CROSS-REFERENCE TO RELATED APPLICATIONS

[1] This application claims priority to U.S. Provisional Patent Application No. 63/399,888, filed on August 22, 2022, entitled STRENGTH MACHINE SYSTEMS, which is hereby incorporated by reference in its entirety. This application is related to PCT Application No. PCT/US22/22879, filed on March 31 , 2022, entitled CONNECTED FITNESS SYSTEMS AND METHODS, which is hereby incorporated by reference in its entirety.

BACKGROUND

[2] The world of connected fitness is an ever-expanding one. This world can include a user taking part in an activity (e.g., running, cycling, lifting weights, and so on), other users also performing the activity, and other users doing other activities. The users may be utilizing a fitness machine (e.g., a treadmill, a stationary bike, a strength machine, a stationary rower, and so on), or may be moving through the world.

[3] The users can also be performing other activities that do not include an associated machine, such as running, strength training, yoga, stretching, hiking, climbing, and so on. These users can be associated with a wearable device or mobile device that monitors the activity and may perform the activity in front of a user interface (e.g., a display or device) presenting content associated with the activity, such as an exercise class or video game.

[4] The user interface, whether a mobile device, a display device, or a display that is part of a machine, can provide or present interactive content to the users. For example, the user interface can present live or recorded classes, video tutorials of activities, gamified activities, leaderboards and other competitive or interactive features, progress indicators (e.g., via time, distance, and other metrics), and so on.

[5] Thus, a connected fitness platform can provide users with different access points into the content and activities provided by the platform. These access points can include cardio machines, strength machines, wearable devices, mobile devices, and/or other devices or machines that facilitate and/or enhance user activities with or within the connected fitness platform.

BRIEF DESCRIPTION OF THE DRAWINGS

[6] Embodiments of the present technology will be described and explained through the use of the accompanying drawings.

[7] Figure 1 A is a diagram illustrating a user performing an activity with an example strength machine.

[8] Figure 1 B is a diagram illustrating various devices of the example strength machine.

[9] Figures 2A-2C are block diagrams illustrating components of a strength machine.

[10] Figure 2D is a block diagram illustrating communication components of a strength machine.

[11] Figure 3 is a block diagram illustrating an exercise machine having a closed loop control system.

[12] Figure 4 is a flow diagram illustrating a method of modifying operations of an exercise machine.

[13] Figure 5 is a flow diagram illustrating a method of modifying operations of motor of an exercise machine.

[14] In the drawings, some components are not drawn to scale, and some components and/or operations can be separated into different blocks or combined into a single block for discussion of some of the implementations of the present technology. Moreover, while the technology is amenable to various modifications and alternative forms, specific implementations have been shown by way of example in the drawings and are described in detail below. The intention, however, is not to limit the technology to the particular implementations described. On the contrary, the technology is intended to cover all modifications, equivalents, and alternatives falling within the scope of the technology as defined by the appended claims.

DETAILED DESCRIPTION

Overview

[15] Various systems, methods, apparatuses, and devices that enhance an exercise activity performed by a user are described. In some embodiments, an exercise machine can include a closed loop control system that enhances or otherwise modifies operations of the exercise machine using closed loop control schemes based on data received from various sensors of the exercise machine.

[16] The exercise machine may be a strength machine that includes a platform that has a top surface upon which a user stands when performing a strength activity using the exercise machine, a motor and a motor controller contained by the platform, and an attachment (e.g., handle) that is coupled to the motor (e.g., via a cable). The exercise machine can also include a closed loop control system that controls operation of the exercise machine based on information associated with a movement of the attachment and information associated with a rotation of the motor.

[17] For example, the attachment may include an inertial measurement unit (IMU) and the motor may be associated with a torque sensor, and the closed loop control system controls operation of the exercise machine based on a comparison of the data captured by the IMU and the torque sensor. The closed loop control system may apply a control scheme to accelerate or otherwise modify an inertia of the motor, to align a movement of the cable with a movement of the attachment and enhance how a user interacts with the exercise machine and/or reduce unsafe operation, among other benefits.

[18] Various embodiments of the system and methods will now be described. The following description provides specific details for a thorough understanding and an enabling description of these embodiments. One skilled in the art will understand, however, that these embodiments may be practiced without many of these details. Additionally, some well-known structures or functions may not be shown or described in detail, so as to avoid unnecessarily obscuring the relevant description of the various embodiments. The terminology used in the description presented below is intended to be interpreted in its broadest reasonable manner, even though it is being used in conjunction with a detailed description of certain specific embodiments.

