CN118512747A - Exercise equipment and method for controlling an exercise equipment having adjustable resistance and incline settings - Google Patents

Abstract

An exercise device for performing an exercise movement. A resistance mechanism controls the resistance used to perform the exercise movement. An incline adjustment device controls the incline used to perform the exercise movement. A control system is operably coupled to the resistance mechanism and the incline adjustment device and is configured to receive a resistance setting for controlling the resistance, receive an incline setting for controlling the incline, and determine a resistance correction value for adjusting the resistance based on the incline setting. The control system is further configured to adjust the resistance setting based on the resistance correction value to provide a corrected resistance setting, control the incline adjustment device based on the incline setting, and control the resistance mechanism based on the corrected resistance setting so that the effort of the user performing the exercise movement changes when the incline setting changes.

Description

Exercise equipment and controls for exercise equipment having adjustable resistance and incline settings Methods

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority to U.S. Provisional Patent Application No. 63/446,579, filed on February 17, 2023, which is incorporated herein by reference in its entirety.

Technical Field

The present invention relates to exercise equipment and methods for controlling exercise equipment, and in particular to exercise equipment having adjustable resistance and incline settings.

Background Art

The following U.S. patents and patent applications are incorporated herein by reference:

U.S. Patent Publication No. 2021/0275866 and U.S. Patent No. 10,946,238 disclose aspects of an exercise apparatus having a frame whereby pivoting of a first frame portion relative to a second frame portion changes the shape of an elliptical path during a striding exercise motion.

U.S. Patent No. 10,478,665 discloses an exercise device having a frame and first and second pedals coupled to the frame so that a user standing on the first and second pedals can perform a stepping exercise. The first and second pedals each have a treadle member that supports the bottom of the user's foot in a manner that facilitates movement of the user's foot relative to the treadle member during the stepping exercise.

U.S. Patent No. 9,925,412 discloses an exercise device including a linkage assembly that connects a drive member to a driven member such that a circumferential rotation of the drive member causes a substantially equal circumferential rotation of the driven member. The linkage assembly includes: a connecting rod member; a first crank arm that connects the drive member to the connecting rod member such that rotation of the drive member causes movement of the connecting rod member; and a second crank arm that connects the connecting rod member to the driven member such that movement of the connecting rod member causes rotation of the driven member. At least one additional crank arm connects the connecting rod member at an axis of rotation that is laterally offset from a straight line passing through the first crank arm axis of rotation and the second crank arm axis of rotation.

U.S. Patent No. 9,283,425 discloses an exercise assembly having a frame and an elongated footrest member, each of which can be moved along a path of different sizes defined by a user. Each footrest member has a front portion and a rear portion. A foot pad is disposed on the rear portion of one of the first footrest member and the second footrest member. The elongated connecting arm has a lower portion and an upper portion pivotally connected to the frame. The crank member has a first portion pivotally connected to the front portion of one of the first footrest member and the second footrest member, and has a second portion pivotally connected to the lower portion of one of the first connecting arm and the second connecting arm, so that each crank member can rotate in a circular path. The elongated rocker arm has a lower portion pivotally connected to one of the first footrest member and the second footrest member between the foot pad and the crank member, and has an upper portion pivotally connected to the frame.

U.S. Patent No. 9,138,614 discloses an exercise assembly having an elongated first rocker arm and a second rocker arm that pivot relative to each other in a scissor-like motion about a first pivot axis. The slide has a slider body that slides along a linear axis extending through and perpendicular to the first pivot axis. A linkage mechanism pivotally couples the first rocker arm and the second rocker arm to the slider body. Pivoting of the first rocker arm and the second rocker arm relative to each other causes the slider body to slide in a first direction along the linear axis. Opposite pivoting of the first rocker arm and the second rocker arm relative to each other causes the slider body to slide in an opposite second direction along the linear axis.

U.S. Patent Nos. 9,126,078 and 8,272,997 disclose an elliptical walking exercise device in which a dynamic linkage mechanism can be used to vary the stride length of the device. The control system can also be used to vary the stride length based on various exercise and operating parameters, such as speed and direction, and as part of a preprogrammed exercise routine, such as a hill climbing or interval training program. In addition, the control system can use the measurement of stride length to optimize the operation of the device.

US Patent No. 7,931,566 discloses an elliptical machine having a rotating inertial flywheel driven by a user-engaged linkage mechanism of an exercising user. A user-actuated brake engages the flywheel and stops the flywheel from rotating when actuated by the user.

U.S. Patent No. 7,918,766 discloses an exercise device for providing elliptical foot motion utilizing first and second rocking links suspended from an upper portion of a machine frame, allowing at least limited arcuate motion of lower portions of the links. A foot pedal assembly is connected to a rotating shaft or member located at the lower portion of the links so that the foot pedal will describe a generally elliptical path in response to a user's foot motion on the pedal.

US Patent No. 6,846,272 discloses an exercise device in which the stride length portion of the elliptical motion can be automatically increased based on exercise parameters such as speed. In addition, the handrails can be manually or automatically disconnected from the pedal bar.

US Patent Nos. 6,217,486, 6,203,474, 6,099,439 and 5,947,872 disclose aspects of exercise devices having a pedal that moves in an elliptical path whereby the angular orientation of the pedal relative to a fixed horizontal surface (such as a floor) varies in a manner that simulates a natural heel-to-toe flexion.

U.S. Patent Application No. 17/867,062 discloses an exercise equipment for performing a step exercise. The exercise equipment has a frame, a first pedal member and a second pedal member, a first foot pad and a second foot pad located on the first pedal member and the second pedal member, respectively, and a first rocker arm and a second rocker arm, wherein the first foot pad and the second foot pad are configured to move on respective elliptical paths during the step exercise. The first pedal member and the second pedal member are pivotally connected to the first rocker arm and the second rocker arm, and move relative to the frame together with the first rocker arm and the second rocker arm. An adjustment device pivotally connects the first rocker arm and the second rocker arm to the frame. The adjustment device is configured to actively adjust and set the position of the first rocker arm and the second rocker arm relative to the frame, respectively, so as to change the inclination shape of the elliptical path during the step exercise.

Other U.S. patents are related to disclosing other types of exercise equipment and their controls. In particular, U.S. Patent No. 9,238,158 and U.S. Patent No. 9,216,317 disclose stair climbing type exercise equipment. U.S. Patent Nos. 6,572,512, 6,095,951, 4,749,181, 4,664,371, 4,659,074, 4,643,418, 4,635,928, 4,635,927, 4,614,337 and 4,334,676 and U.S. Patent Publication No. 2021/0283465 and U.S. Patent Application No. 17/946,295 disclose treadmill type exercise equipment.

Summary of the invention

This Summary is provided to introduce some concepts that will be further described below in the Detailed Description. This Summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used as an aid in limiting the scope of the claimed subject matter.

Certain aspects of the present disclosure relate to an exercise device for performing an exercise movement. A resistance mechanism controls the resistance used to perform the exercise movement. An incline adjustment device controls the incline used to perform the exercise movement. A control system is operably coupled to the resistance mechanism and the incline adjustment device and is configured to receive a resistance setting for controlling the resistance, receive an incline setting for controlling the incline, and determine a resistance correction value for adjusting the resistance based on the incline setting. The control system is further configured to adjust the resistance setting based on the resistance correction value to provide a corrected resistance setting, control the incline adjustment device based on the incline setting, and control the resistance mechanism based on the corrected resistance setting so that the effort of the user performing the exercise movement changes when the incline setting changes.

In some examples, the exercise equipment is configured such that the exercise motion includes a stepping exercise motion.

In some examples, the control system is configured to determine the resistance correction value so that a given change in the incline setting changes the user's effort to a change that corresponds to a reference effort caused by changing the incline setting of a reference exercise equipment by the given change. In some examples, the reference exercise equipment includes a treadmill. In some examples, the resistance correction value is determined so that the effort used to perform the exercise motion is approximately the same as the reference effort. In some examples, the control system is configured to determine the resistance correction value based on at least one of the user's weight, the user's heart rate, the force applied by the user when performing the exercise motion, and the speed at which the exercise motion is performed.

In some examples, the control system is configured to determine the resistance correction value further based on at least one of a weight of the user, a heart rate of the user, a force applied by the user while performing the exercise movement, and a speed at which the exercise movement is performed.

