Technical Field

The present disclosure relates to the field of exercise apparatuses such as pedalling devices for exercising.

Background

Exercise is important for humans to stay healthy, and it can help with recovery from injuries or other illnesses. However, many people may be in a situation which significantly impedes their ability to exercise, such as those who are bed bound in a hospital or whose bodies are incapable of withstanding impact resulting from exercise. Whilst certain low impact forms of exercise such as swimming can be recommended, for many reasons this is not always feasible for some individuals. For example, users who are bed bound may not be able to get to a swimming pool. In any case, swimming does not generally provide adequate training of a person’s legs. Instead, it is a sport which mainly uses upper body muscles, and so may not be so helpful for a user recovering from a leg injury who needs to train their leg muscles.

Stationary cycling machines (such as‘spinning bikes’) are known. These can enable a user to train their leg muscles in a controlled and low impact fashion. However, such cycling machines are typically very quad-biased in terms of the muscle groups they target. For example, 50% or more of the power applied by a cyclist may come from their quads, yet as little as 5% may come from the hamstrings. It is apparent that such machines may therefore provide an undesirable imbalance in their resulting training load. It may therefore be desirable to provide an exercise machine capable of reducing this imbalance in training load.

In addition, it may be preferable to provide an exercise machine which provides low impact training for a person who is bed bound, such as a patient in hospital, or who is in a state in which they would otherwise be unable to provide any sort of exercise to their legs. As the legs make up such a significant part of a user’s body, it is important that they do not go for long without getting any exercise. For example, it can be very deleterious for a user who is bed bound in hospital to go for any length of time without getting some sort of exercise for their legs. Furthermore, as there are many different groups of muscles within the legs, it may be preferable to provide a means for enabling a user to train the majority of the muscle groups within the legs, without there being a substantial muscle-group imbalance. Summary

Aspects of the disclosure are set out in the independent claims and optional features are set out in the dependent claims. Aspects of the invention may be provided in conjunction with each other, and features of one aspect may be applied to other aspects.

In an aspect, there is provided a pedalling apparatus comprising an epicyclic drive train comprising a planet wheel constrained to orbit about an orbital axis. The planet wheel comprises a first connection for connecting the planet wheel to a first pedal crank arm and a second connection for connecting the planet wheel to a second pedal crank arm. The pedal crank arms are rotatable about a spindle axis through the planet wheel to drive rotation of the planet wheel. Rotation of the planet wheel provides orbital motion of the spindle axis about the orbital axis.

Embodiments of the disclosure may provide a pedalling apparatus with an increase range of movement. A user’s pedalling motion may encompass both: (i) the user’s legs moving to provide rotation of the crank arms about a spindle axis through the planet wheel, and (ii) the user’s legs moving with the orbital motion of the planet wheel about the orbital axis. This may enable a greater range of movement so that a user pedalling the pedalling apparatus can provide a more balanced training load to the different muscle groups in the legs. Embodiments may also provide the benefit of enabling a user who is confined so that they cannot move much (e.g. bed-ridden) to both train their legs and to also train a greater variety of muscles in their legs.

The apparatus may include a restraint configured to hold the planet wheel in an orbit about the orbital axis. The restraint may help to ensure that the orbital motion of the planet wheel about the orbital axis follows a set trajectory. The restraint may comprise a ring surrounding the planet wheel. The planet wheel may follow a trajectory around the orbital axis so that it rolls along an inside surface of the ring. The apparatus may comprise a sun wheel, wherein the orbital axis is through the sun wheel. The planet wheel may orbit along a set trajectory so that it rolls along an inside surface of the ring and an outside surface of the sun wheel. An output may be provided from one of the sun wheel and the ring, so that a variable resistance may be introduced when a user is pedalling the planet wheels. The apparatus may comprise a plurality of planet wheels, wherein each planet wheel is constrained to orbit about the orbital axis. The planet wheels may be connected to a carrier arranged to rotate about the orbital axis. The carrier may be connected to an output so that a variable resistance may be introduced when a user is pedalling the apparatus. The provision of the ring, sun wheel and planet wheel may enable the apparatus to function without the need for a centre spindle coupling the planet wheel to another component.

Any of the planet wheel, the ring and the sun wheel may be toothed. For example, teeth of the ring and planet wheel may be interlockable to constrain the planet wheel to orbit about the orbital axis. Teeth of the planet wheel and sun wheel may also be interlockable so that the planet wheel may orbit the sun wheel by following a track along its outer surface. Any of the planet wheel, the ring and the sun wheel may be gears.

The apparatus may comprise locking means configured to inhibit orbital motion of the planet wheel at a selected point during its orbital motion about the orbital axis. Embodiments may enable a user to select a selected point during the orbit and to pedal at this point. This point may be changed; it may change continuously. For example, all three of the planet wheel, the sun wheel and the ring may rotate at the same time, and a degree of resistance applied may control the relative orbital speeds of the planet wheels, such that e.g. the planet wheel may effectively be held stationary. This may enable a user to pedal with their legs extended into a series of different positions, and they may select these positions. For example, this may enable a user to stretch a selected muscle, and to select the amount to which this muscle is to be stretched. A user may then be able to gradually vary this position as and when their body allows (e.g. as the muscles get stronger/more flexible). Embodiments may also enable users to work out imbalances they have acquired. For example, the planet wheel may be held stationary (e.g. locked) in a position which enables the user to predominantly train their hamstrings as opposed to quadriceps. This may find application with both serious athletes and patients in recovery.

