Note: Descriptions are shown in the official language in which they were submitted.
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Exercise Device
RELATED APPLICATIONS
[0001] This application claims the benefit of U.S. Provisional
Application No.
62/991,875, filed on March 19, 2020 and U.S. Provisional Application No
63/122,057, filed
on December 7, 2020. The entire teachings of the above applications are
incorporated herein
by reference
BACKGROUND
[0002] Six degree of freedom exercise devices in the prior art can
have issues related to
friction and/or inertia of moving parts, as well as high cost, excessive
assembly time,
reliability, strength, and limited functionality.
SUMIVIARY
[0003] The present invention can provide an exercise apparatus that
can exercise complex
motions with six degrees of freedom, having minimized size, friction and
inertia, allowing for
an improved exercise experience, increased reliability, more linear force
response, and
increased precision of resistance output was well as measurement over that in
the prior art.
[0004] The exercise apparatus can include a linear arm portion
having an elongate arm
member with proximal and distal ends and an elongate support member having
proximal and
distal ends. The arm member can be slidably mounted to the support member by a
sliding
joint positioned at the distal end of the support member. The arm member can
be movable
along a first axis between retracted and extended positions relative to the
support member.
The sliding joint can include first and second bearing assemblies which are
spaced apart a
sufficient distance from each other for constraining portions of the arm
member within the
sliding joint along the first axis at the distal end of the support member.
The proximal end of
the arm member that overlaps with the support member outside of the sliding
joint when in
retracted positions is unconstrained relative to the first axis. A linear arm
brake assembly can
be coupled to the arm member for resisting linear motion of the arm member. A
torso portion
can be included to which the linear arm portion is rotatably mounted about a
second axis by a
rotary shoulder joint located at about half way or midway along the length of
the support
member of the linear arm portion
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[0005] In particular embodiments, the torso portion can include a
central support member
extending along a third axis. The torso portion can be rotatable about the
third axis by a
rotary waist joint. Some embodiments may enable rotation over 360 degrees. A
shoulder
brake assembly can be mounted to the central support member for resisting
movement of the
rotary shoulder joint. The shoulder brake assembly can include a shoulder
brake transmission
having components positioned on opposite sides of the central support member
and the third
axis for minimizing rotational size and rotational inertia of the torso
portion. The torso
portion can be rotatably mounted about the third axis to a base by the waist
joint. The base
can include a base support member. A waist brake assembly can be mounted to
the base
support member for resisting movement of the rotary waist joint. The waist
brake assembly
can include a waist brake transmission. Transmission components can be
positioned on
opposite sides of the base support member for minimizing size of the base. The
linear arm
brake assembly can include a cable or belt secured to the arm member. An arm
brake pulley
that is engaged by the cable or belt can be rotatably coupled to an arm brake.
The shoulder
brake assembly can include at least one timing belt transmission stage
rotatably coupled to a
shoulder brake. The waist brake assembly can include at least one timing belt
transmission
stage rotatably coupled to a waist brake. The cable or belt of the arm brake
assembly can
engage a first support member pulley at the proximal end of the support member
and a
second support member pulley located at the sliding joint inward from the
distal end of the
support member. The sliding joint can extend from the distal end of the
support member
overlapping the support member about 1/3 or less of the length of the support
member.
100061 The present invention can also provide an exercise apparatus
including a linear
arm portion having an elongate arm member with proximal and distal ends and an
elongate
support member having proximal and distal ends. The arm member can be slidably
mounted
to the support member by a sliding joint positioned at the distal end of the
support member.
The arm member can be movable along a first axis between retracted and
extended positions
relative to the support member. The sliding joint can include first and second
bearing
assemblies which are spaced apart a sufficient distance from each other for
constraining
portions of the arm member within the sliding joint along the first axis at
the distal end of the
support member. The proximal end of the arm member that overlaps with the
support
member outside of the sliding joint when in retracted positions can be capable
of some
unconstrained lateral movement relative to the first axis. A linear arm brake
assembly can be
coupled to the arm member for resisting linear motion of the arm member. A
torso portion
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can be included to which the linear arm portion is rotatably mounted about a
second axis by
rotary shoulder joint. The linear arm portion can be configured, and the
rotary shoulder joint
can be positioned along the length of the support member at a location that
substantially
balances the linear arm portion about the rotary shoulder joint at least when
the arm member
is in the retracted position.
100071 In particular embodiments, the torso portion can include a
central support member
extending along a third axis. The torso portion can be rotatable about the
third axis by a
rotary waist joint. A shoulder brake assembly can be mounted to the central
support member
for resisting movement of the rotary shoulder joint. The shoulder brake
assembly can include
a shoulder brake transmission having components positioned on opposite sides
of the central
support member and the third axis for minimizing rotational size and
rotational inertia of the
torso portion. The torso portion can be rotatably mounted about the third axis
to a base by
the waist joint. The base can include a base support member. A waist brake
assembly can be
mounted to the base support member for resisting movement of the waist joint.
The waist
brake assembly can include a waist brake transmission. The linear arm brake
assembly can
include a timing belt transmission secured to the arm member. An arm brake can
be rotatably
coupled to the timing belt transmission. The shoulder brake assembly can
include at least one
timing belt transmission stage rotatably coupled to a shoulder brake, and the
waist brake
assembly can include at least one timing belt transmission stage rotatably
coupled to a waist
brake. The belt of the arm brake assembly can engage a first support member
pulley at the
proximal end of the support member and a second support member pulley located
at the
sliding joint inward from the distal end of the support member. A
counterweight can be
secured to the belt near the second support member pulley when the arm member
is in the
retracted position. The rotary shoulder joint can be positioned inward about
1/4 to 1/3 of a
length of the support member from the distal end. The counterweight and the
arm brake can
be positioned on a side of the rotary shoulder joint that is opposite to the
proximal end of the
support member to substantially balance the linear arm portion about the
rotary shoulder joint
when the arm member is in the retracted position. The base can include a pair
or two legs
extending from the base support member on opposite sides of the torso portion.
A third or
single leg can extend from the base support member spaced apart from and
extending
between the pair of legs. The legs can include at least one of retractable
rollers for moving
the apparatus, leveling mechanisms for leveling the apparatus, and mounting
holes. The
rotary shoulder joint can include a linear arm mounting bracket rotatably
mounted to the
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shoulder brake transmission. The linear arm portion can be removably securable
to the linear
arm mounting bracket. The sliding joint can extend from the distal end of the
support
member overlapping the support member about 1/3 or less of the length of the
support
member.