Other aspects of the present disclosure generally relate to methods for controlling an exercise device for performing an exercise motion. In some examples, the method includes receiving a resistance setting for controlling the resistance to performing the exercise motion, receiving an inclination setting for controlling the inclination to perform the exercise motion, and determining a resistance correction value for adjusting the resistance setting based on the inclination setting. The method further includes adjusting the resistance setting based on the resistance correction value to provide a corrected resistance setting, controlling the inclination based on the inclination setting, and controlling the resistance based on the corrected resistance setting. Controlling the resistance based on the corrected resistance setting causes the effort of the user to perform the exercise motion to change when the inclination setting changes.

Certain examples further include determining the resistance correction value based also on a reference effort used to perform a reference exercise motion using a reference exercise device having an incline controlled at an incline setting, wherein the reference effort is stored in a memory, and wherein the resistance correction value is determined so that the effort used to perform the exercise motion is approximately the same as the reference effort.

Some examples further include receiving a level setting and determining a resistance correction value based on the level setting, wherein the level setting changes the resistance correction value by an amount dependent upon the incline setting. Some examples further include receiving an input from a user and basing the level setting on the input.

Some examples further include receiving input from a user and basing at least one of the resistance setting and the incline setting on the input.

Some examples further include determining the resistance correction value based also on the resistance setting.

Some examples further include determining at least one of a weight of the user, a heart rate of the user, a force applied by the user while performing the exercise movement, and a speed at which the exercise movement was performed, and determining the resistance correction value based thereon.

Other aspects according to the present disclosure generally relate to a method for controlling an exercise equipment for performing an exercise movement based on a reference exercise equipment for performing a reference exercise movement. In some examples, the method further includes: receiving a resistance setting for controlling the resistance to performing the exercise movement, receiving an inclination setting for controlling the inclination of performing the exercise movement, and determining a resistance correction value for adjusting the resistance setting based on the inclination setting and based on a reference effort of performing the reference exercise movement at the inclination setting using the reference exercise equipment. The method further includes adjusting the resistance setting based on the resistance correction value to provide a corrected resistance setting, controlling the inclination based on the inclination setting, and controlling the resistance based on the corrected resistance setting. Controlling the resistance based on the corrected resistance setting causes changing the inclination setting to change the reference effort and causes the effort of the user performing the exercise movement to change accordingly.

Some examples further include receiving a level setting and determining a resistance correction value based on the level setting, wherein the level setting changes the resistance correction value by an amount dependent upon the incline setting. Some examples further include receiving an input from a user and basing the level setting on the input.

Some examples further include receiving input from a user and basing at least one of the resistance setting and the incline setting on the input.

Some examples further include determining the resistance correction value based also on the resistance setting.

Some examples further include determining at least one of a weight of the user, a heart rate of the user, a force applied by the user while performing the exercise movement, and a speed at which the exercise movement was performed, and determining the resistance correction value based thereon.

It should be appreciated that the various aspects described throughout this disclosure may be combined in different ways, including those explicitly disclosed in the examples provided, while still constituting inventions in accordance with the present disclosure.

Various other features, objects and advantages of the present disclosure will become apparent from the following description taken in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is described with reference to the following drawings. The same numerals are used throughout the drawings to refer to the same features and components. Unless otherwise specifically stated, the items shown in the drawings are not necessarily drawn to scale.

1 is a side perspective view of a non-limiting example of an exercise machine according to the present disclosure with certain features removed, such as a support column, base member, and stabilizer cover.

2 is a rear view of the exercise machine with the front stabilizer cover removed.

3 is a side view of the exercise device with the front and rear covers removed.

4 is an opposing side view of the exercise device with the front and rear covers and stabilizer cover removed.

5 is a top view of the exercise device with the base member and stabilizer cover removed.

6 is an exploded view of a portion of the front portion of the exercise equipment.

FIG. 7 is another exploded view of the portion shown in FIG. 6 .

8 is a schematic diagram showing a low-incline elliptical travel path for a foot pad on an exercise machine.

9 is a schematic diagram showing a moderately inclined elliptical travel path for a foot pad on an exercise machine.

10 is a schematic diagram showing a high-inclined elliptical travel path for a foot pad on an exercise machine.

11 is a schematic diagram of a control system for controlling an exercise machine according to the present disclosure.

FIG. 12 is a flow chart illustrating a non-limiting example of a method for controlling an exercise machine according to the present disclosure.

13 is a representation of a control system for controlling two pieces of exercise equipment in accordance with the present disclosure.

DETAILED DESCRIPTION

Through experimentation and development, the inventors have recognized the problems and inconsistencies in the effect of changing the inclination of an elliptical machine on the user's exertion. With some fitness equipment, such as a treadmill, the user lifts their own weight with each step. Changing the inclination of the treadmill belt increases the height or distance that the weight must be lifted. Furthermore, exertion is defined as a function of force and distance (e.g., how far to lift a weight). Therefore, increasing the inclination of a treadmill increases the distance, thereby increasing the user's exertion.

However, the inventors have recognized that the same mechanism does not apply to elliptical machines. Due to the connected linkage, moving one pedal downward causes the other pedal to move upward. In addition, the pedals travel in an elliptical path about the crank axis. Therefore, pressing down on one pedal helps the user lift their weight as the other pedal is lifted, and there is no net increase in the height of the user's weight while performing an exercise motion. Because the effort of performing an elliptical exercise motion is not based on the user having to lift their weight a height with each step, the inventors have determined that adjusting the incline of these elliptical machines has little effect on the user's effort. This drawback is undesirable and unexpected to the user.

The present disclosure identifies this deficiency, causes of this deficiency, and also provides exemplary systems and methods for addressing the unmet need of providing an elliptical machine that operates in a desirable and predictable manner.

1 to 5 illustrate a personal exercise device 20 for performing a stepping exercise. The exercise device 20 extends from front to back in a longitudinal direction L, from top to bottom in a vertical direction V, and from one side to an opposite side in a horizontal direction H. The exercise device 20 is substantially symmetrical in the horizontal direction H. Therefore, components on one side of the exercise device 20 are the same as or mirror images of components on the opposite side of the exercise device 20. Therefore, the description provided below regarding components on one side of the exercise device 20 is equally applicable to components on the opposite side of the exercise device 20.

The exercise equipment 20 has a frame 22 including a longitudinally extending base member 24. Horizontally extending stabilizer members 26 extend from the front and rear of the base member 24 and prevent the exercise equipment 20 from tipping over in the horizontal direction H. Each stabilizer member 26 has a foot 28 for supporting the frame 22 above the ground. The frame 22 has a front support column 30 extending vertically upward from the front of the base member 24. The gusset 32 bears against and supports the front support column 30 relative to the base member 24. A bridge 34 is mounted on top of the front support column 30. The bridge 34 has a horizontally extending body 36, wherein opposing first and second arms 38 extend rearwardly from the body. Therefore, the bridge 34 generally has a U-shape and defines a "movement zone" between the arms 38 for the user's body and/or arms during a stepping exercise movement. A generally trapezoidal fixed handle 42 is rigidly mounted to body 36 between arms 38 and is intended, at least in part, to be manually grasped by a user operating exercise machine 20 .

A user console 44 is mounted on the bridge 34 and extends generally upward from the bridge 34. The console 44 includes a display screen 46 facing the user operating the exercise equipment 20. Conventionally, the console 44 may include a processor and a memory, and is configured to control various devices associated with the exercise equipment 20, including for controlling resistance and/or inclination, such as will be further described below. The display screen 46 may optionally be a touch screen, wherein the user operating the exercise equipment 20 may manually touch the screen to input commands to the console 44 to control the exercise equipment 20. Optionally, an input button 48 is located on the fixed handle 42 and is used to manually input commands to the console 44. In some examples, the input button 48 is located elsewhere, such as on the upper end of the grip 125, as described herein below. The input commands input via the display screen 46 and/or the input button 48 may, for example, include increasing or decreasing the resistance of the exercise equipment 20 and/or increasing or decreasing the inclination of the exercise equipment 20, etc. Optionally, the biomechanical sensor 45 may be disposed on the fixed handle 42 and/or the grip 125 to sense the user's heart rate when the user manually grasps the fixed handle 42 and/or the grip 125 .

It should be appreciated that various devices associated with exercise equipment 20 may be controlled without input from the user (e.g., using a touch screen, input buttons 48, and other mechanisms described above). As non-limiting examples, this includes adjusting resistance and/or incline according to an exercise program stored and executed by a processor in console 44 or an exercise program changed by a coach guiding a user through an exercise routine. In other words, coach input and exercise programs may also be considered inputs for controlling exercise equipment 20. Additional discussion of control systems for controlling these various devices is provided below.

