Apparatus, system and method for strength training

Abstract

The present invention relates to an apparatus and a method for strength-training wherein the method comprises driving a drive module, wherein the drive module is configured as a low-backlash drive module and / or a concentric drive module and / or a cycloidal drive module and / or a harmonic drive module; operating a drive microcontroller module, wherein operating the drive microcontroller module comprises transmitting at least one operational command to the drive module, operating an apparatus microcontroller module, wherein operating the apparatus microcontroller module comprises transmitting at least one operational command to the drive microcontroller module and operating a strength training module, wherein operating the strength training module comprises operating at least one kinematic structure module and operating at least one driven shaft, wherein operating the at least one kinematic structure comprises allowing a user to operate the modules performing the method as a strength training apparatus, wherein operating the driven shaft comprises the driven shaft being driven by the drive module, and wherein operating the driven shaft comprises operating at least one part of the kinematic structure module.

Description

[0001] Apparatus, System and Method for Strength Training

[0002] Field

[0003] The invention lies in the field of strength training machines and more particularly relates to strength training system comprising at least one compact, modular drive module.

[0004] Background

[0005] Strength training machines have seen significant improvements in recent years, enhancing both their functionality and user experience. Recent advancements have brought about substantial improvements in performance as well. Modern drive systems used in those strength machines utilize sophisticated mechanisms, such as electro-mechanical and magnetic resistance technologies, to provide smoother and more consistent force application throughout the range of motion. Enhanced drive systems are also integrated with digital controls, allowing for seamless adjustment of resistance levels and the creation of customized workout programs. These advancements have already been implemented in various inventions.

[0006] EP1614448B2 describes a training device comprises a rotary angle sensor assigned to a motor. The measuring signal from the sensor is fed to a frequency converter and to a control unit. A theoretical value for the torque released from the motor is prescribed for the frequent converter by the control unit. Preferred Features: The control unit controls the position of the exercised part to a theoretical value. The frequency converter controls the torque of the motor to a theoretical value prescribed by the control unit.

[0007] US10589163B2 details how sensor data is collected from a sensor monitoring a tension generating device of an exercise machine. The sensor data is analyzed to determine whether the sensor data is within a specification. In the event the sensor data is not within the specification, an error stop mode is entered for the tension generating device.

[0008] US10335626B2 pertains to an exercise machine comprising a pancake motor. The exercise machine comprises a torque controller coupled to the pancake motor. The exercise machine comprises a high-resolution encoder coupled to the pancake motor.

[0009] WO2022238525A1, relates to a motorized strength training machine comprising an electric motor unit, an axle and a user force input element, said electric motor unit comprising an electric motor, said electric motor being connected to said axle, such that rotation of the electric motor drives said axle and rotation of the axle drives the electric motor, and said user force input element being connected to said axle such that rotation of said axle displaces the user force input element and displacement of said user force input element rotates the axle, said machine further comprising a mechanical range limiting mechanism comprising displaceable first and second rotation limiting stop elements which can be locked in specific angular locations around the axle to mechanically limit the range of rotational motion of the axle. The mechanical range limiting mechanism comprises a motorized displacement mechanism which is arranged to displace the first and second rotation limiting end stops angularly around the axle based on inputs from a controller. In this way, a safer and easier to adjust strength training machine is provided.

[0010] However, these strength training machine present drive systems that may require a lot of space and present improvable efficiency, reliability, and backlash, and reduceable costs and complexity in terms of drive system, and safety of the strength training machine. These drawbacks also present improvable failure rate and lifetime expectation.

[0011] The present invention alleviates at least some of these shortcomings.

[0012] Summary

[0013] In one aspect, the present invention relates to an apparatus for strength-training wherein the apparatus comprises a low-backlash drive module, a drive microcontroller module, wherein the drive microcontroller module is configured to transmit at least one operational command to the low-backlash drive module, an apparatus microcontroller module, wherein the apparatus microcontroller module is configured to transmit at least one operational command to the drive microcontroller module, and a strength training module.

[0014] The invention also relates to an apparatus for strength-training wherein the apparatus comprises a concentric drive module a drive microcontroller module, wherein the drive microcontroller module is configured to transmit at least one operational command to the concentric drive module, an apparatus microcontroller module, wherein the apparatus microcontroller module is configured to transmit at least one operational command to the drive microcontroller module, and a strength training module.

[0015] The invention furthermore relates to an apparatus for strength-training wherein the apparatus comprises a cycloidal and / or harmonic drive module, a drive microcontroller module, wherein the drive microcontroller module is configured to transmit at least one operational command to the cycloidal and / or harmonic drive module, an apparatus microcontroller module, wherein the apparatus microcontroller module may be configured to transmit at least one operational command to the drive microcontroller module, and a strength training module. The apparatus may also comprise a combination of at least two of the low-backlash drive module, concentric drive module and the cycloidal and / or harmonic drive module. The term low-backlash will refer to an output presenting less than 10 arcminutes (10') of backlash, showcasing the high precision enabled by the present invention. The high accuracy resulting from any combination as described above is a preferred advantage of the present invention. In particular, the high accuracy for small training weights, wherein the small training weights may be utilized in medical strength training, present a further preferred advantage of the present invention.

[0016] The drive microcontroller module as well as the apparatus microcontroller module may comprise one or more processing units configured to carry out computer instructions of a program (i.e. machine readable and executable instructions). The processing unit(s) may be singular or plural. For example, the data- processing system may comprise at least one of CPU, GPU, DSP, APU, ASIC, ASIP or FPGA. The data processing system may comprise memory components, such as, main memory (e.g. RAM), cache memory (e.g. SRAM) and / or secondary memory (e.g. HDD, SDD). The data processing system may comprise volatile and / or non-volatile memory such an SDRAM, DRAM, SRAM, Flash Memory, MRAM, F-RAM, or P-RAM.

[0017] Strength training encompasses sports, recreational strength training and medical strength training such as rehabilitative strength training. Strength training encompasses training such as but not limited to leg extension, abdominal crunch, back extension, leg curl, chest press, seated row, lat pulldown, glutes, leg press, abductor, rotary torso, butterfly, butterfly reverse, bicep curl, calf press, shoulder press, triceps press.

[0018] The components of the drive module may result in a total weight of at most 30 kg, preferably 23 kg. Additionally or alternatively, the drive module, and preferably the drive microcontroller, may be comprised in a volume of 30 cm x 35 cm x 20 cm, preferably 20 cm x 25 cm x 15 cm and most preferably 20 cm x 20 cm x 14 cm. The drive module as well as the combination of the drive module and the drive microcontroller module may also be configured to operate in all possible orientations. Furthermore, the drive module may be may comprised in a housing, wherein the housing may also comprise the drive microcontroller module. Said housing may be electrically grounded, and may be made of steel.

[0019] The drive module may comprise at least one frequency converter module, at least one motor module and at least one gearbox module. The at least one gearbox module may be configured as a concentric gearbox module. Additionally, the frequency converter module may comprise at least one rectifier, at least one DC bus and at least one inverter. The frequency converter module may be configured to detect a loss of power to the apparatus. The frequency converter module may also be configured to utilize the energy storage of the inverter to shut-down the apparatus. Furthermore, the frequency converter module may be configured to transmit data to the drive microcontroller module. The frequency controller module may additionally be configured to transmit data to the drive microcontroller module relating to the detected loss of power.

[0020] Moreover, the frequency converter module may comprise at least one Safe-Torque-Off module wherein the at least one Safe-Torque-Off Module may be connected to the apparatus via at least two go-and-return lines. The redundancy is intended in case one go- and-return line is shortened by a damage of the cable. Additionally and alternatively, the at least one Safe-Torque-Off module may comprise at least one emergency stop module, wherein the at least one emergency stop module may comprise a normally-closed-switch. The emergency stop module may be configured to shut down the apparatus should the normally-closed-switch change to open.

[0021] The inverter may comprise in the frequency converter module may be configured to detect the state of the normally-closed-switch. The frequency controller module may also be configured to output at least one data indicative of the state of the normally-closed-switch to the apparatus microcontroller. Furthermore, the apparatus microcontroller may be configured to prompt at least one authorized user for permission to switch the apparatus to an idle state. The apparatus in an idle state may be configured to reduce the power consumption of the apparatus when the at least one motor may be inactive.

[0022] Additionally and / or alternatively, the apparatus may be configured to feed generated power back to the grid. The drive module may also comprise at least one brake chopper module. The brake chopper module may be located outside the housing. The frequency converter module may also comprise the at least one brake chopper module. The at least one brake chopper may be configured to generate at most an appropriate amount of heat, wherein an appropriate amount of heat may be an amount of heat that, in addition to the heat generated by the other components of the apparatus, result in a temperature allowing a user to touch / manually handle the surface of the apparatus, preferably at most 45 °C and more preferably 40 °C. Moreover, the at least one brake chopper module may be protected against at least one overcurrent event. An overcurrent event may be caused by at least one short-circuit, at least one excessive load, at least one ground fault and / or at least one equipment failure. These overcurrent events may be mitigated by components such as but not limited to fuses, circuit breakers and relays. The inverter may also be configured to detect if the at least one brake chopper module may be disconnected from the apparatus. Furthermore, the frequency converter module may be configured to output at least one data indicative of an error to the apparatus microcontroller. The inverter may also be configured to switch the apparatus to an idle state. The apparatus may additionally be configured to detect at least one brake chopper short circuit. Moreover, the inverter may be configured to switch the apparatus to a safe error state wherein the apparatus in a safe error state may be configured to switch to an idle state, and output at least one data indicative of at least one error.

[0023] The motor module comprised in the drive module may comprise at least one motor wherein the at least one motor may be configured as a BLDC motor. The at least one motor may also be configured to be connected to a hardware ID. Additionally, the motor module may be configured to execute at least one operational command received from the drive microcontroller module and / or while the at least one motor may still be active.

[0024] Furthermore, the motor module may comprise at least one torque sensor. The at least one torque sensor may be configured to output a torque measurement resolution of at most 0.1% of the maximum torque outputted by the gearbox module, preferably a torque measurement resolution of INm and most preferably, a torque measurement resolution of 0.2 Nm. The at least one torque sensor measurement may be additionally transmitted to the drive controller module. The at least one torque sensor may be configured for longterm torque quality control as well as to be integrated in a cogging suppression operation and / or in closed-loop torque control.

[0025] The at least one gearbox module comprised in the drive module may be configured as at least one single stage reduction gearbox and may output a gear reduction ratio of preferably at least 30: 1. The at least one gearbox module may be configured as at least one cycloidal gearbox module and / or at least one harmonic gearbox module or strain wave gearing module. Additionally, the at least one gearbox module may be configured as at least one hollow-shaft gearbox.

[0026] Moreover, the at least one gearbox module may be configured to output a torque within a range of, preferably, 0 to 1000 Nm, presenting a margin of error of preferably ±2 for a torque range of 0 to 200 Nm, preferably ±5 for a torque range of 200 to 1000 Nm and most preferably ±2 for a torque range of 0 to lOOONm. The at least one gearbox module may be configured to output a backlash of preferably at most 10 angular minutes, a breakaway torque of preferably at most 30Nm, and / or a torque increase and / or decrease of preferably at least 67 kNm / s and most preferably at least 75kNm / s. Additionally and alternatively, the drive module may comprise at least one endstop interface module wherein the at least one endstop interface module may be located on the housing and may be configured to contribute preferably 2.6 cm to 4 cm to at least one dimension of the apparatus.

[0027] The integration of a motor, gearbox, endstop and frequency converter in a drive module results in a reduction of complexity that is a preferred advantage for the present invention.

[0028] Furthermore, the strength training module may comprise at least one kinematic structure module, wherein the at least one kinematic structure may be configured to allow a user to operate the apparatus as a strength training apparatus. The strength training module may also comprise other components such as but not limited to a seat and shafts. The strength training module may also comprise at least one driven shaft, wherein the driven shaft may be configured to be driven by the drive module and wherein the driven shaft may be configured to drive at least one part of the kinematic structure module. Additionally, the driven shaft may be configured to be inserted in the hollow-shaft gearbox.

[0029] The driven shaft may create with the hollow-shaft gearbox a concentricity of at most 0.2 mm, wherein the concentricity may be measured at the end of the shaft with a maximum distant of shaft-housing being preferably 214 mm. As such a concentricity ensures smooth and efficient power transmission and reduces vibration and noise, this is a preferred advantage of the present invention. The driven shaft may also create with the hollow-shaft gearbox a radial clearance of at most 0.03 mm, wherein the radial clearance may be measured at the end of the shaft with a maximum distant of shaft-housing being preferably 214 mm. As such a radial clearance reduces noise and vibration during operation, contributing to the overall stability and longevity of the apparatus as well as reduces friction, and minimizes wear and tear, this is a preferred advantage of the present invention. Additionally, the at least one driven shaft may comprise material with a yield strength of preferably 800N / mm2and / or may be configured to withstand a static axial load of preferably at least 4513N and most preferably at least 5076N. In this case, the static axial load may be applied to only one end of the at least one driven shaft. The at least one driven shaft may also be configured to withstand a static radial load of preferably at least 8258N and / or a bending moment of preferably at least 3117Nm.

[0030] Moreover, the strength training module may comprise at least one endstop adapter module, wherein the at least one endstop adapter module may be configured to limit the range of motion of at least one part of the strength training module. This module has been added to protect the user from getting injured from out of range motion of the driven shaft and thus the kinematic structure. The at least one endstop adapter may also comprise at least one data indicative of at least one of and / or a combination of the strength training module and the endstop adapter module. Additionally, the at least one endstop adapter module may comprise a damping end, wherein the damping end may comprise a rubber bumper and wherein the replaceability of the rubber bumper may be independent of the position of the endstop adapter with respect to the strength training module. The rubber bumper may also be replaceable, wherein the replaceability of the rubber bumper may be independent of the position of the endstop adapter with respect to the at least one driven shaft.

[0031] The at least one endstop interface module and the at least one endstop adapter module may be configured to be may comprised in a protection housing. Should a failure occur on the mechanical side when the driven shaft is smashed into the endstop, the failed mechanical part has no negative influence on the safety of the user training and / or standing next to the machine. Additionally, the at least one endstop interface module correspond to the at least one endstop adapter module, wherein the at least one endstop interface module and the corresponding at least one endstop adapter module may be configured to be engaged. Furthermore, the apparatus may be configured to insure the correct engagement of the at least one endstop interface module and the at least one endstop adapter module via Poka-Yoke. Poka-Yoke may be defined as a safeguard preventing the apparatus from functioning until the correct engagement of the at least one endstop interface module and the at least one endstop adapter module is applied.

[0032] Additionally and alternatively, the at least one endstop adapter may be configured to limit the angular range of motion of the driven shaft wherein the at least one endstop adapter may be configured to limit the angular range of motion of the driven shaft to a resulting range of motion according to the range of motion of the at least one moving body part according to the at least one muscle targeted by the apparatus. That range of motion may include range of motion relating to users of different sizes. The resulting range of motion of the driven shaft may be functionally dependent, according to the kinematic structure, on the range of motion of the at least one moving body part. Additionally, the at least one endstop adapter may be configured to limit the angular range of motion of the driven shaft to 105% of the resulting range of motion of the driven shaft. The endstop system may also be configured to withstand a load of preferably at least 3750Nm.

[0033] The strength training module may additionally and alternatively comprise at least one smart accessory, wherein the at least one smart accessory may comprise at least one smart handle. The apparatus may comprise at least two low-backlash drive modules and / or at least two concentric drive modules and / or at least two cycloidal drive modules and / or at least two harmonic drive modules. The apparatus may comprise at least two drive modules such that the at least two drive modules may be configured as a combination of at least two of low- backlash drive modules, concentric drive modules, cycloidal drive modules and / or harmonic drive modules wherein the apparatus may be configured for unilateral training.

[0034] Unilateral training may be defined as strength training that target at least one part of one side of the user at a time, such as, but not limited to single-leg exercises, single-arm exercises, core stability exercises, rather than both sides simultaneously. This type of strength training may improve muscle balance, coordination, and strength asymmetries between the left and right sides of the user. That is a preferred advantage of the present invention.

[0035] Thus, the at least two drive modules may be driven independently from each other, wherein the hollow shaft of each of the at least two drive modules may be configured such to be positioned on the same axis.

[0036] Furthermore, the apparatus may draw power from the grid and / or the apparatus may comprise at least one power supply. The at least one power supply may be configured to keep the apparatus running until proper shutdown of the apparatus, preferably for 5 seconds. The drive microcontroller module may be configured to initiate a shutdown of the apparatus when the drive microcontroller module receives data from the frequency controller module relating to a loss of power to the apparatus.

[0037] Additionally and alternatively, the drive microcontroller module may comprise a communication module, wherein the communication module may make use of a communication protocol such as be not limited to the CAN communication protocol. The drive microcontroller module may also comprise a motor controller module.

[0038] The communication between modules of the apparatus may occur preferably within 10-20 ms. Due to the nature of momentum of the mechanisms, and due to the risk factor of having a user in a compromised position in the mechanism - potentially inducing injuries, it may be required that the modules of the apparatus communicate regularly. The induction to at least one injury may typically happen within 50ms, and because of the necessary time resolution to detect a potentially dangerous situation, the modules of the apparatus may communicate within 10-20ms. That is a preferred advantage of the present invention. Moreover, the communication module may be configured to communicate with the at least one inverter. The communication module may also be configured to allow communication between the motor module, the motor controller module and the apparatus microcontroller. The communication module may additionally be configured to allow communication between the at least one motor of the motor module with the apparatus microcontroller module according to the hardware ID connected to the at least one motor.