100081 The present invention can also provide an exercise apparatus
including a linear
arm portion having an elongate arm member with proximal and distal ends and an
elongate
support member having proximal and distal ends. The arm member can be slidably
mounted
to the support member by a sliding joint positioned at the distal end of the
support member.
The arm member can be movable along a first axis between retracted and
extended positions
relative to the support member. The sliding joint can include first and second
bearing
assemblies which are spaced apart a sufficient distance from each other for
constraining
portions of the arm member within the sliding joint along the first axis at
the distal end of the
support member. The proximal end of the arm member that overlaps with the
support
member outside of the sliding joint when in retracted positions can be capable
of some
unconstrained lateral movement relative to the first axis. A linear arm brake
assembly can be
coupled to the arm member for resisting linear motion of the arm member. The
linear arm
brake assembly can include a timing belt transmission secured to the arm
member. An arm
brake can be rotatably coupled to the timing belt transmission. The belt of
the arm brake
assembly can engage a first support member pulley at the proximal end of the
support
member and a second support member pulley located at the sliding joint inward
from the
distal end of the support member. A counterweight can be secured to the belt
near the second
support member pulley when the arm member is in the retracted position. A
torso portion
can be included to which the linear arm portion is rotatably mounted about a
second axis by
rotary shoulder joint. The rotary shoulder joint can be positioned inward
about 1/4 to 1/3 of a
length of the support member from the distal end. The counterweight and the
arm brake can
be positioned on a side of the rotary shoulder joint that is opposite to the
proximal end of the
support member to substantially balance the linear arm portion about the
rotary shoulder joint
when the arm member is in the retracted position.
100091 The present invention can also provide a method of
exercising with an exercise
apparatus including engaging a linear arm portion having an elongate arm
member with
proximal and distal ends and an elongate support member having proximal and
distal ends.
The distal end of the arm member can have an interface device or handle for
engagement by a
user. The arm member can be slidably mounted to the support member by a
sliding joint
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positioned at the distal end of the support member. The arm member can be
movable along a
first axis between retracted and extended positions relative to the support
member. The
sliding joint can include first and second bearing assemblies which are spaced
apart a
sufficient distance from each other for constraining portions of the arm
member within the
sliding joint along the first axis at the distal end of the support member.
The proximal end of
the arm member that overlaps with the support member outside of the sliding
joint when in
retracted positions can be capable of some unconstrained lateral movement
relative to the
first axis. Linear motion of the arm member can be resisted with a linear arm
brake assembly
coupled to the arm member. Rotary motion of the linear arm portion can be
allowed relative
to a torso portion to which the linear arm portion is rotatably mounted about
a second axis by
a rotary shoulder joint. The linear arm portion can be configured, and the
rotary shoulder
joint can be positioned along the length of the support member at a location
that substantially
balances the linear arm portion about the rotary shoulder joint at least when
the arm member
is in the retracted position.
100101 In particular embodiments, the torso portion can include a
central support member
extending along a third axis. The torso portion can be rotatable about the
third axis by a
rotary waist joint allowing rotary motion of the torso portion. A shoulder
brake assembly can
be mounted to the central support member for resisting movement of the rotary
shoulder
joint. The shoulder brake assembly can include a shoulder brake transmission
having
components positioned on opposite sides of the central support member and the
third axis for
minimizing rotational size and rotational inertia of the torso portion. The
torso portion can be
rotatably mounted about the third axis to a base by the waist joint. The base
can include a
base support member. A waist brake assembly can be mounted to the base support
member
for resisting movement of the waist joint. The waist brake assembly can
include a waist
brake transmission. The linear arm brake assembly can include a timing belt
transmission
secured to the arm member. An arm brake can be rotatably coupled to the timing
belt
transmission. The shoulder brake assembly can include at least one timing belt
transmission
stage rotatably coupled to a shoulder brake. The waist brake assembly can
include at least
one timing belt transmission stage rotatably coupled to a waist brake. The
belt of the arm
brake assembly can engage a first support member pulley at the proximal end of
the support
member and a second support member pulley located at the sliding joint inward
from the
distal end of the support member. A counterweight can be secured to the belt
near the second
support member pulley when the arm member is in the retracted position. The
rotary
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shoulder joint can be positioned inward about 1/4 to 1/3 of a length of the
support member
from the distal end. The counterweight and the arm brake can be positioned on
a side of the
rotary shoulder joint that is opposite to the proximal end of the support
member to
substantially balance the linear arm portion about the rotary shoulder joint
when the arm
member is in the retracted position. The base can support the exercise device
with a pair or
two legs extending from the base support member on opposite sides of the torso
portion. A
third or single leg can extend from the base support member spaced apart from
and extending
between the pair of legs. The legs can include at least one of retractable
rollers for moving
the apparatus, leveling mechanisms for leveling the apparatus, and mounting
holes. The
rotary shoulder joint can include a linear arm mounting bracket rotatably
mounted to the
shoulder brake transmission. The linear arm portion can be removably securable
to the linear
arm mounting bracket. The sliding joint can extend from the distal end of the
support
member overlapping the support member about 1/3 or less of the length of the
support
member.
BRIEF DESCRIPTION OF THE DRAWINGS
100111 The foregoing will be apparent from the following more
particular description of
example embodiments, as illustrated in the accompanying drawings in which like
reference
characters refer to the same parts throughout the different views. The
drawings are not
necessarily to scale, emphasis instead being placed upon illustrating
embodiments.
[0012] FIG. 1 is a perspective view of an embodiment of an exercise
apparatus in the
present invention.
[0013] FIG. 2 is a perspective view of an embodiment of a linear
arm portion.
[0014] FIG. 3 is a front view of a roller assembly.
[0015] FIG. 4 is a side view of the exercise device.
[0016] FIG 5 is a rear view thereof.
[0017] FIGS. 6-7 are perspective and edge views of the torso
portion.
[0018] FIGS. 8-10 are enlarged details of bearing assemblies.
100191 FIGS. 11-13 are perspective, top and side views of the base
stage.
[0020] FIG. 14 is a perspective view of an embodiment of the
exercise apparatus.
[0021] FIG. 15 is an enlarged view of a portion of the transmission
on the torso portion.
100221 FIG. 16 is an enlarged perspective view of the two roller
assemblies on the linear
arm portion.
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100231 FIG. 17 is an enlarged perspective view of the proximal end
of the arm member.