At the rear of the exercise equipment 20, the frame 22 further includes a rear support column 50, which extends upward and backward at an angle from the rear of the base member 24. The resistance mechanism 52 is mounted on the rear support column 50, including, for example, via a rear frame plate (not shown in FIG. 4) mounted on the rear support column 50 and/or the base member 24. The type and configuration of the resistance mechanism 52 may be different from that shown and described. In the example shown, the resistance mechanism 52 is a hybrid generator brake, which is configured to provide resistance to the stepping motion reduced on the exercise equipment 20 (this will be further described below), and is also configured to generate power based on the stepping motion, such as providing power for the console 44. In some examples, a suitable resistance mechanism is the "FB S i x Series" sold by Chihua Company. The resistance mechanism 52 is connected to the pulley 56 by a belt 58, and is configured so that the rotation of the pulley 56 rotates the resistance mechanism 52. The pulley 56 is connected to the rear support column 50 by a central shaft 60 (see FIG. 8). The pulley 56 and the central shaft 60 are fixed relative to each other so that these components rotate together.

At the rear of exercise device 20, diametrically opposed crank arms 62 have radially inner ends keyed to (fixed to) central shaft 60 such that crank arms 62 remain diametrically opposed to each other (i.e., 180 degrees apart) and such that rotation of crank arms 62 and central shaft 60 causes pulley 56 to rotate about a pulley pivot axis 64 defined by central shaft 60. In the example shown in FIGS. 1-5 , resistance mechanism 52 resists rotation of pulley 56 via electromagnet 66. In some examples, resistance mechanism 52 includes another mechanism for resisting movement of pulley 56, such as via a flywheel, a mechanical brake, a pneumatic actuator, etc.

Exercise equipment 20 further has first and second pedal members 68 centrally located on opposite sides of frame 22. Pedal members 68 are elongated in longitudinal direction L, each having a central portion 70, a front portion 72 extending generally forward and upward from central portion 70, and a rear portion 74 extending generally rearward and upward from central portion 70 to a rear portion 76 extending rearward from rear portion 74 and substantially parallel to central portion 70. In some examples, rear portion 76 is substantially non-parallel to central portion 70.

At the rear of the exercise apparatus 20, first and second elongated stride links 78 are freely rotatably (pivotally) coupled to the radially outer ends of the opposing crank arms 62 at stride link-crank arm pivot axis 80, for example, by bearings. Each stride link 78 has a first end pivotally coupled to a corresponding tail portion 76 of the pedal member 68 at a stride link-pedal member pivot axis 82. Each stride link 78 has an opposing second end pivotally coupled to a distal or rearward end of an elongated idler link 84 at a stride link-idler link pivot axis 86. An opposing proximal or forward end of the idler link 84 is pivotally coupled to the base member 24 at an idler link-base member pivot axis 88. 1 , 3 , and 4 , the stepping link-crank arm pivot axis 80 is located along the stepping link 78 between the stepping link-pedal member pivot axis 82 and the stepping link-idler link pivot axis 86. In some examples, the stepping link-crank arm pivot axis 80 is closer to the stepping link-pedal member pivot axis 82 than the stepping link-idler link pivot axis 86. In other examples, the pivot axis 80 is located at the center of the stepping link 78 or closer to the pivot axis 86.

The first and second foot pads 90 are supported on the central portion 70 of the first and second pedal members 68. The exercise machine 20 includes the first and second foot pads 90 to support the user's feet during an elliptical stepping motion. The first and second foot pads 90 travel along an elliptical path with adjustable incline, which will be further described below.

The exercise device 20 also has first and second rocker arms 92 that are pivotally coupled to the frame 22 via an incline adjustment device 94, which will be further described below. The type and configuration of the incline adjustment device 94 can vary, and other examples are shown in the illustrated example (further details are also provided in U.S. Patent Application No. 17/867,062, which is incorporated herein in its entirety). The rocker arm 92 has an upper end portion 96, a lower end portion 98, and an elbow portion 100 located between the upper end portion 96 and the lower end portion 98 so that the upper end portion 96 and the lower end portion 98 extend at an angle relative to each other. The lower end portion 98 is pivotally connected to the front portion 72 of the pedal member 68 at the rocker-pedal member pivot axis 102, so that the pedal member 68 can be pivotally moved relative to the rocker arm 92, and also so that the pivoting of the rocker arm 92 relative to the frame 22 causes the pedal member 68 to pivot and/or translate accordingly relative to the frame 22, that is, so that these components pivot and/or translate together relative to the frame 22.

Referring to FIGS. 3, 4, 6 and 7, the incline adjustment device 94 is located in the bridge 34 and extends into the indicated arms 38 on both sides of the active area. The incline adjustment device 94 is particularly configured to facilitate selective adjustment and setting of the position of the swing arm 92 relative to the frame 22, in particular the position of the pivot axis 108, respectively, thereby respectively changing the incline shape of the elliptical travel path of the foot pad 90 during the stepping exercise movement, which will be further described below. The incline adjustment device 94 can be controlled by the indicated controller based on a stored exercise program or based on an operator input to the console 44. For example, this can be controlled via a touch screen, an input button 48 on the fixed handle 42, and/or an input button on the upper end of the grip 125. It is apparent from the examples shown and the following description that the type and configuration of the incline adjustment device 94 can vary.

In the first example shown in FIGS. 1-10 , the tilt adjustment device 94 includes a tilt link 104 for each rocker arm 92 that pivotally couples the upper end portion 96 of the rocker arm 92 to the frame 22. More specifically, each tilt link 104 has an upper portion that pivotally couples to the frame 22 at a tilt link-frame pivot axis 106. Each tilt link 104 further has a lower portion that pivotally couples to the upper end portion 96 of the rocker arm 92 at a tilt link-rocker arm pivot axis 108 that is generally located below the tilt link-frame pivot axis 106. In some examples, bearings support the indicated couplers so that the corresponding tilt link 104 can pivot relative to the indicated axes 106, 108.

The tilt adjustment device 94 is configured to pivot each tilt link 104 relative to the frame 22 (i.e., about the tilt link-frame pivot axis 106), thereby adjusting and setting the position of the rocker arm 92 relative to the frame 22, and in particular adjusting and setting the position of the tilt link-rocker arm pivot axis 108 relative to the frame 22 (i.e., about the tilt link-frame pivot axis 106). In the example shown, the tilt adjustment device 94 includes a first linear actuator and a second linear actuator 110. Note that the type of linear actuator 110 can be different from the type shown and described. In the example shown, the linear actuator 110 includes an electromechanical linear actuator having an electric gear motor 120, a screw assembly 121, and a screw nut and tube assembly 125 (see Figures 6 and 7). The linear actuator 110 has a front end that is pivotally coupled to the bridge 34 via a trunnion assembly 113, in particular at an actuator-bridge pivot axis 114. The linear actuator 110 has an opposite rear end that is pivotally coupled to the tilt link 104 at an actuator-tilt link pivot axis 118 (see FIG. 6 ). An exemplary bearing, best seen in the exploded view of FIG. 7 , supports the coupling at the actuator-tilt link pivot axis 118. The actuator-tilt link pivot axis 118 is offset relative to the tilt link-frame pivot axis 106 and the tilt link-rocker arm pivot axis 108. In some cases, the actuator-tilt link pivot axis 118 is offset forward relative to the tilt link-frame pivot axis 106 and the tilt link-rocker arm pivot axis 108. In the non-limiting example shown, the tilt link 104 is a member or body having or defining a triangular shape, wherein the tilt link-frame pivot axis 106, the tilt link-rocker arm pivot axis 108, and the actuator-tilt link pivot axis 118 are located at respective three vertices of the triangular shape.