[0039] Furthermore, the motor controller module may be configured to power down the motor output preferably within 50 ms. The motor controller module may also be configured to output at least one operational command to the motor module, wherein the at least one operational command may comprise at least one valid torque frame and / or a valid signature. The motor controller module may additionally and alternatively be configured to output at least one data indicative of the at least one motor state. The motor controller module may be configured to transmit the at least one data indicative of the at least one motor state to the communication module as well. The motor controller module may also be configured to output at least one warning and / or error relative to the at least one data indicative of the at least one motor state and / or at least one data indicative of the at least one motor state.

[0040] Additionally and / or alternatively, the apparatus microcontroller module may comprise a firmware module wherein the firmware module may be configured to connect to a server and / or wherein the firmware module may be configured to receive at least one firmware update. The firmware module may also be configured to store a firmware signature.

[0041] Moreover, the firmware module may comprise a Torque-Frame Watchdog module, wherein the Torque-Frame Watchdog module may be configured to detect at least one torque frame from the at least one operational command. The torque-frame watchdog module may as well be configured to detect if the detected at least one torque frame may comprise a valid signature. The torque-frame watchdog module may also be configured to shut down the drive module if the torque-frame watchdog module detected at least one non-valid signature. Furthermore, the torque-frame watchdog module may be configured to shut down the drive module if the torque-frame watchdog module does not detect at least one valid torque-frame within a configurable time limit.

[0042] The firmware module may furthermore comprise a bootloader module, wherein the bootloader module may be configured to run at least one power-on-system-test on at least one module of the apparatus. The power-on-system-test may be making sure the at least one module comprised in the apparatus may be working properly on start-up. The at least one module may be deactivated if the at least one module fails the power-on-system-test. The bootloader may also be configured to run at least one rotor synchronization routine. The at least one torque sensor may be configured to detect at least one wrongly mounted kinematic structure module during the at least one rotor synchronization routine as well as detect at least one out of limits kinematics structure module during the at least one rotor synchronization routine. Furthermore, the apparatus microcontroller may be configured to adjust the torque outputted by the at least one motor according to the at least one torque measurement. The bootloader module may be configured to output at least one data indicative of the bootloader module status. The bootloader module may also be configured to determine if the firmware signature has been tampered with and / or may be configured to check the firmware signature at every boot.

[0043] Moreover, the bootloader module may comprise a hardware variant detection module wherein the hardware variant detection module may be configured to detect at least one hardware variant connected to the apparatus. The hardware variant detection module may be configured to detect at least one invalid hardware variant connected to the apparatus. The hardware variant detection module may be configured to output at least one data indicative of an error with respect to the at least one invalid hardware variant and / or may be configured to switch the apparatus to an error state wherein the apparatus in error state may be configured to switch the apparatus to idle mode, output at least one data indicative of at least one error, and shutdown the apparatus.

[0044] Furthermore, the apparatus microcontroller module may comprise an application module, wherein the application module may be configured to activate the bootloader module. The application module may also be configured to activate at least one checksum evaluation. The application module may be configured to switch the apparatus to idle state should the application module fail the at least one checksum evaluation.

[0045] Additionally and alternatively, the application module may be configured to log out a user should the apparatus microcontroller generate and / or receive at least one warning. The application module may also be configured to output at least one data indicative of a warning before outputting at least one data indicative of an error. The application module may further be configured to decrease the torque of the at least one motor to zero should the apparatus microcontroller generate / receive at least one error. The application module may as well be configured to decrease the torque of the at least one motor to motor brake should the apparatus microcontroller generate / receive at least one error. The application module may additionally, be configured to switch all motor phases of the at least one motor to open state should the apparatus microcontroller generate / receive at least one error. Moreover, the application module may be configured to assess the integrity and / or plausibility of the components of the apparatus. The application module may also be configured to assess the integrity and / or plausibility of the components of the apparatus, periodically.

[0046] The application module may be configured to configure the apparatus into at least one operating mode. The at least one operating mode may comprise at least one idle state, wherein the at least one idle state may be configured to reduce the power consumption of the apparatus when the at least one motor may be inactive.

[0047] The at least one operating mode may also comprise at least one training mode, wherein the at least one training mode may be configured to transmit at least one of or any combination of torque, speed and / or acceleration parameter to the communication module according to at least one training plan.

[0048] Furthermore, the modules of the apparatus may be configured to output at least one data indicative of the module's configuration to the apparatus microcontroller. At least one module of the modules may be configured to output at least one data indicative of the module's configuration to the apparatus microcontroller, in a periodic way. The at least one module of the modules may also be configured to output at least one data indicative of the module's temperature to the apparatus microcontroller, in a periodic way, preferably every 5 seconds. The at least one module of the modules may further be configured to output at least one data indicative of the module's electric current to the apparatus microcontroller, in a periodic way, preferably every 3 ms.

[0049] Additionally and alternatively, the apparatus microcontroller module may be configured to implement at least one of or any combination of torque, speed acceleration, and / or training weights safety limit. The apparatus microcontroller module may be configured to configure the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit. The apparatus microcontroller module may also be configured to dynamically configure the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit. The apparatus microcontroller module may further be configured to configure the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit while the at least one motor may be active.

[0050] The at least one limit may comprise at least one warning level threshold and / or at least one error level threshold. The at least one level threshold may be adjustable. The apparatus may be configured to output at least one data indicative of at least one warning and / or at least one error when the at least one threshold may be passed. The at least one limit may be transmitted to the motor controller module via at least one torque-frame, wherein a torque-frame may be a package wherein the torque-frame may comprise a valid signature.

[0051] Moreover, the application module may comprise a calibration module, wherein the calibration module may be configured to execute drag torque correction on the drive module's output torque. The breakaway torque of the drive system may be preferably at most 10 Nm when drag torque correction may be implemented. The calibration module may also comprise a cogging suppression module wherein the cogging suppression module may be configured to execute at least one cogging suppression operation and / or may be configured to operate while the apparatus may be starting and / or restarting.

[0052] Furthermore, the apparatus microcontroller module may comprise a training plan module. The configuration of the at least one limit may occur at the granularity of individual training sessions.

[0053] Additionally and alternatively, the frequency converter module may be configured to identify at least one supply voltage. The frequency converter module may also be configured to store at least one supply voltage threshold, such as but not limited to a minimum supply voltage threshold and a maximum supply voltage threshold. The frequency converter may further be configured to output at least one data indicative of a warning and / or error with respect to the at least one supply voltage and the at least one supply threshold, to the apparatus microcontroller module. The apparatus microcontroller may be configured to shut down the apparatus should the apparatus receive the at least one data indicative of an error with respect to the at least one supply voltage and the at least one supply threshold.

[0054] Further, the apparatus microcontroller module may be configured to detect at least one housing and / or internal temperature, such as but not limited to the brake-chopper module temperature, and / or store at least one housing and / or internal temperature threshold. The apparatus microcontroller module may also be configured to output at least one data indicative of a warning and / or error with respect to the at least one housing and / or internal temperature and the at least one housing and / or internal temperature threshold.

[0055] Moreover, the apparatus microcontroller may be configured to output the at least one data indicative of a warning while the apparatus may be configured into at least one training mode, the application module may also be configured to safely switch the apparatus to the idle state, decrease the limits of the training weight for a period of time, and / or employ hysteresis in the matter of switching between operating modes, wherein the hysteresis may be configured to reduce the frequency of the switching between operating modes, wherein the limits of the hysteresis may be configured to be adjustable.

[0056] Additionally and alternatively, the apparatus may comprise a logger module, wherein the logger module may be configured to log data relating to the apparatus and / or data relating to at least one warning and / or error in the apparatus. The data may be at least sufficient to recreate a simulation of the apparatus before and / or during the at least one warning and / or error. The logger module may also be configured to be resistant against data corruption, to detect at least one dysfunction of the logger module, and / or to output at least one data indicative of the at least one dysfunction in the logger module.

[0057] Furthermore, the apparatus may comprise a user interface, wherein the user interface may comprise a display device. The apparatus may also be protected against corrosion. The switching frequency, i.e. high-frequency electronic noise, of the apparatus may be configured to be above 20kHz at all times. The apparatus may further be configured to identify and / or operate with slowly varying supply voltages such as but not limited to increasing supply voltage during the day when more energy may be fed into the grid. The apparatus may be configured to detect at least one short circuit, wherein the apparatus may be configured to switch to a safe error state, wherein the apparatus in a safe error state may be configured to switch to an idle state, and output at least one data indicative of at least one error. The apparatus may also be configured to re-establish the output voltage after at least one short-circuit may be removed.

[0058] Moreover, at least two of the apparatus's components and / or modules may be connected via electric cables, wherein the electric cables may be shielded, wherein the shield may be electrically grounded. The apparatus's modules may comprise at least one socket such as the at least one socket may be configured for connection to at least one other module, wherein at least one end of at least one electric cable correspond to at least one corresponding socket. The electric cables may be configured such that no damage to the apparatus may be incurred, should an electric cable be plugged-in to a non-corresponding socket, wherein the at least one electric cable may be configured to be safe against getting loose from their corresponding at least one socket and wherein the electric cables connecting the modules of the apparatus may be replaceable.

[0059] Additionally and alternatively, the apparatus may be an apparatus for recreational strength training, medical strength training, and / or therapeutic strength training.

[0060] The apparatus may comprise a label and / or the modules comprising the apparatus may comprise a label each, wherein the label may be scannable, and / or may be configured to output at least one data indicative of the apparatus and / or at least one data indicative of the modules of the apparatus each. The at least one data may stored in an external server.

[0061] Furthermore, the drive module may be adaptable to a variety of strength training modules.

[0062] The present invention further relates to a system for strength training, the system comprising at least two apparatuses according to the apparatus described herein. The drive module and / or the drive microcontroller of at least one apparatus of the at least two apparatuses may be exchangeable with the drive module of at least one of the other apparatuses, wherein the at least two apparatuses may be configured as apparatuses for different types of strength training.

[0063] In another aspect, the invention relates to a method for strength-training the method comprising driving a low backlash-drive module, operating a drive microcontroller module, wherein operating the drive microcontroller module comprises transmitting at least one operational command to the low-backlash drive module, operating an apparatus microcontroller module, wherein operating the apparatus microcontroller module comprises transmitting at least one operational command to the drive microcontroller module, and operating a strength training module.

[0064] The invention also relates to a method for strength-training wherein the method may comprise driving a concentric drive module, operating a drive microcontroller module, wherein operating the drive microcontroller module may comprise transmitting at least one operational command to the concentric drive module, operating an apparatus microcontroller module, wherein operating the apparatus microcontroller module comprises transmitting at least one operational command to the drive microcontroller module, an operating a strength training module.

[0065] The invention furthermore relates to a method for strength-training wherein the method comprises driving a cycloidal and / or harmonic drive module, operating a drive microcontroller module, wherein operating the drive microcontroller module comprises transmitting at least one operational command to the cycloidal and / or harmonic drive module, operating an apparatus microcontroller module, wherein operating the apparatus microcontroller module comprises transmitting at least one operational command to the drive microcontroller module, and operating a strength training module. The method may also comprise driving a combination of at least two of the low-backlash drive module, concentric drive module and the cycloidal and / or harmonic drive module. Strength training encompasses sports, recreational strength training and medical strength training such as rehabilitative strength training. Strength training encompasses training such as but not limited to leg extension, abdominal crunch, back extension, leg curl, chest press, seated row, lat pulldown, glutes, leg press, abductor, rotary torso, butterfly, butterfly reverse, bicep curl, calf press, shoulder press, triceps press.

[0066] The components applying the method result in a total weight of at most 30 kg, preferably 23 kg. Additionally or alternatively, the drive module driven according to the method, and preferably the drive microcontroller operated by the method, may be comprised in a volume of 30 cm x 35 cm x 20 cm, preferably 20 cm x 25 cm x 15 cm and most preferably 20 cm x 20 cm x 14 cm. Driving the drive module as well as the combination of driving the drive module and operating the drive microcontroller module may also comprise operating the drive module in all possible orientations of the drive module. Furthermore, driving the drive module may comprise driving the drive module comprised in a housing, wherein the housing may comprise the drive microcontroller module driven according to the method. Said housing may be electrically grounded, and may be made of steel.

[0067] Driving the drive module may comprise operating at least one frequency converter module, driving at least one motor module and driving at least one gearbox module. Driving the at least one gearbox module may comprise driving a concentric gearbox module. Additionally, operating the frequency converter module may comprise operating at least one rectifier, at least one DC bus and at least one inverter.

[0068] Operating the frequency converter module may comprise detecting a loss of power to the drive module. Operating the frequency converter module may also comprise utilizing the energy storage of the inverter to shut-down any module and / or any combination of modules performing the method. Furthermore, operating the frequency converter module may additionally comprise transmitting data to the drive microcontroller module relating to the detected loss of power.

[0069] Moreover, operating the frequency converter module may comprise operating at least one Safe-Torque-Off module, wherein the at least one Safe-Torque-Off Module may be connected to at least one module performing the method via at least two go-and-return lines. The redundancy is intended in case one go-and-return line is shortened by a damage of the cable. Additionally and alternatively, operating the at least one Safe-Torque-Off module may comprise detecting the state of at least one emergency stop module, wherein detecting the state of the at least one emergency stop module may comprise detecting the state of a normally-closed-switch. The emergency stop module may be configured to shut down all modules performing the method, should the normally-closed-switch change to open.

[0070] Operating the inverter may comprise detecting the state of the normally-closed-switch. Operating the frequency controller module may comprise outputting at least one data indicative of the state of the normally-closed-switch to the apparatus microcontroller. Furthermore, operating the apparatus microcontroller may comprise prompting at least one authorized user for permission to switch all the modules performing the method to an idle state. Switching all the modules performing the method to an idle state may comprise reducing the power consumption of the modules performing the method when the at least one motor may be inactive.

[0071] Additionally and / or alternatively, the method may comprise feeding generated power back to the grid. Driving the drive module may also comprise driving at least one brake chopper module. The brake chopper module may be located outside the housing. Operating the frequency converter module may comprise operating the at least one brake chopper module. Operating the at least one brake chopper may comprise generating at most an appropriate amount of heat, wherein an appropriate amount of heat may be an amount of heat that, in addition to the heat generated by the other components of the method, result in a temperature allowing a user to touch / manually handle the surface of the method, preferably at most 45 °C and more preferably 40 °C. Moreover, operating the at least one brake chopper module may comprise protecting the at least one brake chopper module against at least one overcurrent event. Operating the inverter may also comprise detecting if the at least one brake chopper module may be disconnected from at least one module performing the method.

[0072] Furthermore, operating the frequency converter module may comprise outputting at least one data indicative of an error to the apparatus microcontroller. Operating the inverter may also comprise switching all the modules performing the method to an idle state. The method may additionally comprise detecting at least one brake chopper short circuit. Moreover, operating the inverter may comprise switching at least one module performing the method to a safe error state wherein switching the at least one module performing the method in a safe error state may comprise switching to an idle state, and outputting at least one data indicative of at least one error.

[0073] Driving the motor module may comprise driving at least one motor, wherein driving the at least motor may comprise driving at least one BLDC motor. Driving the motor module may comprise driving at least one motor wherein the at least one motor is configured to be connected to a hardware ID. Additionally, driving the motor module may comprise executing at least one operational command received from the drive microcontroller module and / or while the at least one motor may be still active.

[0074] Furthermore, driving the motor module may comprise operating at least one torque sensor. Operating the at least one torque sensor may comprise outputting a torque measurement resolution of at most 0.1% of the maximum torque outputted by the gearbox module, preferably a torque measurement resolution of INm and most preferably, a torque measurement resolution of 0.2 Nm. The at least one torque sensor measurement may additionally be transmitted to the drive controller module. Operating the at least one torque sensor may comprise operating the at least one torque sensor for long-term torque quality control as well as integrating the operating of the at least one torque sensor in a cogging suppression operation and / or in closed-loop torque control.

[0075] Driving the at least one gearbox module may comprise driving at least one single stage reduction gearbox and may comprise outputting a gear reduction ratio of preferably at least 30: 1 from the gearbox module. Driving the at least one gearbox module may comprise driving a cycloidal gearbox module and / or at least one harmonic gearbox module or strain wave gearing module. Additionally, driving the at least one gearbox module may comprise driving at least one hollow-shaft gearbox.

[0076] Moreover, driving the at least one gearbox module may comprise outputting a torque within a range of, preferably, 0 to 1000 Nm, presenting a margin of error of preferably ±2 for a torque range of 0 to 200 Nm, preferably ±5 for a torque range of 200 to 1000 Nm and most preferably ±2 for a torque range of 0 to lOOONm. Driving the at least one gearbox module may comprise outputting a backlash of preferably at most 10 angular minutes, a breakaway torque of preferably at most 30Nm and / or a torque increase and / or decrease of preferably at least 67 kNm / s and most preferably at least 75kNm / s.

[0077] Additionally and alternatively, the drive module may comprise operating at least one endstop interface module, wherein the at least one endstop interface module may be located on the housing and may contribute preferably 2.6 cm to 4 cm to at least one dimension of the drive module performing at least part of the method.

[0078] Furthermore, operating the strength training module may comprise operating at least one kinematic structure module, wherein operating the at least one kinematic structure may comprise allowing a user to operate the modules performing the method as a strength training apparatus. Operating the strength training module may comprise operating at least one driven shaft, wherein operating the driven shaft may comprise the driven shaft being driven by the drive module, and wherein operating the driven shaft may comprise operating at least one part of the kinematic structure module. Additionally, the driven shaft may be inserted in the hollow-shaft gearbox.