Inhibiting the orbital motion of the spindle axis may comprise stopping it altogether at a selected position. It may comprise providing a reduction in orbital speed about the orbital axis. It is to be appreciated that this may be dependent on the pedalling forces applied by a user, such that during periods of acceleration of crank arm rotation speed, the planet wheel may orbit at a first speed about the sun wheel, but during periods of constant crank arm rotation speed, the planet wheel may orbit at a second speed, which is lower than the first speed (e.g. it may not orbit at all). The apparatus may be configured so that a user may select at which position during the orbit the planet wheel is to be locked. In this position a user may still pedal the apparatus and in so doing cause a rotation of the planet wheel. For example, they may still experience a conventional circular pedalling motion about the spindle axis without the orbital motion of the spindle axis about the orbital axis. The circular pedalling motion may thus be performed at a selectable location about the orbit of the spindle axis. Selecting this location can enable pedalling to occur in a different position to that which would be conventional on a stationary exercise bike. Pedalling of the planet wheels in this position may still be performed at a variable resistance. The variable resistance may be used to provide the inhibited orbital motion of the planet wheel.

The epicyclic drive train may be housed in a casing and arranged so that the ring is rotatable relative to the casing. The casing may shelter a user from the rotating components. It may also provide additional strength for holding the apparatus together and securing the moving parts so that they are securely held in fixed relation to one another. The epicyclic drive train may comprise a first bearing system at an interface between the ring and the casing. For example, the first bearing system may comprise roller bearings. The ring may therefore rotate relative to the casing, e.g. in response to a user pedalling which drives the planet wheel and the ring. The apparatus may comprise a second bearing interface for facilitating relative movement between the planet wheel and the casing. For example, the second bearing interface may comprise wheels provided on the planet wheel. The first bearing interface may be between an outer radial surface of the ring and an inner radial surface of the casing. The second bearing interface may be between a lateral side of the planet wheels and the casing. This may enable the casing to secure all the components in place, shielding a user from the moving components whilst still permitting relative movement between the components (e.g. it may stop the planet wheels from moving side to side).

The sun wheel, planet wheel and ring may have a herringbone profile. For example, the circumferential surface may carry a herringbone pattern. This may provide increased lateral support for the components. It may increase longevity of the apparatus as at any one time there will always be more than one tooth of a given component in contact with another tooth of another component. The apparatus may comprise a first pedal crank (for attachment to the first crank arm connection). The apparatus may comprise a second pedal crank arm (for attachment to the second crank arm connection). The two crank arms may be attached on opposite sides of the apparatus (e.g. left hand crank arm attached to the left hand side and right hand crank arm attached to the right side). Crank arms may comprise a telescopic arm. For example, so that the crank arm length may be varied by a user without having to remove the crank arm and affix another one. This may be advantageous where one device may be used by many possible users, each having different leg (and thus crank arm) lengths.

The apparatus may comprise resistance means configured to provide resistance to the pedalling motion of a user using the apparatus. For example, the resistance means may act to inhibit rotation of the planet wheel. This may be provided by applying a resistance to a moving component of the apparatus, such as the ring, the sun wheel, the planet wheel or one of the bearing interfaces; it may be provided by applying resistance to an external component connected to one of the ring, sun wheel or planet wheel. The resistance means may apply resistance to wheels which form part of the second bearing interface, for example a friction brake may be used to apply a resistance to these wheels.

The resistance means may provide a variable resistance, for example, wherein a user may select the level of resistance to be applied. The applied resistance may make it harder for a user to pedal, so that pedalling provides an increased training effect. The resistance may inhibit rotation of the crank arms around the spindle axis. In turn, this may inhibit rotation of the planet wheel and/or orbital motion of the planet wheel about the orbital axis. The resistance means may be operable to provide a first degree of resistance selected to cause orbital motion of the spindle axis in response to a user pedalling the crank arms. The first degree of resistance may comprise application of the resistance means to a selected component so that upon a user pedalling and thus providing a rotation of the planet wheel, the planet wheel may orbit about the orbital axis. The degree of resistance may be selected to control an orbital speed of the planet wheel about the orbital axis, relative to a rotational speed of the planet wheel about its spindle axis.

The resistance means may be operable to provide a second degree of resistance which provides the locking means. This second degree of resistance may be applied to one of the ring, sun wheel, planet wheel and/or one of the bearing interfaces so that the orbital speed of the planet wheel may be controlled, e.g. so that it is held in a selected location during its orbital motion. For example, with the second degree of resistance applied by the resistance means, a user pedalling will only drive rotational motion of the planet wheel (e.g. not orbital motion).

