Electric training device including plurality of steppers and control method thereof

Abstract

Disclosed are an electric training device including a plurality of steppers and a control method thereof. The control method according to an embodiment disclosed herein comprises the steps of: setting threshold points for the first stepper and the second stepper on the first guide and the second guide, respectively, on the basis of a preset operating range; controlling the driving unit so that the first stepper and the second stepper, when moved by a user, reciprocate up and down while crossing each other along the first guide and the second guide within the preset operating range; sensing the positions of the first stepper and the second stepper; and when the position of one stepper among the first stepper and the second stepper is determined to be within the preset range of the threshold point, controlling the driving unit to apply a resistance force to the one stepper in the opposite direction to the movement direction of the one stepper.

Description

Electric training device including multiple steppers and control method thereof

[0001] The present disclosure relates to a training device and a method for controlling the same. More specifically, it relates to a training device that reciprocates a plurality of steppers up and down through electric control and a method for controlling the same.

[0002] With the recent surge in social interest in wellness and health, various types of exercise equipment are being developed, and demand for them is increasing. Conventional exercise equipment presented the inconvenience of requiring users to manually adjust exercise intensity or weight during workouts, which resulted in reduced efficiency and convenience of the user experience. To address these issues, active research is being conducted on exercise equipment incorporating electronic control technology, driven by the rapid advancements in electronic technology.

[0003] In particular, in specialized sports such as climbing, spatial constraints associated with the installation and placement of artificial rock wall holds are recognized as a significant problem. Various technological approaches are being pursued to overcome these limitations, and as part of this effort, climbing equipment equipped with electronic control systems has been developed. This technology overcomes the limitations of space utilization while enabling users to easily control exercise intensity and the environment, thereby contributing to a significant improvement in the efficiency and user convenience of the exercise equipment.

[0004] The present disclosure is conceived in response to the aforementioned background art and aims to provide an electric training device comprising a plurality of steppers and a method for controlling the same.

[0005] However, the problems to be solved in this disclosure are not limited to those mentioned above, and other unmentioned problems may be clearly understood based on the description below.

[0006] A training device according to one embodiment of the present disclosure for realizing the aforementioned objectives comprises a first guide and a second guide that are vertically extended and spaced apart at a predetermined interval and arranged to be parallel to each other, a first stepper and a second stepper respectively provided inside the first guide and the second guide and moving up and down along the first guide and the second guide, and a driving unit for moving the first stepper and the second stepper, and a control method for the electric training device comprises the steps of: setting a critical point of the first stepper and the second stepper respectively on the first guide and the second guide based on a predetermined operating range; controlling the driving unit so that when the first stepper and the second stepper are moved by a user, the first stepper and the second stepper move up and down in an intersecting manner along the first guide and the second guide within the predetermined operating range; detecting the position of the first stepper and the second stepper; and the position of one of the first stepper and the second stepper is the If it is determined that it is within a preset range from a critical point, the method includes the step of controlling the drive unit to apply a resistance force to the stepper in a direction opposite to the direction of movement of the stepper.

[0007] Alternatively, the step of applying the resistance force includes the step of generating and applying a resistance force of a size corresponding to the position of any one stepper to any one stepper.

[0008] Alternatively, the setting step includes a step of setting an operating range related to the vertical movement range of the first guide and the second guide, and a step of setting the lowest point of the preset operating range as a threshold point, and the step of applying the resistance force includes a step of applying an upward resistance force to either of the first stepper and the second stepper when it is determined that the stepper moving downward is within a preset range from the threshold point while the first stepper and the second stepper are moving back and forth vertically in an alternating manner.

[0009] Alternatively, the step of applying the resistance includes a step of increasing the resistance as the distance between any one of the steppers and the critical point decreases.

[0010] Alternatively, the step of applying the resistance force includes applying a first weight set based on the user's weight to a resistance force of a size corresponding to the position of any one of the steppers, and applying the resistance force with the first weight applied to any one of the steppers.

[0011] Alternatively, the step of applying the resistance force includes, if the movement speed of any one stepper is greater than or equal to a preset value, applying a second weight corresponding to the movement speed of any one stepper to a resistance force of a size corresponding to the position of any one stepper, and applying the resistance force with the second weight applied to any one stepper.

[0012] Alternatively, the control method includes the step of detecting the direction change speed of the first stepper and the second stepper while the first stepper and the second stepper move back and forth in an alternating manner, evaluating the user's exercise ability, and adjusting the preset range based on the exercise ability.

[0013] Alternatively, the step of applying the resistance includes the step of controlling the drive unit such that when the position of either the first stepper or the second stepper reaches the critical point, either stepper stops.

[0014] Alternatively, the setting step includes a step of setting an operating range related to the vertical movement range of the first guide and the second guide, and a step of setting the uppermost point of the preset operating range as a critical point, and the step of controlling the drive unit includes a step of controlling the drive unit such that a downward resistance force is transmitted to either of the first stepper and the second stepper when it is determined that the stepper moving upward is within a preset range from the critical point while the first stepper and the second stepper are moving back and forth vertically in an alternating manner.

[0015] Alternatively, the above-mentioned pre-set operating range may be set based on the user's height and the user's stride.

[0016] An electric training device according to one embodiment of the present disclosure for realizing the aforementioned objectives comprises: a first guide and a second guide that are vertically extended and spaced apart at a predetermined interval and arranged to be parallel to each other; a first stepper each provided inside the first guide and reciprocating up and down along the first guide; a second stepper each provided inside the second guide and reciprocating up and down along the second guide; a driving unit for driving the first stepper and the second stepper; and one or more processors that, based on a predetermined operating range, set critical points of the first stepper and the second stepper on the first guide and the second guide, respectively, and when the first stepper and the second stepper are moved by a user, control the driving unit so that the first stepper and the second stepper reciprocate up and down by crossing along the first guide and the second guide within the predetermined operating range, wherein the one or more processors detect the position of the first stepper and the second stepper, and the first stepper and the If it is determined that the position of any one of the second steppers is within a preset range from the threshold point, the drive unit is controlled so that a resistance force in the direction opposite to the movement direction of any one of the steppers is applied.

[0017] A computer program stored on a computer-readable storage medium is disclosed in accordance with an embodiment of the present disclosure for realizing the aforementioned objectives. When the computer program is executed on one or more processors, it includes the operation of setting a threshold point of the first stepper and the second stepper on the first guide and the second guide, respectively, based on a preset operating range; the operation of controlling the drive unit so that the first stepper and the second stepper move up and down in an alternating manner along the first guide and the second guide within the preset operating range when the first stepper and the second stepper are moved by a user; the operation of detecting the position of the first stepper and the second stepper; and the operation of controlling the drive unit to apply a resistance force to the stepper in a direction opposite to the direction of movement of the stepper when it is determined that the position of either the first stepper or the second stepper is within a preset range from the threshold point.

