MUSCLE EXERCISE DEVICE

Abstract

Proposed is a muscle exercise device. In the muscle exercise device, when it is detected that a withdrawal position of a cable has entered a preset safety area in a process in which a device control part controls a drive motor in an exercise mode, the drive motor may be controlled so that an exercise load of the drive motor is reduced. Through this, when it is detected that the cable is retracted into the safety area without completely entering the initial position, for example, the device body, an exercise load may be reduced, thereby obtaining the same effect as ending exercise by mounting an exercise device such as a barbell to an existing mounting part.

Claims

1. A muscle exercise device comprising: a device body; at least one drive motor installed inside the device body and configured to provide an exercise load; a cable configured to be pulled out of the device body to transfer the exercise load of the drive motor outside of the device body; a sensor configured to detect a withdrawal position of the cable; and a controller configured to control the drive motor so that the exercise load of the drive motor is reduced when the sensor detects that the withdrawal position of the cable has entered a safety range.

2. The muscle exercise device of claim 1, wherein the controller controls the drive motor so that the exercise load of the drive motor is maintained at a target load before the withdrawal position of the cable enters the safety range.

3. The muscle exercise device of claim 2, wherein the controller controls the drive motor so that the drive motor sequentially provides a basic load that is less than the target load, increases the load from the basic load to the target load, and reduces the load from the target load to the basic load when the withdrawal position has entered the safety range.

4. The muscle exercise device of claim 2, further comprising: a data storage configured to store a plurality of exercise types and a plurality of possible safety ranges for the exercise types, and a user input part to receive an input selecting one of the plurality of exercise types, wherein the controller controls the exercise load of the drive motor based on one of the plurality of possible safety ranges corresponding to the one of the plurality of exercise types selected through the user input part.

5. The muscle exercise device of claim 4, wherein a plurality of exercise ranges for the plurality of exercise types are stored in the data storage, and the plurality of exercise types comprise: a first exercise type in which a first safety range of the plurality of possible safety ranges is located under a first exercise range of the plurality of exercise ranges based on a withdrawal direction of the cable, and a second exercise type in which a second safety range of the plurality of possible safety ranges is located within a second exercise range of the plurality of exercise ranges.

6. The muscle exercise device of claim 5, wherein when the withdrawal position detected by the sensor has entered the first safety range while the muscle exercise device operates according to the first exercise type, the controller controls the drive motor so that the load of the drive motor is reduced.

7. The muscle exercise device of claim 6, wherein the first safety range for the first exercise type is between an initial position of the cable and an upper limit position according to the first exercise type.

8. The muscle exercise device of claim 5, wherein when a exercise discontinuance condition is satisfied based on the withdrawal position detected by the sensor entering the second safety range while the muscle exercise device operates according to the second exercise type, the controller controls the drive motor so that the load of the drive motor is reduced.

9. The muscle exercise device of claim 8, wherein when the withdrawal position detected by the sensor is maintained for at least a preset period within the second safety range when the muscle exercise device operates according to the second exercise type, the controller determines that the exercise discontinuance condition is satisfied.

10. The muscle exercise device of claim 2, wherein when an exercise preparation condition is satisfied during an initial operation of the drive motor, the controller controls the drive motor so that the load of the drive motor reaches the target load.

11. The muscle exercise device of claim 10, wherein when the withdrawal position detected by the sensor is outside the safety range, the controller determines that the exercise preparation condition is satisfied.

12. The muscle exercise device of claim 11, wherein the safety range is set between an initial position of the cable and an upper limit position that is set according to an exercise type to be performed by a user.

13. The muscle exercise device of claim 1, wherein the sensor comprises an encoder installed inside the device body and configured to detect a rotation of the drive motor, the sensor detecting the withdrawal position of the cable based on the rotation of the drive motor detected by the encoder.

14. The muscle exercise device of claim 1, wherein the cable has recognition marks marked at preset intervals, and the sensor detects the withdrawal position of the cable based on counting a number of the recognition marks that has passed the sensor while the cable is withdrawn.