100241 FIG. 18 is an enlarged perspective view of an embodiment of
a roller assembly on
the linear arm portion with larger rollers.
100251 FIGS. 19-22 are perspective and side views of embodiments of
exercise
apparatuses in the present invention.
100261 FIGS. 23A-23C are side and rear views of another embodiment
of an exercise
apparatus in the present invention.
100271 FIGS. 24-27 are side, perspective and enlarged views of the
linear arm portion of
the embodiment of FIGS. 23A-23C.
100281 FIGS. 28-29 are perspective views of another embodiment of
an exercise
apparatus in the present invention.
100291 FIGS. 30, and 31A-31E are perspective, side, sectional and
end views of an
embodiment of a linear arm portion.
100301 FIG. 32 is an enlarged detail of the linear arm portion
showing a belt tension
adjusting arrangement.
100311 FIG. 33 is a perspective view of an embodiment of a torso
portion.
100321 FIGS. 34 and 35 are perspective views of an embodiment of a
base and waist
azimuthal angular motion stage.
DETAILED DESCRIPTION
100331 Details of some embodiments of the exercise apparatus in the
present invention
are described below. Referring to FIGs. 1-22, in some embodiments, the arm
member of
exercise apparatus or device 10A can be a tube 7 (FIGs. 2 and 22) that
linearly moves along
axis A1 over the support member 75, which can be a rail or I-beam shaped. A
limb interface
device or handle 70 with multiple degrees of freedom can be secured to the
distal end of the
arm member 7 for gripping by the user for exercising. The sliding joint 64 can
be formed of
roller assemblies 5 and 6 (FIGs. 2 and 3), with roller assembly 5 positioned
at the distal end
of the support member 75, and roller assembly 6 positioned about 1/6 the
length of the
support member 75 away. By positioning the sliding joint at the distal end of
the support
member 75 while extending such a length inward from the distal end of the
support member
75, and having the proximal end of the arm member 7 laterally or orthogonally
unconstrained
relative to axis A1 the arm member 7 can bend or flex orthogonally during
heavy exercise but
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can still slide within the sliding joint 64 with a low friction. In the prior
art, the proximal end
of the arm member was slidably mounted to a support member that could bend
under bending
of the arm member, and cause increased friction. The limb interface device 70
can be
secured to the arm member 7 by a quick disconnect coupler 71, which can be
spring-loaded.
The design of the linear arm portion can allow for easy manipulation of
tension on the arm, as
well as uniform friction. The wheels or rollers in the roller assemblies 5 and
6 can be
equidistantly spaced, and semi-compressible and tolerant of levels of dirt or
grime without
increasing friction. The linear arm portion or linear motion stage 1 can be
rotatably coupled
to the torso portion or polar angular motion stage 2 (FIGs. 1 and 22) with the
rotary shoulder
joint 76, about a lateral or horizontal axis A2. The torso portion 2 can be
rotatably coupled to
the base, waist, or azimuthal angular motion stage 3 by waist joint 78, and
can be rotatable
about a vertical axis A3. A stand or removable base 4 can be bolted to the
floor, wall or
ceiling, or can be freestanding. If bolted to the floor or wall, the
orientation of the
components can vary accordingly. The rotary shoulder joint 76 can be
positioned about
halfway or midway along the length of support member 75, which can provide
some static
and/or dynamic balancing about axes A2 and A3. Brake 13 can also be at the
midway position.
100341 The transmission stages for the torso 2 and base 3 portions
can include timing
belts and pulleys, which decrease in width and weight for the purpose of
increasing strength
and decreasing costs, in addition to being on opposite sides of the respective
support
members. Pulleys on opposite sides of a support member can be rotatably
coupled to each
other or a brake by a common transmission shaft extending through the support
member
along respective horizontal or vertical axes. This can minimize size, and in
the torso portion,
can minimize the distance or rotational radius away from the axis A3 that the
weight of the
shoulder brake assembly is located to minimize rotational inertia. Using belts
for rotating the
waist joint 78 can allow unrestricted rotary motion 360 degrees and beyond.
The number of
the transmission stages, as well as the sizing and gear ratios of the
transmission stages, can
vary depending upon the amount of force expected to be exerted on the exercise
apparatus, as
well as the desired safety factor. In some embodiments, the safety factor can
be a 6X safety
factor, and in other embodiments, it can be less. Alternatively, other
transmissions can be
used such as V-belt, chain or gear transmissions, including
planetary/epicyclic and cycloid
configurations. The cable transmission for the arm member can also be replaced
with any of
these transmissions, while maintaining backlash requirements. A bushing system
can provide
for variable tensioning which further can allow for adjustable or variable
backlash and
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friction trade-offs for maximum customization. The magnetic particle brakes
13, 31 and 58
can be connected to a controller 74, for example by a line 72 or wirelessly,
for controlling the
exercise machine as well as generating and storing data.
100351 In some embodiments, shoulder and/or waist transmissions
having three
transmission stages can be sized to provide an overall ratio of about 32.1,
where three stages
each having about 3.2:1 ratios can be rotatably connected together in series.
The particle
brake can have about 10 ft-lbs max torque, and about 1800 RPM max. The handle
70 of the
exercise apparatus can be moved during exercise with a max speed of about 10
m/sec and
with about 35 lbs max force.
100361 In other embodiments of the present invention, refer to
FIGs. 23A-23C, and 24-27
an exercise apparatus 80 can have a shoulder brake transmission 82 with two
transmission
stages, with each stage 82a and 82b positioned on opposite sides of the
central support
member. The waist brake transmission 84 can also have two transmission stages,
with each
stage 84a and 84b positioned on opposite sides of the base support member. The
two stage
transmission is simpler, smaller, less expensive, easier to assemble and
maintain, and has less
backlash than the three stage transmission. In some embodiments, shoulder
and/or waist
transmissions having two transmission stages can be sized to provide an
overall ratio of about
16:1, and can have one stage with about a 5.3:1 ratio and the other stage with
about a 3:1
ratio rotatably connected together in series. The particle brake can have
about 18 ft-lbs max
torque, and about 1000 RPM max. With such transmissions, the handle 70 of the
exercise
apparatus 80 can be moved during exercise with a max speed of about 10 m/sec
and with
about 35 lbs max force. In other embodiments, two 4:1 ratio stages can be
connected
together.
100371 The linear arm brake assembly 86 can have a timing belt 88
positioned over two
timing belt pulleys 90 that are rotatably mounted to the arm support member 75
as shown.