[0018] According to an electric training device including a plurality of steppers and a control method thereof according to one embodiment of the present disclosure, various exercise loads can be generated through electronic control with only user input, thereby providing the user with convenience and efficiency of exercise.

[0019] In addition, by applying resistance to the stepper that moves up and down, the impact transmitted to the user's feet during changes in direction can be mitigated, thereby preventing user injury.

[0020] FIG. 1 is an exemplary diagram showing the external configuration of a training device according to one embodiment of the present disclosure.

[0021] FIG. 2 is a block diagram showing a configuration that performs the function of a training device according to one embodiment of the present disclosure.

[0022] FIG. 3 is a flowchart schematically illustrating a method for controlling a training device according to one embodiment of the present disclosure.

[0023] FIG. 4 is an exemplary diagram schematically illustrating a method for controlling a training device according to one embodiment of the present disclosure.

[0024] FIG. 5 is an exemplary diagram illustrating a method of applying resistance to a downwardly moving stepper according to one embodiment of the present disclosure.

[0025] FIG. 6 is an exemplary diagram illustrating a method of applying resistance to a stepper based on a plurality of critical points according to one embodiment of the present disclosure.

[0026] Embodiments of the present disclosure are described below with reference to the attached drawings so that those skilled in the art (hereinafter, those skilled in the art) can easily implement them. The embodiments presented in the present disclosure are provided to enable those skilled in the art to use or implement the contents of the present disclosure. Accordingly, various modifications to the embodiments of the present disclosure will be apparent to those skilled in the art. That is, the present disclosure may be embodied in various different forms and is not limited to the embodiments below.

[0027] Throughout the specification of the present disclosure, identical or similar reference numerals refer to identical or similar components. Additionally, to clearly explain the present disclosure, reference numerals in the drawings that are unrelated to the description of the present disclosure may be omitted.

[0028] The term “or” as used in this disclosure is intended to mean an implicit “or” rather than an exclusive “or.” That is, unless otherwise specified in this disclosure or its meaning is unclear from the context, “X uses A or B” should be understood to mean one of the natural implicit substitutions. For example, unless otherwise specified in this disclosure or its meaning is unclear from the context, “X uses A or B” may be interpreted as X using A, X using B, or X using both A and B.

[0029] The term “and / or” as used in this disclosure should be understood to refer to and include all possible combinations of one or more of the enumerated related concepts.

[0030] The terms “comprising” and / or “comprising” as used in this disclosure should be understood to mean the presence of certain features and / or components. However, the terms “comprising” and / or “comprising” should be understood not to exclude the presence or addition of one or more other features, other components and / or combinations thereof.

[0031] Where not otherwise specified in the present disclosure or where the context does not make it clear that the singular form is indicated, the singular should generally be interpreted as including "one or more."

[0032] The term "the N (N is a natural number)" used in this disclosure may be understood as an expression used to distinguish the components of this disclosure from one another according to certain criteria, such as functional perspectives, structural perspectives, or convenience of explanation. For example, components performing different functional roles in this disclosure may be distinguished as a first component or a second component. However, components that are substantially identical within the technical scope of this disclosure but need to be distinguished for the convenience of explanation may also be distinguished as a first component or a second component.

[0033] The term “acquisition” as used in this disclosure may be understood to mean not only receiving data through a wired or wireless communication network with an external device or system, but also generating data in an on-device form.

[0034] Meanwhile, the terms "module" or "unit" as used in this disclosure may be understood as referring to an independent functional unit that processes computing resources, such as a computer-related entity, firmware, software or a part thereof, hardware or a part thereof, or a combination of software and hardware. In this case, "module" or "unit" may be a unit composed of a single element, or a unit expressed as a combination or set of multiple elements. For example, in a narrow sense, "module" or "unit" may refer to a hardware element of a computing device or a set thereof, an application program that performs a specific function of software, a procedure implemented through software execution, or a set of instructions for program execution. Furthermore, in a broad sense, "module" or "unit" may refer to the computing device itself that constitutes the system, or an application running on the computing device. However, since the above-described concept is merely an example, the concepts of "module" or "part" may be defined in various ways within the scope understandable to those skilled in the art based on the contents of this disclosure.

[0035] As used in this disclosure, the term "model" may be understood as a system implemented using mathematical concepts and language to solve a specific problem, a set of software units to solve a specific problem, or an abstract model regarding a processing process to solve a specific problem. For example, a neural network "model" may refer to an overall system implemented as a neural network that possesses problem-solving capabilities through learning. In this case, the neural network may possess problem-solving capabilities by optimizing parameters connecting nodes or neurons through learning. A neural network "model" may include a single neural network or a set of neural networks composed of multiple neural networks.

[0036] The term "data" as used in this disclosure may include "image," "signal," etc. The term "image" as used in this disclosure may refer to multidimensional data composed of discrete image elements. In other words, "image" may be understood as a term referring to a digital representation of an object visible to the human eye. For example, "image" may refer to multidimensional data composed of elements corresponding to pixels in a two-dimensional image. "Image" may refer to multidimensional data composed of elements corresponding to voxels in a three-dimensional image.

[0037] The explanation of the foregoing terms is intended to aid in understanding the present disclosure. Accordingly, it should be noted that unless a foregoing term is explicitly stated as a matter limiting the content of the present disclosure, it is not to be used in the sense of limiting the technical concept of the content of the present disclosure.

[0038] FIG. 1 is an exemplary diagram showing the external configuration of a training device according to one embodiment of the present disclosure.

[0039] Referring to FIG. 1, an electric training device (100) (hereinafter, training device (100)) according to one embodiment of the present disclosure includes a support part (110), a handle part (120), a footrest part (130), a base part (140), and a display (150).

[0040] A support member (110) according to one embodiment of the present disclosure may form the overall shape of a training device (100). The support member (110) may include a plurality of guides (111, 112) extended in the vertical direction. At this time, each of the plurality of guides (111, 112) may have one end connected to a support member (140) and may be formed in a shape inclined at a predetermined angle with respect to the bottom surface. Additionally, the plurality of guides (111, 112) may be spaced apart at a predetermined interval and provided parallel to each other.

[0041] Additionally, the support member (110) may further include an auxiliary bar connecting the plurality of guides (111, 112) at the upper portion of the plurality of guides (111, 112).

