Muscular strength exercise apparatus, and exercise assistance device linked to muscular strength exercise apparatus

Abstract

The present invention relates to a muscular strength exercise apparatus, and an exercise assistance device linked to the muscular strength exercise apparatus. A spot control unit of the exercise assistance device, according to an embodiment of the present invention, can calculate a spot value on the basis of exercise state information such that an assisting force for muscular strength exercise is provided by the muscular strength exercise apparatus. In addition, the spot control unit can transmit the spot value to the muscular strength exercise apparatus through a support communication unit. Therefore, the assisting force based on an actual user-applied force exerted on the muscular strength exercise apparatus is generated to provide an effect of enabling exercise assistance according to the degree of reduction in physical strength of the user.

Description

Strength training equipment, exercise support device that works with strength training equipment

[0001] The present invention relates to a muscle strength exercise device and an exercise support device linked with a muscle strength exercise device, and more specifically, to an exercise support device that assists muscle strength exercise in conjunction with a muscle strength exercise device and a muscle strength exercise device.

[0002] Generally, strength training equipment used for muscle exercises is designed to repeat the relaxation and contraction of muscles by pushing or pulling a lever connected to a weight of a certain unit.

[0003] Among these exercise machines, there are various types, such as arm curl machines for bicep exercises, chest press or butterfly machines for chest exercises including the pectoralis major, and pull-up machines for muscle exercises.

[0004] Recently, home training—exercising for health at home, one's own "Querencia," rather than jogging or visiting a fitness center—has become a hot topic as a form of self-care. In response to this trend, not only are various strength training devices being proposed, but a new term, "Home-t-jok" (home training enthusiasts), has even emerged.

[0005] One example of a strength training device for home training is a cable-based device. This device is equipped with an internal drive motor that transmits the exercise load to the user via a cable. Consequently, the user performs strength exercises by pulling or releasing the device's cable.

[0006] In the case of typical strength training, a specific movement is repeated a certain number of times. For example, a specific movement is repeated, such as 15 reps for 5 sets.

[0007] However, as a person's physical strength decreases with each set of strength training, and even within a set, the number of repetitions decreases to the point where the person is unable to perform the full number of repetitions or the movements become smaller.

[0008] Typically, when you sign up for Personal Training (PT) at a fitness center, a professional trainer encourages the trainee during strength training and assists with the weight when necessary to help complete the set number of repetitions and sets. This act of a professional trainer assisting with the weight is called "Spotting," and such a trainer is referred to as a "Spotter."

[0009] However, since spotters are rarely used in home training, if stamina declines during repetitive strength exercises, movements become smaller, leading to situations where the workout cannot be sustained or the set number of reps and sets cannot be completed. This causes a decrease in the efficiency of strength training.

[0010] Accordingly, 'Digital strength training' disclosed in U.S. Patent US11389687 proposes a technology that assists weight in strength training.

[0011] The aforementioned U.S. registered patent assists weight by comparing the speed of a cable during a strength training process with a preset threshold speed. For example, it is configured so that a spot function corresponding to exercise assistance is activated when, for a predetermined period of time, the speed of the cable is below a preset threshold speed and the tension generated by the user is above a preset threshold.

[0012] At this time, the weight is supported by linearly reducing the motor torque, and if the cable speed changes beyond a preset speed, the motor torque is increased again within the set maximum speed range.

[0013] However, the spot function disclosed in the aforementioned U.S. registered patent has the following problems.

[0014] First, exercise assistance is provided only when the cable speed is below a set speed threshold, for example, a low speed close to '0', and no exercise assistance is provided during the exercise interval between normal exercise speed and the threshold speed. This has a problem in that exercise assistance is provided only when the user's physical strength drops rapidly, but not when the user's physical strength drops by, for example, about 30% during strength training.

[0015] Second, during the product shipment process, manufacturers predetermine speed thresholds and durations for exercise assistance, and the level of assistance is determined based on these standards. However, the exercise assistance generally required by users changes in real time depending on the type, intensity, and routine of the exercise performed; thus, assistance provided based on fixed speeds and times has the disadvantage of not being the assistance desired by the user.

[0016] Even if users could arbitrarily change the standard speed and time, having to manually find and input a speed or time suitable for their non-intuitive workouts every time is not only very cumbersome and reduces usability, but it is also difficult for users to accurately perceive the appropriate speed or time.

[0017] The present invention aims to provide a strength training device and an exercise support device linked to the strength training device, wherein exercise assistance, i.e., spotting, is possible not only when the user's physical strength rapidly declines but also according to the degree of decline in the user's physical strength throughout the entire strength training process.

[0018] Another objective of the present invention is to provide a strength training device capable of providing exercise assistance that mimics the process of a real fitness trainer, such as a Spotter, assisting with strength training, and an exercise support device linked with the strength training device.

[0019] Another objective of the present invention is to provide a strength training device and an exercise support device linked with the strength training device, wherein a virtual spotter performs exercise assistance according to the degree of physical strength decline during strength training to assist in the completion of sets and repetitions set by the user.

[0020] Another objective of the present invention is to provide a strength training device capable of preventing a decrease in the efficiency of strength training caused by excessive exercise assistance, and an exercise support device linked with the strength training device.

[0021] An exercise support device according to an embodiment of the present invention can be linked with a muscle strength exercise device.

[0022] In one embodiment, the exercise support device may be configured to include a support communication unit. The support communication unit can receive exercise status information based on the user's muscle strength exercise using a muscle strength exercise device.

[0023] An exercise support device according to an embodiment of the present invention may be configured to include a spot control unit. The spot control unit may calculate a spot value based on exercise state information so that an assistive force for muscle exercise is provided in a muscle exercise device. Additionally, the spot control unit may transmit the spot value to the muscle exercise device through a support communication unit.

[0024] In one embodiment, the spot control unit can calculate the ratio of the assisting force to a preset target load for a muscle strength exercise device as a spot value.

[0025] In one embodiment, the spot control unit can calculate the current exercise power for the current exercise cycle based on exercise state information, based on one exercise cycle of the muscle strength exercise device.

[0026] In addition, the spot control unit can calculate a spot value based on the deviation between the previous exercise power and the current exercise power, which were calculated and stored for the previous exercise cycle.

[0027] In one embodiment, the exercise state information may include either an exercise position value or an exercise speed value according to the strength exercise in the strength exercise device, and the user's action force acting on the strength exercise device during the strength exercise process.

[0028] Here, the spot control unit can calculate the current exercise power using the exercise speed value calculated based on the exercise position value or the exercise speed value included in the exercise state information, and the user's action force.

