Field of the invention

The present invention relates to exercise apparatus/physiotherapy equipment, and more specifically it relates to an exercise apparatus comprising at least one position actuator. The invention also relates to a method for controlling a position actuator in an exercise apparatus.

Background of the invention

Within the technical field of exercise apparatus/physiotherapy equipment there is a need for positioning of a number of cords, belts or ropes that are used by the patient or the exerciser to perform different physical exercises. One branch of

physiotherapy in which such equipment is commonly used is known as sling training or sling exercise therapy.

Traditionally, such exercise apparatus are equipped with ceiling attachments, from which adjustable cords, belts or ropes hang down, and where additional equipment such as hand grips can be attached to the lower part. The user of such an exercise apparatus, or the user's assistant, must manually set the height of the cords, belts or ropes that are to be used in the exercise in question.

There is a general need to improve exercise apparatus of this type.

WO-2008/085058 teaches a vibration device for use in sling exercise therapy. Two hanging ropes, provided with slings/gripping portions that are held by the user, are in addition equipped with a vibration device between the ropes. The vibration device can be controlled remotely with the aid of a remote control unit.

Summary of the invention

An object of the invention is to provide an improved exercise apparatus which comprises at least one position actuator, and an improved method for controlling a position actuator in an exercise apparatus.

The invention is disclosed in the claims below.

Brief description of the drawings

In what follows, the invention will be described in more detail as a non-limiting, illustrative example, and with reference to the attached drawings, wherein:

Fig. 1 is a schematic diagram showing principles of an exercise apparatus;

Fig. 2 is a schematic diagram showing principles of a position actuator that is incorporated in the exercise apparatus; Fig. 3 is a schematic diagram showing principles of a control device that is incorporated in an exercise apparatus;

Fig. 4 is a schematic diagram showing principles of an operating device that is incorporated in the exercise apparatus; and

Fig. 5 is a schematic flow chart showing principles of a method in accordance with the invention.

Detailed description of the invention

Fig. 1 is a schematic diagram showing principles of an exercise apparatus.

On the underside of a ceiling 210 in, for example, a training hall, there are secured two position actuators 200. From each position actuator 200 there hangs down vertically a length of a cord, a belt or a rope, which ends in a fastener, hook or the like, for example, a snap hook, 204. The hook 204 can be used to fasten additional equipment such as hand grips, straps, slings or the like.

The height of the hook 204, or the free length of the cord/belt/rope, can be adjusted using the position actuator 200. A possible further detailed embodiment of the position actuator is described below with reference to Fig. 2.

Each position actuator 200 is communicatively connected to a control device 100. The control device 100 is adapted to communicate by means of an operating device 300, a communication connection being established between the control device 100 and the operating device 300. By way of example, the operating device 300 in Fig. 1 is illustrated as an electronic, wireless terminal, and the control device 100 in Fig. 1 is equipped with an antenna 122 that permits RF communication with the operating device 300. As an illustrative example, the operating device 300 may be a

Bluetooth-activated mobile telephone, but several alternatives are possible, as will be evident from the description below. Similarly, the control device 100 may be provided with a Bluetooth communication interface to permit communication with the operating device 300.

Further possible features of the control device 100 are described below with reference to Fig. 3.

Further possible features of the operating device 300 are described below with reference to Fig. 4.

The exercise apparatus shown in Fig. 1 therefore comprises at least one position actuator 200, although two are shown by way of example. In other possible embodiments there may be one position actuator, or three, four or more position actuators.

Each position actuator 200 is communicatively connected to the control device 100. This communication connection may, as illustrated, include wired communication, e. g., by separate wires that carry signals for motor control, sensor/detector signals and locking signals, etc. In one alternative, wired aspect, such signals can be transmitted multiplexed on one and the same physical connection.

In another, alternative aspect, the communication between each position actuator 200 and the control device 100 may take place by wireless local communication, for example, via an interface/a protocol selected from the group consisting of

Bluetooth, WLAN, WiFi, ZigBee, RFID, UWB, Wireless USB, WiMAX, 868Mhz. Other alternatives include optical/infrared communication. Those of skill in the art will see that numerous technologies are available for providing such

communication.

As illustrated, the control device 100 in one aspect may be communicatively connected to an additional external computer 400.

The control device 100 is configured to acquire data associated with a desired actuator position from the operating device 300.

Furthermore, the control device 100 is configured to derive a desired actuator position value from the data acquired from the operating device, and to control a motor in the position actuator 200, such that the motor moves the position actuator to the desired actuator position value.

Fig. 2 is a schematic diagram showing principles of a position actuator that is incorporated in the exercise apparatus.

