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, at least one sensor capable of sensing movement of a component of the apparatus caused by movement of the user interface member, and at least one brake capable of resisting 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 during movement of the user interface member over a trajectory,
determine component velocities of a velocity vector representing a velocity (V) of the user interface member in a three-dimensional space based on the sensed positional data according to
V =√{square root over ( V r 2 +V θ 2 +V φ 2 )},
where each of V r , V θ , and V φ is a determined component velocity in a component direction of the three-dimensional space,
determine an opposing brake force for each component direction, the determining of the opposing brake force including apportioning a defined overall resistance (R) to each component direction according to
R r =R ·( V r /V ),
R θ =R ·( V θ /V ),
R φ =R ·( V φ /V ),
where each of R r , R θ , and R φ is a determined component resistance in a component direction of the three-dimensional space, and
adjust a resistance level of the at least one brake based on the determined opposing brake forces, the adjusted resistance level providing collinear resistance at the user interface member during continued movement of the user interface member over the trajectory.
2. The training or recovery system of claim 1 , wherein the positional data provides a position of the user interface member in a three-dimensional space.
3. The training or recovery system of claim 1 , wherein the exercise apparatus further includes a plurality of links and joints coupled to the user interface member.
4. The training or recovery system of claim 3 , wherein the at least one brake includes a plurality of brakes, each of the plurality of brakes configured to apply a resistance to a link or a joint.
5. The training or recovery system of claim 1 , wherein the at least one brake is a magnetic particle brake.
6. The training or recovery system of claim 1 , wherein the at least one brake is a motor.
7. The training or recovery system of claim 1 , wherein the sensor senses movement of the user interface member.
8. The training or recovery system of claim 1 , wherein the sensor senses movement associated with a link or a joint coupled to the user interface member.
9. A method of providing training or recovery to a user comprising:
providing an exercise apparatus including a user interface member, at least one sensor capable of sensing movement of a component of the apparatus caused by movement of the user interface member, and at least one brake capable of resisting movement of the user interface member;
receiving from the at least one sensor positional data of the user interface member during movement of the user interface member over a trajectory;
determining component velocities of a velocity vector representing a velocity (V) of the user interface member in a three-dimensional space based on the sensed positional data according to
V =√{square root over ( V r 2 +V θ 2 +V φ 2 )},
where each of V r , V θ , and V φ is a determined component velocity in a component direction of the three-dimensional space,
determining an opposing brake force for each component direction, the determining of the opposing brake force including apportioning a defined overall resistance (R) to each component direction according to
R r =R ·( V r /V ),
R θ =R ·( V θ /V ),
R φ =R ·( V φ /V ),
where each of R r , R θ , and R φ is a determined component resistance in a component direction of the three-dimensional space; and
adjusting a resistance level of the at least one brake based on the calculated velocity or the calculated acceleration, the adjusted resistance level providing collinear resistance at the user interface member during continued movement of the user interface member over the trajectory.
10. The method of claim 9 , wherein the positional data provides a position of the user interface member in a three-dimensional space.
11. The method of claim 9 , wherein the exercise apparatus further includes a plurality of links and joints coupled to the user interface member.
12. The method of claim 11 , wherein the at least one brake includes a plurality of brakes, each of the plurality of brakes configured to apply a resistance to a link or a joint.
13. The method of claim 9 , wherein the brake is a magnetic particle brake.
14. The method of claim 9 , wherein the at least one brake is a motor.
15. The method of claim 9 , wherein the sensor senses movement of the user interface member.
16. The method of claim 9 , wherein the sensor senses movement associated with a link or a joint coupled to the user interface member.