[0079] Operating the driven shaft may comprise creating with the hollow-shaft gearbox a concentricity of at most 0.2 mm, wherein the concentricity may be measured at the end of the shaft with a maximum distant of shaft-housing being preferably 214 mm. As such a concentricity ensures smooth and efficient power transmission and reduces vibration and noise, this is a preferred advantage of the present invention. Operating the driven shaft may comprise creating with the hollow-shaft gearbox a radial clearance of at most 0.03 mm, wherein the radial clearance may be measured at the end of the shaft with a maximum distant of shaft-housing being preferably 214 mm. As such a radial clearance reduces noise and vibration during operation, contributing to the overall stability and longevity of the modules applying the method as well as reduces friction, and minimizes wear and tear, this is a preferred advantage of the present invention. Additionally, operating the at least one driven shaft may comprise operating at least one driven shaft comprising material with a yield strength of preferably 800N / mm2 and / or withstanding a static axial load of preferably at least 4513N and most preferably at least 5076N. In this case, the static axial load may be applied to only one end of the at least one driven shaft. Operating the at least one driven shaft may comprise withstanding a static radial load of preferably at least 8258N and / or a bending moment of preferably at least 3117Nm.

[0080] Moreover, operating the strength training module may comprise operating at least one endstop adapter module, wherein operating the at least one endstop adapter module may comprise limiting the range of motion of at least one part of the strength training module. This module has been added to protect the user from getting injured from out of range motion of the driven shaft and thus the kinematic structure. The at least one endstop adapter may comprise at least one data indicative of at least one of and / or a combination of the strength training module and the endstop adapter module. Additionally, the at least one endstop adapter module may comprise a damping end, wherein the damping end may comprise a rubber bumper and wherein the replaceability of the rubber bumper may be independent of the position of the endstop adapter with respect to the strength training module. The rubber bumper may also be replaceable, wherein the replaceability of the rubber bumper may be independent of the position of the endstop adapter with respect to the at least one driven shaft.

[0081] Operating the at least one endstop interface module and the at least one endstop adapter module may comprise comprising the at least one endstop interface module and the at least one endstop adapter module in a protection housing. Should a failure occur on the mechanical side when the driven shaft is smashed into the endstop, the failed mechanical part has no negative influence on the safety of the user training and / or standing next to the machine. Additionally, the at least one endstop interface module correspond to operating the at least one endstop adapter module, wherein the at least one endstop interface module and the corresponding at least one endstop adapter module may be engaged. Furthermore, operating the at least one module performing the method may comprise insuring the correct engagement of the at least one endstop interface module and the at least one endstop adapter module via Poka-Yoke. Poka-Yoke may be defined as a safeguard preventing the apparatus from functioning until the correct engagement of the at least one endstop interface module and the at least one endstop adapter module is applied.

[0082] Additionally and alternatively, operating the at least one endstop adapter may comprise limiting the angular range of motion of the driven shaft, wherein operating the at least one endstop adapter may comprise limiting the angular range of motion of the driven shaft to a resulting range of motion according to the range of motion of the at least one moving body part according to the at least one muscle targeted by the method. That range of motion may include range of motion relating to users of different sizes. The resulting range of motion of the driven shaft may be functionally dependent, according to the kinematic structure, on the range of motion of the at least one moving body part. Additionally, operating the at least one endstop adapter may comprise limiting the angular range of motion of the driven shaft to 105% of the resulting range of motion of the driven shaft. Operating the endstop system may also comprise withstanding a load of preferably at least 3750Nm.

[0083] Operating the strength training module may comprise operating at least one smart accessory, wherein operating the at least one smart accessory may comprise operating at least one smart handle.

[0084] The method may comprise driving at least two low-backlash drive modules and / or at least two concentric drive modules and / or at least two cycloidal drive modules and / or at least two harmonic drive modules. The method may comprise driving at least two drive modules such that driving the at least two drive modules may comprise driving the at least two drive modules as a combination of at least two of low-backlash drive modules, concentric drive modules, cycloidal drive modules and / or harmonic drive modules, wherein the method may comprise operating at least one module performing the method for unilateral training.

[0085] Unilateral training may be defined as strength training that target at least one part of one side of the user at a time, such as, but not limited to single-leg exercises, single-arm exercises, core stability exercises, rather than both sides simultaneously. This type of strength training may improve muscle balance, coordination, and strength asymmetries between the left and right sides of the user. That is a preferred advantage of the present invention.

[0086] Thus, driving the at least two drive modules may comprise driving the at least two drive modules independently from each other, wherein the hollow shaft of each of the at least two drive modules may be positioned on the same axis.

[0087] Furthermore, the method may comprise drawing power from the grid and / or at least one power supply. Drawing power from the at least one power supply may comprise keeping the at least one module performing the method running until proper shutdown of the at least one module performing the method, preferably for 5 seconds. Operating the drive microcontroller module may comprise initiating a shutdown of the at least one module performing the method when the drive microcontroller module receives data from the frequency controller module relating to a loss of power to the method.

[0088] Additionally and alternatively, operating the drive microcontroller module may comprise operating a communication module wherein operating the communication module may comprise making use of a communication protocol such as be not limited to the CAN communication protocol, and / or a motor controller module. Operating the drive microcontroller may also comprise operating a motor controller module.

[0089] Communicating between modules performing the method occurs preferably within 10-20 ms. Due to the nature of momentum of the mechanisms, and due to the risk factor of having a user in a compromised position in the mechanism - potentially inducing injuries, it may be required that the modules of the apparatus communicate regularly. The induction to at least one injury may typically happen within 50ms, and because of the necessary time resolution to detect a potentially dangerous situation, the modules of the apparatus may communicate within 10-20ms. That is a preferred advantage of the present invention.

[0090] Moreover, operating the communication module may comprise communicating with the at least one inverter. Operating the communication module may also comprise allowing communication between the motor module, the motor controller module and the apparatus microcontroller. Operating the communication module may additionally comprise allowing communication between the at least one motor of the motor module with the apparatus microcontroller module according to the hardware ID connected to the at least one motor.

[0091] Furthermore, operating the motor controller module may comprise powering down the motor output preferably within 50 ms. Operating the motor controller module may comprise outputting at least one operational command to the motor module, wherein the at least one operational command may comprise at least one valid torque frame and / or a valid signature. Operating the motor controller module may additionally and alternatively comprise outputting at least one data indicative of the at least one motor state. Operating the motor controller module may comprise transmitting the at least one data indicative of the at least one motor state to the communication module as well. Operating the motor controller module may also comprise outputting at least one warning / error relative to the at least one data indicative of the at least one motor state, and / or at least one data indicative of the at least one motor state.

[0092] Additionally and / or alternatively, operating the apparatus microcontroller module may comprise operating a firmware module, wherein operating the firmware module may comprise connecting to a server and / or wherein operating the firmware module may comprise receiving at least one firmware update. Operating the firmware module may comprise storing a firmware signature.

[0093] Moreover, operating the firmware module may comprise operating a Torque-Frame Watchdog module, wherein operating the Torque-Frame Watchdog module may comprise detecting at least one torque frame from the at least one operational command. Operating the torque-frame watchdog module may as well comprise detecting if the detected at least one torque frame may comprise a valid signature. Operating the torque-frame watchdog module may also comprise shutting down the drive module if the torque-frame watchdog module detected at least one non-valid signature. Furthermore, operating the torque-frame watchdog module may comprise shutting down the drive module if the torque-frame watchdog module does not detect at least one valid torque-frame within a configurable time limit.

[0094] Operating the firmware module may furthermore comprise operating a bootloader module, wherein operating the bootloader module may comprise running at least one power-on- system-test on at least one module performing the method. The power-on-system-test may be making sure the at least one module comprised in the apparatus may be working properly on start-up. The at least one module performing the method will be deactivated if the at least one module fails the power-on-system-test. Operating the bootloader may also comprise running at least one rotor synchronization routine. Operating the at least one torque sensor may comprise detecting at least one wrongly mounted kinematic structure module during the at least one rotor synchronization routine as well as detecting at least one out of limits kinematics structure module during the at least one rotor synchronization routine. Furthermore, operating the apparatus microcontroller may comprise adjusting the torque outputted by the at least one motor according to the at least one torque measurement. Operating the bootloader module may comprise outputting at least one data indicative of the bootloader module status. Operating the bootloader module may also comprise determining if the firmware signature has been tampered with and / or may comprise checking the firmware signature at every boot.

[0095] Moreover, operating the bootloader module may comprise operating a hardware variant detection module, wherein operating the hardware variant detection module may comprise detecting at least one hardware variant connected to at least one module performing the method. Operating the hardware variant detection module may comprise detecting at least one invalid hardware variant connected to the modules performing the method.

[0096] Operating the hardware variant detection module may comprise outputting at least one data indicative of an error with respect to the at least one invalid hardware variant and / or may comprise switching all modules performing the method to an error state wherein switching the modules performing the method in error state may comprise switching the modules performing the method to idle mode, outputting at least one data indicative of at least one error, and shutting down the modules performing the method.

[0097] Furthermore, operating the apparatus microcontroller module may comprise operating an application module, wherein operating the application module may comprise activating the bootloader module. Operating the application module may also comprise activating at least one checksum evaluation. Operating the application module may comprise switching the modules performing the method to idle state should the application module fail the at least one checksum evaluation.

[0098] Additionally and alternatively, operating the application module may comprise logging out a user should the apparatus microcontroller generate and / or receive at least one warning. Operating the application module may comprise outputting at least one data indicative of a warning before outputting at least one data indicative of an error. Operating the application module may also comprise decreasing the torque of the at least one motor to zero should the apparatus microcontroller generate / receive at least one error. Operating the application may further comprise decreasing the torque of the at least one motor to motor brake should the apparatus microcontroller generate / receive at least one error. Operating the application module may additionally comprise switching all motor phases of the at least one motor to open state should the apparatus microcontroller generate / receive at least one error. Moreover, operating the application module may comprise assessing the integrity and / or plausibility of the components performing of the method. Operating the application module may also comprise assessing the integrity and / or plausibility of the components of the method, periodically. Operating the application module may comprise configuring the modules performing the method into at least one operating mode, wherein the at least one operating mode may comprise at least one idle state, wherein the at least one idle state may comprise reducing the power consumption of the modules performing the method when the at least one motor may be inactive.

[0099] The at least one operating mode may also comprise at least one training mode, wherein the at least one training mode may comprise transmitting at least one of or any combination of torque, speed and / or acceleration parameter to the communication module according to at least one training plan.

[0100] Furthermore, operating the modules performing the method may comprise outputting at least one data indicative of the module's configuration to the apparatus microcontroller. Operating at least one module of the modules may comprise outputting at least one data indicative of the module's configuration to the apparatus microcontroller, in a periodic way. Operating at least one module of the modules may also comprise outputting at least one data indicative of the module's temperature to the apparatus microcontroller, in a periodic way, preferably every 5 seconds. Operating at least one module of the modules may further comprise outputting at least one data indicative of the module's electric current to the apparatus microcontroller, in a periodic way, preferably every 3 ms.

[0101] Additionally and alternatively, operating the apparatus microcontroller module may comprise implementing at least one of or any combination of torque, speed acceleration, and / or training weights safety limit. Operating the apparatus microcontroller module may comprise configuring the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit. Operating the apparatus microcontroller module may also comprise dynamically configuring the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit. Operating the apparatus microcontroller module may further comprise configuring the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit while the at least one motor may be active.

[0102] The at least one limit may comprise at least one warning level threshold and / or at least one error level threshold. The at least one level threshold may be adjustable. The method may comprise outputting at least one data indicative of at least one warning and / or error when the at least one threshold may be passed. The at least one limit may be transmitted to the motor controller module via at least one torque-frame, wherein a torque-frame may be a package, wherein the torque-frame may comprise a valid signature. Moreover, operating the application module may comprise operating a calibration module, wherein operating the calibration module may comprise executing drag torque correction on the drive module's output torque. The breakaway torque of the drive system may be preferably at most 10 Nm when drag torque correction may be implemented. Operating the calibration module may comprise operating a cogging suppression module, wherein operating the cogging suppression module may comprise executing at least one cogging suppression operation, and / or may comprise operating the calibration module while the modules performing the method may be starting and / or restarting.

[0103] Furthermore, operating the apparatus microcontroller module may comprise operating a training plan module. The configuration of the at least one limit may occur at the granularity of individual training sessions.

[0104] Additionally and alternatively, operating the frequency converter module may comprise identifying at least one supply voltage. Operating the frequency converter module may also comprise storing at least one supply voltage threshold, such as but not limited to a minimum supply voltage threshold and a maximum supply voltage threshold. Operating the frequency converter may further comprise outputting at least one data indicative of a warning and / or error with respect to the at least one supply voltage and the at least one supply threshold, to the apparatus microcontroller module. Operating the apparatus microcontroller may comprise shutting down the method should the modules performing the method receive the at least one data indicative of an error with respect to the at least one supply voltage and the at least one supply threshold.

[0105] Further, operating the apparatus microcontroller module may comprise detecting at least one housing and / or internal temperature, such as but not limited to the brake-chopper module temperature, and / or storing at least one housing and / or internal temperature threshold. Operating the apparatus microcontroller module may comprise outputting at least one data indicative of a warning and / or error with respect to the at least one housing and / or internal temperature and the at least one housing and / or internal temperature threshold.

[0106] Moreover, operating the apparatus microcontroller may comprise outputting the at least one data indicative of a warning while the method may be configured into at least one training mode, operating the application module may also comprise safely switching the modules performing the method to the idle state, decreasing the limits of the training weight for a period of time, and / or employing hysteresis in the matter of switching between operating modes, wherein the hysteresis may comprise reducing the frequency of the switching between operating modes, wherein the limits of the hysteresis may be adjustable.

[0107] Additionally and alternatively, the method may comprise operating a logger module, wherein operating the logger module may comprise logging data relating to the method and / or data relating to at least one warning and / or error in the modules performing the method. The data may be at least sufficient to recreate a simulation of the modules performing the method before and / or during the at least one warning and / or error. Operating the logger module may comprise being resistant against data corruption, detecting at least one dysfunction of the logger module, and / or outputting at least one data indicative of the at least one dysfunction in the logger module.

[0108] Furthermore, the method may comprise operating a user interface, wherein operating the user interface may comprise operating a display device. The modules performing the method may aalso be protected against corrosion. The switching frequency, i.e. high- frequency electronic noise, of the modules performing the method may be configured to be above 20kHz at all times. The method may further comprise identifying and / or operating with slowly varying supply voltages, such as but not limited to increasing supply voltage during the day when more energy may be fed into the grid. The method may comprise detecting at least one short circuit, wherein the method may comprise switching the modules performing the method to a safe error state, wherein switching the modules performing the method to a safe error state may comprise switching to an idle state, and outputting at least one data indicative of at least one error. The method may also comprise re-establishing the output voltage after at least one short-circuit may be removed.

[0109] Moreover, at least two of the modules' components performing the method and / or modules performing the method may be connected via electric cables, wherein the electric cables may be shielded, wherein the shield may be electrically grounded. The modules performing the method comprise at least one socket such as the at least one socket may be configured for connection to at least one other module, wherein at least one end of at least one electric cable correspond to at least one corresponding socket. The electric cables may be configured such that no damage to the modules performing the method may be incurred, should an electric cable be plugged-in to a non-corresponding socket, wherein the at least one electric cable may be configured to be safe against getting loose from their corresponding at least one socket and wherein the electric cables connecting the modules performing the method may be replaceable.

[0110] Additionally and alternatively, the method may be a method for recreational strength training, medical strength training and / or therapeutic strength training. The modules performing the method may comprise a label and / or the modules performing the method comprise a label each, wherein the label may be scannable, wherein scanning the label may comprise outputting at least one data indicative of the method and / or at least one data indicative of the modules of the method each. The at least one data may be stored in an external server.

[0111] Furthermore, operating the drive module may comprise easily adapting the drive modules to a variety of strength training modules.

[0112] The method may further comprise operating at least a first set of modules performing the method according to the method described herein and a second set of modules performing the method according to the method described herein. The drive module and / or the drive microcontroller of the first set of modules performing the method may be exchangeable with the drive module and / or the drive microcontroller of the second set of modules performing the method, wherein the method performed by the first set of modules may be a method for strength training and the method performed by the second set of modules may be a method for a different type of strength training.

[0113] In a further aspect, the invention relates to a computer program comprising instructions which, when the program may be executed by a computer, cause the computer to carry out the method according to any of the preceding method embodiments.

[0114] The present technology is also described by the following numbered embodiments.

[0115] Embodiments

[0116] Below, apparatus embodiments will be discussed. These embodiments are abbreviated by the letter "A" followed by a number. When reference is herein made to an apparatus embodiment, those embodiments are meant.

[0117] Al. An apparatus for strength-training wherein the apparatus comprises a low-backlash drive module, a drive microcontroller module, wherein the drive microcontroller module is configured to transmit at least one operational command to the low-backlash drive module, an apparatus microcontroller module, wherein the apparatus microcontroller module is configured to transmit at least one operational command to the drive microcontroller module, and a strength training module.

[0118] A2. An apparatus for strength-training wherein the apparatus comprises a concentric drive module, a drive microcontroller module, wherein the drive microcontroller module is configured to transmit at least one operational command to the concentric drive module, an apparatus microcontroller module, wherein the apparatus microcontroller module is configured to transmit at least one operational command to the drive microcontroller module, and a strength training module.

[0119] A3. An apparatus for strength-training wherein the apparatus comprises a cycloidal and / or harmonic drive module, a drive microcontroller module, wherein the drive microcontroller module is configured to transmit at least one operational command to the cycloidal and / or harmonic drive module, an apparatus microcontroller module, wherein the apparatus microcontroller module is configured to transmit at least one operational command to the drive microcontroller module, and a strength training module.