All three of the ring, sun wheel and planet wheel may be free to rotate during use of the apparatus. Depending on the torque applied using the pedals, the orbital speed of the planet wheel may vary, and the apparatus may be configured to provide a selected amount of orbital motion of the planet wheel in response to a selected torque applied to the crank arms. For example, the apparatus may be arranged to control a selected amount of orbital motion of the planet wheel based on selecting a degree of resistance to be applied by the resistance means. For example, a user pedalling the apparatus may initially experience a higher orbital speed relative to their rotational speed as they increase torque applied to the pedals than when compared to their orbital speed relative to their rotational speed at a stable level of torque being applied. The apparatus may be arranged so that at a stable level of torque being applied, only rotational motion of the planet wheel occurs (e.g. no orbital motion). The user may therefore be able to control the position of the planet wheel during its orbital motion by providing bursts of acceleration so that the planet wheel reaches a selected point during the orbit. The resistance means may be arranged to control the relative ratios of orbital motion to rotational motion. It is to be appreciated that the locking means may not lock the planet wheel in a fixed position, but rather the resistance means may be such that under normal use, orbital motion of the planet wheel so is inhibited (e.g. it occurs less than otherwise, or not at all).

The resistance means may comprise a magnetic braking system, e.g. an eddy current brake. It may comprise a resistance brake, for example a friction brake, e.g. which applies some form of resistance (e.g. clamping force) to inhibit relative rotation between the brake and the moving component. It may comprise a flywheel, e.g. which is configured to make rotation harder (increase the moment of inertia), e.g. when coupled to one of the sun wheel, the planet wheel or the ring. The resistance may comprise a number of these; for example, an eddy brake may be applied to a flywheel to provide a variable resistance. The resistance means may be applied to any suitable component of the apparatus, such as the ring, the planet wheel, the sun wheel, the first or second bearing interfaces and/or the carrier. The resistance means may be applied to the drive train as a whole. The resistance means may comprise coupling by a belt drive, the epicyclic drive train (e.g. at the ring) to another component, such as a flywheel.

The pedalling apparatus may comprise a gantry for suspending the epicyclic drive train. The gantry may be arranged to suspend the epicyclic drive train at a selected height. This may enable the apparatus to be provided to a user who is bed-ridden so that they may pedal the apparatus whilst still in bed. They may then exercise their legs despite being in bed, and wherein they are able to exercise an improved variety of the muscles in their legs. The gantry may be attached to a bed so that a user may lie on their back in bed and still be able to pedal, e.g. with their legs suspended in the air above them. For example, the apparatus may include pedals with straps so that a user’s foot can be secured to the pedal and supported in the air above them. This may elevate a user’s legs and ankles relative to their body, which can help with draining blood from these regions of a user’s body. The gantry may include a counter weight to balance the weight of the apparatus and any forces derived from a user pedalling the suspended apparatus. The apparatus may comprise a support for supporting the body of a user when cycling with the legs elevated, for example wherein the support comprises at least one of: (i) a lumbar support, and (ii) a head/neck support. The apparatus may comprise a cross-belt drive coupling the sun to the planet wheel. The cross-belt drive may be coupled to sun wheel in along a region of the perimeter of the sun wheel in which the sun wheel has no teeth. The cross-belt drive may be coupled to the planet wheel a region of a perimeter of the planet wheel in which the planet wheel has no teeth. These toothless regions may be offset from one another to inhibit frictional losses arising from the belt rubbing against itself, e.g. where a belt might otherwise cross itself as in a figure of eight.

The gantry may comprise a cantilever system with a counter weight for counter-balancing a weight of the epicyclic drive train. The resistance means (e.g. flywheel) may be connected to the epicyclic drive train via at least one of: (i) the sun wheel and (ii) the ring. The counter weight may comprise the flywheel.

In an aspect, there is provided a pedalling apparatus comprising an epicyclic drive train comprising a planet wheel constrained to orbit about an orbital axis, and a ring surrounding the planet wheel. The planet wheel comprises a connection for connecting the planet wheel to a pedal crank arm rotatable about a spindle axis through the planet wheel to drive rotation of the planet wheel to provide an orbital motion of the spindle axis about the orbital axis. The apparatus is operable to provide a variable resistance drive train.

In an aspect, there is provided a reclined cycling machine comprising: (i) a pedalling drive train comprising: (a) a gear train; and (b) a pedal crank arm connected to the gear train, wherein the pedal crank arm is rotatable about a spindle axis of the drive train, and wherein the pedal crank arm is operable to orbit about an orbital axis of the gear train, wherein the orbital axis is different to the spindle axis; and (ii) a gantry for suspending the pedalling drive train.

In an aspect, there is provided a pedalling apparatus comprising first and second pedal crank arms and a drive train connected to the pedal crank arms for resisting rotation of the pedal crank arms about a spindle axis of the apparatus. The drive train is configured so that rotation of the pedal crank arms about the spindle axis drives the spindle axis to orbit about an orbital axis of the drive train. The orbital axis is different to the spindle axis.

The drive train may comprise an epicyclic drive train comprising a planet wheel constrained to orbit around the orbital axis. The spindle axis may be through the planet wheel. The epicyclic drive train may comprise an epicyclic drive train of the type described herein. Aspects of the disclosure may comprise a kit of parts for an apparatus disclosed herein. Aspects may also provide methods of operation of an apparatus disclosed herein.