The gear motor 120, the lead screw assembly 121, and the lead screw nut and tube assembly 125 are configured to extend or shorten the linear actuator 110 according to input commands from the noted controller, which may be based on operator input to the console 44 or based on a program in the noted controller, as described herein above. Operation of the gear motor 120 in a first direction causes the lead screw 123 of the lead screw assembly 121 to rotate in the first direction, which causes the lead screw nut and tube assembly 125 to travel outwardly along the lead screw 123 and outwardly relative to the housing 119 of the linear actuator 110, thereby extending the linear actuator 110. Operation of the gear motor 120 in an opposite second direction causes the lead screw 123 to rotate in the second direction in the opposite direction, which causes the lead screw nut and tube assembly 125 to retract inwardly relative to the housing 119, thereby shortening the linear actuator 110. Due to the relative positions of the tilt link-frame pivot axis 106, the tilt link-rocker pivot axis 108, the actuator-bridge pivot axis 114, and the actuator-tilt link pivot axis 118, the extension of the linear actuator 110 causes the tilt link 104 to pivot rearwardly along an arc relative to the bridge 34. Such actuation of the linear actuator 110 also causes the tilt link-rocker pivot axis 108 to move rearwardly (e.g., relative to the frame 22) and along an arc relative to the tilt link-frame pivot axis 106. As shown and described below, this increases or improves the inclination of the elliptical path (e.g., relative to the frame 22) of the foot pad 90. Conversely, shortening the linear actuator 110 causes the tilt link 104 to pivot forwardly along an arc relative to the bridge 34 and relative to the tilt link-frame pivot axis 106. This causes the tilt link-rocker pivot axis 108 to move forwardly along an arc relative to the frame 22. As shown and described below, this reduces or decreases the inclination of the elliptical path (eg, relative to the frame 22) of the foot pad 90. In examples disclosed herein, the inclination adjustment device 94 can adjust the inclination of the elliptical path of the foot pad 90 during a striding motion.

It is important to note that the tilt adjustment device 94 need not include two actuators, as shown in the first example. In other examples, a single adjustment device is connected to more than one tilt link 104. In addition to linear actuators, devices for changing the position of the tilt link 104 include electric motors driving worm gears, using pulleys and/or any other conventional mechanism for causing the above-mentioned relative position adjustment of the axes.

1 to 5, the exercise device 20 has movable handle members 122 that are pivotally coupled to opposite sides of the bridge 34 at a handle member-bridge pivot axis 124. Each handle member 122 has an upper end with a grip 125 that is used to be manually grasped by a user performing a stepping exercise motion. Each handle member 122 has a lower end that is pivotally coupled to a coupling rod 126 at a handle member-coupling rod pivot axis 128. Thus, the handle members 122 and the corresponding coupling rods 126 pivot together about the handle member-bridge pivot axis 124, and the coupling rods 126 can pivot relative to the handle members 122 about the handle member-coupling rod pivot axis 128. Each coupling rod 126 has a front end portion 130 coupled to the handle member 122 at a handle member-coupling rod pivot axis 128 and a rear end portion 132 pivotably coupled to the central portion 70 of the pedal member 68 at a coupling rod-pedal member pivot axis 134. Thus, the coupling rod 126 can pivot relative to the pedal member 68 about the coupling rod-pedal member pivot axis 134. The elbow portion 136 is located between the front end portion 130 and the rear end portion 132, so that the front end portion 130 extends upward at an angle relative to the rear end portion 132. Thus, a user standing on the foot pad 90 and manually grasping the grip 125 can alternately push and pull the grip 125, thereby applying a pushing force and a pulling force on the pedal member 68 via the coupling rod 126, which facilitates a stepping exercise motion, which will be further described below.

8 to 10 are schematic diagrams of the exercise machine 20, showing the travel paths A1-A3 of the foot pad 90 and the travel paths B1-B3 of the step link-pedal member pivot axis 82 during low incline (FIG. 8), medium incline (FIG. 9), and high incline (FIG. 10). In each figure, the swing arm 92 has a different position of the swing range, which is determined by the position of the incline adjustment device 94.

FIG8 shows a low pitch with the linear actuator 110 retracted and each tilt link 104 pivoted about the tilt link-frame pivot axis 106 toward the bridge 34 (i.e., rotated clockwise about the tilt link-frame pivot axis 106 in the side view shown in FIG8). This causes the tilt link-rocker arm pivot axis 108 to move along an arc toward the bridge 34 and, via the connection of the rocker arm 92 and the pedal member 68, positions the foot pad 90 to follow the low pitch elliptical travel path A1.

FIG. 9 shows a moderate incline, where the linear actuator 110 is moderately extended and each tilt link 104 is therefore pivoted about the tilt link-frame pivot axis 106 away from the bridge 34 (i.e., pivoted counterclockwise about the tilt link-frame pivot axis 106 as viewed from the side view shown in FIG. 9 ). This causes the tilt link-rocker arm pivot axis 108 to move along an arc away from the bridge 34 and, via the connection of the rocker arm 92 and the pedal member 68, positions the foot pad 90 to follow the moderate incline elliptical travel path A2.

FIG. 10 shows a high inclination, where the linear actuator 110 is further extended and each tilt link 104 is therefore pivoted about the tilt link-frame pivot axis 106 away from the bridge 34 (i.e., further pivoted counterclockwise about the tilt link-frame pivot axis 106 from the side view shown in FIG. 10). This causes the tilt link-rocker arm pivot axis 108 to move further away from the bridge 34 along an arc and, via the connection of the rocker arm 92 and the pedal member 68, position the foot pad 90 to follow the high inclination elliptical travel path A3. It is important to understand that the three positions shown in FIGS. 8-10 are exemplary and that other positions may be achieved by operating the incline adjustment device 94, which may be automatically controlled by programming of the console 44 and/or by input to the console 44 and/or input button 48 and/or other input buttons (such as on the upper end of the grip 125).

By comparing FIGS. 8 to 10 , the exercise equipment 20 is advantageously configured to maintain a substantially compact and constant length (in the length direction L, see FIG. 1 ) of the travel path A1-A3 throughout the adjustment process performed by the incline adjustment device 94. The configuration of the various components advantageously occupies a relatively small footprint. The end of the rocker arm 92 advantageously does not swing beyond the front of the frame 22, thereby maintaining a small footprint. Due to the configuration of the step link 78 as shown and described above, the travel path B1-B3 is also substantially constant. The rear linkage mechanism including the step link 78 advantageously does not swing beyond the rear portion of the frame 22, thereby maintaining a small footprint. The advantage of the configuration of the movable handle member 122 and the connecting rod 126 is that, despite the inclination being changed via the incline adjustment device 94, the entire travel path (i.e., the swing range of the handle member 122 around the handle member-bridge pivot axis 124) is substantially constant.

Advantageously, the foot pad 90 is located on the pedal member 68 at a distance behind the rocker-pedal member pivot axis 102 to produce a more natural vertical height of the travel path A1-A3. This feature combines with the travel path B1-B3 to produce a more natural, smoother travel path A1-A3 at all inclination settings. In addition, as described herein above, the travel path (arc) of the tilt link travel is tilted upward toward the rear portion of the travel toward the high inclination. This adjusts/blends some additional vertical height into the overall elliptical height when it is adjusted to the high inclination setting.

FIG. 11 shows an example of a control system 200 for controlling an exercise device, such as the exercise device 20 shown in FIGS. 1 to 5 and discussed above. Certain aspects of the present disclosure are described or depicted as functional and/or logic block components or processing steps that may be performed by any number of hardware, software, and/or firmware components configured to perform the specified functions. For example, certain embodiments employ integrated circuit components, such as memory elements, digital signal processing elements, logic elements, lookup tables, etc., configured to perform various functions under the control of one or more processors or other control devices. The connections between the functional block components and the logic block components are exemplary only, and may be direct or indirect, and may follow optional paths.

In some examples, the control system 200 communicates with one or more components of the exercise equipment 20 via one or more communication links CL (which can be any wired and/or wireless links). The control system 200 is capable of receiving information and/or control signals via the communication link CL to control one or more operating characteristics of the exercise equipment 20 and its various subsystems. It should be appreciated that the term "receive" should not be interpreted as limiting how information becomes available to the components described herein. For example, the present disclosure contemplates two configurations in which the control system 200 is provided with information from another component outside the control system 200, a component within the control system 200 obtains information from another component outside the control system 200, or a component within the control system 200 obtains basic information itself. In one example, the communication link CL is a controller area network (CAN) bus. However, in some examples, other types of links are used. It will be appreciated that the connection range and the communication link CL can actually be one or more shared connections or links between some or all of the components in the exercise equipment 20. In addition, the lines representing the communication link CL are shown to show that various control elements can communicate with each other, and do not represent the actual wiring connection between the various elements, nor do they represent the only communication path between the elements. Additionally, exercise equipment 20 may include various types of communication devices and systems, and thus the illustrated communication link CL may actually represent a variety of different types of wireless and/or wired data communication systems.