15. The muscle exercise device of claim 1, wherein the safety range is changeable according to a user's setting.

16. An apparatus comprising: a body; a motor provided inside the device body and configured to provide a load; a cable coupled to the motor and configured to be pulled out of the body to transfer the load of the motor outside; a sensor configured to detect a withdrawal length of the cable; and a controller configured to control the motor, wherein the controller controls the motor so the load of the motor is a first load when the withdrawal length of the cable is within an exercise range, and the load of the motor is a second load that is less than the first load when the withdrawal length of the cable is within a safety range.

17. The apparatus of claim 16, wherein the safety range is between an initial position of the cable before the cable is pulled out of the device body and an upper limit position that is set according to an exercise type to be performed by a user.

18. The apparatus of claim 16, wherein the controller controls the motor so the load of the motor is the second load further based on determining that the withdrawal length of the cable is maintained within the safety range for at least a preset period.

19. An apparatus comprising: a motor; a bar coupled by a cable coupled to the motor, the bar being moved by a user during an exercise; a sensor that detects a movement of the cable; and a controller that determines when a user is performing an exercise based on the movement of the cable, wherein the controller controls the motor to sequentially provide a first load before the user performs the exercise, provide a second load greater than the first load while the user performs the exercise, and a third load less than the second load after the user performs the exercise.

20. The apparatus of claim 19, wherein the controller determines that the user is not performing the exercise when the bar is moved by a less than particular distance from an initial position or when the bar does not move for at least a preset period.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0047] FIG. 1 is a view illustrating an example of an existing muscle exercise device.

[0048] FIG. 2 is a view illustrating an example of a muscle exercise device according to an embodiment of the present disclosure.

[0049] FIG. 3 is a control block diagram of the muscle exercise device according to the embodiment of the present disclosure.

[0050] FIG. 4 is a view illustrating an example of the configuration of a position measurement part according to the embodiment of the present disclosure.

[0051] FIG. 5 is a view illustrating another example of the configuration of the position measurement part according to the embodiment of the present disclosure.

[0052] FIG. 6 is a control flow diagram of the muscle exercise device according to the embodiment of the present disclosure.

[0053] FIG. 7 is a control flow diagram illustrating an example of an initial exercise initiation process of the muscle exercise device according to the embodiment of the present disclosure.

[0054] FIGS. 8(a) and 8(b) are graphs illustrating the control process of the muscle exercise device according to the embodiment illustrated in FIGS. 6 and 7.

[0055] FIG. 9 is a control flow diagram of a muscle exercise device according to another embodiment of the present disclosure.

[0056] FIGS. 10(a) and 10(b) are graphs illustrating the control process of the muscle exercise device according to the embodiment illustrated in FIG. 9.

BEST MODE FOR CARRYING OUT THE INVENTION

[0057] In a muscle exercise device according to the embodiment of the present disclosure, when it is detected that a withdrawal position of a cable has entered a preset safety area in a process in which a device control part controls a drive motor in an exercise mode, the device control part may control the drive motor so that an exercise load of the drive motor is reduced.

MODE FOR THE INVENTION

[0058] Advantages and characteristics of the present disclosure, and methods for achieving them will become clear with reference to embodiments described later in detail in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in a variety of different forms. However, these embodiments are provided to make the disclosure of the present invention complete and to completely inform those skilled in the art of the scope of the invention to which the present disclosure belongs, and the present disclosure is only defined by the scope of the claims. The same reference numbers designate the same elements throughout the specification.

[0059] FIG. 2 is a view illustrating an example of a muscle exercise device 10 according to the embodiment of the present disclosure.

[0060] Referring to FIG. 2, the muscle exercise device 10 according to the embodiment of the present disclosure may include a device body 110. In the embodiment of the present disclosure, the device body 110 may have the shape of a mat.

[0061] In one embodiment, with the device body 110 seated on an indoor or outdoor floor, a user may step on the device body 110 and exercise by using one pair of cables 120 extending from the device body 110 to the outside.