Figures

Some embodiments will now be described, by way of example only, with reference to the figures, in which:

Fig. 1 shows a schematic diagram of an example epicyclic drive train.

Fig. 2 shows a schematic diagram of an example pedalling apparatus.

Fig. 3 shows a series of schematic diagrams illustrating operation of an example pedalling apparatus.

Fig. 4 shows a schematic diagram of an example pedalling apparatus which also depicts a belt drive.

Fig. 5 shows a schematic diagram of an example epicyclic drive train.

Fig. 6 shows a schematic diagram of an example pedalling apparatus.

Fig. 7 shows a schematic diagram of an example pedalling apparatus.

Fig. 8 shows a schematic diagram of an example reclined cycling machine.

In the drawings like reference numerals are used to indicate like elements.

Specific Description

Embodiments of the present disclosure may provide an apparatus in which a user may pedal using crank arms which are attached to a planet wheel of an epicyclic drive train. This pedalling of the crank arms causes the planet wheel to rotate, which in turn causes the planet wheel (and thus the pedalling crank arms) to orbit around an orbital axis. A pedalling movement may therefore be provided which encompasses both a local pedalling motion of crank arms rotating about a spindle axis of the planet wheel and a global orbiting motion of the crank arms (and spindle axis) about an orbital axis. This may provide a different pedal motion to that of conventional cycling, which may provide a more balanced training load to the different muscle groups of the legs.

The structure of an example pedalling apparatus will now be described with reference to Figs. 1 to 2.

Fig. 1 shows a schematic diagram of an example epicyclic drive train 100. The epicyclic drive train 100 includes a ring 120 which surrounds a plurality of (in this case four) planet wheels 110. The planet wheels include a driven planet wheel 111 to which pedal crank arms may be attached, and a plurality of supplementary planet wheels 112 arranged to rotate with rotation of the driven planet wheel 111. The planet wheels 110 are interposed between the ring 120 and a sun wheel 130. The sun wheel 130 is in the centre of the epicyclic drive train 100, with the planet 110 wheels located radially outward from the sun wheel 130. The ring 120 is located radially outwardly from the planet wheels 110. The ring 120 is in contact with the planet wheels 110 and the planet wheels 110 are in contact with the sun wheel 130. Located radially outwardly from the ring 120 is a casing 140 which surrounds the ring 120.

Fig. 2 shows a schematic diagram of an example pedalling apparatus 200. The apparatus 200 includes a drive train of the type illustrated in Fig. 1 (although the casing 140 of Fig. 1 is not illustrated). In addition, the driven planet wheel 111 of the pedalling apparatus 200 has a pair of crank arms 150 connected thereto. The driven planet wheel 111 has a first connection 151 for connection to a first one of the crank arms 150, and a second connection (not shown - on the other side of the planet wheel 111 to that shown in Fig. 2). A spindle axis is in the centre of the planet wheel 111 about which the crank arms 150 are rotatable. When connected to the planet wheel 111 , each crank arm 150 extends radially outward from its respective connection. A pedal 155 is included, which may be spaced from the connection by the crank arm 150. The connections may be located in the centre of the planet wheel 111. Both crank arms 150 are connected to the same planet wheel 111. The second crank arm is offset by 180 degrees from the first crank arm. The spindle axis runs through the centre of the planet wheel 111 (axially). This may extend from the first connection 151 to the second connection. Also shown in Fig. 2 is a groove 122 in an outer surface of the ring 120. The groove 122 comprises a recess around the circumference of the ring 120 on the radially outer side of the ring 120.

A user may operate the apparatus 200 of Fig. 2 by pedalling using the two pedals 155. This pedalling motion drives a rotation of the pedals 155 about the spindle axis of the driven planet wheel 111 , which provides a rotational motion of the planet wheel 111 itself. As the planet wheel 111 rotates, it may interact with the sun wheel 130 and the ring 120, so that rotation of the planet wheel 111 also provides an orbital motion of the planet wheel 111 about an orbital axis of the apparatus 200. In response to continued pedalling, the planet wheel 111 may follow an orbital path in which it orbits about the orbital axis by rolling along a path on the outer surface of the sun wheel 130 and along a path on an inner surface of the ring 120. Therefore, at different points during the orbit of the planet wheel 111 , the pedals 155 may be located at a variable distance from a user. This variable distance of separation is based on the location of the planet wheel 111 during its orbit about the orbital axis.

As discussed in more detail below, resistance may be applied to rotation of the pedalling means. For example, a variable resistance may be applied which raises the amount of energy required to perform a complete rotation of the pedalling means. The resistance means may couple the epicyclic drive train 100 to a component separate from the drive train. This coupling to another component may enable that other component to be impart a resistance to pedalling motion. The imparted resistance may be variable, e.g. the degree of resistance may be controlled. The resistance means may enable the provision of variable resistance. For example, a flywheel may be coupled to the drive train 100 so that rotation of the pedalling means also drives rotation of the flywheel. Additional energy may be required to drive rotation of the flywheel, so that increased resistance is added to rotation of pedalling means.