[0042] Meanwhile, other components constituting the training device (100) may be combined with the support member (110). Specifically, the handle member (120) and the footrest member (130) may be connected to the plurality of guides (111, 112) so as to be slidably movable through a plurality of guide grooves (111-1, 111-2, 112-1 and 112-2) formed on the inner side of the plurality of guides (111, 112). Specifically, a plurality of guide grooves (111-1 and 112-1) formed on the upper side and a plurality of guide grooves (111-2 and 112-2) formed on the lower side may be formed on the inner side of the plurality of guides (111, 112). At this time, a handle portion (120) may be connected to a plurality of guide grooves (111-1 and 112-1) formed on the upper side, and a footrest portion (130) may be connected to a plurality of guide grooves (111-2 and 112-2) formed on the lower side.

[0043] Additionally, a display (150) may be attached to the auxiliary bar and formed vertically relative to the bottom surface.

[0044] The handle portion (120) may include a plurality of handles. Each handle may be provided on the upper side of the support portion (110) and may be provided in a form facing each other. The handle portion (120) may move up and down along guide grooves (111-1 and 112-1) provided in the support portion (110) by control of the training device (100) or by operation of a user. For example, the user may perform an exercise by alternately moving both hands while holding each handle with both hands, such as climbing a rock wall. To this end, the training device (100) may further include a driving unit that moves the handle portion (120) at a specific speed or with a specific resistance.

[0045] Additionally, the handle portion (120) may include a sensor for sensing the movement of each handle or the force acting on each handle. For example, each handle may include a sensor. In this case, the sensor may detect the position of each handle, the speed of movement of the handle, and the force transmitted to the handle by the user's hand.

[0046] The footrest section (130) may include a plurality of steppers. Each footrest may be provided on the lower side of the support section (110) and may be provided in a form facing each other. The footrest section (130) may move up and down along guide grooves (111-2 and 112-2) provided in the support section (110) by control of the training device (100) or by operation of a user. For example, the user may place both feet on each footrest and perform an exercise by rolling both feet alternately, such as climbing a rock wall. To this end, the training device (100) may further include a driving unit that moves the footrest section (130) at a specific speed or with a specific resistance.

[0047] Additionally, the footrest (130) may include a sensor for sensing the movement of each stepper or the force acting on each stepper. For example, each stepper may include a sensor. In this case, the stepper can detect the position of each stepper, the movement speed of the stepper, and the force transmitted to the stepper by the user's foot.

[0048] A support member (140) may be formed at the bottom of the training device (100) so that the training device (100) is stably supported on the floor surface and the impact transmitted to the training device (100) during the user's exercise can be dispersed to the floor surface. The support member (140) may be connected to one end of a plurality of guides (111 and 112). In particular, the interior of the support member (140) may additionally include components not previously mentioned, such as a computing device and a driving unit that control the overall operation of the training device (100). The specific operation of the computing device and the driving unit will be described later through FIG. 2.

[0049] The display (150) can display various visual information related to the training device (100). The display (150) can visualize and output data of any form generated or determined by the computing device and data of any form received from the outside. Additionally, the display (150) can receive user input that generates commands to be transmitted to any system or any client, etc., connected to the computing device (210) via wired or wireless communication.

[0050] To this end, the display (150) can be implemented as a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, a 3D display, etc.

[0051] Additionally, the display (150) can be combined with a touch panel to be implemented as a touch screen. In this case, the display (150) can perform the function of an output interface that outputs an image through the touch screen, as well as the function of an input interface that receives touch input from a user.

[0052] The display (150) can implement a user interface to output graphics generated through a computing device or receive user input and transmit it to the computing device. For example, the display (150) can output video content in one area of ​​the display (150). Additionally, the display (150) can receive user input regarding graphics output in one area of ​​the display (150). In this case, user input regarding a specific graphic can be understood as an input signal generated by an operation in which the user selects a specific graphic through the display (150). Additionally, the operation of selecting a specific graphic may refer to actions that the user can perform through the display (150), such as touching, clicking, double-clicking, or hovering over the specific graphic. By receiving user input and transmitting it to the computing device, the display (150) can enable the operations of the training device (100) to be performed based on user control.

[0053] The display (150) can process information generated by the training device (100) and output it visually or audibly. For example, it can display information about exercise programs provided by the training device (100). Alternatively, it can analyze the user's exercise movements as the exercise progresses and provide them visually. Or, it can provide a visual or auditory alarm if the user performs a movement outside a preset range.

[0054] The display (150) can receive user input regarding the operation of the training device (100) from the user. For example, the training device (100) can manage user-specific exercise information by creating user-specific account information. To this end, the training device (100) can output a UI (User Interface) for logging into a user account and receive information required for login.

[0055] The user can select a desired exercise program through the display (150) of the training device (100) or provide an exercise program recommended by the training device (100). To perform the exercise, the user can place both hands on the handle portion (120) and both feet on the footrest portion (130). While performing the exercise, the user can move each handle (121 and 122) and each stepper (131 and 132) up and down.

[0056] Through a training device (100) according to one embodiment of the present disclosure, a user can perform actions such as mountain climbing or climbing. In particular, through the training device (100), a user can repeatedly perform cross crawl motion actions.

[0057] Meanwhile, the user may receive various exercise programs through the training device (100) according to the present disclosure. The training device (100) may analyze and provide the user's exercise status. For example, the training device (100) may provide a program that alternates between exercise and rest for a preset period of time. At this time, the handle portion (120) and the footrest portion (130) may move according to the preset exercise intensity, number of steps, step height, and number of sets. The display (150) may display the preset information on the screen and display the exercise time and the currently ongoing exercise set. For example, the training device (100) may provide a program that moves according to exercise conditions preset by the user. At this time, the display (150) may display on the screen the major parts of the user's muscle that are activated through exercise.

[0058] In particular, the training device (100) can provide an exercise course so that the user can feel like they are hiking while exercising. For example, the training device (100) may be provided with an exercise course that provides a feeling similar to a hiking course. Depending on the exercise course, at least one of exercise time, exercise intensity, exercise speed, and step height may be set. The training device (100) may provide video content along with the exercise course. The display (150) may display a screen of walking on a hiking trail or climbing a mountain while the exercise is performed to provide the user with an experience similar to hiking.

[0059] For example, the computing device can provide an exercise load to the user through the handle portion (120) or foot portion (130) based on exercise course information generated to correspond to the terrain characteristics of the exercise course. Additionally, the computing device can control the step height of the handle portion (120) or foot portion (130) based on the exercise course information while the exercise course is in progress.

[0060] At this time, when the handle portion (120) and the foot portion (130) are raised or lowered by the user, the drive unit can provide power to the handle or stepper to move it. Through this, users with weak muscles or those requiring exercise assistance can prevent injuries caused by excessive exercise. For example, the drive unit can provide power to the handle or stepper to move the handle or stepper upward. Additionally, when the user performs the action of lowering the handle or stepper, the drive unit can provide power upward to the handle or stepper to control the lowering speed of the handle or stepper.

