Variable resistance adaptive exercise apparatus and method of use thereof

Abstract

The invention comprises a method and/or an apparatus using computer configured exercise equipment and an electric motor. A computer-controlled robotic resistance system is used for training, diagnosis and/or therapy. The resistance system comprises: a subject interface, software control, a controller, an electric servo assist/resist motor, an actuator, and/or a subject sensor. The system overcomes the limitations of the existing robotic rehabilitation, weight training, and cardiovascular training systems by providing a training and/or rehabilitation system that adapts a resistance or force applied to a user interactive element in response to the user's interaction with the training system, a physiological strength curve, and/or sensor feedback. For example, the system optionally provides for an automatic reconfiguration and/or adaptive load adjustment based upon real time measurement of a user's interaction with the system or sensor based observation by the exercise system as it is operated by the subject.

1 . An exercise apparatus for operation by a user, comprising:
 a user interface comprising at least one of:
 an element moveable along an about linear path; and 
 a rotatable element; 
   a cable or linkage connected to said user interface;   an electric motor configured to supply a resistive force to movement of said user interface; and   a controller configured to control operation of said electric motor, said controller configured with computer readable code, said computer readable code comprising one or more functions combining to relate the resistive force to at least two of: mass, acceleration, and gravity.   
     
     
         2 . The apparatus of  claim 1 , wherein the resistive force maintains a level within ten percent of a maximum load achieved within a single direction of a repetition. 
     
     
         3 . The apparatus of  claim 1 , wherein within a single direction of movement of a repetition the resistive force comprises a sequential profile of at least one of:
 a first increasing resistance, a decreasing resistance, and a second increasing resistance; and   a first progressively lower load, an increasing load, and a second progressively lower load.   
     
     
         4 . The apparatus of  claim 1 , wherein the resistive force comprises a solution of:
     F=mg+ma,      
       where F is a force, m is mass, a is acceleration, and g is gravity. 
     
     
         5 . The apparatus of  claim 1 , further comprising:
 means for measuring acceleration of said user interface.   
     
     
         6 . The apparatus of  claim 5 , said means for measuring acceleration comprising at least one of:
 an encoder measuring rotation of an element associated with said electric motor;   an accelerometer; and   a-priori information on motion of an exercise type.   
     
     
         7 . The apparatus of  claim 5 , said controller configured to alter the resistive force using the measured acceleration. 
     
     
         8 . The apparatus of  claim 1 , said controller configured for use in a microgravity environment. 
     
     
         9 . The apparatus of  claim 1 , said controller configured to adaptively adjust the resistive force using an about real time measurement. 
     
     
         10 . The apparatus of  claim 1 , wherein said about linear movement comprises non-rotational movement of a grippable element configured for gripping by the user. 
     
     
         11 . The apparatus of  claim 1 , further comprising:
 a sensor configured to provide a feedback sensor reading, said controller configured to use the feedback sensor reading in control of said motor in generation of the resistive force.   
     
     
         12 . A method for exercising a user, comprising the steps of:
 providing a user interface comprising at least one of:
 an element moveable along an about linear path; and 
 a rotatable element; and 
   a cable or linkage connected to said user interface;   supplying a resistive force to movement of said user interface with an electric motor; and   using a controller configured with computer readable code to control operation of said electric motor, said computer readable code comprising one or more functions combining to relate the resistive force to at least two of: mass, acceleration, and gravity.   
     
     
         13 . The method of  claim 12 , said computer readable code configured with a within repetition resistance profile having the resistive force as a function of at least one of:
 distance; and   time.   
     
     
         14 . The method of  claim 13 , wherein the resistance profile comprises:
 a continuously increasing resistance profile;   a continuously decreasing resistance profile;   a step function resistance profile; and   a peak resistance profile, wherein peak resistance is achieved after the start of a repetition and before completion of a half-repetition.   
     
     
         15 . The method of  claim 12 , further comprising the step of:
 a wireless receiver receiving information about the user, said wireless receiver linked to said controller.   
     
     
         16 . The method of  claim 12 , further comprising the step of:
 said controller controlling the resistance force applied at at least two user interface stations with said electric motor.   
     
     
         17 . The method of  claim 12 , further comprising the steps of:
 generating a feedback signal with a sensor; and   using the feedback sensor reading in control of the resistive force applied to movement of at least one of:
 said element moveable along an about linear path; and 
 said rotatable element. 
   
     
     
         18 . An exercise apparatus for operation by a user, comprising:
 a user interface comprising at least one of:
 an element moveable along an about linear path; and 
 a rotatable element; 
   an electric motor configured to supply an assistive force to movement of said user interface; and   a controller configured with computer readable code, said computer readable code comprising one or more functions combining to relate the resistive force to at least two of: mass, acceleration, and gravity.   
     
     
         19 . The apparatus of  claim 18 , further comprising:
 a sensor configured to provide a feedback sensor reading, said controller configured to use the feedback sensor reading in control of said motor generating the resistive force.   
     
     
         20 . The apparatus of  claim 18 , said controller configured to adaptively adjust the resistive force based on at least one of:
 a measured movement of a movable element of said apparatus; and   an input related to state of the user.