[0062] Here, a gripping instrument which a user grips to exercise may be connected to the one pair of cables 120. In FIG. 2, a gripping bar 130 whose opposite ends are respectively connected to the cables 120 is installed. In addition, a grip such as a D-type grip may be connected to each of the cables 120 at opposite sides, and various types of gripping instruments for exercise may be connected thereto.

[0063] FIG. 3 is a control block diagram of the muscle exercise device 10 according to the embodiment of the present disclosure. Referring to FIG. 3, the muscle exercise device 10 according to the embodiment of the present disclosure may include a drive motor 213. The drive motor 213 may be installed inside the device body 110 and may generate an exercise load to be transferred through the cable 120.

[0064] In the embodiment of the present disclosure, two drive motors 213 may be provided so that exercise loads can be individually supplied to the one pair of cables 120 extending outside the device body 110. In addition, one drive motor 213 may be configured to provide an exercise load to each of the one pair of cables 120 through a differential mechanism.

[0065] The muscle exercise device 10 according to the embodiment of the present disclosure may include a position measurement part 212. The position measurement part 212 may detect the withdrawal position of the cable 120.

[0066] FIG. 4 is a view illustrating an example of the configuration of the position measurement part 212 according to the embodiment of the present disclosure. Referring to FIG. 4, the position measurement part 212 according to the embodiment of the present disclosure may include an encoder 212a.

[0067] In the embodiment illustrated in FIG. 4, the encoder 212a may detect the movement of a timing belt 217 which connects the drive motor 213 with an output pulley 216.

[0068] For example, the timing belt 217 may connect the drive motor 213 and the output pulley 216 to each other to operate in cooperation with each other so that the drive motor 213 and the output pulley 216 can be rotated. That is, when the drive motor 213 rotates in a negative direction, that is, in the direction of pulling the cable 120 to the retraction position of the cable 120 according to the output load of the drive motor 213, the output pulley 216 may be rotated in the negative direction. In addition, when a user pulls the cable 120 by overcoming the output load of the drive motor 213 and the cable 120 is pulled out of the device body 110, the positive directional rotation of the output pulley 216 may be transferred to the drive motor 213.

[0069] In the embodiment of the present disclosure, a bobbin on which the cable 120 is wound may be coaxially coupled to the output pulley 216 and rotate in synchronization with the rotation of the output pulley 216, so the drive motor 213 and the cable 120 may operate in cooperation with each other.

[0070] In the embodiment illustrated in FIG. 4, the encoder 212a, for example, may detect the movement of the timing belt 217 connecting the drive motor 213 and the output pulley 216 to each other, thereby indirectly detecting the rotation of the drive motor 213. For another example, the encoder 212a may rotate synchronously with the rotation of the drive motor 213 to directly detect the rotation of the drive motor 213.

[0071] FIG. 5 is a view illustrating another example of the configuration of the position measurement part 212 according to the embodiment of the present disclosure.

[0072] In the embodiment illustrated in FIG. 5, the cable 120 may have recognition marks M marked at preset intervals. In addition, the position measurement part 212 may be installed inside the device body 110 and may detect the withdrawal position of the cable 120 by counting the recognition marks M. For example, an image sensor 212b for the recognition of each of the recognition marks M may be applied as the position measurement part 212. Here, the position measurement part 212c may detect the withdrawal position of the cable 120 by counting the recognition marks M by adding (+) or subtracting () the number thereof according to the retraction/withdrawal direction of the recognition mark M.

[0073] Referring back to FIG. 3, the muscle exercise device according to the embodiment of the present disclosure may include a device control part 215. The device control part 215 may control an overall function of each component of the muscle exercise device 10 according to the embodiment of the present disclosure. Here, the device control part 215 may include hardware such as a processor, and software such as firmware.

[0074] In addition, in the embodiment of the present disclosure, the device control part 215 may control an exercise load output from the drive motor 213. For one example, the device control part 215 according to the embodiment of the present disclosure may control the drive motor 213 through impedance control.