[0061] FIG. 2 is a block diagram showing a configuration that performs the function of a training device according to one embodiment of the present disclosure. However, since FIG. 2 is merely an example, the training device (100) may include other configurations for implementing the training function, or only some of the configurations disclosed in FIG. 2 may be included in the training device (100).

[0062] Referring to FIG. 2, a training device (200) according to one embodiment of the present disclosure may be a block diagram showing some of the functional configurations of the training device (100) of FIG. 1. A training device (200) according to one embodiment of the present disclosure may include a computing device (210), a sensor (220), a driving unit (230), and a display (240). Since the display (240) of FIG. 2 may correspond to the display (150) of FIG. 1, a detailed description is omitted. The computing device (210) may be embedded in the base (140) of the training device (100) of FIG. 1. A part of the sensor (220) may be embedded in the base (140), and a part may be embedded in the handle (120) and the footrest (130). A part of the driving unit (230) may be embedded in the base (140), and a part may be embedded in the handle (120) and the footrest (130).

[0063] A computing device (210) according to one embodiment of the present disclosure may be a hardware device or part of a hardware device that performs comprehensive processing and computation of data, or it may be a software-based computing environment connected to a communication network. In FIG. 2, the computing device (210) is depicted as being a component of the training device (200), but it is not limited thereto. That is, the computing device (210) exists outside the training device (200) and can perform data communication by being connected to the training device (200) via wired or wireless means. The computing device (210) may be a server or a client that performs intensive data processing functions and shares resources through communication with the aforementioned training device (200). Additionally, the computing device (210) may be a cloud system connected to the aforementioned training device (200) that enables multiple servers and clients to comprehensively process data. Since the description above is merely one example regarding the type of computing device (210), the type of computing device (210) may be configured in various ways within a range understandable to those skilled in the art based on the contents of the present disclosure.

[0064] Referring to FIG. 2, a computing device (210) according to one embodiment of the present disclosure may include a processor (211), memory (212), a network unit (213), and an input / output unit (140). However, since FIG. 2 is merely an example, the computing device (210) may include other configurations for implementing a computing environment. Additionally, only some of the disclosed configurations may be included in the computing device (210).

[0065] A processor (211) according to one embodiment of the present disclosure may be understood as a constituent unit comprising hardware and / or software for performing computing operations. For example, the processor (211) may process instructions generated as a result of user interaction through a user interface. A processor (211) for performing such data processing and operations may include a central processing unit (CPU), a general purpose graphics processing unit (GPGPU), a tensor processing unit (TPU), an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA). Since the above-described type of processor (211) is merely an example, the type of processor (211) may be configured in various ways within a range understandable to those skilled in the art based on the contents of the present disclosure.

[0066] A memory (212) according to one embodiment of the present disclosure may be understood as a configuration unit comprising hardware and / or software for storing and managing data processed by a computing device (210). That is, the memory (212) may store data of any form generated or determined by a processor (211) and data of any form received by a communication interface (213). For example, the memory (212) may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory, RAM (random access memory), SRAM (static random access memory), ROM (read-only memory), EEPROM (electrically erasable programmable read-only memory), PROM (programmable read-only memory), magnetic memory, a magnetic disk, or an optical disk. Additionally, the memory (212) may include a database system that controls and manages data in a predetermined system. Since the above-described type of memory (212) is merely an example, the type of memory (212) can be configured in various ways within a range understandable to those skilled in the art based on the contents of the present disclosure.

[0067] Memory (212) can structure and organize data, combinations of data, and program code executable by the processor (211) that are necessary for the processor (211) to perform operations. For example, memory (212) can store program code that enables the processor (211) to process images, program code that enables the processor (211) to process commands based on user input through a user interface, and various data generated as the program code is executed.

[0068] The memory (212) may include information on at least one exercise course of the training device (200), information on the type and size of the exercise load, user information, etc.

[0069] A communication interface (213) according to one embodiment of the present disclosure may be understood as a configuration unit that transmits and receives data through any known form of wired or wireless communication system. For example, the communication interface (213) may perform data transmission and reception using wired or wireless communication systems such as a local area network (LAN), wideband code division multiple access (WCDMA), long term evolution (LTE), wireless broadband internet (WiBro), 5th generation mobile communication (5G), ultra-wide-band wireless communication, ZigBee, radio frequency (RF) communication, wireless LAN, wireless fidelity (Wi-Fi), near field communication (NFC), or Bluetooth. Since the communication systems described above are merely examples, wired or wireless communication systems for data transmission and reception of the communication interface (213) may be applied in various ways other than those described above.

[0070] The communication interface (213) can receive data necessary for the processor (211) to perform calculations through wired or wireless communication with any system or any client, etc. Additionally, the communication interface (213) can transmit data generated through the calculations of the processor (211) through wired or wireless communication with any system or any client, etc. The communication interface (213) can perform wired or wireless communication with a server managing a training device or another training device outside the training device (200). Alternatively, if the computing device (210) is configured outside the training device (200), the communication interface (213) can transmit and receive data to control the operation of the training device (200) and implement a user interface through communication with the training device (200).

[0071] One or more sensors (hereinafter, sensors) (220) can measure position, velocity, and acceleration, which are information generated by the user while exercising, and the force provided to the training device (200) by the user operating the training device (200). Specifically, the sensors (220) can measure the movement speed of the handle or stepper, the applied force, and the magnitude of the load provided to the user through the handle or stepper. The sensors (220) may include an encoder and a force sensor. The sensors (220) may be placed on each handle and each stepper.

[0072] Additionally, the sensor (220) may identify the position of each handle and each stepper. Specifically, the sensor (220) may identify the position of the handle and stepper moving on the guide. To this end, the sensor (220) may include an IMU sensor, an accelerometer, a laser sensor, etc.

[0073] The drive unit (230) may include one or more motors (231) (hereinafter referred to as motors) for providing exercise load to a user and a controller for controlling the motors (231). Additionally, the drive unit (230) may include a cable (232) (or wire, etc.) connecting the motors (231), the handle portion (120), and the footrest portion (130). For example, a plurality of handles and a plurality of steppers may be connected to the same motor (231) via the cable (232). At this time, the drive unit (230) may control movement by providing power to at least one of the plurality of handles and the plurality of steppers while the plurality of handles and the plurality of steppers are moved by the user. This will be explained in detail in FIG. 4.