The position actuator comprises a housing, for example, an approximately rectangular box-shaped metal housing. The housing, on two side faces, is provided with an inverted U-shaped bracket that constitutes an attachment which can be bolted or in some other manner fastened to the ceiling, a beam or another suitable permanent structural member at the location in which the exercise apparatus is to be used. Those of skill in the art will appreciate that the position actuator can be secured in other ways than by means of the illustrated bracket, as long as the position actuator is secured in a safe manner at a fixed height, at a location where the belt, cord or the like hangs down freely towards a suitable area in which the user can perform physical exercises.

As shown, the position actuator comprises a motor 144, for example, a step motor, with a shaft fastened to a spool (or reel, drum) 202. Around the spool 202 is wound a band or a belt, alternatively a rope or a cord, whose free end runs through an opening in the bottom of the position actuator housing, for example, a slot between two frame halves. To this lower end is secured a fastener or hook 204, for example, a snap hook, which permits fastening of additional equipment such as a hand grip, a strap or a sling.

Fig. 3 is a schematic diagram showing principles of a control device 100 that is incorporated in the exercise apparatus. Fig. 3 also shows elements that are in communication connection with the control device 100, and which wholly or partly can be found in the schematic diagram in Fig. 1.

The control device 100 is illustrated in the middle of Figure 3. The control device 100 comprises a central processing unit, which may be in the form of a

microcontroller 1 10. By way of example, it is indicated that the microcontroller may be of the type PIC16F690, but numerous alternatives exist. The microcontroller 1 10 comprises a microprocessor with associated bus, memory and input/output circuits. The memory comprises a volatile working memory for volatile data, a nonvolatile or partly volatile memory for permanent, preset or rarely variable data, and a non- volatile or partly volatile memory that contains a program in the form of a set of processor-executable instructions. These instructions are configured to cause the microcontroller to carry out a method as described in the present patent

specification, such as a method as illustrated in principle with reference to Fig. 5.

The microcontroller 110 is further connected to a communication interface adapter 120, which permits communication with the operating device 300.

The operating device 300 is in Fig. 3 illustrated by way of three examples. In the first example the operating device 300 is a computer 300a, equipped, for example, with a touch display, and which communicates via an 868MHz RF interface with an antenna 122, connected to the adapter 120 in the control device 100. In a second example the operating device 300 is a wireless terminal such as a mobile telephone 300b, which communicates via a Bluetooth interface with the antenna 122 and on to the adapter 120 in the control device 100. In a third example the operating device 300 is another form of wireless user device, such as an MP3 player, equipped with a WiFi/WLAN interface for local communication.

Those of skill in the art will see that different types of communication can be used for the different types of operating devices, and that several combinations of the above are feasible.

In another non-illustrated exemplary embodiment, the communication interface adapter 120 can be implemented as a wired interface, such as a USB port, an SD port or the like, to the operating device 300. In one particular embodiment, the operating device can be in the form of a memory stick, e.g., a USB or SD memory stick. In such a case, the user's operation should be understood to be present as preset values in data contained within the memory stick.

Regardless of the type of operating device and/or communication interface, the control device 100 is adapted and configured to acquire data associated with a desired actuator position from the operating device 300. This can be achieved by means of suitable instructions performed by the microcontroller 110 in cooperation with the interface adapter 120. Furthermore, the control device 100 is adapted and configured to derive a desired actuator position value (i.e., desired height or vertical position for the relevant cord/belt/rope) from the acquired data. In one aspect, this may be done by instructions performed by the microcontroller 1 10, the desired actuator position value being directly evident from the data acquired from the operating device.

This will typically be the case if a desired actuator position (height of the relevant cord/strap/rope) is supplied as a value by the operating device 300. This can take place by operating the operating device manually, and setting it to give the desired value, or in that the value is supplied by a program that is executed locally in the operating device. As an example, if the operating device is a mobile telephone or other type of wireless user terminal, the value can be supplied by an application (e.g., an application executed under the operating system/platform Windows Mobile, or a Java mobile application) which has been downloaded to the terminal in advance, and which is executed on the terminal, activated by the user. The value may, e.g., appear as an element in an exercise program associated with the application.

In another aspect, the acquired data indicates the desired actuator position value indirectly. In such a case, the desired actuator position value is obtained in that the control device 100 is adapted, in the step of deriving the desired actuator position value, to relay the acquired data to an external computer, such as the external computer 400. The external computer 400 is configured to acquire the desired actuator position value based on the acquired data from the operating device and prestored configuration data. In this way, an individual exercise program, for example, for the user in question, stored on the external computer 400, is able to obtain a desired value for the actuator position, based on a user's primary selection, e.g., selection of an exercise program. Furthermore, in this case, the desired actuator position value from the external computer 400 is received in control device 100.