[0075] In impedance control, the device control part 215 may control a system by modeling the system as a mass-damper-spring system. For example, in impedance control, a force that the device control part 215 intends to simulate, that is, an exercise load may be expressed as [Equation 1].

[00001]$\begin{array}{cc}{F}_d=m_{\mathrm{ref}}g+m_{\mathrm{ref}}a-J_{m}a-B_{m}v-F_f& \left[\mathrm{Equation}1\right]\end{array}$

[0076] In [Equation 1], F.sub.d is force to be simulated, that is, an exercise load, m.sub.ref is weight, g is gravitational acceleration, a is acceleration at which the cable 120 is pulled, and v is speed at which the cable 120 is pulled, J.sub.m is coefficient of inertia of a system, B.sub.m is damping coefficient of the system, and F.sub.f is friction coefficient of the system.

[0077] In the embodiment of the present disclosure, the device control part 215 may calculate the speed and acceleration at which the cable 120 is pulled based on the withdrawal position of the cable 120 detected by the position measurement part 212.

[0078] Meanwhile, the device control part 215 according to the embodiment of the present disclosure may control the drive motor 213 in an exercise mode. In the exercise mode according to the embodiment of the present disclosure, the device control part 215 may control the drive motor 213 so that the exercise load of the drive motor 213 is maintained as a preset target load L.sub.T.

[0079] In a state in which the exercise load is applied by being changed to the target load L.sub.T, a user may grip the gripping bar and may repeat the motions of pulling the cable 120 and releasing the cable 120 toward the device body 110 so as to perform muscle exercise. In this case, the exercise load may be provided in a direction in which the cable 120 is retracted into the device body 110, so a user may feel an exercise load when pulling the cable 120.

[0080] For example, when it is detected that the withdrawal position detected by the position measurement part 212 has entered a preset safety area SA in the process of controlling the drive motor 213 in the exercise mode, the device control part 215 according to the embodiment of the present disclosure may control the drive motor 213 so that the exercise load of the drive motor 213 is reduced.

[0081] FIG. 6 is a control flow diagram of the muscle exercise device 10 according to the embodiment of the present disclosure. FIG. 7 is a control flow diagram illustrating an example of an initial exercise initiation process of the muscle exercise device 10 according to the embodiment of the present disclosure.

[0082] Referring to FIG. 6, first, when exercise starts, the device control part 215 may control the drive motor 213 in the exercise mode at S10. Here, a process in which the muscle exercise device 10 is turned on and operates in the exercise mode will be described with reference to FIG. 7.

[0083] Referring to FIG. 7, in a state in which the muscle exercise device 10 according to the embodiment of the present disclosure is turned on at S11, an exercise type may be selected at S12. To this end, the muscle exercise device 10 according to the embodiment of the present disclosure may include the data storage part 211 as illustrated in FIG. 3.

[0084] In one embodiment, a plurality of exercise types and a safety area SA for each of exercise types may be stored in the data storage part 211. In general, the height of a support may vary depending on an exercise type, or an exercise distance, that is, the maximum and minimum withdrawal distances of the cable 120 in a muscle exercise process may vary depending on an exercise type.

[0085] Accordingly, in the embodiment of the present disclosure, by presetting and storing a different safety area SA according to each of the exercise types, a user may select an exercise type, and the device control part 215 may control the exercise load of the drive motor 213 based on the safety area SA suitable for the exercise type.

[0086] The muscle exercise device 10 according to the embodiment of the present disclosure may include a user input part 214 for selecting an exercise type as illustrated in FIG. 3.

[0087] In one embodiment, the user input part 214 may be provided on the upper surface of the device body 110 in the form of a manipulation part manipulated by a user. For another example, the user input part 214 may be provided in the form of a remote control.