[0074] The processor (211) can control the motor (231) to provide a determined size or type of exercise load. For example, the processor (211) can provide various types of exercise loads, such as elastic resistance, viscous resistance, isometric and real-time weight change. The type or size of the exercise load can be determined based on at least one of information entered by the user, pre-set information, or a sensing value measured by the sensor (220).

[0075] Meanwhile, the drive unit (230) may each include a motor (231) connected to a plurality of steppers and a motor (231) connected to a plurality of handles. However, it is not limited thereto, and the drive unit (230) may include a plurality of motors (231) connected to each handle and each stepper. That is, a motor (231) may be arranged to correspond to each of the plurality of handles and the plurality of steppers.

[0076] FIG. 3 is a flowchart schematically illustrating a method for controlling a training device (100) according to one embodiment of the present disclosure. FIG. 4 is an example diagram schematically illustrating a method for controlling a training device (100) according to one embodiment of the present disclosure.

[0077] In the following, for convenience of explanation of the present disclosure, a guide formed on the right side of the training device in the front view of FIG. 4 is referred to as the first guide, and a stepper and a handle connected to the first guide are referred to as the first stepper and the first handle. Additionally, a guide formed on the left side of the training device is referred to as the second guide, and a stepper and a handle connected to the second guide are referred to as the second stepper and the second handle.

[0078] Referring to FIG. 3, the processor (211) can set threshold points of the first stepper (131) and the second stepper (132) on the first guide (111) and the second guide (112), respectively, based on a preset operating range (S310). Here, the preset operating range may be a range in which the first stepper (131) and the second stepper (132) can move on the first guide (111) and the second guide (112), respectively.

[0079] Referring to FIG. 4, the processor (211) can set the operating range of the first stepper (131) to L1 on the first guide (111) and the operating range of the second stepper (132) to L2 on the second guide (112). At this time, the first stepper (131) can move within the L1 range on the first guide (111), and the second stepper (132) can move within the L2 range on the second guide (112), and this can be controlled by the processor (211) based on the drive unit (230). Meanwhile, L1 and L2 may be the same range.

[0080] In addition, referring to FIG. 4, the processor (211) can set the operating range of the first handle (121) to L3 on the first guide (111) and the operating range of the second handle (122) to L4 on the second guide (112). At this time, the first handle (121) can move within the L3 range on the first guide (111), and the second handle (122) can move within the L4 range on the second guide (112), and this can be controlled by the processor (211) based on the drive unit (230). Meanwhile, L3 and L4 may be the same range.

[0081] The processor (211) can set the range of motion of the steppers (first and second steppers (131 and 132)) respectively based on the user's body information. In particular, the processor (211) can set the range of motion based on the user's height and the user's stride. Specifically, the processor (211) can set the range of motion of the first stepper (131) and the second stepper (132) respectively based on at least one of the user's height and the user's stride. For example, the greater the user's height or the wider the stride, the wider the range of motion of the first stepper (131) and the second stepper (132) may be formed. Meanwhile, the first and second steppers (131 and 132) may be set differently based on the length of both legs. The processor (211) can receive the user's height and user's stride information through a display (150) or a user interface.

[0082] Meanwhile, the processor (211) may set the operating range of the first and second handles (122) in correspondence with the operating range set in the first and second steppers (131 and 132). Additionally, the processor (211) may set the operating range of the first handle (121) and the second handle (122), respectively, based on at least one of the user's key and the user's wing span.

[0083] After setting the operating range, the processor (211) can set the critical points of the first stepper (131) and the second stepper (132) on the first guide (111) and the second guide (112), respectively. The critical points may be points where the movement of the first stepper (131) and the second stepper (132) is restricted. That is, when the first stepper (131) and the second stepper (132) are located at the critical points, the first stepper (131) and the second stepper (132) may be stopped.

[0084] According to one embodiment of the present disclosure, the processor (211) may set either the highest point or the lowest point (p1) of the operating range as a threshold point. However, it is not limited thereto, and the processor (211) may set both the highest point and the lowest point (p1) of the operating range as threshold points.

[0085] Meanwhile, according to one embodiment of the present disclosure, the processor (211) can control the drive unit (230) so that when the position of either the first stepper (131) or the second stepper (132) reaches a critical point, either stepper is stopped. That is, the processor (211) can control the drive unit (230) so that the first stepper (131) and the second stepper (132) do not move outside the operating range set for each. To this end, the processor (211) can control the drive unit (230) so that each stepper (i.e., the first stepper and the second stepper (132)) is identified as having reached a critical point of the operating range, so that each stepper is stopped. Additionally, the processor (211) can control the drive unit (230) so that the stepper moves in a direction opposite to the direction of movement of the stepper that has reached the critical point.

[0086] For example, referring to FIG. 4, when the first stepper (131) moving downward reaches the lowest point (p1) of the L1 range on the first guide (111), the processor (211) can stop the first stepper (131) by controlling the drive unit (230) to apply an upward resistance force to the first stepper (131). Then, the processor (211) can move the first stepper (131) upward again by controlling the drive unit (230). Here, the resistance force may be a force acting in a direction away from the critical point by the stepper moving by the drive unit (230).

[0087] For convenience of explanation of the present disclosure, the following description assumes that the lowest point (p1) is set as the critical point.

[0088] When the first stepper (131) and the second stepper (132) are moved by the user, the processor (211) can control the drive unit (230) so that the first stepper (131) and the second stepper (132) move up and down in an alternating manner along the first guide (111) and the second guide (112) within a preset operating range (S320).

[0089] Specifically, the processor (211) can detect movement of the first stepper (131) and the second stepper (132) by the user. For example, the processor (211) can detect the first stepper (131) and the second stepper (132) moving according to the user's force when the exercise mode is set based on the user's exercise start command and the user places their feet on the first stepper (131) and the second stepper (132), respectively, in the exercise mode. At this time, the processor (211) can control the drive unit (230) to cause the first stepper (131) and the second stepper (132) to move back and forth up and down in an alternating manner. Referring to FIG. 4, the processor (211) can control the drive unit (230) so that when the first stepper (131) is lowered, the second stepper (132) is raised, and when the first stepper (131) is raised, the second stepper (132) is lowered. When the first stepper (131) and the second stepper (132) are connected to the motor (231) of the drive unit (230) through a cable (232), if a user applies force to the first stepper (131) to lower the first stepper (131), the second stepper (132) connected to the motor (231) can be raised.

[0090] Meanwhile, the processor (211) can control the drive unit (230) so that when the first handle (121) and the second handle (122) are moved by the user, the first handle (121) and the second handle (122) move back and forth up and down by crossing along the first guide (111) and the second guide (112) within a preset operating range. At this time, the processor (211) can control the drive unit (230) so that the first handle (121) and the second handle (122) also move in response to the movement of the first stepper (131) and the second stepper (132). Specifically, the processor (211) can control the drive unit (230) so that when the first stepper (131) and the second stepper (132) cross and rise and fall, the first handle (121) descends and the second handle (122) ascends.