[0029] In one embodiment, the spot control unit can calculate the current exercise power at the current exercise position based on the exercise position value. Additionally, the spot control unit can calculate the spot value at the current exercise position based on the deviation between the current exercise power at the current exercise position and the previous exercise power in the previous exercise cycle corresponding to the current exercise position.

[0030] In one embodiment, the spot control unit [uses] a spot value mathematically

[0031] ,

[0032] It can be calculated by. Here, is a spot value, and is a pre-set gain value, and is the deviation between current exercise power and previous exercise power, and is a pre-set target load for the strength training machine, and ε is the acceleration due to gravity, and k is the upper limit of the assist force to determine the maximum assist force.

[0033] In one embodiment, the upper limit of the auxiliary force can be adjusted.

[0034] In one embodiment, the exercise support device may be configured to include a data storage unit in which the previous exercise power for each previous exercise position of the previous exercise cycle, and the previous highest point position value and previous lowest point position value of the previous exercise cycle are stored.

[0035] Here, the spot control unit can recognize that the direction of motion of the current motion cycle has been switched if, based on the motion position value, the current motion position drops below a preset threshold value after passing the previous highest point position value.

[0036] In addition, the spot control unit can recognize that the direction of motion of the current motion cycle has been switched if, based on the motion position value, the current motion position rises above a preset threshold value after passing the previous lowest point position value.

[0037] In one embodiment, the spot control unit can set the previous exercise range of the previous exercise cycle, with the previous highest point position value and the previous lowest point position value as the highest point and lowest point, respectively, as the target exercise range of the current exercise cycle.

[0038] In addition, the spot control unit can match the previous exercise position corresponding to the current exercise position based on the achievement ratio of the previous exercise range and the target exercise range.

[0039] In one embodiment, one exercise cycle may be divided into a pulling phase that resists the exercise load provided by the strength training device and a releasing phase opposite to the pulling phase.

[0040] Here, the spot control unit can calculate and transmit a spot value so that an assistive force is provided during the pulling section, and control the muscle strength exercise device so that the assistive force provided during the pulling section is gradually removed during the releasing section.

[0041] In one embodiment, an exercise assistance device according to an embodiment of the present invention may be configured to include an image display unit on which an image is displayed.

[0042] Here, the spot control unit can display a graphic user interface screen on the video display unit that displays exercise information regarding the user's strength training through the strength training device.

[0043] In one embodiment, the spot control unit can display training amount information, in which the user's actual training amount and assistance force are visually displayed over time, on a graphic user interface screen.

[0044] Here, training amount information can be displayed on a graphic user interface screen as a graph over time of the exercise position value and the subtracted position value, which is obtained by subtracting the ratio of the spot value from the corresponding exercise position value.

[0045] In addition, the spot control unit can visually display the actual training amount as the accumulation of the subtracted position value and visually display the assisting force as the accumulation of the deviation between the exercise position value and the subtracted position value.

[0046] A muscle strength exercise device according to an embodiment of the present invention may be configured to include a muscle strength exercise system that generates an exercise load based on a preset target load, a load controller that controls the exercise load of the muscle strength exercise system based on a state information value according to muscle strength exercise, a device communication unit that is connected to an exercise support device via a communication network and transmits exercise state information including a state information value to the exercise support device, and an auxiliary force controller that controls the load controller so that an auxiliary force for the target load is reflected in the muscle strength exercise system based on a spot value received from the exercise support device via the device communication unit.

[0047] Here, the spot value can be calculated based on exercise status information from the exercise support device.

[0048] In one embodiment, the state information value may include an exercise position value corresponding to muscle strength exercise. Additionally, the load controller may include an impedance control-based impedance controller that takes the exercise position value as input and outputs a force control value for controlling the exercise load of the muscle strength exercise system.

[0049] In one embodiment, a muscle strength exercise device may be configured to include an action force calculation unit. The action force calculation unit can calculate the user action force of a user acting on a muscle strength exercise system based on an exercise acceleration value and a force control value based on an exercise position value.

[0050] Here, the user action force is included in the exercise state information and transmitted to the exercise support device through the device communication unit, and the spot value can be calculated based on the exercise power calculated using the exercise position value and the user action force.

[0051] The muscle strength exercise device and the exercise support device linked with the muscle strength exercise device according to the present invention have one or more of the following effects.

[0052] First, assistive force is generated based on the user's actual force applied to the strength training device, providing an effect that enables exercise assistance tailored to the degree of decline in the user's physical strength.

[0053] Second, assistance is provided tailored to the user's physical condition throughout the entire strength training process, not just when the user's stamina drops rapidly, providing the same effect as being assisted by a real fitness trainer.

[0054] Third, a virtual spotter provides exercise assistance based on the degree of physical exhaustion during strength training, helping to complete the sets and repetitions set by the user, thereby providing the effect of maximizing the efficiency of strength training.

[0055] Fourth, by allowing the user to set the degree of assistive force provided and limiting the maximum assistive force, the effect of preventing a decrease in the efficiency of strength training due to excessive exercise assistance is provided.

[0056] Fifth, during the process of providing assistance, the degree of assistance relative to the target load and information on the training amount corresponding to the actual exercise volume are visually provided to the user, thereby providing the effect of allowing the user to check their level of exercise volume.

[0057] FIG. 1 is a diagram showing an example of the configuration of a muscle strength exercise support system according to an embodiment of the present invention.

[0058] FIG. 2 is a control block diagram of a muscle strength exercise device according to an embodiment of the present invention.

[0059] FIG. 3 is a diagram showing an example of the configuration of a driving motor and a driving force transmission unit of a muscle strength exercise device according to an embodiment of the present invention.

[0060] FIG. 4 is a diagram showing an example of the configuration of the force calculation unit of a muscle strength exercise device according to an embodiment of the present invention.

[0061] FIG. 5 is a control block diagram of an exercise support device according to an embodiment of the present invention.

[0062] Figure 6 is a graph of the exercise position value over time received through a support communication unit in an exercise support device according to an embodiment of the present invention.

[0063] FIG. 7 is a diagram illustrating a method for setting a target exercise range of an exercise support device according to an embodiment of the present invention.

[0064] FIG. 8 is a diagram illustrating the control process in the pulling section and the releasing section of a motion support device according to an embodiment of the present invention.

[0065] FIG. 9 is a diagram showing an example of training amount information provided by a spot control unit of an exercise support device according to an embodiment of the present invention.

[0066] FIG. 10 is a diagram showing an example of a graphic user interface screen provided by a spot control unit according to an embodiment of the present invention.

