Abstract
The present invention provides a system and method providing a self-contained, regenerative main power source located within a stator section of an electromechanical motor converting physical energy into electrical energy and applying it to the power source to recharge the power source.
Claims
1. A electromechanical motor assembly comprising: a stator, a rotor; a slip bearing interface located in between the stator and the rotor; a motor controller, a rechargeable main power source located inside the circumference of the stator, at least one sensor measuring a directional force generated by the modular electromechanical motor; a tracking measurement unit, wherein the tracking measurement unit measures directional forces and the rotor position with reference to a home position of the at least one sensor and transmits the measured force and rotor position data to a tracking processing unit; the tracking processing unit processing the measured directional force and rotor position data and power consumption of the electromechanical motor thereby determining a current flow direction, wherein the tracking processing unit sends commands to the motor controller to reverse the current flow direction and send the current flow direction back to the main power source proportionately to an adaptive force experienced by the user, wherein the main power source is charged.
2. The assembly as recited in claim 1, wherein the main power source is rechargeable batteries or fuel cells.
3. A method for recharging a main power source located in a stator of a electromechanical motor, the method comprising: a user creating a primary extension or contraction force; measuring power consumption and a directional force of the primary extension or contraction force with at least one sensor and a tracking measurement unit; determining a current flow direction by processing the measured power consumption and the directional force with a tracking processing unit; and sending commands from the tracking processing unit to a motor controller to reverse the current flow direction, wherein the motor controller sends the current flow back to the main power source proportionately to an adaptive force experienced by the user, thereby charging the main power source.
4. The method as recited in claim 3, wherein a battery charging profile of the power source is calculated and provided as part of a closed loop motor control.
5. The electromechanical motor assembly as recited in claim 1, wherein the main power source is recharged when a net set point of an extension or contraction force is within a range of what the regenerative force produces.
6. The electromechanical motor assembly as recited in claim 1, wherein when a net set point of an extension force or a contraction force is higher than a maximum regenerative force supplied, the motor assembly provides a compensative force.
7. The electromechanical motor assembly as recited in claim 6, wherein the compensative force is a difference between the higher net set point of the extension force or the contraction force and the maximum regenerative force supplied.
8. The electromechanical motor assembly as recited in claim 1, wherein the tracking measurement unit is located in the rotor.
9. The electromechanical motor assembly as recited in claim 1, wherein the tracking processing unit is located in the stator.
10. The electromechanical motor assembly as recited in claim 1, wherein the tracking processing unit is located on a remote device and wirelessly connected.
11. The electromechanical motor assembly as recited in claim 1, wherein the proportional force is adjusted in real time.
12. A method for recharging a main power source located in a stator of a electromechanical motor, the method comprising: a user creating a primary extension or contraction force; measuring power consumption and a directional force of the primary extension or contraction force with at least one sensor and a rotor position with reference to a home position of the at least one sensor; transmitting the measured directional force and the rotor position data to a tracking processing unit; determining a current flow direction by processing the measured power consumption, the rotor position data and the directional force with a tracking processing unit; and sending commands from the tracking processing unit to a motor controller to reverse the current flow direction, wherein the motor controller sends the current flow back to the main power source proportionately to an adaptive force experienced by the user, thereby charging the main power source.
13. The electromechanical motor assembly as recited in claim 1, wherein the assembly is fixed to exercise equipment.
14. The electromechanical motor assembly as recited in claim 1, wherein the assembly is stationary relative to the user.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0025] The various advantages of the embodiments of the present disclosure will become apparent to one skilled in the art by reading the following specification and appended claims, and by referencing the following drawings, in which:
[0026] FIG. 1 shows an exemplary DMRM configured to operate according to an embodiment of the invention for use with force equipment commonly found at professional workout studios or home gyms;
[0027] FIG. 2 shows an exemplary internal view of the DMRM;
[0028] FIGS. 3a and 3b show an exemplary use with the DMRM;
[0029] FIGS. 4a, 4b and 4c show an exemplary use of the DMRM with an exercise bench;
[0030] FIG. 5 shows an alternate use of the DMRM with the user pulling the variable force cable on a rowing machine;
[0031] FIG. 6 shows an alternate use of the DMRM with the user pulling the variable force cable;
[0032] FIG. 7 shows an alternate use of the DMRM with the user pulling the variable force cable while swimming;
[0033] FIG. 8 shows an alternate use of the DMRM with two interactive users;
[0034] FIG. 9 shows an alternate use of the DMRM with a pet;
[0035] FIG. 10 shows an alternate use of the DMRM on a treadmill;
[0036] FIG. 11 shows an alternate use of the DMRM as a safety module;
[0037] FIG. 12 shows an alternate use of the DMRM with the user pulling the variable force cable;
[0038] FIG. 13 shows an exemplary embodiment of a user and a DMRM configured on a mounted standard barbell with the DMRM casework cover removed;
[0039] FIG. 14 shows an exemplary embodiment of an isometric view of the inner workings of a DMRM with the self-contained regenerative power supply packaged within the DMRM;
[0040] FIG. 15 shows another exemplary embodiment of an isometric view highlighting the inner workings of a DMRM detailing a self-contained regenerative power supply and regenerative capable motor controller packaged within the DMRM; and
[0041] FIGS. 16A-D and FIGS. 17A-D show an exemplary embodiment of a stationary DMRM fixed to exercise equipment.
