System, method and apparatus for electrically actuated pedal for an exercise or rehabilitation machine
A pedal assembly for electromechanical exercise or rehabilitation of a user is disclosed and can include pedals to engage appendages of a user. A spindle supports each pedal and has a spindle axis. A pedal arm assembly is located between the spindle and a rotational axle of the equipment. The pedal arm assembly is radially offset from the spindle axis to define a range of radial adjustability for the pedal relative to the rotational axle. The pedal arm assembly can include an electrically-actuated coupling assembly to adjust the radial position of the pedal in response to a control signal, and regulate motion of the user engaged with the pedals.
1. A pedal assembly for equipment for electromechanical exercise or rehabilitation of a user, comprising:
a pedal configured to be engaged by the user;
a spindle pivotably mounted to a middle portion of the pedal and having a spindle axis; and
a pedal arm assembly mounted to the spindle for support thereof, the pedal arm assembly comprises a housing with an elongate aperture through which the spindle extends, the pedal arm assembly is configured to be coupled to a rotational axle of the equipment, the rotational axle is radially offset from the spindle axis to define a range of radial travel of the pedal relative to the rotational axle, the pedal arm assembly comprising a coupling assembly comprising a carriage mounted in the housing to support the spindle, and an electric motor coupled to the carriage to linearly move the spindle relative to the housing, the coupling assembly is electrically actuated to selectively adjust a radial position of the pedal relative to the rotational axle in response to a control signal.
2. The pedal assembly of claim 1 , wherein the elongate aperture is orthogonal to the spindle axis.
3. The pedal assembly of claim 1 , wherein the coupling assembly comprises a leadscrew configured to be rotated by the electric motor and threadingly coupled to the carriage.
4. The pedal assembly of claim 3 , wherein the carriage comprises a throughbore that receives the leadscrew and a threaded nut mounted adjacent to the throughbore, such that the threaded nut threadingly engages the leadscrew.
5. The pedal assembly of claim 4 , wherein the coupling assembly comprises a rail adjacent and parallel to the leadscrew, the rail and the leadscrew are in the housing, and the carriage engages the rail for linear travel along the rail in the range of radial travel of the pedal.
6. The pedal assembly of claim 3 , wherein the coupling assembly comprises a slide pad between the carriage and an interior wall of the housing, and the slide pad is adjacent to the leadscrew.
7. The pedal assembly of claim 3 wherein, during operation, the coupling assembly is configured to adjust the radial position of the pedal in response to the control signal.
8. The pedal assembly of claim 3 , wherein the coupling assembly is configured to adjust the radial position of the pedal to produce an elliptical pedal path, relative to the rotational axle, during a revolution of the pedal.
9. The pedal assembly of claim 1 , wherein the pedal comprises a pressure sensor to sense a force applied to the pedal, and transmit the sensed force to a distal receiver.
10. The pedal assembly of claim 9 , wherein the pedal comprises a pedal bottom to receive and pivot about the spindle, the pressure sensor comprises a plurality of pressure sensors, a base plate on the pedal bottom to support the plurality of pressure sensors, and a pedal top positioned above the base plate and operatively engaged with the plurality of pressure sensors to transmit force from the user of the pedal to the plurality of pressure sensors.
11. The pedal assembly of claim 10 , wherein the plurality of pressure sensors comprises a toe sensor to sense a first pressure and a heel sensor to sense a second pressure, and the first pressure and the second pressure are used by the control system to determine a net force on the pedal.
12. The pedal assembly of claim 9 , wherein the transmitted sensed force signal is used by a controller to adjust at least one of rotation of the pedals or the radial position of the pedals.
13. The pedal assembly of claim 1 , wherein the coupling assembly is configured to translate rotational motion of the electric motor into radial motion of the pedals.
14. A method for electromechanical exercise or rehabilitation for a user, comprising:
electrically adjusting a radial position of a pedal relative to a rotational axle in response to a control signal;
regulating rotational motion of the pedal engaged with the user;
sensing a rotational position of the pedal for use in further electrically adjusting the radial position of a spindle pivotably mounted in a middle portion of the pedal; and
further electrically adjusting the radial position of the pedal in response to another control signal,
wherein electrically adjusting the radial position of the pedal comprises controlling an electric motor coupled to a carriage to linearly move a spindle in a housing and along an elongate aperture of the housing.
15. The method of claim 14 , wherein electrically adjusting the radial position of the pedal comprises mechanically supporting the carriage on a rail of the housing for linear travel of the carriage over a range of radial travel of the pedal.
16. The method of claim 14 , wherein electrically adjusting the radial position of the pedal comprises rotating a leadscrew with the electric motor to linearly move the carriage.
17. The method of claim 14 , wherein electrically adjusting the radial position of the pedal comprises, during a revolution of the pedal, adjusting the radial position of the pedal to produce an elliptical pedal path relative to the rotational axle.
18. The method of claim 14 , wherein electrically adjusting the radial position of the pedal occurs while the pedal is rotating about the rotational axle, and regulating rotational motion comprises sensing a force applied to the pedal and transmitting the sensed force to a remote receiver.