[0067] FIGS. 11 and 12 are control flow diagrams for explaining the process of a spot control unit according to an embodiment of the present invention calculating a spot value during a muscle strength exercise.

[0068] An exercise support device according to an embodiment of the present invention may be configured to include a spot control unit. The spot control unit may calculate a spot value based on exercise state information so that an assistive force for muscle exercise is provided in a muscle exercise device. Additionally, the spot control unit may transmit the spot value to the muscle exercise device through a support communication unit.

[0069] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0070] Prior to describing the present invention, terms used to describe the present invention are defined.

[0071] FIG. 1 is a diagram showing an example of the configuration of a muscle strength exercise support system according to an embodiment of the present invention.

[0072] Referring to FIG. 1, a muscle strength exercise support system according to an embodiment of the present invention may be configured to include a muscle strength exercise device (10), an exercise support device (30), and an exercise support server (50).

[0073] A muscle strength exercise device (10) according to an embodiment of the present invention provides an exercise load through a muscle strength exercise system (120) to be described later, and a user performs muscle strength exercise using the exercise load provided from the muscle strength exercise system (120).

[0074] In the embodiment illustrated in FIG. 1, the strength exercise device (10) provides an exercise load through a pair of cables (111, 112), and the user performs strength exercises by pulling or releasing the pair of cables (111, 112).

[0075] More specifically, the strength training device (10) may be configured to include a device body (110).

[0076] In an embodiment of the present invention, the device body (110) is exemplified as having a mat shape. With the device body (110) placed on an indoor or outdoor floor, the user steps onto the top of the device body (110) and performs strength exercises using a pair of cables (111, 112) extending from the inside to the outside from the device body (110).

[0077] Here, a gripping device for a user to grip and exercise can be connected to a pair of cables (111, 112). In the embodiment illustrated in FIG. 1, a handle bar (130) to which cables (111, 112) are connected is installed at both ends. In addition, a grip such as a D-grip can be connected to each of the cables (111, 112), and various types of gripping devices for exercise can be connected.

[0078] FIG. 2 is a control block diagram of a muscle strength exercise device (10) according to an embodiment of the present invention.

[0079] Referring to FIG. 2, a muscle strength exercise device (10) according to an embodiment of the present invention may be configured to include a muscle strength exercise system (120). In one embodiment, the muscle strength exercise system (120) may generate an exercise load for a user's muscle strength exercise.

[0080] A muscle strength exercise device (10) according to an embodiment of the present invention may be configured to include a device control unit (130). The device control unit (130) can control the exercise load of the muscle strength exercise system (120).

[0081] In one embodiment, the device control unit (130) controls the exercise load of the muscle strength exercise system (120) using a force control value (F) to be described later. out ( , hereinafter the same) can be generated and provided to the muscle strength exercise system (120). And, the device control unit (130) can provide a state information value (I ) for muscle strength exercise through the muscle strength exercise system (120). state (The same applies below) can be received from the muscle strength exercise system (120) and a force control value can be generated based on the state information value.

[0082] A muscle strength exercise system (120) according to an embodiment of the present invention may be configured to include a driving motor (121) and a driving force transmission unit (122) as shown in FIG. 2.

[0083] A driving motor (121) according to an embodiment of the present invention generates an exercise load. In one embodiment, when a user inputs a target load through a user input unit (160), the driving motor (121) generates an exercise load corresponding to the target load under the control of a device control unit (130) and transmits it to the user. Here, the driving motor (121) can generate an exercise load corresponding to the target load based on a force control value transmitted from the device control unit (130).

[0084] The driving force transmission unit (122) according to an embodiment of the present invention can transmit the motion load generated by the driving motor (121) to an end effector, for example, a gripping rod (113) (113) or a handle shown in FIG. 1.

[0085] FIG. 3 is a diagram showing an example of a drive motor (121) and a drive force transmission unit (122) according to an embodiment of the present invention. In one embodiment, the drive force transmission unit (122) is exemplified by including a timing belt (122b) and an output pulley (122a).

[0086] The timing belt (122b) can be rotated by connecting the drive motor (121) and the output pulley (122a) in conjunction with each other. For example, depending on the motion load of the drive motor (121), when the drive motor (121) rotates in the forward direction, the output pulley (122a) can also rotate in the forward direction. Then, when the user pulls the cables (111, 112) by overcoming the motion load of the drive motor (121), the rotation of the output pulley (122a) in the reverse direction is transmitted to the drive motor (121).

[0087] In an embodiment of the present invention, a bobbin with cables (111, 112) wound around it is coaxially coupled to an output pulley (122a), and by rotating in synchronization with the rotation of the output pulley (122a), the drive motor (121) and the cables (111, 112) can be synchronized.

[0088] In an embodiment of the present invention, a pair of drive motors (121) and a drive force transmission unit (122) are each connected to a pair of cables (111, 112) to provide a motion load individually to each cable (111, 112). In addition, it is also possible to configure the system so that a motion load is supplied from a single drive motor (121) to a pair of cables (111, 112) through a differential mechanism with a single drive motor (121).

[0089] A muscle strength exercise system (120) according to an embodiment of the present invention may be configured to include a state value measuring unit (150). Here, the state value measuring unit (150) may measure a state information value of the muscle strength exercise system (120) according to muscle strength exercise. In one embodiment, the state information value may include at least one of an exercise position value, an exercise velocity value, and an exercise acceleration value.

[0090] In an embodiment of the present invention, the state value measuring unit (150) measures a state information value based on the rotation of the driving motor (121) (210). For example, the motion position value can be measured based on the measurement information of an encoder that detects the rotation of the driving motor (121). Then, the state measuring unit can calculate a motion velocity value and a motion acceleration value based on the motion position value.

[0091] As another example, the state value measuring unit (150) can measure the movement distance of the cables (111, 112) according to the user's muscle exercise to measure the exercise position value. In one embodiment, as shown in FIG. 3, the state value measuring unit (150) can detect a change in the position of the timing belt (122b) to calculate the exercise position value.

[0092] Meanwhile, the device control unit (130) according to an embodiment of the present invention may be configured to include a load controller (131).

[0093] A load controller (131) according to an embodiment of the present invention can control the exercise load of a muscle strength exercise system (120) based on a state information value measured by a state value measuring unit (150).

[0094] In one embodiment, the load controller (131) may be configured to include an impedance controller. The impedance controller (131a) may output a force control value for controlling the muscle exercise system (120) based on an impedance control model.