The control system 200 can be a computing system including a processing system 210, a memory system 220, and an input/output (I/O) system 230 for communicating with other devices operably connected thereto, such as an input device 199 and an output device 201, any one of which can additionally or alternatively include elements stored in the cloud 202. The input device 199 and the output device 201 can also be collectively referred to as peripheral devices. Examples of the input device 199 include a console 44 (e.g., as a touch screen), input buttons 48, and a biomechanical sensor 45, as described above and shown in FIG3. Depending on the type of exercise equipment and the various elements provided with the exercise equipment, additional inputs can also be provided. With reference to FIG3 and FIG11, a weight sensor 203 can be provided on the exercise equipment 20 and is configured to measure the weight of the user (e.g., the weight supported via a pedal, a step, etc.). The weight sensor can be a piezoelectric sensor or another technology known in the art. Alternatively, the user's weight can be provided by the user, such as a digital entry entered via console 44, such as a digital entry retrieved from memory (e.g., memory system 220 of FIG. 11) by logging into a user account via LF Connect or another software application.

The exercise equipment 20 may also or alternatively have a force sensor 205 (e.g., a piezoelectric sensor or another technology known in the art), such as at the weight sensor 203 shown in FIG. 3, which is configured to measure the force generated by the user when performing an exercise motion. In some configurations, the same sensor may be used as the weight sensor 203 and the force sensor 205. For example, a sensor for a manually rotating treadmill may detect the weight of the user when stationary and the force when the user rotates the belt. In other configurations and for other exercise equipment (such as a rowing machine), the force sensor 205 measures the force at a different position or in a different direction from the force caused by the user's weight. In this case, the force sensor 205 may be configured to measure the pulling force in the horizontal direction when the user performs a rowing exercise motion, while a separate weight sensor 203 may measure the vertical force of the user's weight on the seat. Another non-limiting example of a position for locating the force sensor 204 includes the handle of an elliptical machine.

Exercise equipment 20 may also or alternatively have a speed sensor 207 configured to measure the speed at which the user performs the exercise motion, which may be configured in a manner known in the art (e.g., a Hall Effect sensor, a rotary encoder, etc.). For example, speed sensor 207 may measure the revolutions per minute (RPM) of the rotating portion of an elliptical machine, the RPM or pulling frequency of a rowing machine, the number of steps per minute climbed on a stair climber, or other conventionally measured indicators.

With reference to Fig. 3 and Fig. 11, the example of the output device 201 of control system 200 includes the resistance mechanism 52 for controlling the resistance of performing exercise movement and the inclination adjustment device 94 for controlling the inclination of performing exercise movement as described above. It should be recognized that some devices can perform the functions of both input device 199 and output device 201, such as console 44, and the display screen 46 of console 44 can be used to receive input from the user and display information to the user as output. Depending on the type of exercise equipment and the equipment and functions provided, other output devices 201 can also be considered. Other non-limiting examples of output device 201 include motor 209, lights, sounds and/or tactile feedback, cooling fans and/or other conventional known elements for rotating the belt of treadmill. Additional information about these outputs can be found in U.S. patents and patent applications, which are incorporated by reference at least in the background technology section above.

11, processing system 210 loads and executes executable program 222 from memory system 220, accesses data 224 stored within memory system 220, and directs exercise equipment 20 to operate as described in further detail below. Processing system 210 may be implemented as a single microprocessor or other circuit, or distributed across multiple processing devices or subsystems that cooperate to execute executable program 222 from memory system 220. Non-limiting examples of processing systems include general-purpose central processing units, special-purpose processors, and logic devices.

Memory system 220 may include any storage medium that is readable by processing system 210 and capable of storing executable programs 222 and/or data 224. Memory system 220 may be implemented as a single storage device or distributed across multiple storage devices or subsystems that collaborate to store computer-readable instructions, data structures, program modules, or other data. Memory system 220 may include volatile and/or non-volatile systems, and may include removable and/or non-removable media implemented in any method or technology for storing information. Storage media may include non-transitory and/or transient storage media, including, for example, random access memory, read-only memory, magnetic disks, optical disks, flash memory, virtual and non-virtual memory, magnetic storage devices, or any other media that may be used to store information and accessed by an instruction execution system.

In this manner, control system 200 controls output device 201 , thereby controlling exercise equipment 20 , based on input device 199 and executable program 222 stored in memory system 220 .

Through experiment and development, the inventor has recognized the problem of exercise equipment of the prior art and the method for controlling exercise equipment. In many cases, exercise equipment provides adjustment to change the effort of the user to perform exercise, such as by adjusting the resistance and/or inclination of the exercise. As mentioned above, such resistance and/or inclination adjustment can be realized by controlling resistance mechanism 52 and/or inclination adjustment device 94. It should be appreciated that effort can also be referred to as work or energy required for exercise, which can be measured according to watt, joule or other conventional units. The user's heart rate, oxygen consumption (VO2) or other physiological measurements (which can be measured via conventional techniques) can also be used as a means of measuring effort.

The inventors have recognized that, for certain incline-adjustable exercise machines, increasing the incline does not provide the desired effect of increasing exertion. In the case of conventional treadmills, the user's exertion is typically increased by adjusting the speed at which the belt rotates, the resistance to the user rotating the belt (for manual treadmills), and/or by increasing the incline of the belt relative to a horizontal plane (such as a floor). However, in the case of an elliptical machine of the type shown in FIG. 3 , increasing the incline does not increase the user's exertion. In fact, the inventors have recognized certain models of elliptical machines and controls for operating them in which increasing the incline actually reduces the user's exertion during use.

In one experiment, the inventors determined that increasing the incline of a conventional treadmill caused the user's heart rate to increase by 3.5 to 5.5 beats per minute (bpm) for each degree increase in incline. In contrast, for a conventional elliptical machine, the heart rate increase was only 0.5 to 2.0 bpm per degree. As described above, in other examples, the inventors found that there was no change in effort as the incline of the elliptical machine increased. For some fitness equipment, increasing the incline of the elliptical machine resulted in a decrease in effort, which is generally the opposite of the intended effect of the user increasing the incline.

The inventors have recognized different interpretations for which increasing the incline has little or no effect on the user's exertion on the elliptical machine. With a treadmill, the user lifts their weight (e.g., the weight of their feet, legs, and/or body) with each step. Changing the incline of the treadmill belt increases the height or distance that the weight must be lifted. Furthermore, exertion is defined as a function of force and distance (e.g., how much weight is lifted and how far it is lifted). Thus, increasing the incline of the treadmill increases the distance, which increases the user's exertion.

However, the same mechanism does not apply to elliptical machines. As described above, moving one pedal downward causes the other pedal to move upward due to the connected linkage mechanism. In addition, the pedals travel in an elliptical path about the crank axis. Therefore, pressing down on one pedal helps the user lift their weight as the other pedal is lifted. There is no net increase in the height of the user's weight when performing an exercise motion. Because the effort of performing an elliptical exercise motion is not based on the user having to lift their weight a height with each step, adjusting the incline of the exercise machine (and thus adjusting the height of each step) has little effect on the user's effort.

Through further experimentation and testing, the inventors have developed the presently disclosed exercise apparatus and methods for controlling the exercise apparatus to provide a change in effort from a user performing exercise based on a change in the inclination of the elliptical motion or path. In short, this includes introducing a resistance modifier for adjusting the resistance of the exercise motion based on the inclination, as discussed further below. This is also referred to as providing a dynamic resistance based on changes in inclination, rather than just a fixed resistance that is independent of the inclination.

Fig. 12 illustrates a method 300 for controlling an exercise machine according to the present disclosure, such as the exercise machine shown in Fig. 3. It should be appreciated that while this example relates to an elliptical machine (also known as a stride-type exercise machine), the present disclosure also contemplates use with other types of exercise machines, such as a stair climbing type exercise machine or an arc trainer (e.g., Life Fit Total Body Arc, etc.).

In step 302, resistance settings are received to control the resistance of performing an exercise motion. As described above, the resistance settings can be received via the input device 199 of the control system 200 of Figure 11 above, such as through user selection on the display screen 46 of the console 44, input buttons 48 on the fixed handle 42, the grip 125 and/or other locations on the exercise equipment from the executable program 222 stored in the memory system 220 (e.g., a specific exercise program selected by the user) and/or other methods known in the art. As discussed, the processing system 210 can actively pull out these resistance settings and receive resistance settings pushed from other components, other and/or other mechanisms for transmitting this information. Similarly, step 304 provides for receiving an inclination setting for controlling the inclination of performing an exercise motion, which can be received in the same or similar manner as the resistance setting received in step 302.