Examples of a Suitable Exercise Machine

[19] An exercise machine, such as a strength machine, that facilitates the performance of various lifting or weight-based exercise activities is described. Figure 1A illustrates a user 105 performing an activity with a strength machine 100. The user 105 stands or is otherwise positioned on a platform 110 of the strength machine 100.

[20] The platform 110 can provide a load or resistance for strength or resistance training, such as via a controllable or variable load motor or motors. The platform 110 includes one or more cables 125 (e.g., a first cable and/or a second cable that extends from the platform 110) and one or more resistance mechanisms (disposed within the platform 110) configured to apply a variable or controllable resistance, such as via none or more motors.

[21] The resistance mechanisms are configured and/or controlled to apply a load to an attachment (e.g., a handle or handles) coupled to the motors via the cable or cables 125. For example, the motor provides resistance to the attachment 120 while or when the user pulls or pushes the attachment 120 away from the platform 110 (such as by performing a lifting movement). Thus, the motor or motors of the platform 110 provide a controllable and/or variable load to the attachments 120 while the user performs various strength training activities (e.g., bicep curl, overhead press, and so on). The platform 110, therefore, acts as a configurable set of weights, such as a digital weights or weight system.

[22] Figure 1 B is a diagram illustrating various devices or components of an example strength machine 130. The strength machine 130, which can be part of an exercise system, includes various devices or components that provide or facilitate exercise activities for a user, such as the user 105. For example, the strength machine 130 can provide resistance training for the user 105, such as for strength training or other weighted exercises. The strength machine 130 can provide dynamic or variable resistance, which can alter the load between lifts/exercises/movements and/or allow the user 105 to increase or decrease the load applied to handles during the activities.

[23] In some cases, the strength machine 130 can automatically, or in response to input received from the user 105, change the load, such as in response to sensor information, associated class or content instruction, suggested weight actions, and so on. Thus, the strength machine 130 is a strength-training or weight-training device (e.g., in the form of a “smart” platform) that can be used with a bench, without a bench, with various attachments (e.g., individual handles or a single bar), and/or configured as various combinations that facilitate desired strength training exercises or movements.

[24] The strength machine 130, in some embodiments, includes the platform 110, a bench 135, and/or the one or more attachments 120. The platform includes a cable adjustment mechanism 140 and a slider or carriage 150, which moves along the cable adjustment mechanism 140 (or multiple mechanisms 140) to position cables that extend out of the platform 110 at various locations of the platform 110. Thus, the strength machine 130 can include some or all the components and can be provided as a complete set of components, as modules of a system, or other versions of the machine 130.

[25] The attachments 120 can provide an interface that facilitates user engagement of the strength machine 130. The attachments 120 can include various hand holds, bars, or grips, among other attachments. For example, the attachments 120 can include a flex handle, a rigid handle, a bar, or other interface devices. The platform 110, via the resistance mechanism, can apply a load to the attachments 120 to provide resistance during strength training or other workout activities. For example, the user 105 can push, pull, or otherwise move handles against a load generated by the platform 110 during an exercise activity.

[26] A flex handle can include a single hand, single pull point attachment configuration. For example, the flex handle can include a grip (e.g., freely rotating) and a rope connecting opposing ends of the grip to an attachment mechanism, such as a coupling that couples or connects the handle to a cable. The rope can be slidably coupled to accommodate wrist pronation, deviation, or other movements or deviations during exercise activities. [27] A rigid handle, or a kettlebell handle, can include a two-handed, single pull point attachment configuration having a shape similar to a hand hold of a kettlebell. For example, the rigid handle includes two primary grip zones and a secondary overhand grip zone configured in a triangle configuration. A rope may connect an intersection of primary grip zones to an attachment mechanism, such as a coupling to a cable of a platform. The rigid handle can provide various grip configurations, including a kettlebell grip utilizing secondary overhand grip zones and a V-grip utilizing primary grip zones.

[28] A bar can include a two-handed, double pull point attachment configuration. For example, the bar can include a rope at each end to connect the bar to attachment mechanisms, such as couplings that couple the bar to cables. In some cases, the bar can be an anodized extruded aluminum bar having knurling located on grip surfaces and knurl markers to help users center their grip on the bar, under the bar, and/or maintain an even, balanced, grip of the bar.