Brake 13 can be coupled to the pulley 90 positioned at the proximal end of the
arm support
member 75. The timing belt 88 can be connected to or attached to or near the
proximal end
of the arm member 7 with a connecting member 92 such as a clamp, thereby
providing linear
motion resistance to the arm member 7.
100381 In other embodiments, exercise apparatus 80 can include
shoulder and/or waist
transmissions having a single transmission stage that can be sized to provide
a ratio of about
6.3:1. The particle brake can have about 18 ft-lbs max torque, and about 1000
RPM max.
With a slight change in the length of the linear arm portion and/or arm member
7, the handle
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70 of the exercise apparatus can be moved during exercise with a max speed of
about 20
m/sec and with about 15 lbs max force. The lower rating can allow smaller
shafts, pulleys,
gears, etc. to be used.
100391 Additional details of embodiments of the exercise apparatus
now follows.
100401 Solutions provided.
100411 OTS belt/ pulley system:
100421 Reduced cost.
100431 Reduced physical size and weight.
100441 Reduced assembly time.
100451 Increased precision of measurements and resistance.
100461 Improved durability and resistance to wear in the field.
100471 Ease of serviceability--belts can be retensioned and
replaced without
disassembling the entire system stage. Can be performed by non-expert
technician or
client/owner of system.
100481 Meets ASTM safety guidelines (6x on structural parts, 4x on
all other mechanical
parts).
100491 Linear stage: reduced friction throughout by eliminating
carriage/wheels and rail
and adding a second front stop with rollers.
100501 Range of motion of base stage (left/right) can be
unrestricted 360 degrees with
belts and pulleys.
100511 Referring to FIG. 1 the design can consist of three stage
assemblies (1-3) and a
removable base (4). Of the three stages, one controls linear motion (1) and
the other two
control angular motion (2, 3). The selection of the motion stages can
correspond to that of a
spherical coordinate system where the linear motion stage controls radial
distance and the
two angular motion stages control polar and azimuthal angle
100521 Referring to FIGs. 2 and 3, the linear motion stage can
guide a tube (7) through
two roller assemblies (5, 6). The roller assemblies (5, 6) can each consist of
three equally
spaced wheel bearing assemblies (15) with an adjustable mount (16) that is
controlled by a
set screw in the support of (1). The bearing assemblies are positioned such
that the tube is
supported evenly by each and the amount of force holding the tube in place can
be adjusted
for optimal usage. The tube is held within the linear motion assembly by a
stopper (10) that
prevents the tube from passing through (6) or exiting the rear of the
assembly. The angular or
rotational position of the tube can be held in place by two bearing rollers or
wheels (11) at the
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bottom of the stopper (10). The amount of force applied to the tube is
ultimately controlled
by a magnetic particle brake (13) and its position is determined by a shaft
mounted optical
encoder. The brake (13) is connected to a shaft mounted pulley assembly (12)
containing
helical grooves. Attached to either end of the pulley assembly (12) is a steel
cable (14) which
runs through the helical grooves and then to mounted pulleys (8, 9) that line
the cable up with
the cable mounts on top of the tube stopper (10).
100531 Referring to FIGs. 4 and 5, the linear motion stage (1) can
be attached to the polar
angular motion stage (2) through the use of two cantilever shafts (17, 18)
mounted to the
main support of (1), which sit inside of pillow blocks (19) on top of the
angular motion stage
(2). On one of the cantilever shafts (17) is a shaft mounted timing belt
sprocket (20) that
connects to a timing belt sprocket (22) on the angular motion stage (2) by way
of a timing
belt (21).
100541 Referring to FIGs. 6-10 the angular motion stage (2) can
consist of 3 shafts (23,
25, 27) that comprise a geartrain of timing belts and sprockets (24, 26, 33,
36, 29, 30). The
geartrain can connect the linear motion assembly to a magnetic particle brake
(31) and gear
the velocity and torque to appropriate numbers for the brake to handle.
Mounted to the rear
side of the brake is an incremental encoder that can output the position data
of the brake shaft
to the processing computer. The shafts (23, 25, 27) can mount inside bearings
(37), which can
be mounted inside of elliptical bushings (38) that sit inside of holes in the
main structure (28).
The bushings (38) can be held inside the structure (28) by 2 external shaft
clips (41) and
rotation can be prevented by a screw (39). Additionally, there can be series
of external clips
and spring washers (40) on all shafts that are used to ensure preload on all
bearings as well as
correct positioning of sprockets. The elliptical bushings (38) can have
bearing holes that are
not concentric to the outer diameter, the reason for this being that as the
elliptical bushing is
turned, the distance from one shaft to another (25, 25, 27) will change and
that will change
the tension on the individual belts (33, 36, 21). Altering tension of belts
can change the
amount of backlash and minimum operating torque of the geartrain, and proper
tensioning
also ensures a long life of the belts. The elliptical bushings (38) can have
flat spots machined
in the outer surface such that the screw (39) can lock the bushing into place
at the correct belt
tension level.
100551 The polar angular motion stage (2) can be connected to the
azimuthal angular
motion stage (3) by way of screws (42) connecting their flanges (FIG. 1).
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100561 Referring to FIGs. 11-13, the azimuthal angular motion stage
(3) can be set up
very similarly to the polar angular motion stage (2). There can be shafts (54,
51, 57, 55), belts
(44, 47, 50), sprockets (43, 53, 48, 49, 60, 56), elliptical bushings (63) and
external clips
holding most of the geartrain in place. This stage also can make use of a
magnetic particle
brake (58) with an incremental encoder for position and torque control. Unlike
in the polar
angular motion stage (2), the main shaft (54) in this stage can support the
weight of the
structure above it axially through the bearing, and for this reason the shaft
(54) can be
stepped and tapped so that two tapered roller bearings (62) can be used for
additional axial
support. The shaft and bearings can be held together by a locking bearing nut
(61).
100571 Removable base (4) can attach to the azimuthal angular
motion stage (3) through
screws (64), as seen in FIG. 4. The base has mounting holes that allow the
base, and thus the
entire assembly, to be hard mounted to a floor (FIGs. 1 and 14). The base can
be replaced
with other embodiments that allow the assembly to be mounted to different
types of floors, or
to be self supporting without the need for floor mounting screws.