[0088] For another example, the user input part 214 may be provided in the form of a smart device such as a smart phone. To this end, a communication module supporting shortrange communication such as Bluetooth may be provided in the muscle exercise device 10 according to the embodiment of the present disclosure, and various input signals may be transmitted from the smart device to the muscle exercise device 10 through communication of the muscle exercise device 10 with an app installed in the smart device.

[0089] Referring back to FIG. 7, the control process of the muscle exercise device 10 according to the embodiment of the present disclosure may include a process of inputting a target load L.sub.T at S13. A user may input a target load L.sub.T suitable for an exercise type selected by him or her through the user input part 214.

[0090] For another example, a target load L.sub.T may be maintained to be in a state preset for each exercise type by a user, and when a user does not change the exercise type in the initiation process of exercise, the target load L.sub.T registered for the corresponding exercise type may be preset to have a default value.

[0091] As described above, when the exercise type is selected at S12 and the target load L.sub.T is input at S13, the device control part 215 may determine whether the exercise preparation condition is satisfied at S15.

[0092] After a user inputs the target load L.sub.T, when an exercise load is applied by being changed to the target load L.sub.T through the drive motor 213 in a state in which muscle exercise is not ready, the user may pull the cable 120 from an initial position, that is, a state in which the cable 120 is completely retracted into the device body 110.

[0093] Such a situation is the same as a situation in which an exercise device such as a barbell is lifted from a state of being placed on the floor, and may cause strain on a user's lower back.

[0094] Accordingly, in the present disclosure, when a user has completed a predetermined preparation posture for the start of exercise, whether the exercise preparation condition is satisfied based on the withdrawal position of the cable 120 measured by the position measurement part 212 at S14 may be determined S15.

[0095] FIGS. 8(a) and 8(b) are graphs illustrating the control process of the muscle exercise device 10 illustrated in FIGS. 6 and 7. FIG. 8(a) illustrates the withdrawal position of the cable 120 detected by the position measurement part 212, and FIG. 8(b) illustrates exercise loads output by the drive motor 213.

[0096] The exercise type of the embodiment illustrated in FIGS. 8(a) and 8(b) is a type (hereinafter, referred to as a first exercise type) in which the safety area SA is located under an exercise area TA in which a user repeats exercise based on the withdrawal direction of the cable 120. For example, among exercises using a barbell, a shoulder press and a barbell curl which a user does while standing may belong to the exercise type.

[0097] In addition, the safety area SA, in which the role of a support (see FIG. 1) can be performed for a user to mount a barbell, etc., may be located at a side lower than the exercise area TA.

[0098] Here, the exercise area TA in the exercise mode for each exercise type may be stored in the data storage part 211 according to the embodiment of the present disclosure. Through this, when an exercise type is selected, the device control part 215 may distinguish the exercise area TA and the safety area SA in the corresponding exercise area TA.

[0099] When the withdrawal position of the cable 120 is outside the safety area SA (at time t1) in a state in which the first exercise type is selected at S12 as illustrated in FIGS. 8(a) and 8(b), the device control part 215 according to the embodiment of the present disclosure may determine that the exercise preparation condition is satisfied.

[0100] In one embodiment, the safety area SA may be preset between the initial position of the cable 120 and a preset position upper limit P.sub.max. Accordingly, when the withdrawal position of the cable 120 goes out of the position upper limit P.sub.max to be outside the safety area SA after a user pulls the cable 120 to prepare for exercise, the device control part 215 may determine that the exercise preparation condition is satisfied and may increase an exercise load.

[0101] Here, in the embodiment of the present disclosure, the device control part 215 may control the drive motor 213 so that the initial value of an exercise load is output by being changed to a preset basic load. Here, the basic load L.sub.R may be an exercise load that the drive motor 213 basically outputs when the power of the muscle exercise device 10 according to the embodiment of the present disclosure is turned on. Through the application of the basic load L.sub.R, the cable 120 may be prevented from being easily pulled out without resistance.