The control system uses the incline setting to determine the resistance correction value as an adjustment to the resistance setting to ensure that the adjustment to the incline is observed or reflected in the effort of the user performing the exercise movement. In certain methods discussed further below, the resistance correction value is also determined based on reference effort data of a reference exercise machine. As will be apparent, this provides a mechanism for controlling different exercise machines to provide similar changes in effort for the user when an incline adjustment is made.

In other embodiments, the control system is not configured to determine the resistance correction value based on the reference effort data. In some embodiments, this may be an optional feature available to the user or operator. For the method 300 of FIG. 12 , this provides for proceeding to step 306 after step 304 (path A) (i.e., without performing the optional steps 305 and 307 discussed below). Step 306 provides for determining the resistance correction value based on the inclination setting received in step 304. As a non-limiting example, the resistance correction value may be determined using one or more algorithms and/or by reference to data stored in a memory system (e.g., providing a lookup table of resistance correction values corresponding to different inclination settings), as discussed further below. The resistance correction value may also be determined based on additional factors (e.g., the resistance setting received in step 302, the weight of the user, the heart rate of the user, the force applied by the user when performing the exercise movement, and/or the speed of performing the exercise movement, which may be determined in the manner described above).

The resistance correction value may be provided based on the total resistance range that the resistance mechanism can provide. In other words, if the resistance range that the resistance mechanism can provide is from 0% to 100%, the resistance correction value may be determined to be +5% (or another value) for each degree of increase in incline. The resistance that the resistance mechanism can provide may alternatively be expressed in incremental levels (e.g., a range from 0 to 5 lowest to highest), a measure of braking force, or other units. The same is true for incline, which may be referred to as a percentage, incremental level, or other unit, rather than degrees. It should be recognized that the relationship between incline and resistance correction value need not be linear, for example, when the incline is between 0.0 degrees and 3.0 degrees, the resistance correction value is +5% for each degree of increase in incline, and when the incline is between 3.1 degrees and 5 degrees, the resistance correction value is +7% for each degree of increase in incline. In some examples, the resistance correction value is limited to zero and positive values.

It should be appreciated that determining the resistance correction value based on the incline setting in step 306 will also include determining the resistance correction value based on a change in the incline setting (e.g., from a previous incline setting to a new incline setting), as the latter is still based on the incline setting. Accordingly, the description provided herein may refer to determinations using either the incline setting or the incline change.

In some embodiments, the resistance modifier may also be determined based on a level setting that adjusts the degree to which the incline (via the resistance modifier) will affect the total resistance provided by the resistance mechanism in order to change the effort of the user. The level setting may be provided by the user and/or an executable program controlling the system 200. For example, the user may select from easy, medium, and difficult (or mild, standard, and intense) level settings via the console of the exercise equipment. A "medium" selection may have no effect on the resistance modifier, while an "easy" selection may reduce the resistance modifier relative to the "medium" selection, and a "difficult" selection may increase the resistance modifier. Alternatively, the level setting may involve an absolute or relative change in resistance. For example, an "easy" selection reduces the resistance modifier from the "medium" selection by an absolute 1% (based on the total resistance of the resistance mechanism, for example, from 6% to 5%). In another example, an "easy" selection reduces the resistance modifier by 50% (for example, from 6% to 3%) relative to a determination made when a "medium" selection is made.

Continuing with method 300 of FIG12 , step 308 provides determining a modified resistance setting, particularly by adjusting the resistance setting based on the resistance correction value. In certain embodiments, the adjustment is an incremental resistance, wherein the resistance correction value is added to the resistance setting to provide a modified resistance setting. For example, a +5% resistance correction value and a 10% resistance setting will provide a 15% modified resistance setting.

Step 310 provides for controlling the incline for performing the exercise movement based on the incline setting received in step 304. It will be appreciated that this may be performed by controlling the adjustment device as described above and shown in Figure 3 in a conventional manner.

Step 312 provides for controlling the resistance used to perform the exercise motion based on the revised resistance setting determined in step 308. This may again be done by controlling the resistance mechanism as described above and shown in FIG3, but not in the conventional manner of simply controlling the resistance based on the resistance setting received in step 302.

The resistance correction value may also be determined based on other factors. In some embodiments, the resistance correction value is further based on the resistance setting provided in step 302. For example, when the resistance setting is 10%, an increase of 1 degree in incline may provide a resistance correction value of +5%, but when the resistance setting is 2%, an increase of 1 degree in incline may provide a resistance correction value of +3%. In another example, when certain resistance settings are selected, such as one of the lowest five resistance settings, no resistance correction value is provided (or a given value of 0%). This recognizes that low resistance settings may correspond to users with lower abilities, so that these resistance settings will not be modified as the incline changes. Similarly, in some embodiments, if the speed at which the exercise motion is performed is below a minimum threshold (e.g., pedal rotation is below 40 RPM), no resistance correction value is provided, which again potentially indicates that the user does not expect additional effort beyond the selected resistance setting or is not in a condition of additional effort beyond the selected resistance setting. Additionally or alternatively, the user's heart rate may be referenced in a similar manner, such that no resistance correction value is provided when the heart rate exceeds a threshold rate (e.g., 150 bpm, 180 bpm, or an age-related threshold rate). In a comparative example, in an embodiment where the resistance correction value is not based on the resistance setting, the resistance correction value may be 10%, 5%, or another value for each degree increase in incline, regardless of the resistance setting.

In some embodiments, the resistance correction value is determined so that the change in effort caused by changing the incline is similar or approximately the same as the change in incline used to perform an exercise motion on another exercise machine (e.g., a treadmill). In particular, the resistance correction value is determined so that a given change in the incline setting causes the user's effort to change in a manner that corresponds to the change in the reference effort based on the same given change in the incline setting of the reference exercise machine. As an illustrative example, if it is known that increasing the incline of another exercise machine (the reference exercise machine) by 2 degrees causes the user's effort (the reference effort) to increase by 10%, then the resistance correction value is determined so that the same 2-degree increase in incline also causes approximately the same 10% increase in effort for an exercise motion performed using the presently disclosed exercise machine.

The reference exercise equipment can be a different type of equipment than the controlled exercise equipment. For example, the reference exercise equipment can be a treadmill, and the controlled exercise equipment can be an elliptical machine or a stair climber. In addition, in some examples, the reference exercise equipment does not have adjustable resistance (e.g., a conventional treadmill). The reference exercise equipment can also be based on real-world activities that do not actually require an exercise equipment, such as a determined or calculated effort of walking along an incline or known slope.

The relationship between the incline and the effort of the reference exercise machine may be determined empirically or by other methods and may be stored as data in the memory system 220 (FIG. 11). The reference exercise machine may also be a model version of the controlled exercise machine in which the mechanical advantage of the linkage mechanism between the pedals, etc. is effectively offset. In other words, if the linkage mechanism reduces the effort of the user to lift his weight by 70%, the reference exercise machine may be a model that effectively offsets this effect. Regardless of the manner in which the reference effort data is provided or determined, the reference effort data may be stored as a reference table for comparison, as part of an algorithm for determining a resistance correction value, and/or in other data formats for determining a resistance correction value.

The inventors have found that dynamically changing the resistance so that changes in inclination cause changes in effort, as expected in real-world activities (such as climbing), produces a particularly satisfactory user experience. Resistance can also or alternatively be changed to provide an experience in which effort changes according to inclination in a manner similar to other exercise equipment. Providing consistency in how different exercise equipment is controlled to provide the same or similar effort allows users to easily move between different types of exercise equipment to achieve diversity, exercise different muscle groups, or adapt to the availability of different exercise equipment in exercise facilities (such as gyms). This consistency also makes it easier for users to try new exercise equipment, thereby shortening the learning curve and providing a more comfortable experience in a shorter time. It should be recognized that exercise equipment does not need to be controlled to completely match the effort of another exercise equipment, nor does it need to match within all usage ranges.

FIG. 13 depicts an exercise machine 20 (here an elliptical machine) that can be configured in the manner described above. In the example shown, adjustment mechanism 94 operates according to a 3 degree incline setting (e.g., provided by a user via console 44). Thus, exercise machine 20 may also be referred to as having a 3 degree incline.