100581 Other Embodiments
100591 This system can meet ASTM safety factor guidelines (6x on
structural parts, 4x on
other mechanical parts) for commercial fitness placement, when other markets
(medical,
physical rehab, at-home/consumer fitness) are targeted, the safety factor can
be reduced,
thereby reducing the size of many large structural and non-structural parts
(e.g. the welded
steel frame dimensions; the size of the OTS pulleys and belts). This can
further reduce the
cost, size (visual and physical), and weight of the system.
100601 ID load requirement reduced, the safety factor also can be
reduced, and the
changes above apply as well.
100611 Other suitable types of sensors.
100621 Brake on the back of the linear stage.
100631 Linear stage flipped upside down.
100641 Reducing stroke/ linear length.
100651 Different belt types.
100661 Adding motor.
100671 System can be free standing instead of bolted to the floor--
floor stand swaps out
for legged system.
100681 FIG. 16 shows more detail of the linear stage front
including two front stops with
rollers.
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100691 Referring to FIG. 17, the tube stopper 10 and rollers 11 can
allow lateral or
orthogonal movement of the proximal end of the tube or arm member 7 relative
to axis A1
during exercise and can also serve as a bumper system to eliminate contact of
the tube with
other structural parts, especially in travel. The rollers are not meant to be
in contact with the
rail support at all times. The rollers 11 can be spaced from the rail and
contact when forced
downwardly. The tube 7 can move a further distance in the lateral or upward
directions.
100701 Referring to FIG. 18, larger diameter rollers can be used on
the front stop to meet
required safety factor and to prevent extra wear. This can result in a larger
front stop.
100711 Referring to FIG. 19, the range of motion of turret (up
down) can slightly be
reduced to avoid contact with welded steel frame, without adding extra height
to the top
"forks" of the frame or torso portion 2.
100721 FIGS. 20 and 21 depict embodiments of exercise apparatuses
with protective
covers over at least some of the moving parts. FIG 21 shows that the size and
materials can
be smaller and lighter weight to reduce inertia loads.
100731 Referring to FIGs. 28-35, exercise apparatus 100 is another
embodiment in the
present invention and includes a linear arm portion 1 rotatably coupled to a
torso portion or
polar angular motion stage 2, that in turn is rotatably coupled to a base,
waist or azimuthal
angular motion stage 3. The linear arm portion 1 can include a limb interface
device or
handle 70 that can be engaged by a limb or hand of the user U for exercise,
which can include
complex resistive movements or motions with six degrees of freedom. The linear
arm
portion 1 can allow or provide resistive bi-directional reciprocating or
translating linear
motion or movement of arm member 7 along axis A1 relative to the support
member 75, as
indicated by arrows L. The shoulder joint 76 can allow or provide resistive bi-
directional
reciprocating rotary motion of the linear arm portion 1 relative to the torso
portion 2 about
axis A2 in the direction of arrows S. The waist joint 78 can allow or provide
resistive bi-
directional reciprocating rotary motion of the torso portion 2 relative to the
base stage 3 about
axis A3 in the direction of arrow's W. Embodiments of exercise apparatus 100
can differ
from the embodiments in FIGs. 1-27 in that instead of positioning the rotary
shoulder joint 76
and axis A2 on the linear motion portion or stage 1 at about midway along the
length of the
support member 75, the rotary shoulder joint 76 and axis A2 can be positioned
near the distal
end of the support member 75 (FIGs. 28 and 29), and can be inwardly a distance
d (FIG. 31E)
from the distal end about 1/4 to 1/3 (for example 2/7) the length of the
support member 75.
This reduces the length of the moment arm M of arm member 7 at the distal end
or handle 70
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relative to the shoulder joint 76 and axis A2 and/or axis A3 when the arm
member 7 is fully
extended from the support member 75. Such a reduction in the moment arm length
reduces
forces exerted on apparatus 100, and allows a reduction in the gear ratios and
size of the
transmissions required to generate the required resistances or resistive
forces, as well as the
size and weight of the structural components, thereby reducing inertia.
100741
Referring to FIGs. 29-32, the linear arm portion 1 can have a support
member 75
including an upper or first support portion 75a. A lower or second support
portion 75b can be
secured to the upper support portion 75a below or under portion 75a, forming
the distal end
of the support member 75, and extending therefrom. The lower support portion
75b can have
a lateral or longitudinal potion 77a and four securement brackets or members
77b that secure
to the upper support potion 75a such as by fasteners or screws. The roller or
bearing
assemblies 5 and 6 of the sliding joint 64 can be mounted to the lower support
portion 75b at
the distal end of the support member 75. The upper support portion 75a can
have two timing
belt pulleys 90 mounted between two lateral side members at opposite
longitudinal ends of
the upper support portion 75a along axes 131 and P2. The lateral side members
can be
connected together at the ends. Arm brake 13 can be coupled to the pulley 90
at the distal end
of the upper support portion 75a along axis P2. The timing belt 88 of the
linear arm brake
assembly 86 can be secured to the proximal end of the arm member 7 by a
connecting
member 92, such as a clamp or bracket, to provide bi-directional linear motion
resistance or
resistive force to the arm member 7 from arm brake 13. The connecting member
92 can also
be secured to a carriage 106 that can have rollers, bearings or wheels spaced
away or apart
from surfaces of the upper support portion 75a with a predetermined gap such
as about .01
inches, to allow the proximal end of the arm member 7 to have some
unconstrained lateral or
orthogonal movement relative to linear axis A1 (side to side and/or up and
down). Under
extreme forces and twisting motions, the arm member 7 can bend and the rollers
of the
carriage 106 can engage surfaces of the upper support member 75a. By providing
the
proximal end of arm member 7 with some level of unconstrained lateral or
orthogonal
movement or play relative to axis Al, friction forces for linear movement of
the arm member
7 relative to support member 75 can be kept to a minimum. The carriage 106 can
have rollers
106a for engaging lateral surfaces or sides of the upper support portion 75a,
and rollers 106b
for engaging lower surfaces or sides of the upper support portion 75a during
bending. This
can form a loose fit sliding joint that engages only during certain levels of
bending, and can
act as an intermittent sliding joint only when support is needed.
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100751 The roller or bearing assemblies 5 and 6 that form the
sliding joint 64 along axis
A1 can be similar to that in the embodiments of FIGS. 3 and 18 having a member
65 with a
hole or openings 65a extending therethrough. Three equally spaced rotatable
rollers, wheels
or bearings 15 are positioned around the opening 65a for equal radial
engagement of the arm
member 7, and can be adjusted with the adjustable mount 16 associated with one
roller 15
such as at the bottom. The arm member 7 can move along axis A1 which can
intersect axis
A2. The roller bearing assemblies 5 and 6 can be secured to the longitudinal
portion 77a of
the lower support portion 75b, and can be spaced apart from each other by
about 1/6 to 1/7
the length of support member 75 or about 12 inches.