[0095] Here, impedance control takes state information values ​​based on the user’s strength exercise using the strength exercise system (120)(200) as input and outputs a control value based on an impedance control model.

[0096] In one embodiment, the impedance controller (131a) can output a force control value with a state information value as input through an impedance control model that models the muscle power exercise system (120) as a mass-damper-spring system.

[0097] In the impedance control model, the mass parameter provides inertia, the spring parameter provides a restoring force to a reference position, and the damping parameter provides a resistance force for motion proportional to velocity. Here, the impedance controller (131a) can take the motion position value among the state information values ​​as input and output a force control value.

[0098] When a load controller (131) according to an embodiment of the present invention generates a final force control value based on an impedance controller (131a), the output of the impedance controller (131a) can be the output of the load controller (131).

[0099] On the other hand, in the case where a force control value is generated in combination with a disturbance compensator for disturbance compensation or an admittance controller in addition to the impedance controller (131a) in the load controller (131), the force control value according to the disturbance compensation or the combination with the admittance controller can be output as the final force control value of the load controller (131).

[0100] The device control unit (130) according to an embodiment of the present invention may be configured to include an action force calculation unit (133).

[0101] The force calculation unit (133) according to an embodiment of the present invention can calculate the user force applied through the cable (111, 112) during the muscle exercise process, that is, the force actually used by the user, based on the force control value which is the output of the load controller (131) and the state information value.

[0102] The actual user action force applied to the muscle strength exercise device (10) according to the embodiment of the present invention can be measured by installing a force sensor, such as a load cell, on the gripping rod, but in the embodiment of the present invention, the action force calculation unit (133) calculates the user action force using a force control value and a state information value.

[0103] User action force is the force of the user acting on the muscle exercise system (120) during the user's muscle exercise process, and can be defined as a disturbance acting on the muscle exercise system (120) from the perspective of the muscle exercise system (120).

[0104] Accordingly, the action force calculation unit (133) calculates a model control value using a previously registered exercise model (1331) for the muscle strength exercise system (120), and calculates the user action force using the deviation between the force control value and the model control value.

[0105] FIG. 4 is a diagram showing an example of the configuration of the force calculation unit (133) of the muscle strength exercise device (10) according to an embodiment of the present invention.

[0106] Referring to FIG. 4, the force calculation unit (133) may be configured to include a motion model (1331), a first band filter (1332), and a second band filter (1333).

[0107] Here, the motion model (1331) can calculate a model control value using the state information value measured by the state value measuring unit (150).

[0108] In one embodiment, the exercise model (1331) registered in the action force calculation unit (133) is modeled with the target load of the muscle strength exercise system (120) and the exercise acceleration value among the state information values. In the present invention, the exercise model (1331) is modeled as [Equation 1] to calculate the user action force.

[0109] [Mathematical Formula 1]

[0110] F model =Mg+Ma

[0111] F in [Mathematical Equation 1] model is the model control value, M is the target load of the muscle power exercise system (120), g is the acceleration due to gravity, and a is the acceleration due to motion.

[0112] And, the action force calculation unit (133) calculates the user action force through [Equation 2] as an example.

[0113] [Mathematical Formula 2]

[0114] F human =F model -F out

[0115] F in [Mathematical Equation 2] human is the user action force, and F out is the final output value of the load controller (131) as a force control value.

[0116] Here, the force control value passes through the first band filter (1332) and the model control value passes through the second band filter (1333), thereby removing noise associated with the acceleration signal. For example, the first band filter (1332) and the second band filter (1333) may be low-pass filters such as Q-filters.

[0117] Referring again to FIG. 2, the muscle strength exercise device (10) according to an embodiment of the present invention may be configured to include a device communication unit (140).

[0118] In one embodiment, the device communication unit (140) can communicate with the exercise support communication unit (310) through a communication network (hereinafter referred to as the 'first communication network (71)'). In one embodiment, the first communication network (71) may include a wireless network such as Bluetooth or Wi-Fi, or a wired network such as UART or USB.

[0119] Here, exercise state information is transmitted to the exercise support device (30) through the device communication unit (140), and the spot value (S) transmitted from the exercise support device (30) ratio (The same applies below) is received, and a detailed explanation of this will be provided later.

[0120] The device control unit (130) according to an embodiment of the present invention may be configured to include an auxiliary power controller (132).

[0121] An auxiliary force controller (132) according to an embodiment of the present invention can control a load controller (131) so that an auxiliary force for a target load is reflected in a muscle strength exercise system (120) based on a spot value received from a driving support device through a device communication unit (140).

[0122] Here, the spot value is calculated based on exercise state information from the exercise support device (30) and can be calculated as the ratio of the assisting force to the target load, and a detailed explanation thereof will be given later.

[0123] In one embodiment, when the spot value is calculated as a ratio of the auxiliary power to the target load, the auxiliary power controller (132) calculates the auxiliary power from the target load using the spot value. In one embodiment, when the target load is 10 kg and the spot value is 10 (%), an auxiliary power of 1 kg is calculated.

[0124] Here, when the force control value of the load controller (131) is output as 9kg, the final force control value (F) applied to the muscle strength exercise system (120) by the auxiliary force controller (132) so that an auxiliary force of 1kg is reflected spot) is controlled to generate an exercise load of 8kg.

[0125] In one embodiment, the transmission of exercise state information and the reception of the corresponding spot value may be transmitted and received in real time during the exercise process, for example at intervals of 20ms, to reflect the assisting force.

[0126] According to the above configuration, an assistive force for strength training is provided in real time according to the spot value calculated by the exercise support device (30) based on the exercise status information provided by the strength training device (10), so that exercise assistance, i.e., a spot, is possible in accordance with the degree to which the user's physical strength decreases during the entire process of strength training, and a detailed explanation of this will be provided later.

[0127] Hereinafter, an exercise support device (30) according to an embodiment of the present invention will be described in detail with reference to FIG. 5.

[0128] The exercise support device (30) according to an embodiment of the present invention may be implemented in the form of an information processing terminal such as a tablet, a laptop, or a smartphone. FIG. 1 illustrates an example in which the exercise support device (30) is implemented in the form of a tablet.

[0129] An exercise support device (30) according to an embodiment of the present invention may be configured to include a support control unit (360). The support control unit (360) may include a hardware configuration for performing and supporting the functions of the exercise support device (30), such as a hardware configuration including a CPU, an APU, a graphics processor, memory, etc., and a software configuration including an operating system.

[0130] An exercise support device (30) according to an embodiment of the present invention may be configured to include a support communication unit (310).

