjusts commands to communicate haptic signals in accordance with the received data.

18. The exercise machine of claim 1, comprising at least one force sensor configured to provide the controller with force data indicative of tension exerted between the user end of the tension cable and the motor end of the tension cable; and wherein the processing circuitry adjusts commands to communicate haptic signals in accordance with the force data.

19. The exercise machine of claim 1, wherein the haptic signal comprises a vibration with parameters updated according to a sensed measurement of extension of the tension cable.

20. A method of communicating a user notification to a user engaged with a tension cable of an exercise machine, the method comprising:accessing event data,using the event data, determining the user notification, andcommunicating the user notification as a haptic signal;wherein the haptic signal is communicated to the user through the tension cable and by modulation of resistance force applied to the tension cable.

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