[29] As described herein, the attachments 120 can control or provide a mechanism for controlling the strength machine 130. For example, the attachments 120 can include one or more buttons, sliders, toggles, or switches, among other mechanisms (e.g., user controls), to operate the strength machine 130, such as to turn strength machine 130 on or off (e.g., a weight on/off button), change the amount of weight provided by the strength machine 130 (e.g., weight +/- buttons), change a mode of the strength machine 130, and so on.

[30] In some embodiments, the attachments 120 can control one or more accessories or other devices, such as a media system, a sound system, a video system, an application, a streaming content system, a smart device, and so on. The user controls, in some cases, can be repositionable (e.g., slidable) along the attachments 120 to accommodate different grip locations during exercise. For example, the bar can include a slidable (e.g., but nonremovable) puck or slider that can be positioned at various locations along the bar when the user 105 changes grips during use of the bar.

[31] The strength machine 130 can include other features or components. For example, the strength machine 130 can include or connect to a power adapter and one or more charging cables, such as a first charging cable for the platform 110 and a second charging cable for the attachments 120. The platform 110 and/or attachments 120 can be plugged into a power source (wall outlet, USB outlet, battery, and so on) for operation and/or recharging an internal power source (e.g., an internal battery). For example, the attachments 120 can be USB-C rechargeable via the second charging cable and can provide a status of charge state, such as via an internal or external LED, which can shine through the housing of the attachments 120 without having an exposed light pipe, allowing the LED to not show when in an off state. Thus, the strength machine 130 can operate when plugged in and/or using charged batteries (e.g., optionally preventing operation when plugged in and recharging batteries).

[32] The platform 110 can also include a display 160, which can show various states of operation, such as whether the platform 110 is in a locked state, a state of operation, a weight applied to the attachments 120, a charge state, and so on.

[33] Figure 2A depicts an example strength machine 200. The strength machine 200 can include a platform 210, which contains a digital weight system that includes a control system 220 or controller and a motor 224, such as a motor that causes a load to be applied to an attachment 230 (e.g., handle or bar) via a cable 235 or other connection/coupling between the attachment 230 and the motor 224. Various enhancements to the strength machine 200 (or strength machines 110, 130) are described herein.

[34] The motor 224 can be part of a resistance mechanism or system, which can include the motor, a drivetrain, a spool, and so on. In some cases, the motor 224 includes the drivetrain, or is part of the drivetrain. For example, the motor 224 and a spool can be considered a drivetrain that functions to apply a load to the attachment 230 during operation of the machine 200. In some cases, the platform can include electromechanical based resistance mechanism, a magnetic based mechanism, or other mechanisms that apply a load or force to the attachment 230.

[35] Figure 2B depicts the strength machine 200 with two motors 224A and 224B. As depicted, each of the motors 224A and 224B are paired with separate attachments 230A and 230B. For example, the controller 220 can control the motor 224A to apply a force or load to the attachment 230A via a cable 235A and can control the motor 224B to apply a force (e.g., an equal or balance force) to the attachment 230A via the cable 235B.

[36] Figure 2C depicts the strength machine 200 with a single attachment 230C (e.g., a bar) coupled to the motors 224A and 224B via the cables 235A and 235B. The motors 224A and 224B, via the controller 220, can apply equal or similar forces to each end of the attachment 230C, such that a user moving the attachment 230C feels or experiences a balanced force across the attachment 230C.

[37] The strength machine 200 can employ various communication protocols when transmitting data or information between related components and devices. Figure 2D is a block diagram 250 illustrating communication components of a strength machine, such as the strength machine 110, 130, or 200. The platform 210 can directly communicate with the attachments 230 via Bluetooth® (e.g., Bluetooth Low Energy, or BLE) or other short- range communications protocols or wired connections. The platform 210 can also utilize wireless protocols when communicating with various external or remote systems 260, such as a media system, class-based streaming system, and so on. In some cases, the attachment 230 can also utilize wireless communications to exchange data with the remote systems 260, the platform 210, or other devices associated with the strength machine 200.

[38] Figure 3 depicts an example strength machine 300 that performs closed loop control for various operations. The strength machine 300 can include the platform 210, having the control system 220 or controller and the motor 224 that causes a load to be applied to the attachment 230 (e.g., a handle or bar) via the cable 235 or other connection/coupling between the attachment 230 and the motor 224. The attachment 230 can include an internal measurement unit (IMU) 310 or other movement sensor, and the motor can include or be associated with a torque sensor 320, torque transducer or other sensor that measures a torque or rotation of the motor 224.