[0131] In one embodiment, the support communication unit (310) is connected to the strength exercise device (10) through the first communication network (71). As previously described, the first communication network (71) may include a wireless network such as Bluetooth or Wi-Fi, or a wired network such as UART or USB. Here, the support communication unit (310) can receive exercise status information regarding the user's strength exercise from the strength exercise device (10) through the first communication network (71).

[0132] A muscle strength exercise device (10) according to an embodiment of the present invention may include a spot control unit (320). Here, the spot control unit (320) can calculate a spot value based on exercise state information received through a support communication unit (310) so that an assistive force for muscle strength exercise is provided in the muscle strength exercise device (10).

[0133] And, the spot control unit (320) can control the muscle exercise device (10) to provide assistance for muscle exercise by transmitting the calculated spot value to the muscle exercise device (10) through the support communication unit (310).

[0134] In one embodiment, the spot control unit (320) may be implemented as an application program provided by the muscle strength exercise device (10) according to an embodiment of the present invention. Additionally, the spot control unit (320) may perform its function according to a pre-installed programming code through linkage with the support control unit (360).

[0135] Hereinafter, with reference to FIGS. 6 to 9, a method for a spot control unit (320) according to an embodiment of the present invention to calculate a spot value will be described in detail.

[0136] A spot control unit (320) according to an embodiment of the present invention calculates exercise power for a current exercise cycle (hereinafter referred to as 'current exercise power') and calculates a spot value based on the deviation between the exercise power calculated for a previous exercise cycle (hereinafter referred to as 'previous exercise power').

[0137] Here, one exercise cycle is defined as one repeated movement in strength exercises that have periodic characteristics, such as squat exercises; for example, in the case of squat exercises, one movement of standing up and then sitting down again is defined as one exercise cycle.

[0138] The exercise state information according to an embodiment of the present invention may include either an exercise position value or an exercise speed value according to the muscle strength exercise device (10). Additionally, the exercise state information may include the user's action force acting on the muscle strength exercise device (10) during the muscle strength exercise process.

[0139] Here, the exercise position value is measured by the state value measuring unit (150) of the muscle strength exercise device (10), and the user action force is calculated by the action force calculation unit (133) of the muscle strength exercise device (10) as previously described and received through the support communication unit (310).

[0140] FIG. 6 is a graph of exercise position values ​​over time received through a support communication unit (310) in an exercise support device (30) according to an embodiment of the present invention. As shown in FIG. 6, it can be seen that the muscle strength exercise is performed in the form of a repetitive exercise in which one exercise cycle is repeated.

[0141] A spot control unit (320) according to an embodiment of the present invention can calculate current exercise power and previous exercise power using an exercise speed value and user action force. Previous exercise power is calculated during the exercise process in a previous exercise cycle and stored in a data storage unit (330).

[0142] In one embodiment, the spot control unit (320) may use an exercise speed value transmitted from the muscle strength exercise device (10), and may also calculate and use an exercise speed value using an exercise position value from the muscle strength exercise device (10).

[0143] Here, the spot control unit (320) can calculate the current exercise power at the current exercise position based on the exercise position value. Additionally, the spot control unit (320) calculates the spot value at the current exercise position based on the deviation between the current exercise power at the current exercise position and the previous exercise power in the previous exercise cycle corresponding to the current exercise position.

[0144] More specifically, the spot control unit (320) can calculate exercise power by using exercise speed values ​​and user action force at each exercise position within the exercise cycle, that is, at an exercise position value received in real time, for example, at a certain period of 20ms, during the user's muscle exercise process in one exercise cycle.

[0145] In one embodiment, exercise power can be calculated as the product of the exercise speed value and the user's action force.

[0146] In the manner described above, the previous exercise power, which is the exercise power calculated for each exercise position for the previous exercise cycle, is stored in the data storage unit (330). Then, the current exercise power for each current exercise position during the exercise process in the current exercise cycle is calculated, and a spot value is calculated using the current exercise power and the previous exercise power at the mutually matching current exercise position and previous exercise position.

[0147] In one embodiment, the spot control unit (320) can calculate the spot value through [Equation 3].

[0148] [Mathematical Formula 3]

[0149] ,

[0150] [In mathematical formula 3 is a spot value, and is a pre-set gain value, and is the deviation between current exercise power and previous exercise power, and is a pre-set target load for the strength training machine, and ε is the acceleration due to gravity, and k is the upper limit of the assist force to determine the maximum assist force.

[0151] Here, the target load may be included in the exercise state information and received through the support communication unit (310). This may apply when the target load is set in the strength exercise device (10). As another example, if a user sets the target load using the exercise support device (30) and the information is transmitted to the strength exercise device (10), the user may use it in the state set in the exercise support device (30).

[0152] The upper limit of the assisting force can be configured so that the user can adjust it through the assisting input (370) of the exercise support device (30). By allowing the user to set a target load and set how much assisting force to receive during the process of strength training, it is possible to prevent the exercise efficiency from decreasing due to the application of excessive assisting force.

[0153] For example, the user can set the ratio of the assist force to 50% of the target load. Additionally, an upper limit for the maximum assist force can also be set; for example, it is possible to implement the system so that the user can set the upper limit of the assist force only within the range of 0% to 50%.

[0154] When a spot value for each exercise position is calculated as described above, the spot control unit (320) transmits the corresponding spot value to the muscle strength exercise device (10) in real time through the support communication unit (310), and the auxiliary force controller (132) of the muscle strength exercise device (10) controls the load controller (131) so that the auxiliary force for the target load is reflected in the muscle strength exercise system (120) using the spot value received in real time, as described above.

[0155] Meanwhile, the spot control unit (320) can store the highest point position value of the previous exercise cycle (hereinafter referred to as 'prev highest point position value (Max-prev)') and the lowest point position value (hereinafter referred to as 'prev lowest point position value (Min-prev)') in the data storage unit (330) during the exercise process of the previous exercise cycle.

[0156] And, the spot control unit (320) can determine the change in the direction of motion in the current motion cycle, for example, the change from pulling to releasing or the opposite change, using the previous peak position value (Max-prev) and the previous peak position value in the previous motion cycle.

[0157] In one embodiment, with reference to FIG. 6, the spot control unit (320) can recognize that the direction of motion of the current motion cycle has been switched if, based on the motion position value, the current motion position passes through the previous lowest point position value (Min-prev) (see Min-pres) and then rises above a preset threshold.

[0158] Likewise, the spot control unit (320) can recognize that the direction of motion of the current motion cycle has been changed based on the motion position value, if the current motion position goes down above a threshold value after passing the previous highest point position value (Max-prev).