The groove 122 shown in Fig. 2 may be configured to couple the ring 120 to an external component configured to impart resistance to the pedalling motion of the drive train. For example, a band 160 may couple the ring 120 to such a component. The band 160 may be provided in the groove 122 of the ring 120.

The planet wheels 110 are arranged to rotate about their central axis in response to pedalling e.g. the pedal means driving a rotation of the driven planet wheel 111. For the driven planet wheel 111 with the crank arms 150 connected, rotation of the crank arms 150 (e.g. by pedalling) drives a rotation of this planet wheel 111 about its central axis. This central axis may be referred to as the spindle axis of the planet wheel 111. The arrangement of the sun wheel 130, the ring 120 and the planet wheels 110 is such that pedal-driven rotation of the crank arms 150 provides rotation of the planet wheel 111 about its spindle axis, which in turn may cause the planet wheel 111 to orbit around the sun wheel 130 following a path along an inside surface of the ring 120 wheel and/or on an outside surface of the wheel. The connection between the planet wheel 111 and the crank arm 150 may comprise a protrusion which engages with a corresponding recess. A splined connection may be used. For example, each of the first and second connection may comprise a protrusion which is shaped to engage with a recess in the crank arm 150, so that a rotation of the crank arm 150 drives a rotation of the planet wheel 111. Example protrusion shapes may include square taper/octalink type connections, as can be found on conventional bottom brackets for bicycles.

The crank arm 150 provides a lever which holds the pedal 155 at a location spaced from the spindle axis of the planet wheel 111. A user may input power to the system by applying pressure to the pedal 155 and driving rotation of the pedal 155 around the spindle axis. The pedalling motion of a user may follow a circular path around the spindle axis of the planet wheel 111 superimposed onto an orbital motion of that spindle axis orbiting around the orbital axis

The ring 120 may be arranged to hold the planet wheels 110 in place, e.g. against the sun wheel 130, whilst still permitting rotational motion of the planet wheels about their spindle axis and orbital motion of the planet wheels 110 about the orbital axis. The ring 120 itself may be arranged to rotate in response to pedalling of the planet wheel 111. Rotation of the ring 120 may provide resistance to the pedalling of the planet wheel 111. The ring 120 may further coupled to additional components so that rotation of the ring 120 may provide a variable resistance to the pedalling motion.

The sun wheel 130 may provide a track about its circumference along which the planet wheels 110 may travel as they orbit the orbital axis. The sun wheel 130 may be arranged to rotate about the orbital axis, e.g. it may be driven by pedalling of the planet wheel 111. Rotation of the sun wheel 130 may provide resistance to the pedalling of the planet wheel 111. The sun wheel 130 or the ring 120 may be coupled to resistance means, e.g. to apply a resistance to rotation of that component. Increasing resistance applied to a component (e.g. the ring/sun) may increase the energy required to drive a rotation of that component about its axis. In turn this may facilitate orbital motion of the planet wheels 110 as increasing the resistance to the ring 120 or sun 130 may decrease the energy required for the planet wheels 110 to orbit about their orbital axis. For example, with no resistance applied to the sun wheel, rotation of the planet wheel about its spindle axis may cause the sun and planet to engage so that the planet drives a rotation of the sun wheel about its central axis. With the sun wheel held fixed, or at least with increased resistance applied to it, rotation of the planet wheel about its spindle axis may cause the sun and planet wheel to engage and cause the planet wheels to move along the surface of the sun wheel (orbit about its orbital axis), e.g. as a consequence of Newton’s third law. It is to be appreciated that by controlling the degree of resistance applied to the components of the drive train, the amount of orbital motion of the planet wheels in response to rotational motion of the planet wheels may be controlled. Each of the ring, the sun and the planet wheels may rotate about their central axis whilst still permitting some orbital motion of the planet wheels.

The inner surface of the ring 120 and the outer surface of the planet 110 and sun wheel 130s may be toothed for engagement with one another, e.g. they may be gears. For example and as illustrated in the Figs, they may have a herringbone profile. The teeth may have an involute profile.

A method of operation of the pedalling apparatus 200 of Fig. 2 will now be described with reference to Fig. 3.

Fig. 3 shows a series of schematic diagrams of the apparatus 200 in operation. Chronologically, the images proceed horizontally then vertically. The top six images show a method 301 of using the apparatus 200 to provide both rotational and orbital motion. The bottom three images show a method 302 of using the apparatus 200 with the planet wheel locked at a location in its orbit to provide only rotational motion.

In the method 301 , a user may pedal the apparatus 200 by applying a force to the pedals 155. This causes the crank arms 150 to rotate, which drives a rotation of the planet wheel. Rotation of the planet wheel causes it to engage with the sun wheel 130 and the ring 120 which may drive orbital motion of the planet wheel around the sun wheel 130. It is to be appreciated that relative gear ratios may be selected so that one rotation of the planet wheel provides a selected amount of orbital motion.

As can be seen in Fig. 3, for subsequent pedal revolutions about the spindle axis the location of the spindle axis changes as it orbits around the orbital axis. A user may therefore pedal the apparatus 200 and experience a non-conventional pedalling trajectory as the distance from them to their pedalling legs will vary as their legs are pedalling the apparatus 200.