100761 The longitudinal position of the distal end pulley 90 can be
adjusted relative to the
upper support portion 75a by a pulley or belt adjustment or tension
arrangement, device,
apparatus or mechanism 79 (FIG. 33). The adjustment device 79 can have an
adjustable
bracket 79a within which the pulley 90 is rotatably mounted along axis P2. An
adjustment
screw 79c extends through end member 79b along axis 79d to engage the
adjustable bracket
79a and adjust the position of pulley 90 and the tension of belt 88. The
pulley 90 can be
secured to the upper support portion 75a by mounting brackets 90a with screws
81a and
slotted holes 81b. The arm brake 13 can be rotatably coupled to the pulley 90
by a
transmission, drive or brake shaft 13a. The arm brake 13 can be mounted to a
mounting
bracket 77c that is secured to and extending upwardly from the lower support
portion 75b.
The pulleys 90 and belt 88 can be longitudinally positioned parallel to and in
spaced
alignment with axis Al.
100771 Referring to FIGS. 29 and 33, the lower support portion 75b
of the support
member 75 and linear motion portion 1 can be attached, connected, fastened,
secured or fixed
to the shoulder joint 76 by a linear arm mounting bracket or cradle 120 that
is rotationally
secured or coupled to the upper or large pulley 124a of the first pulley
transmission stage 82b
of the shoulder brake transmission 82 along axis A2. The cradle 120 can have a
short three
sided generally channel shaped design, with a bottom portion 120a on which the
lower
support portion 75b seats, and two upright side portions or sides 120b which
secure to the
sides of the lower support portion 75b with fasteners such as screws through
holes. As a
result, the linear position of the support member 75 is fixed relative to axis
A2. One side
120b of the cradle 120 is secured to a bearing 128a with fasteners such as
screws for rotation
about axis A2, and the other side 120b is secured to the pulley 124a similarly
for rotation
about axis A2. The pulley 124a is rotatably supported along axis A2 on the
opposite side by
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bearing 128b. The cradle 120 is secured to the linear motion portion 1 between
the brackets
77b of the lower support portion 75b.
100781 The torso portion 2 can include an upright central support
member 130 extending
along axis A3 having an upright column portion 130a, a bottom mounting flange
132 for
mounting to the rotatable flange 140 of the base, waist or azimuthal motion
stage 3 with
screws through holes, and an upper mounting fork 134 with spaced apart upright
arms 134a
to which the bearings 128a/128b are mounted on upper surfaces. As a result,
the timing
pulley 124a of the first pulley transmission stage 82a of shoulder brake
transmission 82 is
rotatably supported between the arms 134a of fork 134. The first transmission
stage 82a
includes a timing belt 124c that engages the large pulley 124a and a small
timing pulley 124b
rotatably mounted to one side of upright column portion 130a below the fork
134 about
horizontal axis H1. The small pulley 124b of the first transmission stage 82a
is rotatably
coupled to the large timing pulley 126a of the second pulley transmission
stage 82b located
on the opposite side of column portion 130a by a transmission or driveshaft
136 extending
along axis H1 laterally through the column portion 130a. The second
transmission stage 82b
includes a timing belt 126c that engages the large pulley 126a and a small
timing pulley 126b
rotatably mounted to the column portion 130a below the large pulley 126a. The
small pulley
126b of the second transmission stage 82b is rotatably coupled to the shoulder
brake 31
located on the opposite side of column portion 130a by a transmission, drive
or brake shaft
138 extending along horizontal axis H7 laterally through the column portion
130a. As a
result, the shoulder brake 31 is located on the same side of the support
member 130 as the
first transmission stage 82a. The shoulder brake 31 and the shoulder brake
transmission 82
can provide bi-directional rotary or rotational resistance or force against
the rotation or rotary
movement of the linear arm portion 1 and/or shoulder joint 76 about axis A2
relative to torso
portion 2. Positioning components of the shoulder brake transmission 82 on
opposite sides of
support member 130 and axis A3 can provide some rotational inertial balancing
for rotation of
torso portion 2 about axis A3. The pulleys, shafts and brake of the shoulder
brake
transmission 82 can be rotatably mounted to the column portion 130a in a
similar manner as
previously described in embodiments above. Column portion 130a can be formed
of
rectangular tubing.
100791 Referring to FIGs. 29, 34 and 35, the base, waist or
azimuthal angular motion
stage 3 can include a base 4 having a lateral base support member or portion
150 to which a
rotatable flange 140 is rotatably mounted on the upper side between the legs
102. The
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bottom mounting flange 132 of the central support member 130 of torso portion
2 can be
secured to flange 140 with fasteners or screws for rotatably mounting the
torso portion 2 to
the azimuthal angular motion stage 3. The flange 140 can be rotatably coupled
by a
transmission or drive shaft 152 extending along axis A3 through base portion
150 to the large
timing pulley 146a of the first pulley transmission stage 84a of the waist
brake transmission
84, located on the opposite or lower side of the base portion 150. The first
transmission stage
82a includes a timing belt 146c that engages the large pulley 146a and a small
timing pulley
146b rotatably mounted to the lower side of the base portion 150 about
vertical axis VI. The
small pulley 146b is rotatably coupled to the large timing pulley 148a of the
second pulley
transmission stage 84b located on the opposite or upper side of base portion
150 by a
transmission or drive shaft 154 extending vertically along vertical axis Vi
through base
portion 150. The second transmission stage 84b includes a timing belt 148c
that engages the
large pulley 148a and a small timing pulley 148b rotatably mounted to the
upper side of the
base portion 150 along vertical axis V,. The small pulley 148b of the second
transmission
stage 84b is rotatably coupled to the waist brake 58 located on opposite or
lower side of the
base portion 150 by a transmission, drive or brake shaft 156 extending along
vertical axis V2
vertically through base portion 150. As a result, the waist brake 58 is
located on the same
side of the base portion 150 as the first transmission stage 84a. The waist
brake 58 can be
secured to the bottom of base portion 150 by a bracket 58a with fasteners. The
waist brake
58 and the waist brake transmission 84 can provide bi-directional rotary or
rotational
resistance or force against the rotation or rotary movement of the torso
portion 2 and/or waist
joint 78 about axis A3 relative to base stage 3 and base 4. The pulleys,
shafts and brake of the
waist brake transmission 84 can be rotatably mounted to the base portion 150
in a similar
manner as the shoulder brake transmission 82.