[0102] According to the above configuration, when a user selects an exercise type, inputs a target load L.sub.T, and pulls the cable 120, the basic load L.sub.R may be provided to the user. In addition, when the withdrawal position of the cable 120 measured by the position measurement part 212 is detected to be outside the safety area SA, the device control part 215 may determine that the exercise preparation condition is satisfied at S15 and may gradually increase the exercise load of the drive motor 213 from the basic load L.sub.R to the target load L.sub.T at S16.

[0103] When the exercise load reaches the target load L.sub.T through the above process, the device control part 215 may operate in the exercise mode to control the drive motor 213 through impedance control as described above so that an exercise load output from the drive motor 213 is maintained as the target load L.sub.T at S17. Here, a user may start exercise even before the exercise load reaches the target load L.sub.T.

[0104] In the embodiment illustrated in FIGS. 7, 8(a), and 8(b), when the withdrawal position of the cable 120 exceeds the safety area SA, the exercise preparation condition may be recognized to be satisfied. For another example, after a user pulls out the cable 120 so that the withdrawal position of the cable is in the exercise area TA, a case in which the position of the cable 120 is maintained for a preset period of time, for example, three seconds in the corresponding position may be recognized that the exercise preparation condition is satisfied.

[0105] Referring back to FIG. 6, during the initiation of exercise and the operation in the exercise mode through the process described above, the withdrawal position of the cable 120 may be measured by the position measurement part 212 at S20. Here, the device control part 215 may calculate the speed and acceleration of the cable 120 based on the withdrawal position of the cable 120 and may control the drive motor 213 through impedance control by using the speed and acceleration.

[0106] In addition, when it is detected that the withdrawal position of the cable 120 measured by the position measurement part 212 has entered the safety area SA at S30, the device control part 215 may control the drive motor 213 so that the exercise load of the drive motor 213 is reduced at S40.

[0107] In FIGS. 8(a) and 8(b), it is detected that the withdrawal position of the cable 120 enters to a side below the position upper limit P.sub.max of the safety area SA at time t2, and the drive motor 213 reduces an exercise load.

[0108] In the embodiment of the present disclosure, when it is detected that the withdrawal position of the cable 120 has entered the safety area SA, the device control part 215 may reduce an exercise load from the target load L.sub.T to the basic load L.sub.R.

[0109] According to the above configuration, when the cable 120 is pulled from the initial position for the exercise initiation, the exercise load may not be increased until the withdrawal position of the cable 120 reaches the position upper limit P.sub.max, but when the withdrawal position of the cable 120 exceeds the position upper limit P.sub.max, the exercise load may be increased, so the same effect as lifting an exercise device such as a barbell at the position of the upper limit P.sub.max may be obtained.

[0110] Likewise, when the withdrawal position of the cable 120 moves below the position upper limit P.sub.max when the cable 120 is retracted into the device body 110 to stop exercise in an exercise process to the target load L.sub.T, that is, the exercise mode get load L.sub.T, an exercise load may be reduced, so the same effect as ending the exercise after mounting an exercise device such as a barbell at the position of the position upper limit P.sub.max may be obtained.

[0111] Hereinafter, the control method of the muscle exercise device 1 according to the another embodiment of the present disclosure0 will be described with reference to FIGS. 9, 10(a), and 10(b).

[0112] FIG. 9 is a control flow diagram of the muscle exercise device 10 according to another embodiment of the present disclosure, and FIGS. 10(a) and 10(b) are graphs illustrating the control process of the muscle exercise device 10 according to the embodiment illustrated in FIG. 9. FIG. 10(a) illustrates the withdrawal position of the cable 120 detected by the position measurement part 212, and 10(b) illustrates an exercise load output by the drive motor 213.

[0113] The exercise type of the control process illustrated in FIGS. 9, 10(a), and 10(b) is a type (hereinafter, referred to as a second exercise type) in which the safety area SA is located within the exercise area TA. For example, in the case of bench press using a barbell, the position of the support may be located within an area in which a user moves the barbell up and down.

[0114] Accordingly, unlike the first exercise type, the safety area SA in the second exercise type may be preset as a range between the position upper limit P.sub.max and a position lower limit P.sub.min, not 0 or the initial position of the cable 120.