[39] For example, the attachment 230 can include, among other features, machine controls, motion detection sensors (e.g., IMUs), power components, coupling mechanisms, and/or other components that facilitate the control of a strength or exercise machine and/or capture activity or movement information (e.g., acceleration in three-dimensional space) using the various handle sensors, among other things. [40] The motor 224 provides an adjustable load to a cable 235 when a force is applied to the cable 235. The force can be applied to a cable by a user pulling or pushing the cable (via a handle or handles), causing the motor 224 to rotate (or attempt to rotate) in a first direction. The motor is also configured to rotate in an opposite direction when a user ceases to apply the force to the cable and/or reduces the amount of force applied to the cable.

[41] In some cases, the motor 224 includes or is associated with a servo 340, which acts to apply a precise control to the motor 224 and/or the coupled cable 235. For example, the servo 340, or servomotor, may provide feedback to the control system 220 during operation (e.g., increasing or decreasing an applied load or torque).

[42] Thus, the motor applies an equivalent resistance in both directions of rotation, providing equivalent forces or loads during concentric or eccentric movements or workouts. The torque sensor 320 (or other sensors or encoders, as described herein), can measure and/or capture information about the movement of the motor 224 (and associated or coupled cable 235).

[43] A closed loop control system 330 receives information from the IMU 310 and/or the torque sensor 320 and performs various operations and/or processes (e.g., automatically) to control (e.g., via the control system 220) operation of the motor 224 and/or the strength machine 300. For example, the closed loop control system 330 can regulate or maintain the motor 224 at certain set points in response to data received from the IMU 310, from the torque sensor 310, or from both sensors.

[44] The system 330, therefore, can dynamically adjust operations of the motor 224 (or, in some cases, multiple motors) to enhance a feel of the strength machine 300 and/or prevent unsafe operation of the strength machine 300, among other benefits. Further details regarding the closed loop control system 330 and the methods and operations performed by the system 300 are described herein.

[45] Figures 2A-3 and the components, systems, servers, and devices depicted herein provide a general computing environment and network within which the technology described herein can be implemented. Further, the systems, methods, and techniques introduced here can be implemented as special-purpose hardware (for example, circuitry), as programmable circuitry appropriately programmed with software and/or firmware, or as a combination of special-purpose and programmable circuitry. Hence, implementations can include a machine-readable medium having stored thereon instructions which can be used to program a computer (or other electronic devices) to perform a process. The machine-readable medium can include, but is not limited to, floppy diskettes, optical discs, compact disc read-only memories (CD-ROMs), magneto-optical disks, ROMs, random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), magnetic or optical cards, flash memory, or other types of media/machine-readable medium suitable for storing electronic instructions.

[46] A network or cloud can be any network, such as a wired or wireless local area network (LAN), a wired or wireless wide area network (WAN), the Internet or some other public or private network, a cellular (e.g., 4G, LTE, or 5G network), and so on. While the connections between the various devices and the network and are shown as separate connections, these connections can be any kind of local, wide area, wired, or wireless network (public or private), such as Ultra-wideband UWB), ISM radios, ultrasonic communications, infrared (IR), and so on.

[47] Further, any or all components/modules depicted in the Figures described herein can be supported and/or implemented via one or more computing systems or servers. Although not required, aspects of the various components or systems are described in the context of computer-executable instructions, such as routines executed by a computer or computing device, e.g., a mobile device, a server computer, a tablet of an exercise machine, or personal computer. The system can be practiced with other communications, data processing, or computer system configurations, including: Internet appliances, handheld devices, wearable devices, or mobile devices (e.g., smart phones, tablets, laptops, smart watches), all manner of cellular or mobile phones, multi-processor systems, microprocessor-based or programmable consumer electronics, set-top boxes, network PCs, mini-computers, mainframe computers, AR/VR devices, gaming devices, and the like. Indeed, the terms “computer,” "host," and "host computer," and “mobile device” and “handset” are generally used interchangeably herein and refer to any of the above devices and systems, as well as any data processor.

[48] Aspects of the system can be embodied in a special purpose computing device or data processor that is specifically programmed, configured, or constructed to perform one or more of the computer-executable instructions explained in detail herein. Aspects of the system may also be practiced in distributed computing environments where tasks or modules are performed by remote processing devices, which are linked through a communications network, such as a Local Area Network (LAN), Wide Area Network (WAN), or the Internet. In a distributed computing environment, program modules may be located in both local and remote memory storage devices.