[0120] A4. The apparatus according to the preceding apparatus embodiments wherein the apparatus comprises a combination of at least two of the low-backlash drive module, concentric drive module and the cycloidal and / or harmonic drive module.

[0121] A5. The apparatus according to any of the preceding apparatus embodiments wherein the drive module comprises at least one frequency converter module, at least one motor module and at least one gearbox module.

[0122] A6. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A5, wherein the at least one gearbox module is configured as a concentric gearbox module.

[0123] A7. The apparatus according to any of the preceding apparatus embodiments wherein the components of the drive module result in a total weight of at most 30 kg, preferably 23 kg.

[0124] A8. The apparatus according to any of the preceding apparatus embodiments wherein the drive module, and preferably the drive microcontroller, is comprised in a volume of 30 cm x 35 cm x 20 cm, preferably 20 cm x 25 cm x 15 cm and most preferably 20 cm x 20 cm x 14 cm.

[0125] A9. The apparatus according to any preceding apparatus embodiment wherein the drive module is configured to operate in all possible orientations.

[0126] A10. The apparatus according to any preceding apparatus embodiment wherein the combination of the drive module and the drive microcontroller module is configured to operate in all possible orientations.

[0127] All. The apparatus according to any preceding apparatus embodiment wherein the drive module is comprised in a housing.

[0128] A12. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment All wherein the housing comprises the drive microcontroller module.

[0129] A13. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment All wherein the housing is electrically grounded.

[0130] A14. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment All wherein the housing is made of steel.

[0131] A15. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A5, wherein the frequency converter module comprises at least one rectifier, at least one DC bus and at least one inverter.

[0132] A16. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A5, wherein the frequency converter module is configured to detect a loss of power to the apparatus.

[0133] A17. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A15 and A16, wherein the frequency converter module is configured to utilize the energy storage of the inverter to shut-down the apparatus.

[0134] A18. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A5, wherein the frequency converter module is configured to transmit data to the drive microcontroller module.

[0135] A19. The apparatus according to any preceding apparatus embodiment with the features of A16 and A18, wherein the frequency controller module is configured to transmit data to the drive microcontroller module relating to the detected loss of power.

[0136] A20. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A5, wherein the frequency converter module comprises at least one Safe-Torque-Off module.

[0137] A21. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A20 wherein the at least one Safe-Torque-Off Module is connected to the apparatus via at least two go-and-return lines.

[0138] A22. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A20 wherein the at least one Safe-Torque-Off module comprises at least one emergency stop module.

[0139] A23. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A22 wherein the at least one emergency stop module comprises a normally-closed-switch.

[0140] A24. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A23 wherein the emergency stop module is configured to shut down the apparatus should the normally-closed-switch change to open.

[0141] A25. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A23 wherein the inverter is configured to detect the state of the normally-closed-switch.

[0142] A26. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A23 wherein the frequency controller module is configured to output at least one data indicative of the state of the normally- closed-switch to the apparatus microcontroller.

[0143] A27. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A23 and A24 wherein the apparatus microcontroller is configured to prompt at least one authorized user for permission to switch the apparatus to an idle state.

[0144] A28. The apparatus according to any of the preceding apparatus embodiments wherein the apparatus is configured to feed generated power back to the grid.

[0145] A29. The apparatus according to any of the preceding apparatus embodiments wherein the drive module comprises at least one brake chopper module.

[0146] A30. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments All and A29, wherein the brake chopper module is located outside the housing.

[0147] A31. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A29, wherein the frequency converter module comprises the at least one brake chopper module.

[0148] A32. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A31 wherein the at least one brake chopper is configured to generate at most an appropriate amount of heat, wherein an appropriate amount of heat is an amount of heat that, in addition to the heat generated by the other components of the apparatus, result in a temperature allowing a user to touch / manually handle the surface of the apparatus, preferably at most 45 °C and more preferably 40 °C.

[0149] A33. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A29 wherein the at least one brake chopper module is protected against at least one overcurrent event.

[0150] A34. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A15 and A29, wherein the inverter is configured to detect if the at least one brake chopper module is disconnected from the apparatus.

[0151] A35. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A34, wherein the frequency converter module is configured to output at least one data indicative of an error to the apparatus microcontroller. A36. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A34, wherein the inverter is configured to switch the apparatus to an idle state.

[0152] A37. The apparatus according to any preceding apparatus embodiment with the features of A29, wherein the apparatus is configured to detect at least one brake chopper short circuit.

[0153] A38. The apparatus according to any preceding apparatus embodiment with the features of A37, wherein the inverter is configured to switch the apparatus to a safe error state wherein the apparatus in a safe error state is configured to switch to an idle state, and output at least one data indicative of at least one error.

[0154] A39. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A5 wherein the motor module comprises at least one motor.

[0155] A40. The apparatus according to the preceding apparatus embodiment wherein the at least motor is configured as a BLDC motor.

[0156] A41. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A39, wherein the at least one motor is configured to be connected to a hardware ID.

[0157] A42. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A5 wherein the motor module is configured to execute at least one operational command received from the drive microcontroller module.

[0158] A43. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A39, wherein the motor module is configured to execute at least one operational command received from the drive microcontroller module while the at least one motor is still active.

[0159] A44. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A5 wherein the motor module comprises at least one torque sensor. A45. The apparatus according to any preceding apparatus embodiments with the features of apparatus embodiment A44, wherein the at least one torque sensor is configured to output a torque measurement resolution of at most 0.1% of the maximum torque outputted by the gearbox module, preferably a torque measurement resolution of INm and most preferably, a torque measurement resolution of 0.2 Nm.

[0160] A46. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A44 wherein the at least one torque sensor measurement is transmitted to the drive controller module.

[0161] A47. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A44 wherein the at least one torque sensor is configured for long-term torque quality control.

[0162] A48. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A44, wherein the at least one torque sensor is configured to be integrated in a cogging suppression operation.

[0163] A49. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A44, wherein the at least one torque sensor is configured to be integrated in closed-loop torque control.

[0164] A50. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A5 wherein the at least one gearbox module is configured as at least one single stage reduction gearbox.

[0165] A51. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A5 wherein the at least one gearbox module is configured to output a gear reduction ratio of preferably at least 30: 1.

[0166] A52. The apparatus according to any of the previous apparatus embodiments with the features of apparatus embodiment A5 wherein the at least one gearbox module is configured as at least one cycloidal gearbox module.

[0167] A53. The apparatus according to any of the previous apparatus embodiments with the features of apparatus embodiment A5 wherein the at least one gearbox module is configured as at least one harmonic gearbox module. A54. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A2 wherein the at least one gearbox module is configured as at least one hollow-shaft gearbox.

[0168] A55. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A5 wherein the at least one gearbox module is configured to output a torque within a range of, preferably, 0 to 1000 Nm.

[0169] A56. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A5 wherein the at least gearbox module is configured to output a torque with a margin of error of preferably ±2 for a torque range of 0 to 200 Nm, preferably ±5 for a torque range of 200 to 1000 Nm and most preferably ±2 for a torque range of 0 to lOOONm.

[0170] A57. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A5 wherein the at least one gearbox module is configured to output a backlash of preferably at most 10 angular minutes.

[0171] A58. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A5 wherein the at least one gearbox module is configured to output a breakaway torque of preferably at most 30Nm.

[0172] A59. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A5 wherein the at least one gearbox module outputs a torque increase and / or decrease of preferably at least 67 kNm / s and most preferably at least 75kNm / s.

[0173] A60. The apparatus according to any preceding apparatus embodiment wherein the drive module comprises at least one endstop interface module.

[0174] A61. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments All and A60 wherein the at least one endstop interface module is located on the housing.

[0175] A62. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A61 wherein the at least one endstop interface module is configured to contribute preferably 2.6 cm to 4 cm to at least one dimension of the apparatus. A63. The apparatus according to any preceding apparatus embodiment wherein the strength training module comprises at least one kinematic structure module.

[0176] A64. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A63, wherein the at least one kinematic structure is configured to allow a user to operate the apparatus as a strength training apparatus.

[0177] A65. The apparatus according to any of the preceding apparatus embodiments, wherein the strength training module comprises at least one driven shaft.

[0178] A66. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A65, wherein the driven shaft is configured to be driven by the drive module.

[0179] A67. The apparatus according to any preceding apparatus embodiments with the features of apparatus embodiment A65, wherein the driven shaft is configured to drive at least one part of the kinematic structure module.

[0180] A68. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiments A54 and A65, wherein the driven shaft is configured to be inserted in the hollow-shaft gearbox.

[0181] A69. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A68, wherein the driven shaft creates with the hollow-shaft gearbox a concentricity of at most 0.2 mm, wherein the concentricity is measured at the end of the shaft with a maximum distant of shaft-housing being preferably 214 mm.

[0182] A70. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A68, wherein the driven shaft creates with the hollow-shaft gearbox a radial clearance of at most 0.03 mm, wherein the radial clearance is measured at the end of the shaft with a maximum distant of shafthousing being preferably 214 mm.

[0183] A71. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A65, wherein the at least one driven shaft comprises material with a yield strength of preferably 800N / mm2. A72. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A65, wherein the at least one driven shaft is configured to withstand a static axial load of preferably at least 4513N and most preferably at least 5076N.

[0184] A73. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A72, wherein the static axial load is applied to only one end of the at least one driven shaft.

[0185] A74. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A65, wherein the at least one driven shaft is configured to withstand a static radial load of preferably at least 8258N.

[0186] A75. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A65, wherein the at least one driven shaft is configured to withstand a bending moment of preferably at least 3117Nm.

[0187] A76. The apparatus according to any preceding apparatus embodiment wherein the strength training module comprises at least one endstop adapter module, wherein the at least one endstop adapter module is configured to limit the range of motion of at least one part of the strength training module.

[0188] A77. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A76 wherein the at least one endstop adapter comprises at least one data indicative of at least one of and / or a combination of the strength training module and the endstop adapter module.

[0189] A78. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A76, wherein the at least one endstop adapter module comprises a damping end.

[0190] A79. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A78, wherein the damping end comprises a rubber bumper.

[0191] A80. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A79 wherein the rubber bumper is replaceable, wherein the replaceability of the rubber bumper is independent of the position of the endstop adapter with respect to the strength training module. A81. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A65 and A79 wherein the rubber bumper is replaceable, wherein the replaceability of the rubber bumper is independent of the position of the endstop adapter with respect to the at least one driven shaft.

[0192] A82. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A60 and A76, wherein the at least one endstop interface module and the at least one endstop adapter module are configured to be comprised in a protection housing.

[0193] A83. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A60 and A76 wherein the at least one endstop interface module correspond to the at least one endstop adapter module.

[0194] A84. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A83 wherein the at least one endstop interface module and the corresponding at least one endstop adapter module are configured to be engaged.

[0195] A85. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A84, wherein the apparatus is configured to insure the correct engagement of the at least one endstop interface module and the at least one endstop adapter module via Poka-Yoke.

[0196] A86. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A65 and A76, wherein the at least one endstop adapter is configured to limit the angular range of motion of the driven shaft.

[0197] A87. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A86, wherein the at least one endstop adapter is configured to limit the angular range of motion of the driven shaft to a resulting range of motion according to the range of motion of the at least one moving body part according to the at least one muscle targeted by the apparatus.

[0198] A88. The apparatus embodiment according to any preceding apparatus embodiment with the features of apparatus embodiments A63 and A87, wherein the resulting range of motion of the driven shaft is functionally dependent, according to the kinematic structure, on the range of motion of the at least one moving body part. A89. The apparatus embodiment according to any preceding apparatus embodiment with the features of apparatus embodiments A88, wherein the at least one endstop adapter is configured to limit the angular range of motion of the driven shaft to 105% of the resulting range of motion of the driven shaft.

[0199] A90. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A76, wherein the endstop system is configured to withstand a load of preferably at least 3750Nm.

[0200] A91. The apparatus according to any of the preceding apparatus embodiments wherein the strength training module comprises at least one smart accessory.

[0201] A92. The apparatus according to the preceding apparatus embodiment wherein the at least one smart accessory comprises at least one smart handle.

[0202] A93. The apparatus according to any preceding apparatus embodiment wherein the apparatus comprises at least two low-backlash drive modules.

[0203] A94. The apparatus according to any preceding apparatus embodiment wherein the apparatus comprises at least two concentric drive modules.

[0204] A95. The apparatus according to any preceding apparatus embodiment wherein the apparatus comprises at least two cycloidal drive modules.

[0205] A96. The apparatus according to any preceding apparatus embodiment wherein the apparatus comprises at least two harmonic drive modules.

[0206] A97. The apparatus according to any preceding apparatus embodiment wherein the apparatus comprises at least two drive modules such that the at least two drive modules are configured as a combination of at least two of low-backlash drive modules, concentric drive modules, cycloidal drive modules and / or harmonic drive modules.

[0207] A98. The apparatus according to any preceding apparatus embodiment with any of the features of apparatus embodiments A93-A97 wherein the apparatus is configured for unilateral training.

[0208] A99. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A98 wherein the at least two drive modules are driven independently from each other.

[0209] A100. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A54 and A98, wherein the hollow shaft of each of the at least two drive modules are configured such to be positioned on the same axis.

[0210] A101. The apparatus according to any preceding apparatus embodiment wherein the apparatus draws power from the grid.

[0211] A102. The apparatus according to any of the preceding apparatus embodiments wherein the apparatus comprises at least one power supply.

[0212] A103. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A102 wherein the at least one power supply is configured to keep the apparatus running until proper shutdown of the apparatus, preferably for 5 seconds.

[0213] A104. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A19, wherein the drive microcontroller module is configured to initiate a shutdown of the apparatus when the drive microcontroller module receives data from the frequency controller module relating to a loss of power to the apparatus.

[0214] A105. The apparatus according to any preceding apparatus embodiment wherein the drive microcontroller module comprises a communication module.

[0215] A106. The apparatus according to any of the preceding apparatus embodiments wherein the drive microcontroller comprises a motor controller module.

[0216] A107. The apparatus according to any preceding apparatus embodiment, wherein communication between modules occurs preferably within 10-20 ms.

[0217] A108. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A105, wherein the communication module is configured to communicate with the at least one inverter.

[0218] A109. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A5, A105 and A106, wherein the communication module is configured to allow communication between the motor module, the motor controller module and the apparatus microcontroller.

[0219] A110. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A41 and A105, wherein the communication module is configured to allow communication between the at least one motor of the motor module with the apparatus microcontroller module according to the hardware ID connected to the at least one motor.

[0220] Alli. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A106, wherein the motor controller module is configured to power down the motor output preferably within 50 ms.

[0221] Al 12. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A106, wherein the motor controller module is configured to output at least one operational command to the motor module.

[0222] Al 13. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment Al 12, wherein the at least one operational command comprises at least one valid torque frame.

[0223] Al 14. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment Al 12, wherein the at least one operational command comprises a valid signature.

[0224] Al 15. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A39 and A106, wherein the motor controller module is configured to output at least one data indicative of the at least one motor state.

[0225] Al 16. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A105 and A115, wherein the motor controller module is configured to transmit the at least one data indicative of the at least one motor state to the communication module.

[0226] Al 17. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments Al 15, wherein the motor controller module is configured to output at least one warning relative to the at least one data indicative of the at least one motor state.

[0227] Al 18. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments Al 15, wherein the motor controller module is configured to output at least one error relative to the at least one data indicative of the at least one motor state.

[0228] A119. The apparatus according to any preceding apparatus embodiment wherein the apparatus microcontroller module comprises a firmware module.

[0229] A120. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A119, wherein the firmware module is configured to connect to a server.

[0230] A121. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A120, wherein the firmware module is configured to receive at least one firmware update.

[0231] A122. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A119, wherein the firmware module is configured to store a firmware signature.

[0232] A123. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment Al 19, wherein the firmware module comprises a Torque-Frame Watchdog module.

[0233] A124. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A113 and A123 wherein the Torque-Frame Watchdog module is configured to detect at least one torque frame from the at least one operational command.

[0234] A125. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A124, wherein the torque-frame watchdog module is configured to detect if the detected at least one torque frame comprises a valid signature.

[0235] A126. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments Al 13 and A125, wherein the torque-frame watchdog module is configured to shut down the drive module if the torque-frame watchdog module detected at least one non-valid signature.

[0236] A127. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments Al 13 and A125, wherein the torque-frame watchdog module is configured to shut down the drive module if the torque-frame watchdog module does not detect at least one valid torque-frame within a configurable time limit.

[0237] A128. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment Al 19, wherein the firmware module comprises a bootloader module.

[0238] A129. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A128, wherein the bootloader module is configured to run at least one power-on-system-test on at least one module of the apparatus.

[0239] A130. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A129, wherein the at least one module will be deactivated if the at least one module fails the power-on-system-test.

[0240] A131. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A128, wherein the bootloader is configured to run at least one rotor synchronization routine.

[0241] A132. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A44, A63 and A131, wherein the at least one torque sensor is configured to detect at least one wrongly mounted kinematic structure module during the at least one rotor synchronization routine.

[0242] A133. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A44, A63 and A131, wherein the at least one torque sensor is configured to detect at least one out of limits kinematics structure module during the at least one rotor synchronization routine.

[0243] A134. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A46 and A131, wherein the apparatus microcontroller is configured to adjust the torque outputted by the at least one motor according to the at least one torque measurement. A135. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A128, wherein the bootloader module is configured to output at least one data indicative of the bootloader module status.

[0244] A136. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A122 and A128, wherein the bootloader module is configured to determine if the firmware signature has been tampered with.

[0245] A137. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A122 and A128, wherein the bootloader module is configured to check the firmware signature at every boot.