Irrespective of the way in which the desired actuator position value is produced, the control device is adapted and configured to control at least one motor in the position actuator to move the actuator to the desired actuator position value. This can be achieved by allowing the microcontroller to supply a suitable value to the motor controller 130 (see below), which then controls the step motor(s) 144, 154.

The control device 100 further comprises a motor controller 130, connected to the microcontroller 1 10. As an example, the motor controller may be a step motor controller of the type TMC428, but many alternatives may be chosen by those of skill in the art.

The motor controller 130 is further connected to at least one (two are shown) motor driver 140, 150. Each of these may, for example, be a step motor driver of the type TMC246, but many alternatives can be chosen by those of skill in the art. The internal communication between microcontroller, motor controller and motor drivers may, for example, take place by serial communication, such as Peripheral Interface, SPI, but many alternatives to this are available to those of skill in the art.

The motor drivers 140, 150 are provided with outputs, respectively 142, 152, which control the step motors, respectively 144, 154. The step motors, respectively 144,

154, are contained within their respective position actuator 200. Cf. also Figs. 1 and 2 with accompanying description. The control signals indicated as "STEP power" cause the relevant step motor to move rotationally one step, i.e., a predetermined angle, for each pulse that appears on the control signal.

From each step motor 144 154, respectively, in one embodiment a signal

(respectively 148, 158), indicated as "stall detection", can be delivered back to respective step motor driver 140, 150. This signal can indicate an overload situation, such as the motor having met an obstacle.

The microcontroller 110 can also provide further locking signals 141, 151. The locking signal 141 is delivered by the control device 100 and drives an

electromagnetic lock 146, which permits locking of the motor shaft in a random position. In one embodiment the motor shaft is locked on loss of electric power to a spool in the lock 146, such that the position actuator is locked on cessation of the locking signal 141, and moreover is locked on loss of supply power to the control device 100 or to the exercise apparatus in general. This involves a fail-proof function which means that the straps are locked in the event of a power failure.

The locks 146, 156, purely as an example, may be solenoid locks with characteristic data 24V, 8.4 W, stroke 9 mm, holding force IN. Those of skill in the art will see that numerous other possibilities are available.

That described for the locking signal 141 and the lock 146 applies correspondingly to the locking signal 151 and the lock 156.

The motor shaft 147 is shown uncovered, but it will be understood that the spool, reel or drum 202 shown in Fig. 2 is mounted on the shaft 147. The same applies for the motor shaft 157.

The step motors may, for example, be of the size NEMA23, they can be driven by voltages of 12 or 24 V, and be 2-phased. Suitable step motors can be run in full- step, half-step and micro-step. Each step may, in one embodiment, be 1.8°, i.e., 200 steps per revolution.

A power supply 160 is typically connected to the mains (230V AC) and supplies the necessary electric power to all the components contained within the control device 100.

In the aforementioned example, the motors are implemented as step motors. In that case the motor is controlled by running the motor towards the desired value by emitting control pulses, i.e., by open-loop control. Those of skill in the art will see that a given position may alternatively be obtained using servomotors, one or more position gauges and servo control with feedback in a closed loop

As mentioned above, an external computer 400 may, in some cases, be

communicatively connected to the control device 100, it being connected via a non- illustrated communication interface to the microcontroller 1 10.

This communication connection may be established via a wired connection, for example, USB, RS-232, Ethernet/LAN or the like, or via a wireless connection, e.g., WLAN/WiFi. Other possibilities include Bluetooth, ZigBee, RFID, UWB, Wireless USB, WiMAX, 868Mhz, optical/IR.

If the communication connection comprises network components, it will be understood that the external computer 400 may be in a different and random geographical location than the control device 100. For example, the computer 400 may be connected to a server linked to the Internet, and the communication connection may comprise network elements/segments of the type LAN and WAN.

Fig. 4 is a schematic diagram showing principles of an operating device that is incorporated in the exercise apparatus.

The illustrated operating device 300 may be implemented as a wireless user terminal, for example, a mobile telephone, PDA or PC. It may be equipped with a touch-sensitive screen 302.

The operating device 300 may contain a processor, a memory and a user application as is also mentioned in the description with reference to Fig. 3. The user application may be adapted to provide a desired actuator position value (height for a relevant belt/cord/rope) based on an exercise program, and/or based on personal data such as body height, stored in the operating device.

By means of operating elements, e.g., fields on the touch screen, a desired actuator position vale may also be set manually.

The operating device may be adapted to receive data that is delivered by the control device 100, and which may include speed data for the individual position actuator, alarm signal in the event of overload, excess temperature etc.

Fig. 5 is a schematic flow chart showing principles of a method for controlling a position actuator in an exercise apparatus.