[0159] Here, the spot control unit (320) stores the inflection point for the current exercise cycle as the highest point position value and the lowest point position value, respectively, in the data storage unit (330), and the highest point position value and the lowest point position value stored for the current exercise cycle are used as the previous highest point position value (Max-prev) and the previous lowest point position value (Min-prev) in the next exercise cycle.

[0160] In this way, the direction of motion is changed based on the motion position value, and instead of recognizing the change of direction merely by passing the threshold, the change of direction is recognized based on the previous highest point position value (Max-prev) and the previous lowest point position value (Min-prev), thereby preventing errors in data analysis even if the time of passing the threshold is delayed.

[0161] Meanwhile, the spot control unit (320) according to an embodiment of the present invention can set the previous exercise range (Stroke1) of the previous exercise cycle, which is the previous highest point position value (Max-prev) and the previous lowest point position value (Min-prev), as shown in FIG. 7, as the target exercise range (Stroke2) of the current exercise cycle.

[0162] Figure 7 (a) shows a graph of the motion position value over time, and Figure 7 (b) shows a graph of the user action force over time.

[0163] Here, the spot control unit (320) can match the previous exercise position corresponding to the current exercise position based on the achievement ratio of the previous exercise range and the target exercise range, based on the target exercise range (Stroke2) of the current exercise cycle.

[0164] More specifically, the spot control unit (320) can calculate the achievement rate (40% in FIG. 7) in the target exercise range using the exercise position value received through the support communication unit (310), and can calculate the spot value as the deviation from the current exercise power in the current exercise position by extracting the previous exercise power at the previous exercise position corresponding to the achievement rate of 40% in the previous exercise range.

[0165] In this way, by calculating the spot value using the achievement ratio between the previous exercise position and the current exercise position, it becomes possible to directly compare data regarding the difference in exercise time between the strength training in the previous exercise cycle and the strength training in the current exercise cycle, for example, even if the current strength training involves slow movements.

[0166] Meanwhile, one exercise cycle can be divided into a pulling section that resists the exercise load provided by the strength exercise device (10) and a releasing section opposite to the pulling section. In the strength exercise device (10) illustrated in FIG. 1, it can be divided into a pulling section where the user pulls the cables (111, 112) and a releasing section where the cables (111, 112) go back into the main body (110) of the device.

[0167] Here, the spot control unit (320) can calculate and transmit a spot value to be provided to the auxiliary force in the pulling section, and control the muscle strength exercise device (10) so that the auxiliary force provided in the pulling section is gradually, for example, linearly removed in the releasing section.

[0168] To explain more specifically with reference to Fig. 8, as shown in Fig. 8 (a), the graph of the motion position value over time has a repetitive motion form that repeats the pooling section and the releasing section.

[0169] In the pulling section (Min-pres ~ Max-pres section), as previously explained, the spot control unit (320) calculates and transmits a spot value based on the deviation between the current exercise power and the previous exercise power, and the strength exercise device (10) provides an assistive force to the user according to the spot value.

[0170] On the other hand, in the case of the release phase (the phase after Max-pres), if an assisting force is provided, there is a possibility that the cable (111,112) may lose tension due to overlap with the user's intention to lower the cable (111,112). As a result, the user may feel a sense of unfamiliarity during the exercise, or in the case of excessive loss of tension, it may become difficult to control the cable (111,112).

[0171] Accordingly, in an embodiment of the present invention, the spot control unit (320) can control the auxiliary force provided in the pulling section during the releasing section to be gradually removed, as shown in FIG. 8 (b), so that the target load is provided again in a new exercise cycle.

[0172] In Fig. 8(b), the spot control unit (320) controls the assisting force to become '0' at time t1, which is a preset exercise position (x1) prior to the direction change point in the current exercise cycle, thereby controlling the state so that the target load is provided in the new exercise cycle with the actual direction change.

[0173] Meanwhile, the exercise support device (30) according to an embodiment of the present invention may be configured to include an image display unit (340). Additionally, the exercise support device (30) may be configured to include a camera module (350).

[0174] In one embodiment, when the exercise support device (30) is provided in the form of a tablet, the image display unit (340) may be formed on one side of the front of the exercise support device (30). The image display unit (340) may be manufactured as an LCD type or an OLED type.

[0175] A camera module (350) according to an embodiment of the present invention photographs a user exercising on a strength training device (10) and provides the exercise video through an image display unit (340). An example is that the camera module (350) includes a CMOS image sensor and is installed on the front of an exercise support device (30) to photograph the user’s exercise video. As another example, a separate camera module (350) for photographing video may be connected to the exercise support device (30) so that the video photographed from the camera module (350) can be received via wired or wireless communication.

[0176] The spot control unit (320) according to an embodiment of the present invention can display training amount information, in which the user's actual training amount over time and the auxiliary power provided based on the spot value are visually displayed on a graphic user interface screen and provide it through the image display unit (340).

[0177] FIG. 9 is a diagram showing an example of training amount information provided by a spot control unit (320) according to an embodiment of the present invention.

[0178] Referring to FIG. 9, the training amount information provided by the spot control unit (320) can be provided as a graph over time of an exercise position value (TP1) and a subtracted position value (TP2) which is the exercise position value minus the ratio (SR) of the spot value.

[0179] As shown in FIG. 9 (a), this is an example where no assisting force is provided in the previous exercise cycle (C1) and an assisting force is provided in the current exercise cycle (C2).

[0180] Here, the spot control unit (320) can visually display the actual training amount as the accumulation of subtracted position values ​​(RT), i.e., the area, and visually display the assisting force as the accumulation of deviations between the exercise position values ​​and the subtracted position values ​​(ST).

[0181] FIG. 9 (a) is an example of a visual representation of the assisting force provided during the pulling phase in a strenuous strength exercise, such as a military press, barbell row, etc., while pulling a cable (111, 112).

[0182] On the other hand, for strenuous exercises performed at a low position, such as squats and bench presses, the graph may be implemented by inverting it vertically to distinguish it from Fig. 9 (a), as shown in Fig. 9 (b), so that the user can check training amount information according to the type of strength exercise.

[0183] FIG. 10 is a diagram showing an example of a graphic user interface screen provided by a spot control unit (320) according to an embodiment of the present invention.

[0184] Referring to FIG. 10, the training amount information illustrated in FIG. 9 can be displayed on the screen. Additionally, state information (State) with the exercise position value (P) and exercise velocity value (V) displayed at the top left of the training amount information can be displayed, and force information (Force) with the impedance control value (I) and LPF value (L) displayed at the bottom can be displayed.