The second method 302 illustrated in Fig. 3 shows an example scenario in which the orbital motion of the planet wheels is impeded, and instead the planet wheels may only rotate about their spindle axis. As can be seen, in this configuration, a conventional circular pedalling motion may be performed (without orbital motion as well). However, as the planet wheels may be locked at different positions along their orbit of the sun wheel 130, the circular pedalling motion may be performed at a variable distance and/or angle from a user. For example, this may enable a user to select a desired fit for their cycling, e.g. to target/avoid use of specific muscle groups. Resistance means may be used to hold the planet wheels at a set point during their orbit of the sun wheel 130.

Further examples of pedalling apparatuses of the present disclosure will now be described with reference to Figs. 4 to 7.

Fig. 4 shows a schematic diagram of a pedalling apparatus 400. The pedalling apparatus 400 of Fig. 4 may correspond to the apparatus 200 of Fig. 2 with the inclusion of a band 160 running along the groove 122 of the ring 120. The band 160 may form part of a resistance means for the apparatus 400. For example, the band 160 may be arranged to rotate with the ring 120, and to transfer this rotation to drive rotation of a separate component, such as a flywheel. By doing this, additional pedalling resistance may be applied to the apparatus 400. This additional resistance may be controllable (e.g. the moment of inertia of the flywheel may be variable) so that a user may select the level of resistance to their pedalling motion.

Fig. 5 shows a schematic diagram of an epicyclic drive train 500. The drive train 500 also includes a carrier 170 coupling the planet wheels 110 together. The carrier 170 may rotate at the orbital speed of the planet wheels 110. This may ensure that the planet wheels 110 all rotate at the same orbital speed. It may provide a further output to which a resistance could be applied to provide resistance to the pedalling motion. Although not shown, it is to be appreciated that the provision of a carrier 170 may enable the sun wheel 130 to be removed as the planet wheels 110 will have a fixed rotation and so will each be able to follow its path along an inside of the ring 120 without relying on the sun wheel 130 to prevent it move radially inwards.

Fig. 6 shows a schematic diagram of a pedalling apparatus 600. The apparatus 600 may encompass the apparatus 200 shown in Fig. 2 with the inclusion of a band 160 (e.g. of the type shown in Fig. 4), a carrier 170 (e.g. of the type shown in Fig. 5) and a casing 140 which houses the apparatus 600. As with Fig. 4, the band 160 may couple the ring 120 to a separate component, such as a flywheel, for providing a resistance to pedalling motion of the apparatus 600.

Although not visible in Fig. 6, a ring 120 may still be included as part of the epicyclic drive train. To provide improved rotation of the ring 120 relative to the casing 140 a first bearing interface may be included. The bearing interface may be located radially outwards from the ring 120 and radially inwards from the casing 140. The first bearing interface is not visible in Fig. 6, but Figs. 1 and 7 show a bearing interface for inclusion between the ring 120 and the casing 140. The bearing interface could be of any suitable type. For example, roller bearings may be used. This may enable smoother operation of the apparatus 600 as the ring 120 may rotate relative to the casing 140 with a reduction in friction there between.

Fig. 7 shows a pedalling apparatus 700 which may correspond to the apparatus 600 illustrated in Fig. 6 with the casing 140 removed. As can be seen, the apparatus 700 includes a plurality of bearings located around an outer radial surface of the ring 120. The bearings may be distributed evenly around a portion of the circumference. As shown, there may be a region in which the band 160 passes from the apparatus 700, e.g. to couple it to another component such as a flywheel. In this region there may be an absence of bearings to accommodate for the band 160 departing from the outer surface of the ring 120.

With regard to Fig. 6, although not shown, a second bearing interface may be included at an axial (e.g. lateral) interface between the epicyclic drive train and the casing 140 e.g. on the sides of the drive train (where the first and second connections are). The second bearing interface may comprise bearings, such as a roller system (e.g. wheels) provided on the axial (lateral) surfaces of the planet wheels 110. The second bearing interface may also comprise bearings provided on the side of the ring 120. The second bearing interface may enable the casing 140 to be relatively close-fitting whilst still permitting the drive train to function as intended. The casing 140 may also provide lateral support to the components of the drive train, so that they do not move about or fall out of position.

Although not shown, the casing 140 may substantially encapsulate the apparatus 600, such as covering it while only leaving the relevant circular tracks removed so that the crank arm 150 may connect to the planet wheel 111 and orbit around the orbital axis. This may hold all the components in place and shield a user of the apparatus 600 from moving parts of the epicyclic drive train.

A magnetic braking system may be applied to the casing 140, such as forming part of the casing 140 or having magnetic brakes attached to the casing 140. These magnetic brakes may be arranged to interact with the planet wheels 110 to inhibit orbital motion of the planet wheels. For example, there may be a plurality of such magnetic brakes located on the casing 140 around the orbital path of the planet wheels 110. These may be controllable magnetic brakes such as electromagnetic brakes which may be actuated by a controller. A selected brake (or brakes) may be used to lock the planet wheels 110 at a selected location. This may enable a plurality of set locations to be selected, at which a user may lock the planet wheels 110 so they could pedal at that chosen location in the orbital path of the planet wheels 110. The magnetic braking system could also be applied to provide resistance to pedalling motion without completely impeding orbital motion of the planet wheels 110. This may be one way to provide the resistance means mentioned above.