[0246] A138. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A128, wherein the bootloader module comprises a hardware variant detection module.

[0247] A139. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A138, wherein the hardware variant detection module is configured to detect at least one hardware variant connected to the apparatus.

[0248] A140. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A139, wherein the hardware variant detection module is configured to detect at least one invalid hardware variant connected to the apparatus.

[0249] A141. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A140, wherein the hardware variant detection module is configured to output at least one data indicative of an error with respect to the at least one invalid hardware variant.

[0250] A142. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A140, wherein the hardware variant detection module is configured to switch the apparatus to an error state wherein the apparatus in error state is configured to switch the apparatus to idle mode, output at least one data indicative of at least one error, and shutdown the apparatus.

[0251] A143. The apparatus according to any preceding apparatus embodiment, wherein the apparatus microcontroller module comprises an application module.

[0252] A144. The apparatus according to any preceding apparatus embodiments with the features of apparatus embodiments A128 and A143, wherein the application module is configured to activate the bootloader module.

[0253] A145. The apparatus according to any preceding apparatus embodiments with the features of apparatus embodiments A143, wherein the application module is configured to activate at least one checksum evaluation.

[0254] A146. The apparatus according to any preceding apparatus embodiments with the features of apparatus embodiments A144, wherein the application module is configured to switch the apparatus to idle state should the application module fail the at least one checksum evaluation.

[0255] A147. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A143, wherein the application module is configured to log out a user should the apparatus microcontroller generate and / or receive at least one warning.

[0256] A148. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A143, wherein the application module is configured to output at least one data indicative of a warning before outputting at least one data indicative of an error.

[0257] A149. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A143, wherein the application module is configured to decrease the torque of the at least one motor to zero should the apparatus microcontroller generate / receive at least one error.

[0258] A150. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A143, wherein the application module is configured to decrease the torque of the at least one motor to motor brake should the apparatus microcontroller generate / receive at least one error.

[0259] A151. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A143, wherein the application module is configured to switch all motor phases of the at least one motor to open state should the apparatus microcontroller generate / receive at least one error. A152. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A143, wherein the application module is configured to assess the integrity and / or plausibility of the components of the apparatus.

[0260] A153. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A143, wherein the application module is configured to assess the integrity and / or plausibility of the components of the apparatus, periodically.

[0261] A154. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A143 wherein the application module is configured to configure the apparatus into at least one operating mode.

[0262] A155. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A39 and A154 wherein the at least one operating mode comprises at least one idle state, wherein the at least one idle state is configured to reduce the power consumption of the apparatus when the at least one motor is inactive.

[0263] A156. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A105 and A154 wherein the at least one operating mode comprises at least one training mode, wherein the at least one training mode is configured to transmit at least one of or any combination of torque, speed and / or acceleration parameter to the communication module according to at least one training plan.

[0264] A157. The apparatus according to any preceding apparatus embodiment wherein the modules of the apparatus are configured to output at least one data indicative of the module's configuration to the apparatus microcontroller.

[0265] A158. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A157, wherein at least one module of the modules is configured to output at least one data indicative of the module's configuration to the apparatus microcontroller, in a periodic way.

[0266] A159. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A158, wherein at least one module of the modules is configured to output at least one data indicative of the module's temperature to the apparatus microcontroller, in a periodic way, preferably every 5 seconds.

[0267] A160. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A158, wherein at least one module of the modules is configured to output at least one data indicative of the module's electric current to the apparatus microcontroller, in a periodic way, preferably every 3 ms.

[0268] A161. The apparatus according to any of the preceding apparatus embodiments wherein the apparatus microcontroller module is configured to implement at least one of or any combination of torque, speed acceleration, and / or training weights safety limit.

[0269] A162. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A161 wherein the apparatus microcontroller module is configured to configure the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit.

[0270] A163. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A162 wherein the apparatus microcontroller module is configured to dynamically configure the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit.

[0271] A164. The apparatus according to any preceding apparatus embodiment with the features of any of apparatus embodiments A39 and A162, wherein the apparatus microcontroller module is configured to configure the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit while the at least one motor is active.

[0272] A165. The apparatus according to any of the preceding apparatus embodiments with the features of any of apparatus embodiment A161 wherein the at least one limit comprises at least one warning level threshold.

[0273] A166. The apparatus according to any of the preceding apparatus embodiments with the features of any of apparatus embodiment A161 wherein the at least one limit comprises at least one error level threshold. A167. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A165 and / or A166, wherein the at least one level threshold is adjustable.

[0274] A168. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A165 wherein the apparatus is configured to output at least one data indicative of at least one warning when the at least one threshold is passed.

[0275] A169. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A166 wherein the apparatus is configured to output at least one data indicative of at least one error when the at least one threshold is passed.

[0276] A170. The apparatus according to any preceding apparatus embodiment with the features of any of apparatus embodiments A109 and / or Al 10, A161 wherein the at least one limit is transmitted to the motor controller module via at least one torque-frame, wherein a torque-frame is a package.

[0277] A171. The apparatus according to the preceding apparatus embodiment A170 wherein the torque-frame comprises a valid signature.

[0278] A172. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A143, wherein the application module comprises a calibration module.

[0279] A173. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiments A46 and A172, wherein the calibration module is configured to execute drag torque correction on the drive module's output torque.

[0280] A174. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A173, wherein the breakaway torque of the drive system is preferably at most 10 Nm when drag torque correction is implemented.

[0281] A175. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A143, wherein the calibration module comprises a cogging suppression module. A176. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A175, wherein the cogging suppression module is configured to execute at least one cogging suppression operation.

[0282] A177. The apparatus according to any of the preceding apparatus embodiments with features of apparatus embodiment A172, wherein the calibration module is configured to operate while the apparatus is starting and / or restarting.

[0283] A178. The apparatus according to any preceding apparatus embodiment wherein the apparatus microcontroller module comprises a training plan module.

[0284] A179. The apparatus according to any preceding apparatus embodiment with the features of any of apparatus embodiments A161 and A162, wherein the configuration of the at least one limit may occurs at the granularity of individual training sessions.

[0285] A180. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A5, wherein the frequency converter module is configured to identify at least one supply voltage.

[0286] A181. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment, wherein the frequency converter module is configured to store at least one supply voltage threshold.

[0287] A182. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A180 and A181, wherein the frequency converter is configured to output at least one data indicative of a warning with respect to the at least one supply voltage and the at least one supply threshold, to the apparatus microcontroller module.

[0288] A183. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A180 and A181, wherein the frequency converter is configured to output at least one data indicative of an error with respect to the at least one supply voltage and the at least one supply threshold, to the apparatus microcontroller module.

[0289] A184. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A183, wherein the apparatus microcontroller is configured to shut down the apparatus should the apparatus receive the at least one data indicative of an error with respect to the at least one supply voltage and the at least one supply threshold.

[0290] A185. The apparatus according to any preceding apparatus embodiment wherein the apparatus microcontroller module is configured to detect at least one housing and / or internal temperature.

[0291] A186. The apparatus according to any preceding apparatus embodiment wherein the apparatus microcontroller module is configured to store at least one housing and / or internal temperature threshold.

[0292] A187. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A185 and A186, wherein the apparatus microcontroller module is configured to output at least one data indicative of a warning with respect to the at least one housing and / or internal temperature and the at least one housing and / or internal temperature threshold.

[0293] A188. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A185 and A186, wherein the apparatus microcontroller module is configured to output at least one data indicative of an error with respect to the at least one housing and / or internal temperature and the at least one housing and / or internal temperature threshold.

[0294] A189. The apparatus according to any preceding apparatus embodiments with the features of apparatus embodiments A156 and A187, wherein the apparatus microcontroller is configured to output the at least one data indicative of a warning while the apparatus is configured into at least one training mode.

[0295] A190. The apparatus according to any preceding apparatus embodiments with the features of apparatus embodiments A155 and A189, wherein the application module is configured to safely switch the apparatus to the idle state.

[0296] A191. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments A161 and A189, wherein the application module is configured to decrease the limits of the training weight for a period of time.

[0297] A192. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiments, wherein the apparatus microcontroller module is configured to employ hysteresis in the matter of switching between operating modes, wherein the hysteresis is configured to reduce the frequency of the switching between operating modes.

[0298] A193. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A192, wherein the limits of the hysteresis are configured to be adjustable.

[0299] A194. The apparatus according to any of the preceding apparatus embodiments wherein the apparatus comprises a logger module.

[0300] A195. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A194, wherein the logger module is configured to log data relating to the apparatus.

[0301] A196. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A194, wherein the logger module is configured to log data relating to at least one warning in the apparatus.

[0302] A197. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A194, wherein the logger module is configured to log data relating to at least one error in the apparatus.

[0303] A198. The apparatus according to any of the preceding apparatus embodiments with the features of apparatus embodiment A195-A197, wherein the logger module is configured to log data such that the data is at least sufficient to recreate a simulation of the apparatus before and / or during the at least one warning and / or error.

[0304] A199. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A194, wherein the logger module is configured to be resistant against data corruption.

[0305] A200. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A194, wherein the apparatus is configured to detect at least one dysfunction of the logger module.

[0306] A201. The apparatus according to any of the preceding apparatus embodiment with the features of apparatus embodiment A200, wherein the apparatus is configured to output at least one data indicative of the at least one dysfunction in the logger module.

[0307] A202. The apparatus according to any of the preceding apparatus embodiments wherein the apparatus comprises a user interface.

[0308] A203. The apparatus according to the preceding apparatus embodiment wherein the user interface comprises a display device.

[0309] A204. The apparatus according to any preceding apparatus embodiment wherein the steel material comprised in the apparatus is protected against corrosion.

[0310] A205. The apparatus according to any of the preceding apparatus embodiment wherein the switching frequency of the apparatus is configured to be above 20kHz at all times.

[0311] A206. The apparatus according to any preceding apparatus embodiment wherein the apparatus is configured to identify slowly varying supply voltages.

[0312] A207. The apparatus according to any preceding apparatus embodiment wherein the apparatus is configured to operate with slowly varying supply voltages.

[0313] A208. The apparatus according to any preceding apparatus embodiment wherein the apparatus is configured to detect at least one short circuit.

[0314] A209. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A208, wherein the apparatus is configured to switch to a safe error state, wherein the apparatus in a safe error state is configured to switch to an idle state, and output at least one data indicative of at least one error.

[0315] A210. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A208, wherein the apparatus is configured to re-establish the output voltage after at least one short-circuit is removed.

[0316] A211. The apparatus according to any of the preceding apparatus embodiments wherein at least two of the apparatus's components and / or modules are connected via electric cables. A212. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A211 wherein the electric cables are shielded, wherein the shield is electrically grounded.

[0317] A213. The apparatus according to any of the preceding apparatus embodiments wherein the apparatus's modules comprise at least one socket such as the at least one socket is configured for connection to at least one other module.

[0318] A214. The apparatus according to the two preceding apparatus embodiments A211 and A213, wherein at least one end of at least one electric cable correspond to at least one corresponding socket.

[0319] A215. The apparatus according to the previous apparatus embodiment A214, wherein the electric cables are configured such that no damage to the apparatus is incurred, should an electric cable be plugged-in to a non-corresponding socket.

[0320] A216. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A214, wherein the at least one electric cable is configured to be safe against getting loose from their corresponding at least one socket.

[0321] A217. The apparatus according to any preceding apparatus embodiment wherein the apparatus is an apparatus for recreational strength training.

[0322] A218. The apparatus according to any preceding apparatus embodiment wherein the apparatus is an apparatus for medical strength training.

[0323] A219. The apparatus according to any preceding apparatus embodiment wherein the apparatus is configured for therapeutic strength training.

[0324] A220. The apparatus according to any preceding apparatus embodiment wherein the drive module is adaptable to a variety of strength training modules.

[0325] A221. The apparatus according to any preceding apparatus embodiment wherein the electric cables connecting the modules of the apparatus are replaceable.

[0326] A222. The apparatus according to any preceding apparatus embodiment wherein the apparatus comprises a label. A223. The apparatus according to any preceding apparatus embodiment wherein the modules comprising the apparatus comprise a label each.

[0327] A224. The apparatus according to any preceding apparatus embodiment with any of the features of apparatus embodiments A222 and A223, wherein the label is scannable.

[0328] A225. The apparatus according to any preceding apparatus embodiment with any of the features of apparatus embodiments A222 and A223, wherein the label is configured to output at least one data indicative of the apparatus and / or at least one data indicative of the modules of the apparatus each.

[0329] A226. The apparatus according to any preceding apparatus embodiment with the features of apparatus embodiment A225 wherein the at least one data is stored in an external server.

[0330] A227. The apparatus according to any preceding embodiment wherein the drive module and / or the strength training module is configured to handle loads of at least 2500W.

[0331] A228. The apparatus according to any preceding embodiment wherein the drive module and / or the strength training module is configured to handle loads of at least 1257W for at least 5s.

[0332] Below, system embodiments will be discussed. These embodiments are abbreviated by the letter "S" followed by a number. When reference is herein made to a system embodiment, those embodiments are meant.

[0333] 51. A system for strength training, the system comprising at least two apparatuses according to any of the preceding apparatus embodiments.

[0334] 52. The system according to the preceding system embodiment wherein the drive module and / or the drive microcontroller of at least one apparatus of the at least two apparatuses is exchangeable with the drive module of at least one of the other apparatuses.

[0335] 53. The system according to the preceding system embodiment wherein the at least two apparatuses are configured as apparatuses for different types of strength training. Below, method embodiments will be discussed. These embodiments are abbreviated by the letter "M" followed by a number. When reference is herein made to a method embodiment, those embodiments are meant.

[0336] Ml. A method for strength-training the method comprising driving a low backlash-drive module, operating a drive microcontroller module, wherein operating the drive microcontroller module comprises transmitting at least one operational command to the low-backlash drive module, operating an apparatus microcontroller module, wherein operating the apparatus microcontroller module comprises transmitting at least one operational command to the drive microcontroller module, and operating a strength training module.

[0337] M2. A method for strength-training wherein the method comprises driving a concentric drive module, operating a drive microcontroller module, wherein operating the drive microcontroller module comprises transmitting at least one operational command to the concentric drive module, operating an apparatus microcontroller module, wherein operating the apparatus microcontroller module comprises transmitting at least one operational command to the drive microcontroller module, and operating a strength training module.

[0338] M3. A method for strength-training wherein the method comprises driving a cycloidal and / or harmonic drive module, operating a drive microcontroller module, wherein operating the drive microcontroller module comprises transmitting at least one operational command to the cycloidal and / or harmonic drive module, operating an apparatus microcontroller module, wherein operating the apparatus microcontroller module comprises transmitting at least one operational command to the drive microcontroller module, and operating a strength training module.

[0339] M4. The method according to the preceding method embodiments wherein the method comprises driving a combination of at least two of the low-backlash drive module, concentric drive module and the cycloidal and / or harmonic drive module. M5. The method according to any of the preceding method embodiments wherein driving the drive module comprises operating at least one frequency converter module, driving at least one motor module and driving at least one gearbox module.

[0340] M6. The method according to any preceding method embodiment with the features of method embodiment M5, wherein driving the at least one gearbox module comprises driving a concentric gearbox module.

[0341] M7. The method according to any of the preceding method embodiments wherein the components applying the method result in a total weight of at most 30 kg, preferably 23 kg.

[0342] M8. The method according to any of the preceding method embodiments wherein the drive module driven according to the method, and preferably the drive microcontroller operated by the method, are comprised in a volume of 30 cm x 35 cm x 20 cm, preferably 20 cm x 25 cm x 15 cm and most preferably 20 cm x 20 cm x 14 cm.

[0343] M9. The method according to any preceding method embodiment wherein driving the drive module comprises operating the drive module in all possible orientations of the drive module.

[0344] M10. The method according to any preceding method embodiment wherein the combination of driving the drive module and operating the drive microcontroller module comprises operating the combination of the drive module and the drive microcontroller in all possible orientations of the combination of the drive module and the drive microcontroller.

[0345] Mil. The method according to any preceding method embodiment wherein driving the drive module comprises driving the drive module comprised in a housing.

[0346] M12. The method according to any preceding method embodiment with the features of method embodiment Mil wherein the housing comprises the drive microcontroller module driven according to the method.

[0347] M13. The method according to any preceding method embodiment with the features of method embodiment Mil wherein the housing is electrically grounded. M14. The method according to any of the preceding method embodiments with the features of method embodiment Mil wherein the housing is made of steel.

[0348] M15. The method according to any preceding method embodiment with the features of method embodiment M5, wherein operating the frequency converter module comprises operating at least one rectifier, at least one DC bus and at least one inverter.

[0349] M16. The method according to any preceding method embodiment with the features of method embodiment M5, wherein operating the frequency converter module comprises detecting a loss of power to the drive module.

[0350] M17. The method according to any preceding method embodiment with the features of method embodiments M15 and M16, wherein operating the frequency converter module comprises utilizing the energy storage of the inverter to shut-down any module and / or any combination of modules performing the method.

[0351] M18. The method according to any preceding method embodiment with the features of method embodiment M5, wherein operating the frequency converter module comprises transmitting data to the drive microcontroller module.

[0352] M19. The method according to any preceding method embodiment with the features of M16 and M18, wherein operating the frequency controller module comprises transmitting data to the drive microcontroller module relating to the detected loss of power.

[0353] M20. The method according to any preceding method embodiment with the features of method embodiment M5, wherein operating the frequency converter module comprises operating at least one Safe-Torque-Off module.

[0354] M21. The method according to any preceding method embodiment with the features of method embodiment M20 wherein the at least one Safe-Torque-Off Module is connected to at least one module performing the method via at least two go-and- return lines.