[0185] Additionally, various setting areas may be provided at the top of the graphic user interface screen. For example, connection port information (B1) with the strength training device (10), connection status information (B2) with the strength training device (10), a button (B3) for determining whether to allow assistive force, an exercise load (B4), a setting area (B5) for setting the gain value of [Equation 1], a spot value (B6) which is the current level of assistive force, a pause button (B7), and a save button (B8) for saving current exercise information may be provided.

[0186] The graphic user interface screen illustrated in FIG. 10 is an example provided by the spot control unit (320) and can be implemented in various forms including training amount information.

[0187] FIGS. 11 and FIGS. 12 are control flow diagrams for explaining the process of a spot control unit (320) according to an embodiment of the present invention calculating a spot value during a muscle strength exercise.

[0188] When a user starts a strength exercise using the strength exercise device (10), the spot control unit (320) recognizes the start of the exercise (S10). Here, the method by which the spot control unit (320) recognizes the start of the exercise may be based on the exercise position value transmitted from the strength exercise device (10), and may recognize it when a change in the exercise position is detected. As another example, the start of the exercise may be recognized when the exercise position changes again after a certain amount of time has elapsed at a specific exercise position following a change in the exercise position.

[0189] When the start of exercise is recognized, exercise status information including exercise position values ​​is received from the strength exercise device (10), and the spot control unit (320) stores the exercise position values, the highest point position values, the lowest point position values, and the exercise power at each exercise position in the data storage unit (330).

[0190] Then, the spot control unit (320) determines whether the direction of motion is changed (S11). Here, in the case of the first change of the motion position, since there is no information about the previous motion cycle, the direction change can be recognized when the threshold value is passed after the direction change.

[0191] Here, the spot control unit (320) stores the exercise position value and exercise power in the data storage unit (330) as described above until the change in the direction of exercise is recognized.

[0192] Then, when the spot control unit (320) recognizes a change in the direction of movement, it determines whether previous cycle information exists (S12). Here, since there is no previous cycle information in the case of the first exercise cycle, steps S11 and S12 will be repeated until the first exercise cycle is completed, and the exercise power will be recorded.

[0193] On the other hand, if previous exercise cycle information exists, the spot control unit (320) performs a process to provide assistance in the current exercise cycle. Here, in an embodiment of the present invention, it is determined whether the previous cycle information is information prior to a preset reference time (tr), for example, 30 seconds prior (S13), and if it is a record prior to the reference time (tr), the previous cycle information can be initialized (S14).

[0194] This resolves the problem where determining the current assist force using outdated previous exercise cycle data results in the user's physical condition changing by the time difference, thus failing to provide an assist force suitable for the user's current fitness level.

[0195] When the previous cycle information is initialized in step S14, as previously explained, information about the current exercise cycle is recorded in the data storage unit (330) and becomes available for use in the next exercise cycle.

[0196] If it is determined that previous exercise cycle information exists through steps S12 and S13, the present invention determines whether the current strength exercise corresponds to a repetitive exercise (S15). The exercise support device (30) according to the embodiment of the present invention provides assistance through a comparison between the previous exercise cycle and the current exercise cycle. Since it is not applied to exercises that are not repetitive exercises, the assistance generation process is terminated when it is not a repetitive exercise.

[0197] In one embodiment, the determination of whether it is a repetitive exercise can be made by determining that it is not a repetitive exercise if either the highest point position value or the lowest point position value in the previous exercise cycle or the current exercise cycle is '0'.

[0198] Through the above process, if it corresponds to a repetitive exercise and previous exercise cycle information exists, the process of calculating the spot value for providing assistive force is carried out as previously explained.

[0199] First, the target exercise range for the current exercise cycle is set using the previous highest point position value (Max-prev) and the previous lowest point position value (Min-prev) included in the previous exercise cycle information (S16). Then, it is determined whether the exercise after the direction change in step S11 is a pulling section (S17).

[0200] Here, when the spot control unit (320) determines that it is a pooling section, it calculates the current exercise power using the exercise speed value and the user action force as described above (S18). Here, the previous exercise power that matches the current exercise power can be selected using the achievement ratio of the current exercise position within the target exercise range as described above.

[0201] And, the spot control unit (320) calculates a spot value as in [Equation 1] using the deviation between the current exercise power and the previous exercise power, and transmits it to the muscle strength exercise device (10) through the support first communication network (71), thereby controlling the muscle strength exercise device (10) to provide assistive power.

[0202] Meanwhile, during the exercise process in the pulling section, the spot control unit (320) determines whether the direction of exercise is switched again (S20). If the exercise is switched during the progress of the pulling section, it corresponds to the releasing section, and the spot control unit (320) controls the muscle strength exercise device (10) so that the assistive force provided in the pulling section is gradually removed in the releasing section. Here, if the spot control unit (320) recognizes it as the releasing section in step S17, it will apply the same.

[0203] Then, during the exercise process in the release phase, the spot control unit (320) determines whether the direction of exercise is switched again (S22). Here, if the spot control unit (320) detects the end of the exercise when there is no switching of the direction of exercise (S23), it recognizes the end of the muscle strength exercise and terminates the control. In one embodiment, the end of the exercise may be recognized when the exercise position value does not change from a certain position.

[0204] On the other hand, if a change in the direction of movement is recognized in step S22, the spot control unit (320) repeatedly performs steps S18 through S23 until the end of the movement is recognized.

[0205] Here, when a change in the direction of exercise is recognized in step S22, it can be configured to return to step S12 without performing step S18. For example, if a user rests for a certain period of time at a specific location during strength training and then exercises, previous cycle information exists in step S12, but in step S13, the previous exercise cycle corresponds to an exercise record prior to the reference time (tr), so it can be reset again, thereby allowing the user's state of having rested for a certain period of time to be reflected in the provision of assistive power.

[0206] Meanwhile, the exercise support device (30) according to an embodiment of the present invention can connect to the exercise support server (50) through a communication network (hereinafter referred to as the 'second communication network (72)'). In one embodiment, the second communication network (72) may be a wireless or wired internet network, or a mobile communication network such as 5G.

[0207] Here, the exercise support server (50) may provide various information or application programs necessary for strength training through the strength training device (10). In one embodiment, the spot control unit (320) of the exercise support device (30) may be downloaded from the exercise support server (50) and installed on the exercise support device (30).

[0208] As another example, the spot control unit (320) may be a web-based program provided when the exercise support device (30) accesses the exercise support server (50) through a web browser. In this case, the process of calculating the spot value described above may be performed at the exercise support server (50) and transmitted to the strength training device (10) through the exercise support device (30).