[49] Aspects of the system may be stored or distributed on computer-readable media (e.g., physical and/or tangible non-transitory computer-readable storage media), including magnetically or optically readable computer discs, hard-wired or preprogrammed chips (e.g., EEPROM semiconductor chips), nanotechnology memory, or other data storage media. Indeed, computer implemented instructions, data structures, screen displays, and other data under aspects of the system may be distributed over the Internet or over other networks (including wireless networks), or they may be provided on any analog or digital network (packet switched, circuit switched, or other scheme). Portions of the system may reside on a server computer, while corresponding portions may reside on a client computer such as an exercise machine, display device, or mobile or portable device, and thus, while certain hardware computing platforms are described herein, aspects of the system are equally applicable to nodes on a network. In some cases, the mobile device or portable device may represent the server portion, while the server may represent the client portion.

[50] In some embodiments, the attachments or handles can include electrical components that facilitate operation of an associated platform and/or associated strength machine, including communications, controlling various components, and/or receiving and processing sensor data. The attachment electrical components can include a power supply, a controller, an input/output (I/O) component, communications components, attachment logic, and one or more sensors (e.g., IMUs or magnetometers). [51] For example, the attachments or handles can include wired and/or wireless interfaces for communication with the platform or other associated systems. The wired interfaces can include communications links with various components and can be implemented as one or more physical networks or device connect interfaces (e.g., Ethernet, and/or other protocols). The wireless interfaces can be implemented as Wi-Fi, Bluetooth® (e.g., BLE) cellular, infrared, radio, and/or other types of network interfaces or technologies for wireless communications and can facilitate communications with wireless devices of a strength machine or connected fitness platform.

[52] The attachment logic can be implemented as circuitry and/or a machine-readable medium storing various machine-readable instructions and data. For example, in some embodiments, the attachment logic stores an operating system and one or more applications as machine-readable instructions that may be read and executed by the controller to perform various operations. In some embodiments, the attachment logic is implemented as non-volatile memory (e.g., flash memory, hard drive, solid state drive, or other non-transitory machine-readable mediums), volatile memory, or combinations thereof. The attachment logic can include status, configuration, and control features, including the various control features disclosed herein.

[53] The sensors can include sensors for detecting an acceleration and/or position of handle in space, as described herein. The sensors can include sensors for detecting a connection status of the handle with an associated cable of the platform. For example, the sensors can include an IMU a magnetometer, an accelerometer, and/or other movement sensors.

Closed Loop Control of an Exercise Machine

[54] As described herein, in some embodiments, the technology includes an exercise machine, such as a strength machine or other machine (e.g., rowing machine) that includes a motor or drivetrain and a handle or attachment coupled to the motor/drivetrain. The exercise machine, in some embodiments, is a platform-based strength machine, which includes a platform, one or more handles or other attachments, and a digital weight system that provides or applies weight during various strength or lifting activities performed by a user of the strength machine. In other embodiments, the exercise machine can be a wall-mounted strength machine, a rowing machine, and so on.

[55] The exercise machine, as described herein, enables a user, such as the user 105, to perform various exercise movements. For example, the exercise machine can accommodate the performance of various strength exercises (e.g., goblet squats, curls, triceps extensions, squats, deadlifts, bench press, and so on), or other movements or exercises (e.g., rowing movements or strokes).

[56] As described herein, in some cases, the exercise machine can include a closed loop control system (e.g., system 330) that enhances or otherwise modifies operations of the exercise machine using closed loop control schemes based on data received from various sensors of the exercise machine.

[57] Figure 4 is a flow diagram illustrating a method 400 of modifying operations of an exercise machine. The method 400 may be performed by the closed loop control system 330, and, accordingly, is described herein merely by way of reference thereto. It will be appreciated that the method 400 may be performed on any suitable hardware.

[58] In operation 410, the system 330 receives information from a sensor of a handle or other attachment. For example, the system 330 may receive movement information captured by the IMU 310 of the attachment 230. The movement information can indicate the handle is moving at a certain speed, velocity, acceleration, and/or direction.

[59] In operation 420, the system 330 receives information from a sensor of a motor. For example, the system 330 may receive rotation information captured by the torque sensor 320 of the motor 224. The rotation information can indicate the motor is rotating with a certain torque and/or an associated cable coupled to the motor is moving at a certain speed, velocity, acceleration, and/or direction.