[0355] M22. The method according to any of the preceding method embodiments with the features of method embodiment M20 wherein operating the at least one Safe- Torque-Off module comprises detecting the state of at least one emergency stop module. M23. The method according to any of the preceding method embodiments with the features of method embodiment M22 wherein detecting the state of the at least one emergency stop module comprises detecting the state of a normally-closed- switch.

[0356] M24. The method according to any preceding method embodiment with the features of method embodiment M23 wherein the emergency stop module is configured to shut down all modules performing the method, should the normally-closed-switch change to open.

[0357] M25. The method according to any preceding method embodiment with the features of method embodiment M23 wherein operating the inverter comprises detecting the state of the normally-closed-switch.

[0358] M26. The method according to any preceding method embodiment with the features of method embodiment M23 wherein operating the frequency controller module comprises outputting at least one data indicative of the state of the normally- closed-switch to the apparatus microcontroller.

[0359] M27. The method according to any preceding method embodiment with the features of method embodiments M23 and M24 wherein operating the apparatus microcontroller comprises prompting at least one authorized user for permission to switch all the modules performing the method to an idle state.

[0360] M28. The method according to any of the preceding method embodiments wherein the method comprises feeding generated power back to the grid.

[0361] M29. The method according to any of the preceding method embodiments wherein driving the drive module comprises driving at least one brake chopper module.

[0362] M30. The method according to any preceding method embodiment with the features of method embodiments Mil and M29, wherein the brake chopper module is located outside the housing.

[0363] M31. The method according to any of the preceding method embodiments with the features of method embodiment M29, wherein operating the frequency converter module comprises operating the at least one brake chopper module. M32. The method according to any of the preceding method embodiments with the features of method embodiment M31 wherein operating the at least one brake chopper comprises generating at most an appropriate amount of heat, wherein an appropriate amount of heat is an amount of heat that, in addition to the heat generated by the other components of the method, result in a temperature allowing a user to touch / manually handle the surface of the method, preferably at most 45 °C and more preferably 40 °C.

[0364] M33. The method according to any of the preceding method embodiments with the features of method embodiment M29 wherein operating the at least one brake chopper module comprises protecting the at least one brake chopper module against at least one overcurrent event.

[0365] M34. The method according to any preceding method embodiment with the features of method embodiment M15 and M29, wherein operating the inverter comprises detecting if the at least one brake chopper module is disconnected from at least one module performing the method.

[0366] M35. The method according to any preceding method embodiment with the features of method embodiment M34, wherein operating the frequency converter module comprises outputting at least one data indicative of an error to the apparatus microcontroller.

[0367] M36. The method according to any preceding method embodiment with the features of method embodiment M34, wherein operating the inverter comprises switching all the modules performing the method to an idle state.

[0368] M37. The method according to any preceding method embodiment with the features of M29, the method comprises detecting at least one brake chopper short circuit.

[0369] M38. The method according to any preceding method embodiment with the features of M37, wherein operating the inverter comprises switching at least one module performing the method to a safe error state wherein switching the at least one module performing the method in a safe error state comprises switching to an idle state, and outputting at least one data indicative of at least one error.

[0370] M39. The method according to any of the preceding method embodiments with the features of method embodiment M5 wherein driving the motor module comprises driving at least one motor. M40. The method according to the preceding method embodiment wherein driving the at least motor comprises driving at least one BLDC motor.

[0371] M41. The method according to any preceding method embodiment with the features of method embodiment M39, wherein the at least one motor is configured to be connected to a hardware ID.

[0372] M42. The method according to any preceding method embodiment with the features of method embodiment M5 wherein driving the motor module comprises executing at least one operational command received from the drive microcontroller module.

[0373] M43. The method according to any preceding method embodiment with the features of method embodiment M39, wherein driving the motor module comprises executing at least one operational command received from the drive microcontroller module while the at least one motor is still active.

[0374] M44. The method according to any of the preceding method embodiments with the features of method embodiment M5 wherein driving the motor module comprises operating at least one torque sensor.

[0375] M45. The method according to any preceding method embodiments with the features of method embodiment M44, wherein operating the at least one torque sensor comprises outputting a torque measurement resolution of at most 0.1% of the maximum torque outputted by the gearbox module, preferably a torque measurement resolution of INm and most preferably, a torque measurement resolution of 0.2 Nm.

[0376] M46. The method according to any of the preceding method embodiments with the features of method embodiment M44 wherein the at least one torque sensor measurement is transmitted to the drive controller module.

[0377] M47. The method according to any preceding method embodiment with the features of method embodiment M44 wherein operating the at least one torque sensor comprises operating the at least one torque sensor for long-term torque quality control.

[0378] M48. The method according to any preceding method embodiment with the features of method embodiment M44, wherein operating the at least one torque sensor comprises integrating the operating of the at least one torque sensor in a cogging suppression operation.

[0379] M49. The method according to any preceding method embodiment with the features of method embodiment M44, wherein operating the at least one torque sensor comprises integrating the operating of the at least one torque sensor in closed- loop torque control.

[0380] M50. The method according to any of the preceding method embodiments with the features of method embodiment M5 wherein driving the at least one gearbox module comprises driving at least one single stage reduction gearbox.

[0381] M51. The method according to any of the preceding method embodiments with the features of method embodiment M5 wherein driving the at least one gearbox module comprises outputting a gear reduction ratio of preferably at least 30: 1 from the gearbox module.

[0382] M52. The method according to any of the previous method embodiments with the features of method embodiment M5 wherein driving the at least one gearbox module comprises driving a cycloidal gearbox module.

[0383] M53. The method according to any of the previous method embodiments with the features of method embodiment M5 wherein driving the at least one gearbox module comprises driving at least one harmonic gearbox module.

[0384] M54. The method according to any of the preceding method embodiments with the features of method embodiment A2 wherein driving the at least one gearbox module comprises driving at least one hollow-shaft gearbox.

[0385] M55. The method according to any of the preceding method embodiments with the features of method embodiment M5 wherein driving the at least one gearbox module comprises outputting a torque within a range of, preferably, 0 to 1000 Nm.

[0386] M56. The method according to any of the preceding method embodiments with the features of method embodiment M5 wherein driving the at least gearbox module comprises outputting a torque with a margin of error of preferably ±2 for a torque range of 0 to 200 Nm, preferably ±5 for a torque range of 200 to 1000 Nm and most preferably ±2 for a torque range of 0 to lOOONm. M57. The method according to any of the preceding method embodiments with the features of method embodiment M5 wherein driving the at least one gearbox module comprises outputting a backlash of preferably at most 10 angular minutes.

[0387] M58. The method according to any of the preceding method embodiments with the features of method embodiment M5 wherein driving the at least one gearbox module comprises outputting a breakaway torque of preferably at most 30Nm.

[0388] M59. The method according to any of the preceding method embodiments with the features of method embodiment M5 wherein driving the at least one gearbox module outputs a torque increase and / or decrease of preferably at least 67 kNm / s and most preferably at least 75kNm / s.

[0389] M60. The method according to any preceding method embodiment wherein driving the drive module comprises operating at least one endstop interface module.

[0390] M61. The method according to any preceding method embodiment with the features of method embodiments Mil and M60 wherein the at least one endstop interface module is located on the housing.

[0391] M62. The method according to any preceding method embodiment with the features of method embodiment M61 wherein the at least one endstop interface module is configured to contribute preferably 2.6 cm to 4 cm to at least one dimension of the drive module performing at least part of the method.

[0392] M63. The method according to any preceding method embodiment wherein operating the strength training module comprises operating at least one kinematic structure module.

[0393] M64. The method according to any preceding method embodiment with the features of method embodiment M63, wherein operating the at least one kinematic structure comprises allowing a user to operate the modules performing the method as a strength training apparatus.

[0394] M65. The method according to any of the preceding method embodiments with the features of method embodiment M54, wherein operating the strength training module comprises operating at least one driven shaft. M66. The method according to any preceding method embodiment with the features of method embodiment M65, wherein operating the driven shaft comprises the driven shaft being driven by the drive module.

[0395] M67. The method according to any preceding method embodiments with the features of method embodiment M65, wherein operating the driven shaft comprises operating at least one part of the kinematic structure module.

[0396] M68. The method according to any of the preceding method embodiments with the features of method embodiments M54 and M65, wherein the driven shaft is inserted in the hollow-shaft gearbox.

[0397] M69. The method according to any of the preceding method embodiments with the features of method embodiment M68, wherein operating the driven shaft comprises creating with the hollow-shaft gearbox a concentricity of at most 0.2 mm, wherein the concentricity is measured at the end of the shaft with a maximum distant of shaft-housing being preferably 214 mm.

[0398] M70. The method according to any of the preceding method embodiments with the features of method embodiment M68, wherein operating the driven shaft comprises creating with the hollow-shaft gearbox a radial clearance of at most 0.03 mm, wherein the radial clearance is measured at the end of the shaft with a maximum distant of shaft-housing being preferably 214 mm.

[0399] M71. The method according to any of the preceding method embodiments with the features of method embodiment M65, wherein operating the at least one driven shaft comprises operating at least one driven shaft comprising material with a yield strength of preferably 800N / mm2.

[0400] M72. The method according to any of the preceding method embodiments with the features of method embodiment M65, wherein operating the at least one driven shaft comprises withstanding a static axial load of preferably at least 4513N and most preferably at least 5076N.

[0401] M73. The method according to any of the preceding method embodiments with the features of method embodiment M72, wherein the static axial load is applied to only one end of the at least one driven shaft.

[0402] M74. The method according to any of the preceding method embodiments with the features of method embodiment M65, wherein operating the at least one driven shaft comprises withstanding a static radial load of preferably at least 8258N.

[0403] M75. The method according to any of the preceding method embodiments with the features of method embodiment M65, wherein operating the at least one driven shaft comprises withstanding a bending moment of preferably at least 3117Nm.

[0404] M76. The method according to any preceding method embodiment wherein operating the strength training module comprises operating at least one endstop adapter module, wherein operating the at least one endstop adapter module comprises limiting the range of motion of at least one part of the strength training module.

[0405] M77. The method according to any preceding method embodiment with the features of method embodiment M76 wherein the at least one endstop adapter comprises at least one data indicative of at least one of and / or a combination of the strength training module and the endstop adapter module.

[0406] M78. The method according to any preceding method embodiment with the features of method embodiment M76, wherein the at least one endstop adapter module comprises a damping end.

[0407] M79. The method according to any preceding method embodiment with the features of method embodiment M78, wherein the damping end comprises a rubber bumper.

[0408] M80. The method according to any preceding method embodiment with the features of method embodiment M79 wherein the rubber bumper is replaceable, wherein the replaceability of the rubber bumper is independent of the position of the endstop adapter with respect to the strength training module.

[0409] M81. The method according to any preceding method embodiment with the features of method embodiments M65 and M79 wherein the rubber bumper is replaceable, wherein the replaceability of the rubber bumper is independent of the position of the endstop adapter with respect to the at least one driven shaft.

[0410] M82. The method according to any preceding method embodiment with the features of method embodiments M60 and M76, wherein operating the at least one endstop interface module and the at least one endstop adapter module comprises comprising the at least one endstop interface module and the at least one endstop adapter module in a protection housing. M83. The method according to any preceding method embodiment with the features of method embodiments M60 and M76 wherein operating the at least one endstop interface module correspond to operating the at least one endstop adapter module.

[0411] M84. The method according to any preceding method embodiment with the features of method embodiment M83 wherein the at least one endstop interface module and the corresponding at least one endstop adapter module are engaged.

[0412] M85. The method according to any preceding method embodiment with the features of method embodiment M84, wherein operating the at least one module performing the method comprises insuring the correct engagement of the at least one endstop interface module and the at least one endstop adapter module via Poka-Yoke.

[0413] M86. The method according to any preceding method embodiment with the features of method embodiments M65 and M76, wherein operating the at least one endstop adapter comprises limiting the angular range of motion of the driven shaft.

[0414] M87. The method according to any preceding method embodiment with the features of method embodiment M86, wherein operating the at least one endstop adapter comprises limiting the angular range of motion of the driven shaft to a resulting range of motion according to the range of motion of the at least one moving body part according to the at least one muscle targeted by the method.

[0415] M88. The method embodiment according to any preceding method embodiment with the features of method embodiments M63 and M87, wherein the resulting range of motion of the driven shaft is functionally dependent, according to the kinematic structure, on the range of motion of the at least one moving body part.

[0416] M89. The method embodiment according to any preceding method embodiment with the features of method embodiments M88, wherein operating the at least one endstop adapter comprises limiting the angular range of motion of the driven shaft to 105% of the resulting range of motion of the driven shaft.

[0417] M90. The method according to any of the preceding method embodiments with the features of method embodiment M76, wherein operating the endstop system comprises withsdtanding a load of preferably at least 3750Nm.

[0418] M91. The method according to any of the preceding method embodiments wherein operating the strength training module comprises operating at least one smart accessory.

[0419] M92. The method according to the preceding method embodiment wherein operating the at least one smart accessory comprises operating at least one smart handle.

[0420] M93. The method according to any preceding method embodiment wherein the method comprises driving at least two low-backlash drive modules.

[0421] M94. The method according to any preceding method embodiment wherein the method comprises driving at least two concentric drive modules.

[0422] M95. The method according to any preceding method embodiment wherein the method comprises driving at least two cycloidal drive modules.

[0423] M96. The method according to any preceding method embodiment wherein the method comprises driving at least two harmonic drive modules.

[0424] M97. The method according to any preceding method embodiment wherein the method comprises driving at least two drive modules such that driving the at least two drive modules comprises driving the at least two drive modules as a combination of at least two of low-backlash drive modules, concentric drive modules, cycloidal drive modules and / or harmonic drive modules.

[0425] M98. The method according to any preceding method embodiment with any of the features of method embodiments M93-M97 wherein the method comprises operating at least one module performing the method for unilateral training.

[0426] M99. The method according to any preceding method embodiment with the features of method embodiment M98 wherein driving the at least two drive modules comprises driving the at least two drive modules independently from each other.

[0427] M100. The method according to any preceding method embodiment with the features of method embodiments M54 and M98, wherein the hollow shaft of each of the at least two drive modules are positioned on the same axis.

[0428] M101. The method according to any preceding method embodiment wherein the method comprises drawing power from the grid. M102. The method according to any of the preceding method embodiments wherein the method comprises drawing power from at least one power supply.

[0429] M103. The method according to any of the preceding method embodiments with the features of method embodiment M102 wherein drawing power from the at least one power supply comprises keeping the at least one module performing the method running until proper shutdown of the at least one module performing the method, preferably for 5 seconds.

[0430] M104. The method according to any preceding method embodiment with the features of method embodiment M19, wherein operating the drive microcontroller module comprises initiating a shutdown of the at least one module performing the method when the drive microcontroller module receives data from the frequency controller module relating to a loss of power to the method.

[0431] M105. The method according to any preceding method embodiment wherein operating the drive microcontroller module comprises operating a communication module.

[0432] M106. The method according to any of the preceding method embodiments wherein operating the drive microcontroller comprises operating a motor controller module.

[0433] M107. The method according to any preceding method embodiment, wherein communicating between modules performing the method occurs preferably within 10-20 ms.

[0434] M108. The method according to any preceding method embodiment with the features of method embodiment M105, wherein operating the communication module comprises communicating with the at least one inverter.

[0435] M109. The method according to any preceding method embodiment with the features of method embodiment M5, M105 and M106, wherein operating the communication module comprises allowing communication between the motor module, the motor controller module and the apparatus microcontroller.

[0436] Ml 10. The method according to any preceding method embodiment with the features of method embodiment M41 and M105, wherein operating the communication module comprises allowing communication between the at least one motor of the motor module with the apparatus microcontroller module according to the hardware ID connected to the at least one motor.

[0437] Mill. The method according to any of the preceding method embodiments with the features of method embodiment M106, wherein operating the motor controller module comprises powering down the motor output preferably within 50 ms.

[0438] Ml 12. The method according to any preceding method embodiment with the features of method embodiment M106, wherein operating the motor controller module comprises outputting at least one operational command to the motor module.

[0439] Ml 13. The method according to any preceding method embodiment with the features of method embodiment M112, wherein the at least one operational command comprises at least one valid torque frame.

[0440] Ml 14. The method according to any preceding method embodiment with the features of method embodiment M112, wherein the at least one operational command comprises a valid signature.

[0441] M115. The method according to any preceding method embodiment with the features of method embodiments M39 and M106, wherein operating the motor controller module comprises outputting at least one data indicative of the at least one motor state.

[0442] Ml 16. The method according to any preceding method embodiment with the features of method embodiments M105 and M115, wherein operating the motor controller module comprises transmitting the at least one data indicative of the at least one motor state to the communication module.

[0443] Ml 17. The method according to any preceding method embodiment with the features of method embodiments M115, wherein operating the motor controller module comprises outputting at least one warning relative to the at least one data indicative of the at least one motor state.

[0444] Ml 18. The method according to any preceding method embodiment with the features of method embodiments M115, wherein operating the motor controller module comprises outputting at least one error relative to the at least one data indicative of the at least one motor state.

[0445] M119. The method according to any preceding method embodiment wherein operating the apparatus microcontroller module comprises operating a firmware module.

[0446] M120. The method according to any preceding method embodiment with the features of method embodiment M119, wherein operating the firmware module comprises connecting to a server.

[0447] M121. The method according to any preceding method embodiment with the features of method embodiment M120, wherein operating the firmware module comprises receiving at least one firmware update.

[0448] M122. The method according to any preceding method embodiment with the features of method embodiment M119, wherein operating the firmware module comprises storing a firmware signature.