It is to be appreciated that the same effect could be provided in other ways. For example, a resistance (friction) brake could be applied to the carrier 170. This may include a braking element arranged to provide a resistive (e.g. clamping) force on the carrier 170. Likewise, a resistance applied to the sun wheel 130 and/or the ring 120 (e.g. one of the sun wheel and the ring) may be selected which inhibits orbital motion of the planet wheels 110. A resistance means of the apparatus 600 (e.g. of the type described above) may be arranged to provide both a first and second form of resistance. For example, the resistance means may provide a second degree of resistance which provides a locking means for the planet wheels 110. The resistance means may apply a degree of resistance to the second bearing interface.

Each of the ring 130, planet wheel 110, sun wheel 130 (and carrier 170) may be free to rotate. Each component may be rotatable by torque applied to that component about its central axis, e.g. as by driving rotation of pedal crank arms 150 of the planet wheel 111. Applying a resistance to any of these components increases the amount of power input required (e.g. in the form of said torque) to that component to provide a selected rotational speed of that component about its central axis. Locking the component effectively prevents that component from rotating about its central axis in response to power input. It is to be appreciated that applying a resistance to, for example, locking, one of the components may affect the rotational/orbital dynamics of the other components of the epicyclic drive train. The relative transmission (e.g. gear) ratios between components may also affect these dynamics.

In one example, the sun wheel 130 may be locked so that no rotation of the sun wheel 130 occurs in response to pedalling of the planet wheel 111. In this example, as a user pedals the planet wheel 111 , the planet wheel 111 will rotate about its spindle axis. The rotating planet wheel 111 will interact with the locked sun wheel 130 so that in addition to rotating about its spindle axis, the planet wheel 111 will also orbit about the orbital axis, e.g. by rolling along the outer surface of the sun wheel 130. Additionally, the rotating planet 111 wheel would interact with the ring 130 to provide rotational motion of the ring 130. It is to be appreciated that the opposite outcome would occur if the ring 130 was locked instead of the sun wheel 130. In this situation, the planet wheel 111 would interact with the ring 130 so that rotation of the planet wheel 111 causes the planet wheel 111 to roll along an inside surface of the ring 130 and thus orbit about the orbital axis. The planet wheel 111 would also interact with the sun wheel 130 to drive a rotation of the sun wheel 130. In these examples, a ratio of the rotation speed for the two rotating components may be selected based on the transmission ratios between components of the epicyclic drive train. Of course, instead of locking the ring or sun, a different degree of resistance may be applied to the rotation of either or both of them.

In examples a resistance may be applied to one or more of the components of the epicyclic drive train. The resistance may be variable, e.g. it may provide a resistance between zero and a value high enough to lock rotation of the component. By applying a variable resistance to one of these components, a ratio of rotation speed between components may be varied. The orbital speed of the spindle axis about the orbital axis may be controlled based on ratios of rotation between the components of the epicyclic drive train. The apparatus may enable the selection of a selected ratio of rotational movement of the planet wheel 111 about its spindle axis to orbital motion of the spindle axis about the orbital axis. This may be controlled by selecting at least one degree of resistance applied to a component of the epicyclic drive train. This ratio of rotational: orbital motion may be variable during pedalling motion. For example, where the degree of resistance is higher initially (e.g. with a flywheel which initially needs to be brought up to rotational speed), the orbital speed may vary as the degree of resistance changes during use (e.g. orbital speeds may drop with decreased resistance applied). The transmission ratio/resistance means may be selected to provide a selected ratio of rotational speed between two components, which in turn may provide the selected ratio of rotational: orbital motion.

The degree of resistance applied may be varied during use, e.g. a variable resistance may be applied. The resistance means described above may provide variable resistance means. In some examples, eddy current brakes may be used to provide an increased degree of resistance. It is to be appreciated that in an apparatus in which no external resistance is provided, there may still be some internal resistance (e.g. due to friction or air resistance of moving parts) which may affect the ratio of rotational:orbital motion. Resistance may also be applied to more than one component. Applying resistance to at least one component of the epicyclic drive train may enable the user to experience a variable pedalling resistance, e.g. so that they may control the training effect of using the apparatus. Stronger users may be able to pedal at a higher intensity whilst still experiencing sufficient resistance to their pedal stroke that this pedalling motion may occur in conventional cadence ranges. The resistance applied may be such that during steady use, relative rotation speeds of the components/orbital speed of the spindle axis are at a stable level. This stable level may be altered by varying the input from the user. The user’s input levels may influence the ratio of rotational: orbital motion. For example, a user raising their intensity level (e.g. putting in a burst at a higher cadence) may affect the ratio of rotational: orbital motion before the pedalling motion/resistance reaches another stable point. In examples where the resistance is not immediately responsive to changes in rotation speed (e.g. when using a flywheel), in this interim period, continued pedalling motion may provide for a change in the orbital speed of the spindle axis.