100801 In some embodiments, the upper support portion 75a can weigh
about 5-9 lbs.
The proximal end of the linear arm portion 1 can extend away from the rotary
shoulder joint
76 and axis A2 about 2/3 to 3/4 more in length, such as about 5/7 or about 55
inches, than the
distal end which can extend about 1/4 - 1/3 in length such as about 2/7 or
about 22 inches on
the opposite side, while the arm member 7 is in the retracted position R (FIG.
31E) This can
result in a ratio between the length or distance of the proximal end and the
distal end of the
linear arm portion 1, away from axis A2 on opposite sides of axis A2, of about
3:1 to about
2.2:1, and in some embodiments can be about 2.5:1. The proximal end of the
linear arm
portion 1 and support member 75 can remain at a fixed or constant distance
away from axis
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A2, while the distal end of the linear arm portion 1 and arm member 7 can
translate between
retracted R and extended E positions. Balance of weight of linear arm portion
1 about
shoulder joint 76 and axis A2 can be provided by positioning the arm brake 13
on the distal
end on the opposite side of shoulder joint 76 and axis A2 from the proximal
end of linear arm
portion 1 as a counterbalance, in view that the arm brake 13 can weigh about
12-15 lbs.
Although brake 13 can be heavy, by being positioned close to both axes A2 and
A3 (for
example about 1/7 or 1/8 the length of support member 75 away, or about 11
inches),
rotational inertia of arm brake 13 rotating about axes A2 and A3 can be
minimized. In some
embodiments, axes A2 and A3 can intersect at the rotary shoulder joint 76. In
addition, a
dynamic or movable counterweight 112 (about 2-5 lbs.) can be secured to the
timing belt 88
near or against the distal pulley 90 also on the opposite side of shoulder
joint 76 and axis A2
from the proximal end of linear arm portion 1, when the arm member 7 is in the
retracted
position, to provide further counterbalancing, such as about 1/10 the length
of support
member 75 away from axis A2 or about 7 inches. When the arm member 7 is
extended
distally away from shoulder joint 76, the counter weight 112 moves towards the
proximal
pulley 90 at the proximal end of linear arm portion 1 to counterbalance the
weight of the
extended arm member 7 about axis A2. The handle 70 when attached to coupler
71, can also
provide counterbalance weight when arm member 7 is in the retracted position,
and in some
embodiments, further counterbalance weights can be added or attached to handle
70 and/or
coupler 71. The arm member 7 can be made of light weight material such as
aluminum or
carbon fiber tubing to minimize inertia and aid in balancing. End stops or
bumpers 110 can
be positioned on the sides of upper support portion 75a to engage connecting
member 92
and/or carriage 106 to define the proximal and distal travel limits of the arm
member 7,
maximizing the travel stroke relative to the length of upper support portion
75a.
[0081] Referring to FIGs. 29, 34 and 35, the base 4 can include
three legs 102/104 which
can extend laterally and then downwardly from lateral base portion 150 to
provide wide
stable support that resists rocking, even when not bolted to the floor. Two
legs 102 (a pair)
can be positioned on opposite sides of the torso portion 2, and can extend
along a common
plane with axis A3. A third single leg 104 can extend away from the torso
portion 2 between
the two legs 102 from the base support, and can be along a common plane with
axis A3 that is
orthogonal to the common plane of legs 102. The legs 102 and 104 can have
respective foot
pads 102a and 104a for bolting to the floor with bolts through mounting holes.
Legs 102 and
104 can also include bottom openings 102b and 104b for providing access to
retractable
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transport rollers 142 housed in legs 102, and leveling pads 144 housed in leg
104. The legs
102/104 and lateral base portion 150 can be formed of rectangular tubing. Two
rotational
stops 114 can be provided on the base 4 for engaging a protrusion 116
extending from the
rotatable flange 140, which is secured to the bottom of the torso portion 2,
for limiting
rotation of waist joint 78. The torso portion 2 can be shortened in height due
to having only
two transmission stages, and can experience reduced stress exerted thereon due
to the smaller
size. The legs 102/104 can be sized to provide the desired height, and can be
high enough to
provide easy access to components on the underside of base 4. In some
embodiments, the
base 4 can be about 15 inches high, the torso portion 2 can be about 30 inches
high to the
shoulder joint 76 axis A2, support member 75 can be about 70 inches long, and
the arm
member 7 can be about 72 inches long. The largest length of the moment arm M
from the
end of the arm member 7 to axis A2 and/or A3 when fully extended can be about
77 inches
long (FIG. 31E). The stroke length of the arm member 7 between the retracted
position R
and the extended position E can be about 55 inches.
100821 In some embodiments, the linear arm brake assembly 86 can
include two pulleys
90 about 4.2 inches in diameter on which belt 88 is positioned, the distal
pulley 90 being
rotatably coupled to an arm brake 13 having a rating of about 115 in-lbs. The
shoulder brake
transmission 82 can have two reduction stages with a ratio of about 13.66:1,
and include a
first pulley transmission stage 82a having about a 3.29:1 ratio rotatably
connected in series to
a second pulley transmission stage 82b having a ratio of 4.15:1, rotatably
coupled to a
shoulder brake 31 having a rating of about 220 in-lbs. The waist brake
transmission 84 can
also have two reduction stages with a ratio of about 13.66:1, and include a
first pulley
transmission stage 84a having a ratio of 3.29:1 rotatably connected in series
to a second
pulley transmission stage 84b having a ratio of 4.15:1, rotatably coupled to a
waist brake 58
having a rating of about 220 in-lbs. Controller 74 can be secured to the base
4 and can be
connected to a monitor screen 74a by line 74b or wirelessly for controlling
operation of the
brakes 13, 31 and 58, and the exercises performed on exercise apparatus 100,
which can be
complex six degree of freedom motions. Further details of embodiments of
exercise
apparatus 100 can be as follows.
100831 Free-standing Version
100841 With the addition of extension legs, the exercise apparatus
100 can be used
without being bolted to the floor. A freestanding version can increase the
amount of facilities
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that could use exercise apparatus 100 as not every potential client will be
able to drill into the
floor for mounting.
100851 Belted linear sub-assembly
100861 The linear sub-assembly uses belts, which has significant
advantages.
