Parallel Cable Exercise Device

Abstract

A cable-based exercise system. A chassis is provided to house the actuators. A force plate sits on top of this chassis. A bar configured for gripping by a user is provided. The bar has a first end and a second end. Two or more cables are connected to each end of the bar. Each cable connects an end of the bar to a drive motor. Each drive motor can be independently controlled. A central processor is preferably provided to receive sensory inputs and control the drive motors.

Having described our invention, we claim: 
     
         1 . An exercise device for a user, comprising:
 (a) a chassis;   (b) a bar, having an left end and a right end;   (c) a left front motor driving a left front motor drum;   (d) a left front cable extending from said left front motor drum to said left end of said bar;   (e) a left rear motor driving a left rear motor drum;   (f) a left rear cable extending from said left rear motor drum to said left end of said bar;   (g) a right front motor driving a right front motor drum;   (h) a right front cable extending from said right front motor drum to said right end of said bar;   (i) a right rear motor driving a right rear motor drum;   (j) a right rear cable extending from said right rear motor drum to said right end of said bar;   (k) a control system configured to produce a desired torque for each of said left front motor, said left rear motor, said right front motor, and said right rear motor in order to apply a desired force to said bar;   (l) a force plate positioned beneath said user;   (m) wherein said force plate is monitored by said control system in order to monitor a balance state of said user; and   (n) wherein said control system is configured to remove all loads on all cables in the event an unbalanced state of said user is detected.   
     
     
         2 . The exercise device as recited in  claim 1 , wherein said force plate is suspended on four load cells. 
     
     
         3 . The exercise device as recited in  claim 2 , wherein:
 (a) said four load cells are monitored by said control system; and   (b) said control system uses said load cells to monitor said balance state of said user.   
     
     
         4 . The exercise device as recited in  claim 1 , further comprising:
 (a) a left anchor plate on said left end of said bar;   (b) a right anchor plate on said right end of said bar;   (c) wherein said left front cable and said left rear cable attach to said left anchor plate; and   (d) wherein said right front cable and said right rear cable attach to said right anchor plate.   
     
     
         5 . The exercise device as recited in  claim 1 , further comprising:
 (a) a left lateral motor driving a left lateral motor drum;   (b) a left lateral cable extending from said left lateral motor drum to said left end of said bar;   (c) a right lateral motor driving a right lateral motor drum; and   (d) a right lateral cable extending from said right lateral motor drum to said right end of said bar.   
     
     
         6 . The exercise device as recited in  claim 5 , wherein said force plate is suspended on four load cells. 
     
     
         7 . The exercise device as recited in  claim 6 , wherein:
 (a) said four load cells are monitored by said control system; and   (b) said control system uses said load cells to monitor said balance state of said user.   
     
     
         8 . The exercise device as recited in  claim 5 , further comprising:
 (a) a left anchor plate on said left end of said bar;   (b) a right anchor plate on said right end of said bar;   (c) wherein said left front cable, said left lateral cable, and said left rear cable attach To said left anchor plate; and   (d) wherein said right front cable, said right lateral cable, and said right rear cable attach to said right anchor plate.   
     
     
         9 . An exercise device for a user, comprising:
 (a) a bar, having an left end and a right end;   (b) a left front motor mounted in a fixed position, driving a left front motor drum;   (c) a left front cable extending from said left front motor drum to said left end of said bar;   (d) a left rear motor mounted in a fixed position, driving a left rear motor drum;   (e) a left rear cable extending from said left rear motor drum to said left end of said bar;   (f) a right front motor mounted in a fixed position, driving a right front motor drum;   (g) a right front cable extending from said right front motor drum to said right end of said bar;   (i) a right rear motor mounted in a fixed position, driving a right rear motor drum;   (h) a right rear cable extending from said right rear motor drum to said right end of said bar;   (i) a control system configured to produce a desired torque for each of said left front motor, said left rear motor, said right front motor, and said right rear motor in order to apply a desired force to said bar;   (j) a force plate positioned beneath said user;   (k) wherein said force plate is monitored by said control system in order to monitor a balance state of said user; and   (l) wherein said control system is configured to remove all loads on all cables in the event an unbalanced state of said user is detected.   
     
     
         10 . The exercise device as recited in  claim 9 , wherein said force plate is suspended on four load cells. 
     
     
         11 . The exercise device as recited in  claim 10 , wherein:
 (a) said four load cells are monitored by said control system; and   (b) said control system uses said load cells to monitor said balance state of said user.   
     
     
         12 . The exercise device as recited in  claim 9 , further comprising:
 (a) a left anchor plate on said left end of said bar;   (b) a right anchor plate on said right end of said bar;   (c) wherein said left front cable and said left rear cable attach to said left anchor plate; and   (d) wherein said right front cable and said right rear cable attach to said right anchor plate.   
     
     
         13 . The exercise device as recited in  claim 9 , further comprising:
 (a) a left lateral motor driving a left lateral motor drum;   (b) a left lateral cable extending from said left lateral motor drum to said left end of said bar;   (c) a right lateral motor driving a right lateral motor drum; and   (d) a right lateral cable extending from said right lateral motor drum to said right end of said bar.   
     
     
         14 . The exercise device as recited in  claim 13 , wherein said force plate is suspended on four load cells. 
     
     
         15 . The exercise device as recited in  claim 12 , wherein:
 (a) said four load cells are monitored by said control system; and   (b) said control system uses said load cells to monitor said balance state of said user.   
     
     
         16 . The exercise device as recited in  claim 13 , further comprising:
 (a) a left anchor plate on said left end of said bar;   (b) a right anchor plate on said right end of said bar;   (c) wherein said left front cable, said left lateral cable, and said left rear cable attach to said left anchor plate; and   (d) wherein said right front cable, said right lateral cable, and said right rear cable attach to said right anchor plate.   
     
     
         17 . The exercise device as recited in  claim 1 , wherein said control system is configured to create an unloaded path in the motion of said bar. 
     
     
         18 . The exercise device as recited in  claim 5 , wherein said control system is configured to create an unloaded path in the motion of said bar. 
     
     
         19 . The exercise device as recited in  claim 9 , wherein said control system is configured to create an unloaded path in the motion of said bar. 
     
     
         20 . The exercise device as recited in  claim 13 , wherein said control system is configured to create an unloaded path in the motion of said bar.