[60] In operation 430, the system 330 modifies operation of the exercise machine. For example, the system 330 can compare the movement information of the attachment 230 to the rotation information for the motor 224 and perform an action to enhance or otherwise optimize the operation of the motor 224 based on the comparison. [61] Examples actions performed by the closed loop control system 330 include:

[62] application of a control scheme to accelerate an inertia of the motor to align a movement of a cable with a movement of an attachment;

[63] determining that a comparison of the information associated with the movement of the attachment to the information associated with the rotation of the motor indicates a cable that couples the attachment to the motor has slack, and causing the motor controller to increase a torque applied to the cable by the motor;

[64] determining that a comparison of the information associated with the movement of the attachment to the information associated with the rotation of the motor indicates the attachment is in a state of free fall and causing the motor controller to modify a torque applied to the cable by the motor;

[65] application of a control scheme to apply a load to the motor via a servo based on a comparison of the information associated with the movement of the attachment to the information associated with the rotation of the motor; and so on.

[66] For example, in some cases, the system 330 can modify operation of the exercise machine to eliminate or reduce cable slack during certain movements (e.g., movements with a high acceleration), based on a comparison of the movement information and the rotation information. In such cases, the system 330 can mitigate any tradeoff between a safe control of digital weight applied at a handle and certain failure modes (e.g., such as a detected drop of the handle). Thus, the system 330 can maintain operation of the motor in a manner than prevents slack in the cable during high acceleration movements of a handle coupled to the cable.

[67] In some embodiments, the system 330 can implement a control scheme that reduces or eliminates the feel (or perceived feel) at the handles (or attachments) due to system properties felt by the user. The user may perceive a movement or pull like an elastic resistance band. The system 330 can utilize information captured by the IMUs in the handle and apply a control scheme to close an acceleration control loop that accelerates the mass/inertia of the powertrain/motor to align with the movement of the handle (e.g., with a zero differential force due to acceleration). [68] In some embodiments, the system 330 may modify operations to control the acceleration of the motor, such as to limit or reduce any free fall forces applied to the handle when they are released under tension to the force of gravity. The system 330, therefore, can apply a control scheme or mode that causes the motor to retract the cables attached to the handles at a rate less than a force applied on the handle due to gravity (e.g., the acceleration rate <= gravity). In doing so, the system 330 can prevent or reduce a harsh retraction of the cable, while also preventing slack in the cable that may be subject to additional recoil during a reset of the handle or exercise machine.

[69] As described herein, the strength machine, in some embodiments, includes a force or torque transducer that measures an output of a resistance generator (e.g., the motor 224). The system 330 can employ the control schemes described herein to close the loop around the force sensor, using a servo or servos to realize a desired applied load. In such cases, the system 330 can mitigate a variance in components and manufacturing tolerances, enabling a lower cost solution or various machine designs or implementations (e.g., reducing reliance on high accuracies during manufacturing (e.g., 1 % motor accuracy for 1 % force accuracy to the user).

[70] The system 330 can also utilize the force sensor to reduce or eliminate cable slack, as the system 330 would be using the servo to apply or modify a target applied load (such as when closed loop bandwidth is fast enough to respond to a user accelerating the handles downward).

[71] Thus, in various embodiments, the closed loop control system 330 can modify or enhance operations of an exercise machine by applying various control schemes or modes during operation of the exercise machine (e.g., during a strength movement performed by a user).

[72] Figure 5 is a flow diagram illustrating a method 500 of modifying operations of a motor of an exercise machine. The method 400 may be performed by the closed loop control system 330, and, accordingly, is described herein merely by way of reference thereto. It will be appreciated that the method 500 may be performed on any suitable hardware. [73] In operation 510, the system 330 receives information captured by a movement sensor of a handle of the strength machine. For example, the system 330 may receive information captured by one or more IMUs of a handle, such as acceleration information during movement of the handle when the user is performing a strength movement.

[74] In operation 520, the system 330 determines whether the movement of the handle is abnormal or unexpected. For example, the system 330 may determine that the captured movement information indicates an abnormal movement of the handle with respect to a motor of the strength machine that is coupled to the handle via a cable. The system 330 may compare the information captured by the IMU to the information captured by a torque sensor of a motor and determine whether the comparison indicates an abnormal movement.

