Computerized exercise apparatus
A training, rehabilitation, and recovery system comprises an exercise apparatus including a user interface member coupled to a plurality of links and joints, brakes capable of resisting movement of at least a subset of the links or joints, and sensors capable of sensing movement at the joints or the user interface member. The system also includes a processor configured to receive from the sensors positional data of the links or joints over an initial movement of the apparatus by a user, from which positional coordinates of the user interface member are calculated and a reference trajectory is established. An end space is defined based on the reference trajectory. Over a subsequent movement of the apparatus by the user, the processor receives additional positional data and determines a completion of a repetition based on the positional coordinates of the subsequent movement and the defined end space.
1. A training or recovery system comprising:
an exercise apparatus including a user interface member and at least one sensor capable of sensing movement of the user interface member; and
a processor configured to:
receive from the at least one sensor positional data of the user interface member over an initial movement of the apparatus by a user;
calculate positional coordinates of the user interface member in a three-dimensional space from the sensed positional data over the initial movement, establishing a reference trajectory;
define an end space based on the reference trajectory;
receive from the at least one sensor positional data of the user interface member over a subsequent movement of the apparatus by the user;
calculate positional coordinates of the user interface member from the sensed positional data over the subsequent movement; and
determine a completion of a repetition based on the positional coordinates of the subsequent movement and the defined end space.
2. The system of claim 1 , wherein the end space is defined as a three-dimensional space.
3. The system of claim 1 , wherein the processor is further configured to calculate velocity at positional coordinates along the reference trajectory.
4. The system of claim 3 , wherein the processor is further configured to establish a resistance for the subsequent movement of the apparatus based on the calculated velocity.
5. The system of claim 1 , wherein the processor is further configured to calculate acceleration at positional coordinates along the reference trajectory.
6. The system of claim 5 , wherein the processor is further configured to establish a resistance for the subsequent movement of the apparatus based on the calculated acceleration.
7. The system of claim 1 , wherein the processor is further configured to provide collinear resistance during the subsequent movement.
8. The system of claim 1 , wherein the processor is further configured to provide collinear resistance during the initial movement.
9. The system of claim 1 , wherein the processor is further configured to establish a resistance based on a position of the user interface member.
10. The system of claim 1 , wherein the processor is further configured to:
detect a deviation from the reference trajectory during the subsequent movement; and
adjust a resistance during the subsequent movement that at least partially opposes a calculated velocity of the subsequent movement to guide the user to remain on the reference trajectory or return to the reference trajectory.
11. A method of providing training or recovery to a user comprising:
providing an exercise apparatus including a user interface member and at least one sensor capable of sensing movement of the user interface member;
receiving from the at least one sensor positional data of the user interface member over an initial movement of the apparatus by the user;
calculating positional coordinates of the user interface member from the sensed positional data over the initial movement, establishing a reference trajectory;
defining an end space based on the reference trajectory;
receiving from the at least one sensor positional data of the user interface member over a subsequent movement of the apparatus by the user;
calculating positional coordinates of the user interface member from the sensed positional data over the subsequent movement; and
determining a completion of a repetition based on the positional coordinates of the subsequent movement and the defined end space.
12. The method of claim 11 , wherein the end space is defined as a three-dimensional space.
13. The method of claim 11 , further comprising calculating velocity at positional coordinates along the reference trajectory.
14. The method of claim 13 , further comprising establishing a resistance for the subsequent movement of the apparatus based on the calculated velocity.
15. The method of claim 11 , further comprising calculating acceleration at positional coordinates along the reference trajectory.
16. The method of claim 15 , further comprising establishing a resistance for the subsequent movement of the apparatus based on the calculated acceleration.
17. The method of claim 11 , further comprising providing collinear resistance during the subsequent movement.
18. The method of claim 11 , further comprising providing collinear resistance during the initial movement.
19. The method of claim 11 , further comprising establishing a resistance based on a position of the user interface member.
20. The method of claim 11 , further comprising:
detecting a deviation from the reference trajectory during the subsequent movement; and
adjusting a resistance during the subsequent movement that at least partially opposes a calculated velocity of the subsequent movement to guide the user to remain on the reference trajectory or return to the reference trajectory.