[0091] The processor (211) can detect the positions of the first stepper (131) and the second stepper (132) while the first stepper (131) and the second stepper (132) are moving back and forth in an alternating manner.

[0092] The processor (211) can detect the positions of the first stepper (131) and the second stepper (132) in real time through the sensor (220). The positions of the first stepper (131) and the second stepper (132) may be the height of the first stepper (131) and the second stepper (132) relative to the floor surface, or the respective positions of the first stepper (131) and the second stepper (132) on the first guide (111) and the second guide (112).

[0093] Meanwhile, the processor (211) can identify the position of the first stepper (131) and the position of the second stepper (132) respectively, based on the sensing values ​​obtained through the sensor (220) included in the first stepper (131) and the sensor (220) included in the second stepper (132).

[0094] And, when the processor (211) determines that the position of either the first stepper (131) or the second stepper (132) is within a preset range from the critical point, it can control the drive unit (230) to apply a resistance force to either stepper in a direction opposite to the direction of movement of either stepper.

[0095] The processor (211) can determine whether the position of either the first stepper (131) or the second stepper (132) is within a preset range from a critical point while the first stepper (131) and the second stepper (132) are moving back and forth in an alternating manner. For example, referring again to FIG. 4, if the preset range is 10 cm, the processor (211) can determine whether the position of either the first stepper (131) or the second stepper (132) is within 10 cm from the lowest point (p1) identified in the first guide (111) and the second guide (112), respectively.

[0096] And, if the processor (211) determines that either the first stepper (131) or the second stepper (132) is located within a preset range from a critical point, the processor (211) can control the drive unit (230) to generate a resistance force acting in the opposite direction to the direction of movement on either stepper. For example, when the first stepper (131) and the second stepper (132) are connected to the motor (231) of the drive unit (230) through a cable (232), the processor (211) can generate a resistance force by reducing the number of rotations of the motor (231) or by controlling the motor (231) to rotate in reverse.

[0097] FIG. 5 is an exemplary diagram illustrating a method of applying resistance to a downwardly moving stepper according to one embodiment of the present disclosure.

[0098] According to one embodiment of the present disclosure, while the first stepper (131) and the second stepper (132) are moving back and forth in an alternating manner, the processor (211) may apply an upward resistance force to either of the first stepper (131) and the second stepper (132) when it is determined that the stepper moving downward is within a preset range from a critical point.

[0099] Referring to FIG. 5, if it is determined that the first stepper (131) moving downward intersects the second stepper (132) moving upward and is located within 10 cm of the lowest point (p1) of the operating range set in the first guide (111), the processor (211) can control the drive unit (230) to apply a resistance force (f1) to the first stepper (131) moving downward.

[0100] When the stepper reaches a critical point, the stepper stops. At this time, the faster the movement speed of the stepper reaching the critical point, the more abruptly the stepper stops. Such abrupt stopping of the stepper can transmit shock to the user's feet, and can also transmit shock to the user's knees and lower back. According to one embodiment of the present disclosure, when the processor (211) determines that the stepper is approaching a critical point, it can reduce the movement speed of the stepper by using a resistance force acting in the opposite direction to the stepper's movement direction, thereby inducing the user to change the direction of movement of the stepper or slowing down the speed of the stepper reaching the critical point. Therefore, the shock transmitted to the user as the stepper stops at the critical point can be reduced.

[0101] Meanwhile, according to one embodiment of the present disclosure, the processor (211) can generate and apply a resistance force of a size corresponding to the position of one of the first stepper (131) and the second stepper (132) identified as being located within a preset range from a threshold point. Specifically, when the processor (211) identifies that one of the first stepper (131) and the second stepper (132) is located within a preset range from a threshold point, the processor (211) can identify the relative position of one of the steppers from the threshold point. Then, the processor (211) can control the driving unit (230) so that a resistance force of a size corresponding to the identified relative position is applied to one of the steppers.

[0102] In particular, the processor (211) can increase the resistance force as the distance between a stepper and a critical point becomes closer. Specifically, the processor (211) can increase the magnitude of the resistance force applied to the stepper if, even though the processor has applied a resistance force in the direction opposite to the direction of movement to the stepper after the stepper has reached within a preset range from the critical point, the user continues to move the stepper closer to the critical point without changing the direction of movement of the stepper. That is, the processor (211) can apply a greater resistance force to the stepper as the distance between the stepper and the critical point becomes closer.

[0103] For example, referring again to FIG. 5, the processor (211) controls the drive unit (230) to apply a resistance force (f1) to the first stepper (131) when the first stepper (131) begins to be located 10 cm from the lowest point (p1) of the operating range set in the first guide (111), and when the first stepper (131) continues to approach the lowest point (p1), the resistance force applied to the first stepper (131) can be increased in proportion to the distance between the first stepper (131) and the lowest point (p1) to apply a greater resistance force (f2) to the first stepper (131).

[0104] According to one embodiment of the present disclosure, a processor (211) may apply a weight (hereinafter referred to as the first weight) set based on the user's weight to a resistance force of a size corresponding to the position of either the first stepper (131) and the second stepper (132) identified as being located within a preset range from a threshold point. Then, the processor (211) may apply the resistance force to which the first weight is applied to either stepper. That is, the processor (211) may increase the resistance force applied to the stepper as the user's weight increases (i.e., as the user is heavier).

[0105] Specifically, the processor (211) can identify the user's weight. The user's weight information may be received via a display, or it may be obtained based on the user's body information stored in a match with the user's identification information (e.g., ID). The processor (211) can apply a first weight set based on the user's weight to a stepper located within a preset range from a threshold point. For example, multiple weights classified according to weight may be preset. In particular, the weight may be set to a higher value as the weight increases. The processor (211) can identify a first weight corresponding to the user's weight among the multiple weights. Then, the processor (211) can apply the identified first weight corresponding to the user's weight to the resistance force corresponding to the position of the stepper located within a preset range from the threshold point. Meanwhile, the processor (211) may set the first weight in proportion to the user's weight.

[0106] Additionally, according to one embodiment of the present disclosure, if the movement speed of one of the first stepper (131) and the second stepper (132), identified as being located within a preset range from a threshold point, is greater than or equal to a preset value, the processor (211) may apply a weight (hereinafter referred to as the second weight) corresponding to the movement speed of one of the steppers to a resistance force of a size corresponding to the position of one of the steppers. The processor (211) may include the step of applying the resistance force to which the second weight is applied to one of the steppers. That is, the processor (211) may increase the resistance force applied to the steppers as the movement speed of the steppers increases (i.e., as the movement of the steppers increases).