FIG. 13 further depicts an exemplary treadmill 400 such as described in U.S. Patent Application No. 17/946,295. Treadmill 400 has a belt 402 that is rotated so that a user can run or walk on belt 402. Belt 402 includes a running upper section and a return lower section that continuously circulate around a belt roller in a conventional manner. Although the present disclosure describes treadmill 400 as having a motor that rotates belt 402, the present disclosure also contemplates a configuration of a treadmill in which a user manually rotates belt 402. It should be appreciated that although treadmill 400 is used in this example, another type of exercise equipment may also be used as a reference for controlling exercise equipment 20.

The treadmill 400 is supported on a base 420 having a front 421 and a rear 422, a left side 423 and a right side 424, and a top 425 and a bottom 426. The base 420 is supported by a foot 412 with casters. The operation of the treadmill 400 is controlled by a console 410 in a manner known in the art, and the console 410 controls the speed of the belt 402, the inclination of the belt 402 relative to the horizontal plane, the resistance level (such as a bicycle, rowing, elliptical machine and/or a manual treadmill where the user rotates the belt) and/or other functions known in the art for operating a treadmill via a height adjustment system 430 in a manner known in the art. The console 410 may include a control system 440 similar to the control system 200 of Figure 11. The control system 440 controls the height adjustment system 430 to provide an inclination for performing exercise movements of the treadmill 400 according to an inclination setting (which can be received in one of the ways discussed above for the exercise equipment 20). In the example shown, height adjustment system 430 is adjustable via linear actuator 431, which moves base 420 vertically to change the incline 434 of belt 402 relative to a horizontal plane (e.g., floor 436). Height adjustment system 430 is shown operating according to a 3 degree incline setting (e.g., provided by a user via console 410). Thus, treadmill 400 may also be referred to as having a 3 degree incline.

Both control system 440 of treadmill 400 and control system 200 of exercise equipment 20 communicate with control system 500 via cloud 202. Cloud 202 may be an Internet-based computing network known in the art, such as Amazon Web Services. The control system 500, the control system 200 and/or the control system 440 may also or alternatively communicate via other known network configurations (including hardwired connections). The control system 500 may be configured like the control system 200 shown in FIG. 11, whereby the control system 440 and the control system 200 are each an input device and an output device of the control system 500.

In some configurations, control system 200 controls the resistance of exercise equipment 20 to use a force similar to or equal to the expected force of exercising motions performed on treadmill 400 at the same incline setting (here, 3 degrees). Treadmill 400 can store reference force data corresponding to exercising motions performed at different incline settings in memory so that the data can be accessed through cloud 202 and control system 500 to control exercise equipment 20.

Alternatively, both the exercise equipment 20 and the treadmill 400 can be controlled by the control system 500 at the same time. In some embodiments, the control system 500 controls both the exercise equipment 20 and the treadmill 400 to cause the same amount of effort when performing corresponding exercise movements at a given incline setting. This function may be particularly advantageous in the case of a coach leading a training course in which a user performs different exercise movements using different types of exercise equipment. For example, if a coach wishes to increase the effort of a treadmill user by increasing the incline from 5% to 8%, a graded adjustment may be provided to the user of the elliptical machine to provide an equal amount of effort increase.

Returning to the method of Figure 12, additional information of an example of a method for controlling the resistance of an exercise device based on reference force data is now provided. Steps 302 and 304 can be performed in the same manner as described above. After step 304, the process continues to step 305 along alternative path B, which determines whether the system is configured to control resistance based on reference force data. As described above, this may mean determining whether the user has activated the feature for controlling the exercise device, determining whether resistance exercise data is available, etc. If, for any reason, the system is not configured to control resistance based on reference force data, the process continues to step 306 and proceeds in the same manner as described above.

If it is instead determined in step 305 that the system is configured to control resistance based on reference force data (and such reference force data exists and is available), the process continues to step 307. Step 307 provides for determining a resistance correction value based on reference force data in addition to the incline setting received in step 304. Examples of determining resistance correction values based on reference force data are provided above and are not repeated here for the sake of brevity. Steps 308 to 312 are then performed in the same manner as described above, whereby resistance is ultimately controlled based in part on reference force data via step 307. In this manner, the exercise equipment and methods disclosed herein provide dynamic resistance that varies according to incline, so that the effort of the user performing the exercise motion changes when the incline setting changes. This provides a more ideal user experience that can better simulate real-world conditions when changing incline.

Additional Aspects of the Disclosure

Certain aspects of the present disclosure relate to an exercise device for performing an exercise movement. A resistance mechanism controls the resistance used to perform the exercise movement. An adjustment device controls the inclination used to perform the exercise movement. A control system is operably connected to the resistance mechanism and the adjustment device. The control system is configured to receive a resistance setting for controlling the resistance and to receive an inclination setting for controlling the inclination. The control system is further configured to determine a resistance correction value for adjusting the resistance based on the inclination setting, and to adjust the resistance setting based on the resistance correction value to provide a corrected resistance setting. The control system is further configured to control the adjustment device based on the inclination setting and to control the resistance mechanism based on the corrected resistance setting, thereby adjusting the resistance setting so that the effort of the user to perform the exercise movement changes when the inclination setting changes.

The exercise motion may include a stepping exercise motion. The control system is configured to determine the resistance correction value so that a given change in the incline setting changes the user's effort to correspond to a change in effort caused by changing the incline setting of a reference exercise machine by the given change. The reference exercise machine may include a treadmill.

The control system may be configured to receive at least one of a resistance setting and an incline setting from a user.

The control system may be configured to determine a resistance correction value further based on the resistance setting.

The control system may be configured to determine the resistance correction value further based on at least one of a weight of the user, a heart rate of the user, a force applied by the user while performing the exercise movement, and a speed at which the exercise movement is performed.

The control system may include a memory system storing an algorithm, whereby the control system is configured to determine the resistance correction value based at least in part on the algorithm.

Another aspect of the present disclosure relates to a method for controlling an exercise device for performing an exercise movement. The method includes receiving a resistance setting for controlling the resistance to perform the exercise movement, receiving an inclination setting for controlling the inclination to perform the exercise movement, determining a resistance correction value for adjusting the resistance setting based on the inclination setting, and adjusting the resistance setting based on the resistance correction value to provide a corrected resistance setting. The method further includes controlling the inclination based on the inclination setting and controlling the resistance based on the corrected resistance setting, whereby the resistance setting is adjusted so that the effort of the user to perform the exercise movement changes when the inclination setting changes.

The method may further include determining the resistance correction value based on a reference effort for performing a reference exercise movement using a reference exercise machine, the reference exercise machine having an inclination controlled at an inclination setting. The method may further include determining the resistance correction value so that the effort for performing the exercise movement is approximately the same as the reference effort. The method may further include storing information related to the reference effort of the reference exercise machine according to the inclination setting of the reference exercise machine, and determining the resistance correction value with reference to the information.

The method may further include receiving a level setting and determining the resistance correction value based on the level setting. The method may further include receiving input from a user and basing the level setting on the input.

The method may further include receiving input from a user and basing at least one of the resistance setting and the incline setting on the input.

The method may further include determining a resistance correction value also based on the resistance setting.

The method may further include determining at least one of a weight of the user, a heart rate of the user, a force applied by the user while performing the exercise movement, and a speed at which the exercise movement is performed, and determining the resistance correction value based thereon.

Other aspects of the present disclosure relate to an exercise device for performing an exercise motion based on a reference exercise device for performing a reference exercise motion. A resistance mechanism controls the resistance for performing the exercise motion. An adjustment device controls the inclination for performing the exercise motion. A control system is operably connected to the resistance mechanism and the adjustment device. The control system is configured to receive a resistance setting for controlling the resistance, receive an inclination setting for controlling the inclination, determine a resistance correction value for adjusting the resistance based on the inclination setting and based on a reference effort for performing the reference exercise motion at the inclination setting, and adjust the resistance setting based on the resistance correction value to provide a corrected resistance setting. The control system is further configured to control the adjustment device based on the inclination setting and control the resistance mechanism based on the corrected resistance setting, whereby the resistance setting is adjusted so that changing the inclination setting changes the reference effort and correspondingly changes the effort of the user for performing the exercise motion.

Reference to exercise equipment may include a treadmill.

The exercise movement may include a stepping exercise movement.