The method is indicated to start at the initial step 510.

Then, in step 520, data associated with a desired actuator position is acquired from an operating device via a communication interface.

Next, in step 530, the desired actuator position value is derived, on the basis of the acquired data from step 520. In the simplest case, the desired actuator position value is derived directly from the acquired data. Alternatively, it is derived indirectly, via the external computer 400. In this case, step 530 includes relaying the acquired data to the external computer and receiving the desired actuator position value from the external computer.

Then, in step 540, the motor is controlled in the at least one position actuator to move the position actuator to the desired actuator position value.

The method is illustrated to end in the termination step 550, but steps 520, 530 and 540 may instead be repeated as long as the exercise apparatus is in normal operation, and the termination step can be activated by activation of a terminating signal.

There now follows a description of additional possible features of an application executed locally by a processor in the operating device 300.

The application may comprise an individual exercise program. The operating device 300 may be a mobile telephone, PDA, portable PC, an MP3 player (e.g., iPod) or the like.

The application may comprise display of images and/or a video sequence, such as an instruction video sequence, associated with the exercise program /exercise in question.

Fixed installations in training studios (or the like) may be connected as a network solution, wireless or cabled. The program/application may then be prestored on a central server, e.g. the computer 400, for instance in the training studio. The application can be downloaded and/or activated on the operating device, e.g., activated by an ID token with which the user has been issued by a terminal in the vicinity of the exercise apparatus, or at reception in the training studio. Activation may alternatively be effected in other ways, as will be appreciated by those of skill in the art, there being performed an authentication of the user and/or an

authorisation (e.g., by ascertaining that the user is present and is registered as a paying user).

In the application a number of exercises can be selected on the screen, e.g., by selecting among graphic icons on the screen. When the user selects an exercise, two sets of data can be sent to the control device 100, in the case that there are two position actuators, i.e., two belts/straps/ropes are to be utilised by the user.

Each set of data is addressed to one of the two motors, and the straps are thus adjusted to the desired position, and at a predetermined speed.

Each belt/strap/rope can additionally or alternatively be adjusted individually by activating certain fields on the touch screen. Such activation can, e.g., lead to continuous instructions being sent to adjust the position by 1 cm each time the user presses on the field concerned on the screen. Activation of a "home" button may cause both (or only the one) belts/straps/ropes to be hoisted up and "parked" in their uppermost position.

In one particular embodiment (a so-called "Exclusive" embodiment), the application executed on the operating device 300 may include additional features.

· Remote-controlled hoisting system

• Wireless network card or local memory stick

• Personal exercise program

• Personal programs with code and memory

• Multi-adjustable functions (single/double, fast/slow)

· Measurement/recording of individual development

• Grouping of muscle groups with memory

• Recommendation of exercise program (difficulty program)

• Computation of total energy consumption (uses a pulse function in addition)

• Possible nutrition program, weekly program

· Computation of statistic data for the training studio

• Display of video sequences of exercises (as mentioned above)

• Compatibility with special user equipment, e.g., Nike pulse clock and Ipod Touch

• Remote control such as screen

· Possible link-up to external web services, e.g., Itunes

• Centralised on/off function

• Vibration function for increased stimulation/degree of difficulty

In one embodiment of the invention in which step motors are used, a vibration function can be obtained without the use of additional equipment, as is required in the prior art. A well-controlled vibration function can be provided by rapid and controllable drive/modulation of the motors' step-power signal.

Aspects of the invention will help to remove the barriers that exist in connection with sling training with the previously known current solutions. In the prior art, it is necessary to go up to the ceiling attachment to take down the equipment if the premises (temporarily) are to be used for other activities. It will be understood that the invention permits full hoisting by simple remote control. Many users find it difficult to adjust the prior art sling training/exercise therapy equipment, and correct setting is extremely important to be able to exercise in the right position. The invention solves this problem in that the slings can be set in a pre-programmed position that an instructor/physiotherapist has set for the user. Although throughout the above reference is made to exercise apparatus of the sling training/sling exercise therapy type, it will be understood that the principle of the invention may also be applied to other types of exercise apparatus where the position of at least one mechanical element should be capable of being varied, in particular in accordance with presettings in an exercise program.

Alternative exercise apparatus within the scope of the claims could therefore comprise strength training apparatus for exercising the back, arms, legs and stomach etc. or multigym-apparatus, including pull-down /push-down apparatus (having, e.g., variable positions/settings), leg press apparatus or rowing machines (e.g., with variable setting of stroke length), ergometric bicycles and spinning bicycles

(having, e.g., variable settings of height/rake), treadmills, step exercise and elliptical exercise apparatus, etc.

The scope of the invention is therefore set forth in the following claims.