[0107] Specifically, the processor (211) can identify the positions of the first stepper (131) and the second stepper (132), respectively, and identify the movement speeds of the first stepper (131) and the second stepper (132), respectively, based on the identified positions. Then, if the movement speed of the stepper located within a preset range is greater than or equal to a preset value, the processor (211) can apply a second weight to the resistance force corresponding to the position of the stepper. Then, the processor (211) can apply the resistance force with the second weight applied to the stepper. On the other hand, if the movement speed of the stepper located within a preset range is less than a preset value, the processor (211) may not apply the second weight to the resistance force corresponding to the position of the stepper. Meanwhile, the processor (211) may set the second weight in proportion to the movement speed of the stepper.

[0108] Meanwhile, according to an embodiment of the present disclosure, the processor (211) may simultaneously apply a first and a second weight to a resistance force corresponding to the position of the stepper. In this regard, the description of the present disclosure described above applies equally.

[0109] According to one embodiment of the present disclosure, while the first stepper (131) and the second stepper (132) are moving back and forth in an alternating manner, the direction change speed of the first stepper (131) and the second stepper (132) is detected to evaluate the user's exercise ability and adjust a preset range based on the exercise ability.

[0110] Specifically, the processor (211) can adjust a preset range, which is a criterion for determining whether to apply resistance based on the user's exercise ability. In particular, if the processor (211) determines that the user's exercise ability has decreased, it can increase the preset range to apply resistance to the stepper more early.

[0111] To this end, the processor (211) can evaluate the user's exercise ability while the first stepper (131) and the second stepper (132) move back and forth in an alternating manner. In particular, the processor (211) can detect the direction change speed of the first stepper (131) and the second stepper (132) based on the positions of the first stepper (131) and the second stepper (132). The processor (211) can evaluate the user's exercise ability as high as the direction change speed of the first stepper (131) and the second stepper (132) is faster. On the other hand, the processor (211) can evaluate the user's exercise ability as low as the direction change speed of the first stepper (131) and the second stepper (132) is slower. At this time, the processor (211) can classify the user's exercise ability into multiple grades and set a weight corresponding to each grade. The processor (211) can identify a grade corresponding to the exercise ability of the user exercising, and apply a weight corresponding to the identified grade to the preset range to adjust the preset range.

[0112] FIG. 6 is an exemplary diagram illustrating a method of applying resistance to a stepper based on a plurality of critical points according to one embodiment of the present disclosure.

[0113] According to one embodiment of the present disclosure, the processor (211) may set the highest point (p2) of the operating range related to the vertical movement range of the first stepper (131) and the second stepper (132) in the first guide (111) and the second guide (112) as another critical point. Hereinafter, the lowest point (p1) is referred to as the first critical point, and the highest point (p2) is referred to as the second critical point.

[0114] At this time, referring to FIG. 6, the processor (211) can control the drive unit (230) so that a downward resistance force (f3) is transmitted to one of the steppers (131) and the second stepper (132) when it is determined that the stepper moving upward is within a preset range from the second threshold point while the first stepper (131) and the second stepper (132) are moving back and forth vertically. That is, the processor (211) can determine whether the stepper has reached within a preset range at the second threshold point, just as it did at the first threshold point, and apply a downward resistance force (f3) to the stepper moving upward. Meanwhile, the method of applying the resistance force and the method of applying the weight in relation to the first threshold point described above can be applied in the same way as at the second threshold point.

[0115] Additionally, according to one embodiment of the present disclosure, the processor (211) can set the range of motion for vertical movement in the first guide (111) and the second guide (112) for the first handle (121) and the second handle (122), respectively. Then, the processor (211) can set the highest point (p2) (and lowest point (p1)) of the range of motion of the first handle (121) and the second handle (122) as a threshold point, and when either the first handle (121) or the second handle (122) reaches within a preset range from the threshold point, the drive unit (230) can be controlled so that a resistance force acting in the opposite direction to the direction of movement of either handle is applied to either handle. In particular, when a user performs a cross-crawl motion, the first handle (121), the second handle (122), the first stepper (131), and the second stepper (132) move organically by the drive unit (230). In this case, when the stepper enters a preset range from a threshold point set as the lowest point (p1), the handles provided on the same guide can enter a preset range from a threshold point set as the highest point (p2). At this time, the processor (211) can control the drive unit (230) to apply a resistance force in the opposite direction of the movement direction to the stepper and the handles provided on the same guide, respectively. For example, an upward resistance force can be applied to the stepper and a downward resistance force to the handles.

[0116] FIG. 7 is a block diagram showing a detailed configuration of an electric training device (100) that performs the functions of an embodiment of the present disclosure. The training device (100) includes a computing device (710) (and a processor (711), memory (712), and communication interface (713) included in the computing device (710)), a sensor (720), a driving unit (730), a display (740), a camera (750), a speaker (760), a microphone (770), and a user interface (780).

[0117] The computing device (710) (and the processor (711), memory (712), and communication interface (713) included in the computing device (710)), sensor (720), driving unit (730), and display (740) shown in FIG. 7 may correspond to the computing device (210) (and the processor (211), memory (212), and communication interface (213) included in the computing device (210)), sensor (220), driving unit (230), and display (240) shown in FIG. 2, so a detailed description is omitted.

[0118] The camera (750) captures objects around the user and the training device (100) to obtain images of the objects. Specifically, based on the images of the user obtained by the camera (750), the processor (711) can determine whether the user is boarding the training device (100). Additionally, the camera (750) can obtain images of the lower area of ​​the steppers (131 and 132) to determine whether an object is located at the bottom of the steppers (131 and 132). To this end, the camera (750) may be implemented with an image sensor having a CMOS structure (CIS, CMOS Image Sensor) or an image sensor having a CCD structure (Charge Coupled Device). However, it is not limited thereto, and the camera (750) may be implemented with a camera module of various resolutions capable of capturing a subject. Meanwhile, the camera (750) can be implemented as a depth camera (e.g., IR depth camera, etc.), a stereo camera, or an RGB camera, etc.

[0119] The speaker (760) is configured to output various audio data that has undergone various processing operations, such as decoding, amplification, and noise filtering, by an audio processing unit (not shown). The speaker (760) can output various notification sounds or voice messages. According to one embodiment of the present disclosure, when the processor (711) identifies that an object is placed under the stepper (131 and 132), it can output a warning sound or a warning voice message through the speaker (760).