The exercise equipment may further include a memory system storing information related to a reference effort used to perform a reference exercise movement. The information may be part of an algorithm used to determine the resistance correction value.

The control system may be further configured to determine the resistance correction value based on at least one of a weight of the user and a speed at which the exercise motion is performed.

The reference effort may also be based on at least one of a weight of the user and a speed at which the reference exercise motion is performed.

The control system may be configured to determine a resistance correction value further based on the resistance setting.

Other aspects of the present disclosure relate to a method for controlling an exercise machine for performing an exercise movement based on a reference exercise machine for performing a reference exercise movement. The method includes receiving a resistance setting for controlling the resistance to performing the exercise movement, receiving an inclination setting for controlling the inclination to perform the exercise movement, determining a resistance correction value for adjusting the resistance setting based on the inclination setting and based on a reference effort to perform the reference exercise movement at the inclination setting, and adjusting the resistance setting based on the resistance correction value to provide a corrected resistance setting. The method further includes controlling the inclination based on the inclination setting and controlling the resistance based on the corrected resistance setting, whereby the resistance setting is adjusted so that changing the inclination setting changes the reference effort and correspondingly changes the effort of the user to perform the exercise movement.

The method may further include receiving a level setting and determining the resistance correction value based on the level setting. The method may further include receiving input from a user and basing the level setting on the input.

The method may further include storing information related to a reference effort of the reference exercise equipment according to an incline setting of the reference exercise equipment, and determining the resistance correction value with reference to the information.

The method may further include receiving input from a user and basing at least one of the resistance setting and the incline setting on the input.

The method may further include determining a resistance correction value also based on the resistance setting.

The method may further include determining at least one of a weight of the user, a heart rate of the user, a force applied by the user while performing the exercise movement, and a speed at which the exercise movement is performed, and determining the resistance correction value based thereon.

Although specific advantages have been listed above, various examples may include some of the listed advantages, exclude the listed advantages, or include all of the listed advantages. After reading the following drawings and descriptions, other technical advantages may become apparent to those of ordinary skill in the art. Without departing from the scope of the present disclosure, the systems, devices, and methods described herein may be modified, added, or omitted. For example, the components of the systems and devices may be integrated or separated. In addition, the operations of the systems and devices disclosed herein may be performed by more, fewer, or other components, and the described methods may include more, fewer, or other steps. Additionally, the steps may be performed in any suitable order. "Each" as used herein refers to each member of a set or each member of a subset of a set.

The functional block diagrams, operation sequences, and flow charts provided in the accompanying drawings represent exemplary architectures, environments, and methods for performing novel aspects of the present disclosure. Although the methods included herein may be in the form of functional diagrams, operation sequences, or flow charts and may be described as a series of actions for purposes of simplicity of description, it should be understood and appreciated that these methods are not limited by the order of the actions because, according to these methods, some actions may occur in a different order than shown and described herein and/or occur simultaneously with other actions. For example, those skilled in the art will appreciate and appreciate that the methods may be alternatively represented as a series of interrelated states or events such as in a state diagram. In addition, not all actions shown in the methods are required for novel implementations.

This written description uses examples to disclose the present invention, including the best mode, and also enables those skilled in the art to make and use the present invention. For the sake of brevity, clarity and ease of understanding, certain terms are used. No unnecessary restrictions beyond the requirements of the prior art should be inferred therefrom, because these terms are used for descriptive purposes only and are intended to be interpreted broadly. The patent scope of the present invention is defined by the claims and may include other examples that occur to those skilled in the art. If these other examples have features or structural elements that are not different from the literal language of the claims, or if they include equivalent features or structural elements that are not substantially different from the literal language of the claims, then these other examples are intended to be within the scope of the claims.

Claims (20)

1. An exercise equipment for performing exercise, the exercise equipment comprising: a resistance mechanism that controls the resistance used to perform the exercise; an incline adjustment device that controls an incline for performing the exercise movement; and a control system operably coupled to the resistance mechanism and the incline adjustment device, the control system being configured to: receiving a resistance setting for controlling the resistance; receiving a tilt setting for controlling the tilt; determining a resistance correction value for adjusting the resistance based on the incline setting; adjusting the resistance setting based on the resistance correction value to provide a corrected resistance setting; controlling the tilt adjustment device based on the tilt setting; and controlling the resistance mechanism based on the revised resistance setting; wherein the resistance mechanism is controlled based on the revised resistance setting such that the effort with which a user performs the exercise motion changes when the incline setting changes. 2 . The exercise equipment according to claim 1 , wherein the exercise equipment is configured so that the exercise motion comprises a stepping exercise motion. 3. The exercise device of claim 1 , wherein the control system is configured to determine the resistance correction value so that a given change in the incline setting changes the effort of the user to correspond to a change in a reference effort caused by changing the incline setting of a reference exercise device by the given change. The exercise equipment of claim 3 , wherein the reference exercise equipment comprises a treadmill. 5. The exercise equipment of claim 3, wherein the resistance correction value is determined so that the effort used to perform the exercise motion is substantially the same as the reference effort. 6. The exercise device of claim 5, wherein the control system is configured to determine the resistance correction value further based on at least one of the weight of the user, the heart rate of the user, the force applied by the user when performing the exercise movement, and the speed at which the exercise movement is performed. 7. The exercise device of claim 1 , wherein the control system is configured to determine the resistance correction value further based on at least one of the weight of the user, the heart rate of the user, the force applied by the user when performing the exercise movement, and the speed at which the exercise movement is performed. 8. A method for controlling an exercise machine for performing an exercise motion, the method comprising: receiving a resistance setting for controlling the resistance to performing the exercise motion; receiving an incline setting for controlling an incline at which the exercise motion is performed; determining a resistance correction value for adjusting the resistance setting based on the incline setting; adjusting the resistance setting based on the resistance correction value to provide a corrected resistance setting; controlling the tilt based on the tilt setting; and controlling the resistance based on the modified resistance setting; Wherein the resistance is controlled based on the revised resistance setting such that the effort with which a user performs the exercise motion changes when the incline setting changes. 9. The method of claim 8, further comprising determining the resistance correction value based also on a reference effort used to perform a reference exercise motion using a reference exercise device having an incline controlled at the incline setting, wherein the reference effort is stored in a memory, and wherein the resistance correction value is determined so that the effort used to perform the exercise motion is approximately the same as the reference effort. 10. The method of claim 8, further comprising receiving a level setting and determining the resistance modifier based on the level setting, wherein the level setting changes the resistance modifier by an amount dependent upon the incline setting. The method of claim 10 , further comprising receiving input from the user and basing the level setting on the input. 12. The method of claim 8, further comprising receiving input from the user and basing at least one of the resistance setting and the incline setting on the input. 13. The method of claim 8, further comprising determining said resistance correction value also based on said resistance setting. 14. The method of claim 8, further comprising determining at least one of a weight of the user, a heart rate of the user, a force applied by the user while performing the exercise motion, and a speed at which the exercise motion is performed, and determining the resistance correction value based thereon. 15. A method of controlling an exercise machine for performing an exercise movement based on a reference exercise machine for performing a reference exercise movement, the method comprising: receiving a resistance setting for controlling the resistance to performing the exercise motion; receiving an incline setting for controlling an incline at which the exercise motion is performed; determining a resistance correction value for adjusting the resistance setting based on the incline setting and based on a reference effort of performing the reference exercise motion at the incline setting using the reference exercise machine; adjusting the resistance setting based on the resistance correction value to provide a corrected resistance setting; controlling the tilt based on the tilt setting; and controlling the resistance based on the modified resistance setting; wherein the resistance is controlled based on the revised resistance setting such that changing the incline setting changes the reference effort and causes the effort with which a user performs the exercise motion to change accordingly. 16. The method of claim 15, further comprising receiving a level setting and determining the resistance correction value based on the level setting, wherein the level setting changes the resistance correction value by an amount dependent upon the incline setting. 17. The method of claim 16, further comprising receiving input from the user and basing the level setting on the input. 18. The method of claim 15, further comprising receiving input from the user and basing at least one of the resistance setting and the incline setting on the input. 19. The method of claim 15, further comprising determining said resistance correction value also based on said resistance setting. 20. The method of claim 15, further comprising determining at least one of a weight of the user, a heart rate of the user, a force applied by the user while performing the exercise motion, and a speed at which the exercise motion is performed, and determining the resistance correction value based thereon.