Fig. 8 shows a reclined cycling machine 800 including a gantry 880 which includes an attachment 881 and a suspending portion 882. As shown in Fig. 8, the gantry 880 is attached to a bed 890 with a pedalling apparatus 600 suspending therefrom.

The attachment 881 of the gantry 880 may provide a clamping force on a portion of the bed 890 to secure the gantry 880 to it. Although not shown, a counterweight may also be provided to balance the weight of the pedalling apparatus 600. This counterweight could be in the form of a flywheel used to provide resistance to the pedalling apparatus 600. It is to be appreciated that any suitable attaching means may be used to attach the gantry 880 to the bed 890.

The gantry 880 may be adjustable so that the height at which the apparatus 600 is suspended above the bed 890 may be changed, e.g. to accommodate different leg sizes or flexibilities of a user. The suspending portion 882 of the gantry 880 may hold the apparatus 600 so that the pedalling motion (orbital and rotational) is not impeded by the suspending portion 882. For example, the gantry 880 may comprise a connection for connecting to the top of the apparatus 600.

In operation, a user reclined on the bed 890 may pedal the apparatus 600, which in turn will cause the spindle axis of the planet wheel to move relative to the user. They may therefore use a wider variety of muscles than otherwise, as they would be applying a pedalling motion at a variable distance away from their body.

Embodiments of the present disclosure may find particular application in a field of physical rehabilitation, for example during recovery from musculoskeletal injuries. Examples of the apparatus described herein may therefore find application in medical areas, such as hospitals. Examples of the apparatus may be encapsulated by a sterilisable casing, for example a wipe-clean casing, which may cover all the mechanical components (e.g. sun wheel, planet wheel and ring). The casing may have a wipe-clean surface, which may be smooth and flat e.g. free of grooves or ridges to inhibit accumulation of pathogens. Embodiments of the present disclosure may provide medical methods for treatment of (and rehabilitation from) musculoskeletal injuries by pedalling of the apparatus described herein.

It is to be appreciated in the context of this disclosure that the first and second connection of the planet wheel 111 may take any suitable form to enable two crank arms 150 to be attached to the planet wheel 111 so that pedalling with these crank arms 150 drives rotation of the planet wheel 111. In some examples the second connection may form part of the crank arm 150/crankset as opposed to strictly being a component of the planet wheel 111. For example, a first crank arm may be coupled to the planet wheel 111 so that it may drive rotation of the planet wheel 111 (e.g. using a splined connection). The crank arm may have a rotor coupled thereto which extends through a hole in the planet wheel 111. The rotor may have a splined connection for engaging a corresponding splined connection within the hole in the planet wheel 111. The rotor may then include a connection for attachment of a second crank arm in a region of the rotor which protrudes through the other end of the hole in the planet wheel. This may be considered to be a planet wheel 111 providing a first and second connection. It is to be appreciated that in embodiments with large planet wheels 110 used, the connection may connect the planet wheel 111 directly to the pedal 155.

It will be appreciated that although the above description has been made largely in relation to the provision of a cycling apparatus, this is not the only application of the present disclosure. For example, embodiments may be applicable to exercise of any relevant body part/muscle group. For example, a user’s torso may be worked by pedalling drive trains of the present disclosure using their hands. Embodiments may still provide varied pedalling motion which may be of use, e.g. which may provide a different training load to a user. Despite use of hands instead of feet, such examples may be considered a ‘pedalling apparatus’ nonetheless. In such examples, a pedal may be a part which a user can grip with their hands.

It will be appreciated from the discussion above that the embodiments shown in the figures are merely exemplary, and include features which may be generalised, removed or replaced as described herein and as set out in the claims. With reference to the drawings in general, it will be appreciated that schematic functional block diagrams are used to indicate functionality of systems and apparatus described herein. It will be appreciated however that the functionality need not be divided in this way, and should not be taken to imply any particular structure of hardware other than that described and claimed below. The function of one or more of the elements shown in the drawings may be further subdivided, and/or distributed throughout apparatus of the disclosure. In some embodiments the function of one or more elements shown in the drawings may be integrated into a single functional unit.

As will be appreciated by the skilled reader in the context of the present disclosure, each of the examples described herein may be implemented in a variety of different ways. Any feature of any aspects of the disclosure may be combined with any of the other aspects of the disclosure. For example method aspects may be combined with apparatus aspects, and features described with reference to the operation of particular elements of apparatus may be provided in methods which do not use those particular types of apparatus. In addition, each of the features of each of the embodiments is intended to be separable from the features which it is described in combination with, unless it is expressly stated that some other feature is essential to its operation. Each of these separable features may of course be combined with any of the other features of the embodiment in which it is described, or with any of the other features or combination of features of any of the other embodiments described herein. Furthermore, equivalents and modifications not described above may also be employed without departing from the invention.

Certain features of the methods described herein may be implemented in hardware, and one or more functions of the apparatus may be implemented in method steps. It will also be appreciated in the context of the present disclosure that the methods described herein need not be performed in the order in which they are described, nor necessarily in the order in which they are depicted in the drawings. Accordingly, aspects of the disclosure which are described with reference to products or apparatus are also intended to be implemented as methods and vice versa. Other examples and variations of the disclosure will be apparent to the skilled addressee in the context of the present disclosure.