[0209] That is, the exercise support device (30) for calculating a spot value to provide assistive force in the muscle strength exercise support system according to an embodiment of the present invention may be a mobile device such as the tablet shown in FIG. 1, and may be an exercise support server (50) mediated by the mobile device, and the technical concept of the present invention is not limited to whether the physical device for calculating the spot value is a tablet or a server.

[0210] Although embodiments of the present invention have been described above with reference to the attached drawings, the present invention is not limited to the above embodiments and can be manufactured in various different forms, and those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical concept or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive.

[0211] A muscle strength exercise device and an exercise support device linked with the muscle strength exercise device according to an embodiment of the present invention can be applied to a device that provides an exercise load using an actuator such as a motor.

Claims

1. A support communication unit that receives exercise status information based on a user's strength exercise using a strength exercise device; An exercise support device for linking with a strength exercise device, characterized by including a spot control unit that calculates a spot value based on exercise state information so that an assistive force for strength exercise is provided in the strength exercise device, and transmits the spot value to the strength exercise device through the support communication unit.

2. In Paragraph 1, An exercise support device linked to a strength training device, characterized in that the spot control unit calculates the ratio of the assisting force to a preset target load for the strength training device as the spot value.

3. In Paragraph 1, The above spot control unit Based on one exercise cycle of the above strength training device, the current exercise power for the current exercise cycle is calculated based on the above exercise state information, and An exercise support device linked to a strength training device, characterized by calculating the spot value based on the deviation between the previous exercise power and the current exercise power, which is calculated and stored for the previous exercise cycle.

4. In Paragraph 3, The above exercise state information includes either an exercise position value or an exercise speed value according to the strength exercise in the strength exercise device, and the user's action force acting on the strength exercise device during the strength exercise process; An exercise support device linked to a muscle strength exercise device, characterized in that the spot control unit calculates the current exercise power using the exercise speed value calculated based on the exercise position value or the exercise speed value included in the exercise state information and the user action force.

5. In Paragraph 4, The above spot control unit Calculate the current exercise power at the current exercise position based on the above exercise position value, and An exercise support device linked with a strength training device, characterized by calculating the spot value at the current exercise position based on the deviation between the current exercise power at the current exercise position and the previous exercise power in the previous exercise cycle corresponding to the current exercise position.

6. In Paragraph 5, The above spot control unit [uses] the spot value in a mathematical formula , ( is the above spot value, and is a pre-set gain value, and is the deviation between the above current exercise power and the above previous exercise power, and is a pre-set target load for the above-mentioned strength training device, and An exercise support device linked with a muscle strength exercise device, characterized by being calculated by (where is the acceleration due to gravity and k is the upper limit value of the assist force for determining the maximum assist force).

7. In Paragraph 6, An exercise support device linked to a muscle strength exercise device, characterized in that the above-mentioned upper limit of the assisting force is adjustable.

8. In Paragraph 5, It further includes a data storage unit in which the previous exercise power for each previous exercise position of the previous exercise cycle, and the previous peak position value and previous lowest position value of the previous exercise cycle are stored; The above spot control unit Based on the above motion position value, if the current motion position passes the above previous highest point position value and then drops below a preset threshold, it is recognized that the motion direction of the current motion cycle has been switched, and An exercise support device linked to a muscle strength exercise device, characterized by recognizing that the direction of exercise of the current exercise cycle has been switched when, based on the above exercise position value, the current exercise position rises above a preset threshold value after passing the above previous lowest point position value.

9. In Paragraph 8, The above spot control unit Set the previous exercise range of the previous exercise cycle, with the aforementioned previous highest point position value and the aforementioned previous lowest point position value as the highest point and lowest point, respectively, as the target exercise range of the current exercise cycle; An exercise support device linked to a strength training device, characterized by matching a previous exercise position corresponding to the current exercise position based on the achievement ratio of the previous exercise range and the target exercise range.

10. In Paragraph 4, One exercise cycle is divided into a pulling phase that resists the exercise load provided by the strength training device and a releasing phase opposite to the pulling phase; An exercise support device linked with a strength training device, characterized in that the spot control unit calculates and transmits the spot value so that the assisting force is provided in the pulling section, and controls the strength training device so that the assisting force provided in the pulling section is gradually removed in the releasing section.

11. In Paragraph 4, It further includes an image display unit in which an image is displayed; An exercise support device linked to a strength training device, characterized in that the spot control unit displays a graphic user interface screen, which displays exercise information regarding the user's strength training through the strength training device, on the image display unit.

12. In Paragraph 11, An exercise support device linked to a strength training device, characterized in that the spot control unit displays training amount information, in which the user's actual training amount over time and the assistive force are visually displayed, on the graphic user interface screen.

13. In Paragraph 12, The above training amount information is displayed on the graphic user interface screen as a graph over time of the above exercise position value and the subtracted position value obtained by subtracting the ratio of the above spot value from the corresponding exercise position value; An exercise support device linked to a strength training device, characterized in that the spot control unit visually displays the actual training amount as the accumulation of the subtraction position value and visually displays the assistive force as the accumulation of the deviation between the exercise position value and the subtraction position value.

14. A strength training system that generates exercise load based on a preset target load, and A load controller that controls the exercise load of the above-mentioned strength exercise system based on state information values ​​according to strength exercise, and A device communication unit connected to an exercise support device via a communication network and transmitting exercise state information including the state information value to the exercise support device, and It includes an auxiliary force controller that controls the load controller so that an auxiliary force for the target load is reflected in the muscle strength exercise system based on a spot value received from the exercise support device through the device communication unit; A muscle strength exercise device characterized in that the above spot value is calculated based on the exercise state information of the exercise support device.

15. In Paragraph 14, A strength training device characterized in that the above spot value includes the ratio of the above assisting force to the above target load.

16. In Paragraph 14, The above state information value includes an exercise position value according to muscle strength exercise; A strength exercise device characterized by including an impedance control-based impedance controller that takes the exercise position value as input and outputs a force control value for controlling the exercise load of the strength exercise system.

17. In Paragraph 16, It includes an action force calculation unit that calculates a user action force acting on the muscle strength exercise system based on an exercise acceleration value based on the above exercise position value and the above force control value; The above user action force is included in the above exercise state information and is transmitted to the exercise support device through the device communication unit; A strength training device characterized by the fact that the above spot value is calculated based on exercise power calculated using the above exercise position value and the above user action force.

Images