[75] As described herein, an abnormal movement can be a movement that in not aligned with movement of the motor, such as a movement that is not expected with respect to a force or forces applied to the handle by the motor during operations. Thus, the comparison may indicate that a movement of the motor is misaligned with an expected movement of the handle, that the handle is in a state of free fall, and so on.

[76] Examples of abnormal movement can include a free fall movement of a handle, an introduction of slack to the cable that couples the motor to the handle, an acceleration of the handle that is different than an acceleration of the cable, and so on.

[77] In operation 530, the system 330 modifies operation of the motor of the exercise machine. For example, the system 330 may apply a closed loop control scheme, as described herein, to a current operation of the motor based on the comparison. The closed loop control scheme can modify the current operation to reduce slack introduced to the cable via a movement of the handle, to align the movement of the cable to the handle, and so on.

Example Embodiments of the Technology

[78] In some embodiments, an exercise machine comprises a platform that has a top surface upon which a user stands when performing a strength activity using the exercise machine, a motor and a motor controller contained by the platform, an attachment that is coupled to the motor, and a closed loop control system that controls operation of the exercise machine based on information associated with a movement of the attachment and information associated with a rotation of the motor.

[79] In some embodiments, a strength machine performs a method of controlling operations of a resistance mechanism of the strength machine, including capturing movement information associated with a handle of the strength machine by one or more inertial measurement units (IMlls) of the handle, determining that the captured movement information indicates an abnormal movement of the handle with respect to a motor of the strength machine that is coupled to the handle via a cable, and adjusting operation of the motor based on the determination.

[80] In some embodiments, a method of controlling a motor of a strength machine includes receiving information captured by a movement sensor of a handle of the strength machine, receiving information captured by a torque sensor of a motor of the strength machine that is coupled to the handle, comparing the information captured by a movement sensor of a handle to the information captured by a torque sensor of a motor, and applying a closed loop control scheme to a current operation of the motor based on the comparison.

Conclusion

[81] Unless the context clearly requires otherwise, throughout the description and the claims, the words ’’comprise,” ’’comprising,” and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of "including, but not limited to.” As used herein, the terms ’’connected,” ’’coupled,” or any variant thereof, means any connection or coupling, either direct or indirect, between two or more elements; the coupling of connection between the elements can be physical, logical, or a combination thereof. Additionally, the words ’’herein,” ’’above,” ’’below,” and words of similar import, when used in this application, shall refer to this application as a whole and not to any particular portions of this application. Where the context permits, words in the above Detailed Description using the singular or plural number may also include the plural or singular number respectively. The word “or", in reference to a list of two or more items, covers all of the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list.

[82] The above detailed description of embodiments of the disclosure is not intended to be exhaustive or to limit the teachings to the precise form disclosed above. While specific embodiments of, and examples for, the disclosure are described above for illustrative purposes, various equivalent modifications are possible within the scope of the disclosure, as those skilled in the relevant art will recognize.

[83] The teachings of the disclosure provided herein can be applied to other systems, not necessarily the system described above. The elements and acts of the various embodiments described above can be combined to provide further embodiments.

[84] Any patents and applications and other references noted above, including any that may be listed in accompanying filing papers, are incorporated herein by reference.

Aspects of the disclosure can be modified, if necessary, to employ the systems, functions, and concepts of the various references described above to provide yet further embodiments of the disclosure.

[85] These and other changes can be made to the disclosure in light of the above Detailed Description. While the above description describes certain embodiments of the disclosure, and describes the best mode contemplated, no matter how detailed the above appears in text, the teachings can be practiced in many ways. Details of the exercise machine and platform may vary considerably in its implementation details, while still being encompassed by the subject matter disclosed herein. As noted above, particular terminology used when describing certain features or aspects of the disclosure should not be taken to imply that the terminology is being redefined herein to be restricted to any specific characteristics, features, or aspects of the disclosure with which that terminology is associated. In general, the terms used in the following claims should not be construed to limit the disclosure to the specific embodiments disclosed in the specification, unless the above Detailed Description section explicitly defines such terms. Accordingly, the actual scope of the disclosure encompasses not only the disclosed embodiments, but also all equivalent ways of practicing or implementing the disclosure under the claims. [86] From the foregoing, it will be appreciated that specific embodiments have been described herein for purposes of illustration, but that various modifications may be made without deviating from the spirit and scope of the embodiments. Accordingly, the embodiments are not limited except as by the appended claims.