[0449] M123. The method according to any preceding method embodiment with the features of method embodiment M119, wherein operating the firmware module comprises operating a Torque-Frame Watchdog module.

[0450] M124. The method according to any preceding method embodiment with the features of method embodiments M113 and M123 wherein operating the Torque-Frame Watchdog module comprises detecting at least one torque frame from the at least one operational command.

[0451] M125. The method according to any preceding method embodiment with the features of method embodiment M124, wherein operating the torque-frame watchdog module comprises detecting if the detected at least one torque frame comprises a valid signature.

[0452] M126. The method according to any preceding method embodiment with the features of method embodiments M113 and M125, wherein operating the torque-frame watchdog module comprises shutting down the drive module if the torque-frame watchdog module detected at least one non-valid signature.

[0453] M127. The method according to any preceding method embodiment with the features of method embodiments M113 and M125, wherein operating the torque-frame watchdog module comprises shutting down the drive module if the torque-frame watchdog module does not detect at least one valid torque-frame within a configurable time limit. M128. The method according to any preceding method embodiment with the features of method embodiment M119, wherein operating the firmware module comprises operating a bootloader module.

[0454] M129. The method according to any preceding method embodiment with the features of method embodiment M128, wherein operating the bootloader module comprises running at least one power-on-system-test on at least one module performing the method.

[0455] M130. The method according to any preceding method embodiment with the features of method embodiment M129, wherein the at least one module performing the method will be deactivated if the at least one module fails the power-on-system- test.

[0456] M131. The method according to any of the preceding method embodiments with the features of method embodiment M128, wherein operating the bootloader comprises running at least one rotor synchronization routine.

[0457] M132. The method according to any preceding method embodiment with the features of method embodiments M44, M63 and M131, wherein operating the at least one torque sensor comprises detecting at least one wrongly mounted kinematic structure module during the at least one rotor synchronization routine.

[0458] M133. The method according to any preceding method embodiment with the features of method embodiments M44, M63 and M131, wherein operating the at least one torque sensor comprises detecting at least one out of limits kinematics structure module during the at least one rotor synchronization routine.

[0459] M134. The method according to any preceding method embodiment with the features of method embodiments M46 and M131, wherein operating the apparatus microcontroller comprises adjusting the torque outputted by the at least one motor according to the at least one torque measurement.

[0460] M135. The method according to any preceding method embodiment with the features of method embodiment M128, wherein operating the bootloader module comprises outputting at least one data indicative of the bootloader module status.

[0461] M136. The method according to any preceding method embodiment with the features of method embodiments M122 and M128, wherein operating the bootloader module comprises determining if the firmware signature has been tampered with.

[0462] M137. The method according to any preceding method embodiment with the features of method embodiments M122 and M128, wherein operating the bootloader comprises checking the firmware signature at every boot.

[0463] M138. The method according to any preceding method embodiment with the features of method embodiments M128, wherein operating the bootloader module comprises operating a hardware variant detection module.

[0464] M139. The method according to any preceding method embodiment with the features of method embodiment M138, wherein operating the hardware variant detection module comprises detecting at least one hardware variant connected to at least one module performing the method.

[0465] M140. The method according to any preceding method embodiment with the features of method embodiment M139, wherein operating the hardware variant detection module comprises detecting at least one invalid hardware variant connected to the modules performing method.

[0466] M141. The method according to any preceding method embodiment with the features of method embodiment M140, wherein operating the hardware variant detection module comprises outputting at least one data indicative of an error with respect to the at least one invalid hardware variant.

[0467] M142. The method according to any preceding method embodiment with the features of method embodiment M140, wherein operating the hardware variant detection module comprises switching all modules performing the method to an error state wherein switching the modules performing the method in error state comprises switching the modules performing the method to idle mode, outputting at least one data indicative of at least one error, and shutting down the modules performing the method.

[0468] M143. The method according to any preceding method embodiment, wherein operating the apparatus microcontroller module comprises operating an application module.

[0469] M144. The method according to any preceding method embodiments with the features of method embodiments M128 and M143, wherein operating the application module comprises activating the bootloader module.

[0470] M145. The method according to any preceding method embodiments with the features of method embodiments M143, wherein operating the application module comprises activating at least one checksum evaluation.

[0471] M146. The method according to any preceding method embodiments with the features of method embodiments M144, wherein operating the application module comprises switching the modules performing the method to idle state should the application module fail the at least one checksum evaluation.

[0472] M147. The method according to any preceding method embodiment with the features of method embodiment M143, wherein operating the application module comprises logging out a user should the apparatus microcontroller generate and / or receive at least one warning.

[0473] M148. The method according to any preceding method embodiment with the features of method embodiment M143, wherein operating the application module comprises outputting at least one data indicative of a warning before outputting at least one data indicative of an error.

[0474] M149. The method according to any preceding method embodiment with the features of method embodiment M143, wherein operating the application module comprises decreasing the torque of the at least one motor to zero should the apparatus microcontroller generate / receive at least one error.

[0475] M150. The method according to any preceding method embodiment with the features of method embodiment M143, wherein operating the application comprises decreasing the torque of the at least one motor to motor brake should the apparatus microcontroller generate / receive at least one error.

[0476] M151. The method according to any preceding method embodiment with the features of method embodiment M143, wherein operating the application module comprises switching all motor phases of the at least one motor to open state should the apparatus microcontroller generate / receive at least one error.

[0477] M152. The method according to any preceding method embodiment with the features of method embodiment M143, wherein operating the application module comprises assessing the integrity and / or plausibility of the components performing of the method.

[0478] M153. The method according to any preceding method embodiment with the features of method embodiment M143, wherein operating the application module comprises assessing the integrity and / or plausibility of the components performing of the method, periodically.

[0479] M154. The method according to any preceding method embodiment with the features of method embodiment M143 wherein operating the application module comprises configuring the modules performing the method into at least one operating mode.

[0480] M155. The method according to any preceding method embodiment with the features of method embodiments M39 and M154 wherein the at least one operating mode comprises at least one idle state, wherein the at least one idle state comprises reducing the power consumption of the modules performing the method when the at least one motor is inactive.

[0481] M156. The method according to any preceding method embodiment with the features of method embodiments M105 and M154 wherein the at least one operating mode comprises at least one training mode, wherein the at least one training mode comprises transmitting at least one of or any combination of torque, speed and / or acceleration parameter to the communication module according to at least one training plan.

[0482] M157. The method according to any preceding method embodiment wherein operating the modules performing the method comprises outputting at least one data indicative of the module's configuration to the apparatus microcontroller.

[0483] M158. The method according to any preceding method embodiment with the features of method embodiment M157, wherein operating at least one module of the modules comprises outputting at least one data indicative of the module's configuration to the apparatus microcontroller, in a periodic way.

[0484] M159. The method according to any preceding method embodiment with the features of method embodiment M158, wherein operating at least one module of the modules comprises outputting at least one data indicative of the module's temperature to the apparatus microcontroller, in a periodic way, preferably every 5 seconds.

[0485] M160. The method according to any preceding method embodiment with the features of method embodiment M158, wherein operating at least one module of the modules comprises outputting at least one data indicative of the module's electric current to the apparatus microcontroller, in a periodic way, preferably every 3 ms.

[0486] M161. The method according to any of the preceding method embodiments wherein operating the apparatus microcontroller module comprises implementing at least one of or any combination of torque, speed acceleration, and / or training weights safety limit.

[0487] M162. The method according to any of the preceding method embodiments with the features of method embodiment M161 wherein operating the apparatus microcontroller module comprises configuring the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit.

[0488] M163. The method according to any preceding method embodiment with the features of method embodiment M162 wherein operating the apparatus microcontroller module comprises dynamically configuring the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit.

[0489] M164. The method according to any preceding method embodiment with the features of any of method embodiments M39 and M162, wherein operating the apparatus microcontroller module comprises configuring the at least one of or any combination of torque, speed acceleration, and / or training weights safety limit while the at least one motor is active.

[0490] M165. The method according to any of the preceding method embodiments with the features of any of method embodiment M161 wherein the at least one limit comprises at least one warning level threshold.

[0491] M166. The method according to any of the preceding method embodiments with the features of any of method embodiment M161 wherein the at least one limit comprises at least one error level threshold.

[0492] M167. The method according to any preceding method embodiment with the features of method embodiments M165 and / or M166, wherein the at least one level threshold is adjustable.

[0493] M168. The method according to any preceding method embodiment with the features of method embodiment M165 wherein the method comprises outputting at least one data indicative of at least one warning when the at least one threshold is passed. M169. The method according to any preceding method embodiment with the features of method embodiment M166 wherein the method comprises outputting at least one data indicative of at least one error when the at least one threshold is passed.

[0494] M170. The method according to any preceding method embodiment with the features of any of method embodiments M109 and / or MHO, M161 wherein the at least one limit is transmitted to the motor controller module via at least one torque-frame, wherein a torque-frame is a package.

[0495] M171. The method according to the preceding method embodiment M170 wherein the torque-frame comprises a valid signature.

[0496] M172. The method according to any of the preceding method embodiments with the features of method embodiment M143, wherein operating the application module comprises operating a calibration module.

[0497] M173. The method according to any of the preceding method embodiments with the features of method embodiments M46 and M172, wherein operating the calibration module comprises executing drag torque correction on the drive module's output torque.

[0498] M174. The method according to any of the preceding method embodiments with the features of method embodiment M173, wherein the breakaway torque of the drive system is preferably at most 10 Nm when drag torque correction is implemented.

[0499] M175. The method according to any of the preceding method embodiments with the features of method embodiment M143, wherein operating the calibration module comprises operating a cogging suppression module.

[0500] M176. The method according to any preceding method embodiment with the features of method embodiment M175, wherein operating the cogging suppression module comprises executing at least one cogging suppression operation.

[0501] M177. The method according to any of the preceding method embodiments with features of method embodiment M172, wherein operating the calibration module comprises operating the calibration module while the modules performing the method are starting and / or restarting.

[0502] M178. The method according to any preceding method embodiment wherein operating the apparatus microcontroller module comprises operating a training plan module. M179. The method according to any preceding method embodiment with the features of any of method embodiments M161 and M162, wherein the configuration of the at least one limit may occurs at the granularity of individual training sessions.

[0503] M180. The method according to any preceding method embodiment with the features of method embodiment M5, wherein operating the frequency converter module comprises identifying at least one supply voltage.

[0504] M181. The method according to any preceding method embodiment with the features of method embodiment, wherein operating the frequency converter module comprises storing at least one supply voltage threshold.

[0505] M182. The method according to any preceding method embodiment with the features of method embodiments M180 and M181, wherein operating the frequency converter comprises outputting at least one data indicative of a warning with respect to the at least one supply voltage and the at least one supply threshold, to the apparatus microcontroller module.

[0506] M183. The method according to any preceding method embodiment with the features of method embodiments M180 and M181, wherein operating the frequency converter comprises outputting at least one data indicative of an error with respect to the at least one supply voltage and the at least one supply threshold, to the apparatus microcontroller module.

[0507] M184. The method according to any preceding method embodiment with the features of method embodiment M183, wherein operating the apparatus microcontroller comprises shutting down the method should the modules performing the method receive the at least one data indicative of an error with respect to the at least one supply voltage and the at least one supply threshold.

[0508] M185. The method according to any preceding method embodiment wherein operating the apparatus microcontroller module comprises detecting at least one housing and / or internal temperature.

[0509] M186. The method according to any preceding method embodiment wherein operating the apparatus microcontroller module comprises storing at least one housing and / or internal temperature threshold. M187. The method according to any preceding method embodiment with the features of method embodiments M185 and M186, wherein operating the apparatus microcontroller module comprises outputting at least one data indicative of a warning with respect to the at least one housing and / or internal temperature and the at least one housing and / or internal temperature threshold.

[0510] M188. The method according to any preceding method embodiment with the features of method embodiments M185 and M186, wherein operating the apparatus microcontroller module comprises outputting at least one data indicative of an error with respect to the at least one housing and / or internal temperature and the at least one housing and / or internal temperature threshold.

[0511] M189. The method according to any preceding method embodiments with the features of method embodiments M156 and M187, wherein operating the apparatus microcontroller comprises outputting the at least one data indicative of a warning while the method is configured into at least one training mode.

[0512] M190. The method according to any preceding method embodiments with the features of method embodiments M155 and M189, wherein operating the application module comprises safely switching the modules performing the method to the idle state.

[0513] M191. The method according to any preceding method embodiment with the features of method embodiments M161 and M189, wherein operating the application module comprises decreasing the limits of the training weight for a period of time.

[0514] M192. The method according to any preceding method embodiment with the features of method embodiments, wherein operating the apparatus microcontroller module comprises employing hysteresis in the matter of switching between operating modes, wherein the hysteresis comprises reducing the frequency of the switching between operating modes.

[0515] M193. The method according to any preceding method embodiment with the features of method embodiment M192, wherein the limits of the hysteresis are adjustable.

[0516] M194. The method according to any of the preceding method embodiments wherein the method comprises operating a logger module.

[0517] M195. The method according to any of the preceding method embodiments with the features of method embodiment M194, wherein operating the logger module comprises logging data relating to the method.

[0518] M196. The method according to any of the preceding method embodiments with the features of method embodiment M194, wherein operating the logger module comprises logging data relating to at least one warning in the modules performing the method.

[0519] M197. The method according to any of the preceding method embodiments with the features of method embodiment M194, wherein operating the logger module comprises logging data relating to at least one error in the modules performing the method.

[0520] M198. The method according to any of the preceding method embodiments with the features of method embodiment M195-M197, wherein operating the logger module comprises logging data such that the data is at least sufficient to recreate a simulation of the modules performing the method before and / or during the at least one warning and / or error.

[0521] M199. The method according to any preceding method embodiment with the features of method embodiment M194, wherein operating the logger module comprises being resistant against data corruption.

[0522] M200. The method according to any preceding method embodiment with the features of method embodiment M194, wherein operating the method comprises detecting at least one dysfunction of the logger module.

[0523] M201. The method according to any of the preceding method embodiment with the features of method embodiment M200, wherein the method comprises outputting at least one data indicative of the at least one dysfunction in the logger module.

[0524] M202. The method according to any of the preceding method embodiments wherein the method comprises operating a user interface.

[0525] M203. The method according to the preceding method embodiment wherein operating the user interface comprises operating a display device.

[0526] M204. The method according to any preceding method embodiment wherein the steel material comprised in the modules performing the method is protected against corrosion. M205. The method according to any of the preceding method embodiment wherein the switching frequency of the modules performing the method is configured to be above 20kHz at all times.

[0527] M206. The method according to any preceding method embodiment wherein the method comprises identifying slowly varying supply voltages.

[0528] M207. The method according to any preceding method embodiment wherein the method comprises operating the modules performing the method with slowly varying supply voltages.

[0529] M208. The method according to any preceding method embodiment wherein the method comprises detecting at least one short circuit.

[0530] M209. The method according to any preceding method embodiment with the features of method embodiment M208, wherein the method comprises switching the modules performing the method to a safe error state, wherein switching the modules performing the method to a safe error state comprises switching to an idle state, and outputting at least one data indicative of at least one error.

[0531] M210. The method according to any preceding method embodiment with the features of embodiment M208, wherein the method comprises re-establishing the output voltage after at least one short-circuit is removed.

[0532] M211. The method according to any of the preceding method embodiments wherein at least two of the modules' components performing the method and / or modules performing the method are connected via electric cables.

[0533] M212. The method according to any preceding method embodiment with the features of method embodiment M211 wherein the electric cables are shielded, wherein the shield is electrically grounded.

[0534] M213. The method according to any of the preceding method embodiments wherein the modules performing the method comprise at least one socket such as the at least one socket is configured for connection to at least one other module.

[0535] M214. The method according to the two preceding method embodiments M211 and M213, wherein at least one end of at least one electric cable correspond to at least one corresponding socket. M215. The method according to the previous method embodiment M214, wherein the electric cables are configured such that no damage to the modules performing the method is incurred, should an electric cable be plugged-in to a non-corresponding socket.

[0536] M216. The method according to any preceding method embodiment with the features of method embodiment M214, wherein the at least one electric cable is configured to be safe against getting loose from their corresponding at least one socket.

[0537] M217. The method according to any preceding method embodiment wherein the method is a method for recreational strength training.

[0538] M218. The method according to any preceding method embodiment wherein the method is a method for medical strength training.

[0539] M219. The method according to any preceding method embodiment wherein the method comprises therapeutic strength training.

[0540] M220. The method according to any preceding method embodiment wherein operating the drive module comprises easily adapting the drive modules to a variety of strength training modules.

[0541] M221. The method according to any preceding method embodiment wherein the electric cables connecting the modules performing the method are replaceable.

[0542] M222. The method according to any preceding method embodiment wherein the modules performing the method comprises a label.

[0543] M223. The method according to any preceding method embodiment wherein the modules performing the method comprise a label each.

[0544] M224. The method according to any preceding method embodiment with any of the features of method embodiments M222 and M223, wherein the label is scannable.

[0545] M225. The method according to any preceding method embodiment with any of the features of method embodiments M222 and M223, wherein scanning the label comprises outputting at least one data indicative of the method and / or at least one data indicative of the modules of the method each. M226. The method according to any preceding method embodiment with the features of method embodiment M225 wherein the at least one data is stored in an external server.

[0546] M227. The method according to any preceding method embodiment wherein operating the drive module and / or the strength training module comprises handling loads of at least 2500W.

[0547] M228. The method according to any preceding method embodiment wherein operating the drive module and / or the strength training module comprises handling loads of at least 1257W for at least 5s.