[0115] Referring to FIGS. 9, 10(a), and 10(b), first, when the muscle exercise device operates in the exercise mode at S50, as described above, the device control part 215 may control the drive motor 213 through impedance control so that the output load of the drive motor 213 is maintained as the target load L.sub.T.

[0116] Here, the process in which the muscle exercise device 10 operates in the exercise mode after turned on may correspond to the embodiment illustrated in FIG. 7.

[0117] On the other hand, the device control part 215 may determine whether the exercise preparation condition is satisfied according to whether the withdrawal position measured by the position measurement part 212 enters the safety area SA.

[0118] For example, when the withdrawal position measured by the position measurement part 212 exceeds the position lower limit P.sub.min of the safety area SA (at time t1 of FIGS. 10(a) and 10(b)), the device control part 215 may determine that the exercise preparation condition is satisfied and may increase an exercise load.

[0119] For another example, the device control part 215 may determine a state of the withdrawal position of the cable measured by the position measurement part 212 exceeding the position lower limit P.sub.min of the safety area SA maintained for a predetermined period of time (from time t1 to time t2) as the exercise preparation condition being satisfied.

[0120] In the embodiment illustrated in FIGS. 10(a) and 10(b), the device control part 215 may increase the exercise load of the drive motor 213 at time t2 at which a predetermined period of time elapses in a state in which the withdrawal position of the cable 120 exceeds the position lower limit P.sub.min.

[0121] Through the process described above, the withdrawal position of the cable 120 may be measured by the position measurement part 212 at S51 during the initiation of the exercise and the operation in the exercise mode. Here, the device control part 215 may calculate the speed and acceleration of the cable 120 based on the withdrawal position of the cable 120 and may control the drive motor 213 through impedance control using the speed and acceleration.

[0122] Furthermore, the device control part 215 may detect whether the withdrawal position of the cable 120 measured by the position measurement part 212 enters the safety area SA at S52.

[0123] As illustrated in FIGS. 10(a) and 10(b), in an exercise according to the second exercise type, the safety area SA is located within the exercise area TA, and in a process in which a user is exercising, the process of the withdrawal position of the cable 120 entering and leaving the safety area SA may be repeated.

[0124] Accordingly, in the embodiment of the present disclosure, in a muscle exercise process according to the second exercise type, the device control part 215 may determine whether an exercise discontinuance condition is satisfied at S53 when the withdrawal position of the cable 120 enters the safety area SA.

[0125] In one embodiment, when the withdrawal position detected by the position measurement part 212 is maintained for a preset period of maintaining time, for example, from time t3 to time t4, in the safety area SA, the device control part 215 may determine that the exercise discontinuance condition is satisfied.

[0126] In addition, the device control part 215 may reduce an exercise load from the target load L.sub.T to the basic load L.sub.R at time t4.

[0127] According to the above configuration, when intending to stop exercise, a user may stop a muscle exercise or remove an exercise load by maintaining the position of the cable 120 for the period of maintaining time while the position of the cable 120 is located in the safety area SA.

[0128] Although the embodiments of the present disclosure have been described above with reference to the accompanying drawings, the muscle exercise device of the present disclosure is not limited to the above embodiments, but may be manufactured in various different forms. Those skilled in the technical field to which the present disclosure belongs will be able to understand that the muscle exercise device of the present disclosure may be configured in other specific forms without changing the technical idea or essential characteristics of the present disclosure. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

DESCRIPTION OF THE REFERENCE NUMERALS IN THE DRAWINGS

[0129] 10: Muscle exercise device 110: Device body [0130] 120: Cable 130: Gripping bar [0131] 211: Data storage part 212: Position measurement part [0132] 213: Drive motor 214: User input part [0133] 215: Device control part

INDUSTRIAL APPLICABILITY

[0134] The muscle exercise device according to the embodiments of the present disclosure may be applied to a device on which a user performs a muscle exercise by using a cable.