[0120] The microphone (770) can receive user voice corresponding to the user's speech, and the received user voice may correspond to a control command (e.g., an exercise start command or an exercise end command) for controlling the operation of the training device (100). The microphone (770) acquires vibrations corresponding to the user voice and converts the acquired vibrations into electrical signals. To this end, the microphone may include an A / D converter (Analog to Digital Converter) and may operate in conjunction with an A / D converter located outside the microphone. Meanwhile, at least some of the user voices received through the microphone (770) may be input into a speech recognition and natural language understanding model.

[0121] The user interface (780) is a configuration used by the training device (100) to perform interaction with the user, and may include at least one of a touch sensor, a motion sensor, a button, a jog dial, and a switch, but is not limited thereto. The processor (711) may receive user identification information (ID, name, gender, etc.) or receive an exercise start command or an exercise end command through the user interface (780). Alternatively, the user interface (780) may receive user information such as stride length, height, etc.

[0122] Meanwhile, a non-transitory computer-readable medium may be provided that stores a program for sequentially performing a control method of an electric training device (100) including a plurality of steppers according to one embodiment of the present disclosure.

[0123] A non-transient readable medium refers to a medium that stores data semi-permanently and can be read by a device, rather than a medium that stores data for a short moment, such as a register, cache, or memory. Specifically, the various applications or programs described above may be stored and provided on non-transient readable media such as CDs, DVDs, hard disks, Blu-ray discs, USBs, memory cards, and ROMs.

[0124] The various embodiments of the present disclosure described above may be combined with additional embodiments and modified to the extent understandable to those skilled in the art in light of the detailed description above. The embodiments of the present disclosure are illustrative in all respects and should be understood as not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form. Accordingly, all modifications or variations derived from the meaning, scope, and equivalents of the claims of the present disclosure should be interpreted as being included within the scope of the present disclosure.

Claims

1. A control method for an electric training device comprising: a first guide and a second guide that are vertically extended and spaced apart at a predetermined interval and arranged to be parallel to each other; a first stepper and a second stepper that are respectively provided on the inner side of the first guide and the second guide and move up and down along the first guide and the second guide; and a driving unit that moves the first stepper and the second stepper. A step of setting critical points of the first stepper and the second stepper on the first guide and the second guide, respectively, based on a preset operating range; A step of controlling the drive unit so that when the first stepper and the second stepper are moved by the user, the first stepper and the second stepper move up and down in an alternating manner along the first guide and the second guide within the preset operating range; A step of detecting the positions of the first stepper and the second stepper; and If it is determined that the position of either the first stepper or the second stepper is within a preset range from the critical point, the driving unit is controlled to apply a resistance force to the stepper in a direction opposite to the direction of movement of the stepper. A control method including 2. In Paragraph 1, The step of applying the above resistance is, A step of generating and applying a resistance force of a size corresponding to the position of any one stepper to any one of the above steppers; A control method including 3. In Paragraph 2, The step of setting the above is, A step of setting an operating range related to the vertical movement range of the first stepper and the second stepper; and The method includes the step of setting the lowest point of the above-mentioned pre-set operating range as a critical point; and The step of applying the above resistance is, While the first stepper and the second stepper are moving back and forth vertically in an alternating manner, if it is determined that either of the first stepper and the second stepper moving downward is within a preset range from the critical point, a step of applying an upward resistance force to the one of the steppers; A control method including 4. In Paragraph 2, The step of applying the above resistance is, A step of increasing the resistance as the distance between any one of the steppers and the critical point decreases; comprising Control method.

5. In Paragraph 2, The step of applying the above resistance is, A step comprising: applying a first weight set based on the user's weight to a resistance force of a size corresponding to the position of any one of the steppers, and applying the resistance force with the first weight applied to any one of the steppers; Control method.

6. In Paragraph 2, The step of applying the above resistance is, If the movement speed of any one of the steppers is greater than or equal to a preset value, a second weight corresponding to the movement speed of any one of the steppers is applied to a resistance force of a size corresponding to the position of any one of the steppers, and the resistance force with the second weight applied is applied to any one of the steppers; comprising the step of Control method.

7. In Paragraph 1, A step of evaluating the user's exercise ability by detecting the direction change speed of the first stepper and the second stepper while the first stepper and the second stepper move back and forth in an alternating manner; and A step of adjusting the preset range based on the above exercise ability; comprising Control method.

8. In Paragraph 1, The step of applying the above resistance is, A step of controlling the driving unit such that when the position of either the first stepper or the second stepper reaches the critical point, either stepper is stopped; Control method.

9. In Paragraph 2, The step of setting the above is, A step of setting an operating range related to the vertical movement range of the first stepper and the second stepper; and The method includes the step of setting the highest point of the above-mentioned pre-set operating range as a critical point; and The step of controlling the above-mentioned drive unit is, A step of controlling the drive unit so that a downward resistance force is transmitted to the one stepper when, while the first stepper and the second stepper are moving back and forth in an alternating manner, it is determined that either the first stepper or the second stepper moving upward is within a preset range from the critical point; A control method including 10. In Paragraph 1, The above-mentioned pre-set operating range is, A control method set based on the height of the user and the stride of the user.

11. In an electric training device, A first guide and a second guide that extend vertically and are spaced apart at a predetermined interval and arranged parallel to each other; A first stepper, each provided on the inner side of the first guide and moving up and down along the first guide; A second stepper, each provided on the inner side of the second guide and moving up and down along the second guide; A driving unit for driving the first stepper and the second stepper; and Based on a preset operating range, the first stepper and the second stepper each set a critical point on the first guide and the second guide, respectively, and when the first stepper and the second stepper are moved by a user, the first stepper and the second stepper are controlled to move up and down in an intersecting manner along the first guide and the second guide within the preset operating range, comprising one or more processors. The above one or more processors, Detecting the positions of the first stepper and the second stepper, and if it is determined that the position of either the first stepper or the second stepper is within a preset range from the threshold point, controlling the drive unit so that a resistance force opposite to the direction of movement of either stepper is applied. Electric training device.

12. A computer program stored on a computer-readable storage medium, wherein the computer program, when executed on one or more processors, performs operations for controlling an electric training device, and said operations are An operation of setting critical points of the first stepper and the second stepper on the first guide and the second guide, respectively, based on a preset operating range; When the first stepper and the second stepper are moved by the user, the operation of controlling the drive unit so that the first stepper and the second stepper reciprocate vertically by crossing along the first guide and the second guide within the preset operating range; An operation to detect the positions of the first stepper and the second stepper; and If it is determined that the position of either the first stepper or the second stepper is within a preset range from the critical point, the driving unit is controlled to apply a resistance force to the stepper in a direction opposite to the direction of movement of the stepper. A computer program including

Images