[0548] M229. The method according to any preceding embodiment, wherein the method comprises operating at least a first set of modules performing the method according to any of the preceding method embodiments and a second set of modules performing the method according to any of the preceding method embodiments.

[0549] M230. The method according to the preceding method embodiment wherein the drive module and / or the drive microcontroller of the first set of modules performing the method is exchangeable with the drive module and / or the drive microcontroller of the second set of modules performing the method.

[0550] M231. The method according to the preceding method embodiment wherein the method performed by the first set of modules is a method for strength training and the method performed by the second set of modules is a method for a different type of strength training.

[0551] Below, computer program embodiments will be discussed. These embodiments are abbreviated by the letter "C" followed by a number. When reference is herein made to a computer method embodiment, those embodiments are meant.

[0552] Cl. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to any of the preceding method embodiments. Brief Figure Description

[0553] The present invention will now be described with reference to the accompanying drawings which illustrate embodiments of the invention. These embodiments should only exemplify, but not limit, the present invention.

[0554] Fig. 1 schematically depicts an example of the apparatus according to embodiments of the present invention;

[0555] Fig. 2 schematically depicts an example of part of the apparatus according to embodiments of the present invention;

[0556] Fig. 3 depicts another example of another part of the apparatus according to embodiments of the present invention;

[0557] Fig. 4 depicts an example of the apparatus according to embodiments of the present invention;

[0558] Fig. 5 depicts another example of the apparatus according to embodiments of the present invention.

[0559] It is noted that not all the drawings carry all the reference signs. Instead, in some of the drawings, some of the reference signs have been omitted for sake of brevity and simplicity of illustration. Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0560] Detailed Figure Description

[0561] Fig. 1 schematically depicts an example of the apparatus 1000 comprising a drive module 1200, a drive microcontroller module 1400, an apparatus microcontroller module 1600 and a strength training module 1800.

[0562] Drive module 1200 comprises a frequency converter module 1220, a motor module 1240, a gearbox module 1260 and an end-stop module 1280. Drive microcontroller 1200 is configured to send operational commands to strength training module 1800. Drive microcontroller 1400 comprises a motor module 1430 and a communication module 1460. Drive module 1200 is configured to communicate with communication module 1460 which transmits it in turn to apparatus microcontroller 1600. Communication module 1460 may also receive operational commands from apparatus microcontroller 1600, to transmit them to motor controller 1430 which may transmit them to the frequency converter module 1220 or drive module 1200 (connection not shown). Additionally, frequency converter module 1220 is configured to directly communicate with motor controller module 1430 allowing motor controller 1430 to send quickly operational commands to the frequency converter module 1220.

[0563] Apparatus microcontroller 1600 comprises firmware module 1630, application module 1660 and logger module 1690. Firmware module 1630 comprises bootloader module 1633, torque-watchdog module 1636 and hardware variant detection module 1639. Bootloader module 1633 may be configured to start-up apparatus microcontroller module and run all the needed hardware and software check-ups during start-up. Torque-watchdog module 1636 is configured to check torque-frames transmitted from the communication module and determine their validity as a security measure. Hardware variant detection module 1639 is configured to detect hardware variants as well as errors associated with their connections, placements and the variants themselves. Firmware 1630 may also communicate with application 1660.

[0564] Application 1660 is configured to store data related to the different operating modes, training modes, apparatus limits in terms of torque, speed, acceleration, and / or weights allowable by the apparatus 1000. Application 1660 may also comprise a calibration module 1665 wherein the calibration module is configured to execute drag torque correction and cogging suppression operations. These results will then be sent to the drive module 1200 via communication module 1460 to ensure that the apparatus produces the correct outputs.

[0565] Logger 1690 is also comprised in apparatus microcontroller 1600 and is configured to store limits and different data indicative of the state of the apparatus. At least enough data is stored in logger 1690 to correctly simulate the apparatus before and / or during an error and / or warning.

[0566] Fig. 2 schematically depicts an example of drive module 1200 and strength training module 1800. The apparatus 1000 may receive power from a power supply 1100 and / or the grid 2000. Frequency converter module 1220 comprises a rectifier module 1222, a DC bus module 1223, an inverter module 1224, a safe-torque-off module 1225, a switch 1226, and a break-chopper module 1227. Inverter module 1224 is configured to detect loss of power to the apparatus 1000 and utilize the energy storage in the inverter module to properly shutdown the apparatus. Switch 1226 is configured to cut off power to the entire apparatus should it be opened. Brake chopper 1227 is configured to divert excess energy of the drive module 1200 to itself while still not exceeding an appropriate amount of heat. The amount of heat generated should allow a user to touch / handle the housing of the drive module (not shown). The excess energy may also be redirected to the grid 2000 (connection not shown here).

[0567] Motor module 1240 comprises a motor 1243 and a torque sensor 1246. The motor is powered by frequency converter module 1220 and torque sensor 1246 measures the torque produced by the motor. Torque sensor 1246 may also be used in a closed loop torque control scheme and / or system (not shown).

[0568] Gearbox module 1260 is configured as a single stage reductor and a hollow-shaft gearbox, allowing a modification of the torque for driven shaft 1830 of the strength training module 1800. End-stop module 1280, in tandem with end-stop adapter 1860 are configured to limit the range of motion of the driven shaft 1830 and by extension, the range of motion of kinematic structure 1890.

[0569] Fig. 3 depicts an example of drive module 1200 in a housing 1500 showing a front view, top view and side view of housing 1500. Drive microcontroller may also be comprised in housing 1500. Endstop module 1280 located on housing 1280 Is configured to limit the angular range of motion of driven shaft 1830, by being connected to endstop adapter 1860. Endstop adapter 1860 and driven shaft 1830 may be switched for another driven shaft and endstop adapter configured for another kinematic structure and allowing for a different angular range of motion.

[0570] Fig.3 also depicts an example of some dimensions of certain components of the present invention. For example, dimension 1510 may be 25.5 cm, dimension 1520 may be 20,6 cm and dimension 1530 may be 20.5 cm. Moreover, dimension 1540 may be 54.8 cm, dimension 1550 may be 15.7 cm, dimension 1560 may be 13.05 cm and dimension 1570 may be 2.5 cm.

[0571] Fig. 4 depicts an example of an apparatus 1000 configured specifically as a chest press presenting a single housing 1500 of drive module 1200. As each side of the apparatus is connected to a singular drive module, the torque applied to a side of the apparatus 1000 is equivalent from the torque applied to another side of the apparatus 1000.

[0572] Fig. 5 depicts an example of an apparatus 1000 configured specifically as a chest press presenting two housings 1500 of drive modules 1200 enabling unilateral training. As each side of the apparatus is connected to a different drive module, the torque applied to a side of the apparatus 1000 is independent from the torque applied to another side of the apparatus 1000. While in the above, a preferred embodiment has been described with reference to the accompanying drawings, the skilled person will understand that this embodiment was provided for illustrative purpose only and should by no means be construed to limit the scope of the present invention, which is defined by the claims.

[0573] Whenever a relative term, such as "about", "substantially" or "approximately" is used in this specification, such a term should also be construed to also include the exact term. That is, e.g., "substantially straight" should be construed to also include "(exactly) straight".

[0574] Whenever steps were recited in the above or also in the appended claims, it should be noted that the order in which the steps are recited in this text may be accidental. That is, unless otherwise specified or unless clear to the skilled person, the order in which steps are recited may be accidental. That is, when the present document states, e.g., that a method comprises steps (A) and (B), this does not necessarily mean that step (A) precedes step (B), but it is also possible that step (A) is performed (at least partly) simultaneously with step (B) or that step (B) precedes step (A). Furthermore, when a step (X) is said to precede another step (Z), this does not imply that there is no step between steps (X) and (Z). That is, step (X) preceding step (Z) encompasses the situation that step (X) is performed directly before step (Z), but also the situation that (X) is performed before one or more steps (Yl), ..., followed by step (Z). Corresponding considerations apply when terms like "after" or "before" are used.

Claims

89AMENDED CLAIMS received by the International Bureau on 19 March 2026 (19.03.2026)

1. An apparatus for strength-training wherein the apparatus comprises a drive module, wherein the drive module is configured as a low- backlash drive module; a drive microcontroller module, wherein the drive microcontroller module is configured to transmit at least one operational command to the drive module; an apparatus microcontroller module, wherein the apparatus microcontroller module is configured to transmit at least one operational command to the drive microcontroller module; and a strength training module, wherein the strength training module comprises at least one kinematic structure module and at least one driven shaft, wherein the at least one kinematic structure is configured to allow a user to operate the apparatus as a strength training apparatus, and wherein the driven shaft is configured to be driven by the drive module, and wherein the driven shaft is configured to drive at least one part of the kinematic structure module.

2. The apparatus according to the preceding apparatus claim, wherein the drive module is configured as a concentric drive module.

3. The apparatus according to any of the preceding apparatus claims, wherein the drive module is configured as a cycloidal drive module.

4. The apparatus according to any of the preceding apparatus claims, wherein the drive module is configured as a harmonic drive module.

5. The apparatus according to any of the preceding apparatus claims, wherein the apparatus comprises a combination of at least two drive modules, wherein each drive module is independently configured as a low-backlash drive module, a concentric drive module, a cycloidal drive module, or a harmonic drive module.

6. The apparatus according to any of the preceding apparatus claims wherein the drive module is comprised in a volume of equal or less than 30cm x 35 cm x 20 cm.

7. The apparatus according to any of the preceding apparatus claims, wherein the drive module is comprised in a volume of 20 cm x 25 cm x 15 cm.

8. The apparatus according to any of the preceding apparatus claims, wherein the drive module is comprised in a volume of 20 cm x 20 cm x90

9. The apparatus according to any one of claims 6 to 8, wherein the drive microcontroller module is also comprised in the volume.

10. The apparatus according to any of the preceding apparatus claims wherein the apparatus comprises at least two drive modules, wherein the apparatus is configured for unilateral training.

11. The apparatus according to any preceding apparatus claims wherein the drive module comprises at least one frequency converter module, at least one motor module and at least one gearbox module, wherein the frequency converter module comprises at least one rectifier, at least one DC bus and at least one inverter, and wherein the frequency converter module is configured to detect a loss of power to the apparatus and utilize the energy storage of the inverter to shut-down the apparatus.

12. The apparatus according to any preceding apparatus claim wherein the apparatus is configured to feed generated power back to the grid.

13. The apparatus according to any preceding apparatus claim with the features of apparatus claim 11 wherein the frequency converter module comprises at least one brake chopper module wherein the at least one brake chopper is configured to generate at most an appropriate amount of heat, wherein an appropriate amount of heat is an amount of heat that, in addition to the heat generated by the other components of the apparatus, result in a temperature allowing a user to touch / manually handle the surface of the apparatus, at most 50°C.

14. The apparatus according to claim 13, wherein the temperature is at most 45°C.

15. The apparatus according to claim 13, wherein the temperature is at most 40°C.

16. The apparatus according to any preceding apparatus claim, wherein the strength training module comprises at least one endstop adapter module, wherein the at least one endstop adapter module is configured to limit the angular range of motion of the driven shaft to a resulting range of motion according to the range of motion of the at least one moving body part according to the at least one muscle targeted by the apparatus, wherein the resulting range of motion of the driven shaft is functionally dependent, according to the kinematic structure module, on the range of motion of the at least one moving body part, wherein the at least one endstop adapter is configured to limit the angular range of motion of the driven shaft to 105% of the resulting range of motion of the driven shaft.91

17. The apparatus according to any preceding apparatus claim, wherein the apparatus microcontroller comprises an application module, wherein the application module comprises a calibration module, wherein the calibration module is configured to execute drag torque correction on the drive module’s output torque.

18. The apparatus according to any preceding apparatus claim, wherein the apparatus microcontroller comprises an application module, wherein the application module comprises a calibration module, wherein the calibration module comprises a cogging suppression module, wherein the cogging suppression module is configured to execute at least one cogging suppression operation, and wherein the drive module comprises at least one frequency converter module, at least one motor module and at least one gearbox module, wherein the motor module comprises at least one torque sensor, wherein the at least one torque sensor is configured to be integrated in the cogging suppression operation.

19. The apparatus according to any preceding apparatus claim wherein the apparatus comprises a logger module, wherein the logger module is configured to log data relating to at least one warning in the apparatus and at least one error in the apparatus, wherein the logger module is configured to log data such that the data is at least sufficient to recreate a simulation of the apparatus before the at least one warning or error, and during the at least one warning or error.

20. A system for strength training wherein the system comprising at least two apparatuses according to any of the preceding apparatus embodiments, and wherein the drive module of at least one apparatus of the at least two apparatuses is exchangeable with the drive module of at least one of the other apparatuses.

21. The system according to claim 20, wherein the drive microcontroller of at least one apparatus of the at least two apparatuses is exchangeable with the drive microcontroller of at least one of the other apparatuses.

22. A method for strength-training wherein the method comprises driving a drive module, wherein the drive module is configured as a low-backlash drive module; operating a drive microcontroller module, wherein operating the drive microcontroller module comprises transmitting at least one operational command to the drive module,92 operating an apparatus microcontroller module, wherein operating the apparatus microcontroller module comprises transmitting at least one operational command to the drive microcontroller module and operating a strength training module, wherein operating the strength training module comprises operating at least one kinematic structure module and operating at least one driven shaft, wherein operating the at least one kinematic structure comprises allowing a user to operate the modules performing the method as a strength training apparatus, wherein operating the driven shaft comprises the driven shaft being driven by the drive module, and wherein operating the driven shaft comprises operating at least one part of the kinematic structure module.

23. The method according to claim 22, wherein the drive module is configured as a concentric drive module.

24. The method according to claim 22, wherein the drive module is configured as a cycloidal drive module.

25. The method according to claim 22, wherein the drive module is configured as a harmonic drive module.

26. The method according to any one of claims 22 to 25, wherein the method comprises driving a combination of at least two drive modules, wherein each drive module is independently configured as a low- backlash drive module, a concentric drive module, a cycloidal drive module, or a harmonic drive module.

27. The method according to any of the preceding method claims, wherein the drive module driven according to the method, is comprised in a volume of 30 cm x 35 cm x 20 cm,.

28. The method according to claim 27, wherein the drive module is comprised in a volume of 20 cm x 25 cm x 15 cm.

29. The method according to claim 27, wherein the drive module is comprised in a volume of 20 cm x 20 cm x 14 cm.

30. The method according to any one of claims 27 to 29, wherein the drive microcontroller operated by the method is also comprised in the volume.

31. The method according to any of the preceding method claims wherein the method comprises driving at least two drive modules, wherein the method comprises operating at least one module performing the method for unilateral training.

32. The method according to any preceding method claims wherein driving the drive module comprises operating at least one frequency converter93 module, driving at least one motor module and driving at least one gearbox module, wherein operating the frequency converter module comprises operating at least one rectifier, at least one DC bus and at least one inverter, and wherein operating the frequency converter module comprises detecting a loss of power to the drive module and utilizing the energy storage of the inverter to shut-down the modules performing the method.

33. The method according to any of the preceding method claims wherein the method comprises feeding generated power back to the grid.

34. The method according to any preceding method claim with the features of method claim 32, wherein operating the frequency converter module comprises operating the at least one brake chopper module, wherein operating the at least one brake chopper comprises generating at most an appropriate amount of heat, wherein an appropriate amount of heat is an amount of heat that, in addition to the heat generated by the other components of the method, result in a temperature allowing a user to touch / manually handle the surface of the method, preferably at most 50 °C.

35. The method according to claim 34, wherein the temperature is at most45°C.

36. The method according to claim 34, wherein the temperature is at most40°C.

37. The method according to any preceding method claim, wherein the operating the strength training module comprises operating at least one endstop adapter module, wherein operating the at least one endstop adapter module comprises limiting the angular range of motion of the driven shaft to a resulting range of motion according to the range of motion of the at least one moving body part according to the at least one muscle targeted by the method, wherein the resulting range of motion of the driven shaft is functionally dependent, according to the kinematic structure, on the range of motion of the at least one moving body part, and wherein operating the at least one endstop adapter comprises limiting the angular range of motion of the driven shaft to 105% of the resulting range of motion of the driven shaft.

38. The method according to any preceding method claim, wherein operating the apparatus microcontroller module comprises operating an application module, wherein operating the application module comprises operating a calibration module, wherein operating the94 calibration module comprises executing drag torque correction on the drive module’s output torque.

39. The method according to any preceding method claim, wherein operating the apparatus microcontroller module comprises operating an application module, wherein operating the application module comprises operating a calibration module, wherein operating the calibration module comprises operating a cogging suppression module, wherein operating the cogging suppression module comprises executing at least one cogging suppression operation, and wherein driving the drive module comprises operating at least one frequency converter module, driving at least one motor module and driving at least one gearbox module, wherein driving the motor module comprises operating at least one torque sensor, wherein operating the at least one torque sensor comprises integrating the operating of the at least one torque sensor in a cogging suppression operation.

40. The method according to any preceding method claim, wherein operating the modules performing the method comprises operating a logger module, wherein operating the logger module comprises logging data relating to at least one warning and at least one error in the method, wherein operating the logger module comprises logging data such that the data is at least sufficient to recreate a simulation of the modules performing the method before the at least one warning or error, and during the at least one warning or error.

41. The method according to any preceding method claim wherein the method comprises operating at least a first set of modules performing the method according to any of the preceding method embodiments and a second set of modules performing the method according to any of the preceding method claims, wherein the drive module of the first set of modules performing the method is exchangeable with the drive module of the second set of modules performing the method.

42. The method according to claim 41, wherein the drive microcontroller of the first set of modules performing the method is also exchangeable with the drive microcontroller of the second set of modules performing the method.

43. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to any of the preceding method claims.

Images