100871 Arm throw length has been optimized (arm throw refers to how
far the arm can
move from its starting position to its ending position). The start and end
bumpers are on the
side of the belt mount to allow for near-0 loss of range due to mechanical
constraints.
100881 Linear sub-assembly pivot location
100891 The linear sub-assembly can be configured such that the
center of linear sub-
assembly is not aligned with the pivot point or shoulder joint 76. This can
reduce both the
max and min torques on the structure.
100901 Moving the pivot has a cascade of effects including:
lowering the overall gear
ratio of each sub-assembly (which allows the reduction of the number of
pulleys), lowering
the stresses on the structure (allowing the use of thinner and smaller tubes),
and a more
balanced linear sub-assembly system. This in turn yields both cost reductions
and improved
user experience.
100911 Number of gear stages in each sub-assembly
100921 Reducing the torque requirement and upgrading the brakes
allows the reduction of
the number of gear stages in each sub-assembly from 3 to 2 for the same
resistance ratings.
This has significant cost, reliability and assembly optimizations.
100931 Electronics box
100941 The expensive motherboard and touchscreen monitor can be
replaced by a single,
cheaper Android monitor. The off the shelf components can be replaced by a
custom
designed electronics board. Software modifications can be made, and the
product is cheaper,
scalable and more reliable.
100951 Shipping
100961 Exercise apparatus 100 can be taken apart into 4
subassemblies (base, waist,
linear, and monitor) and shipped in smaller corrugate boxes. Each subassembly
has wiring
harnesses to attach all the electronics once fully built on site. Shipping in
smaller boxes
allows easy logistics and lower shipping costs. It also allows easy storage
management at
distribution centers.
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100971 Exercise apparatus 100 can have hidden wheels in the legs
that can be deployed to
move the unit. This makes moving + installing the unit easy and does not
require specialized
tools or equipment.
100981 Stability
100991 The 3 legs of the base sub-assembly have been optimized to
reduce the rocking of
the exercise apparatus 100. The legs are spaced out much further than the
previous flat
mounting plate which also reduces overall stress on the base sub-assembly.
1001001 These legs can have mounting flanges that have clearance to fit a
hammer drill,
which is used to fasten the base sub-assembly to thick concrete floors.
1001011 The entirety of the design can fit within 31" door frame without
disassembling the
system.
1001021 Overall:
1001031 The base and waist sub-assembly frames can have two pulley stages on
each, and
each pulley can be subjected to a reduced torque than the apparatus of FIGs. 1-
27.
1001041 The underlying design of the pulleys, bushings, shafts and belts can
be the same or
similar.
1001051 Base sub-assembly:
1001061 The base sub-assembly design can include wheels hidden inside of its
tubular legs
to allow for moving the unit.
1001071 The base sub-assembly can have three mounting legs instead of a flat
mounting
plate.
1001081 The largest pulley can be moved from on top of the base sub-assembly
frame to
the bottom of it. This can allow for better structural strength of the
mounting tube. This can
also allow for replacement of the belt in the field.
1001091 Waist sub-assembly:
1001101 Pads 122 can be on the waist sub-assembly frame or torso portion 2
fork to limit
wear, sound, and create a better experience for the users when the linear sub-
assembly is at its
extreme ROMs.
1001111 The waist sub-assembly or torso portion 2 at the shoulder joint 76 can
have a
linear arm mounting bracket or cradle 120 that the linear sub-assembly or
linear motion
portion 1 can be attached to. This cradle design feature can allow the
subassemblies to be
shipped separately. The cradle is designed to withstand forces of the shoulder
brake
transmission 82 while fully tensioned. The cradle allows the top most pulley
of transmission
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82 to be installed and properly tensioned on the mounting shafts while the
linear sub-
assembly is removed. The cradle allows for easy assembly, and for future
changement,
upgrade, service, and repair of the entire linear sub-assembly without
disassembly of the
other sub-assemblies.
1001121 Linear sub-assembly:
1001131 The linear sub-assembly has been mounted about a pivot location for
the shoulder
joint 76 close or near the distal end.
1001141 By having the pivot for the shoulder joint 76 near the distal end, the
design has
been optimized for balance through brake placement and lightening of most
components in
the assembly. The arm goes through the rollers. The linear arm belt or system
or belted
support can provide a 6x safety factor and also includes a tensioning
mechanism to properly
tighten the belts.
1001151 Balance of the linear arm portion about the shoulder joint 76 can be
important for
the following reasons: 1) to ensure that the arm stays at or close to a
horizontal position when
the system is not in use (prevent unsafe or unpleasant 'dropping'; 2) to
ensure a pleasant user
experience and reduce the impact that inertia and other factors within machine
could have on
measured performed data.
1001161 Optimized balance can be accomplished by: 1) placing the brake (12-
151bs) at the
front or distal end of the linear stage closest to the user to counterbalance
the longer rear end
or proximal end of the linear stage assembly; 2) using a (5-9 lb) support rail
for the belted
linear stage (note that the weight/load req/ material/orientation of linear
support changed as a
result of pivot point change); 3) adding a counterweight (2-51bs) mounted to
the upper (or in
other embodiments, lower) linear stage belt to travel in the opposite
direction of the moving
proximal or rear end/mounting point (carriage') at the rear or proximal end of
the linear
stage tube/arm, for the purpose of counteracting gravitational forces of the
linear stage
tube/arm mounting point (carriage'). For example: as the arm (and therefore
tube
end/carriage/mounting point) travels towards the user during use, the
counterweight travels
away.
1001171 The counterweight on the linear subassembly can be on the top or
bottom sides of
the mounting structure and the counterweight can be made with wheels, low
friction material,
or other standard linear motion methods. The magnetic brakes can be replaced
with other
types of brakes. Motors can also be used to create an active system instead of
a passive one.
The general dimensions of the majority of components can be changed based on
structural
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and customer requirements. The commercial system standard can have a 6x safety
factor,
while at home systems can have a 4x safety factor.
1001181 While example embodiments have been particularly shown and described,
it will
be understood by those skilled in the art that various changes in form and
details may be
made therein without departing from the scope of the embodiments encompassed
by the
appended claims.
1001191 Some embodiments can include incremental encoders or homing Hall
Switches
for providing accurate position output. Features of the various or different
embodiments can
be combined together or omitted. The size, ratings and specifications of the
various
components can vary, depending upon the situation at hand. The limb interface
device 70
can have suitable configurations for securing to other parts of the body, such
as the head,
torso or waist and other limbs such as the legs, feet or ankles.
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