DETAILED DESCRIPTION
[0042] The DMRM's unique modular functionality allows it to attach to or mount to various traditionally used force equipment (e.g., barbells, racks, benches) as well as use in other physical activities. The DMRM includes a full closed/feedback loop motor control of adjustment and refinements based upon the user's dynamic or profiled reaction to the force being performed, in real-time. This allows the user to utilize numerous muscle groups at once in an almost limitless number of physical activity forces and ranges of motion. The varying forces are based on applied user force and limits the likelihood of injury.
[0043] Furthermore, the present invention has less mass than the traditional static weight plate equivalent, therefore, accidentally dropping the apparatus on a toe or finger, would likely cause less injury to the user. The DMRM is accessible to users of various strength levels and can be easily transported. The modularity, combined with the novel means of replicating varying forces, and the lighter mass make the DMRM unlike any other force equipment.
[0044] The DMRM may be used for a variety of types of physical activity. This includes exercise, boundary constraints, safety modules and two-person interactive activities.
[0045] FIG. 1 shows an example of a modular, standalone Dynamic Motion Resistance Module 1. Although some of the exemplary embodiments described herein are tailored to a stand-alone module, the present disclosed apparatus and methods are not limited to this configuration and can be used in other apparatus environments using similar applications and methods. One or more modules may be mounted or anchored to the equipment being used in varying configurations and mounting positions.
[0046] As illustrated in FIG. 1, the apparatus includes an open hub 13, that is sized to fit on varying types of equipment, such as Olympic or standard Barbell and Dumbbell components. The outer shell 10 houses the dynamic force components including a motor, such as a DC motor, a power source, a smart controller/wireless communication, sensors, an embedded processor and a cable or strap spool 4. The module may also include a display. Cable or strap spool 4 of the DMRM 1 provides a connection point 5 to attach hand grips, bars or fixed points for the user to use the attached module. Sensors may include torsional sensors such as Hall effect, strain gauge, safety interlocks as well as external physiological sensors such as heart rate, forces, timing, workout form, calorie burn, workout repetition speed and workout history. The sensors are located within the force module; however the exact location may vary. The sensors may be located together with the internal processor and wireless radio module or separately within the force module. The sensor feedback may be audible, tactile and/or haptic. DMRM 1 is fitted onto internal rotational part 13 providing varying forces to the strap or cable 4 in a linear direction 2, such that the user experiences a varying force based upon sensor control and calculated inputs to optimize the physical activity session. DMRM 1 also accommodates placard and branding space 16.
[0047] FIG. 2 shows an exemplary illustration of the inside of DMRM 1 and internal force functionality demonstrating the major components applied in delivering the dynamic forces including the resulting linear vector of force 2, created by the internal rotational 3 force and a typical communication device 9 sending the commands for varying forces to the module. The torque-to-linear force is generated by the motor, gearing, pulleys or Eddy force component 6, powered by a supply source 7, for example, batteries, fuel cells or line power. The forces and communication are handled by an internal processor, wireless radio, force sensor and positional module 8 acting both as an apparatus tracking measurement unit (ATMU) and a self-contained integrated DMRM (offline/manual mode) alternately receiving control commands from a commercially available external device 9, acting as an apparatus tracking processing unit (ATPU). The ATMU measures apparatus/module data and uses an electronic communications channel to transmit the measured data to the ATPU. A second electronic communications channel is used by the ATMU to transmit one or more of the apparatus conditions data to the user interface to adjust dynamic forces. The user interface, either local on the device or an associated application, is used to adjust all forces and physical activity profiles. The ATPU includes a microprocessor and a memory storage area. The memory storage area includes a database and a tracking processor module. The tracking processing module includes program instructions that, when executed by the microprocessor, determines one or more tracking parameters using the measured data and a set of evaluation rules and the apparatus and/or module conditions measured by the ATMU, using one or more of the tracking parameters and another set of evaluation rules. The database stores the sets of evaluation rules. At least one set of rules corresponding to one or more of the personal tracking parameters, such as repetitions per minute, total repetitions, calories burned, and goals achieved, another set of evaluation rules corresponding to the one or more conditions of the apparatus and/or module.
[0048] The embedded processor of module 1 monitors the electronic motor control loop, sensor management and wireless communications, such as Bluetooth Low Energy (BLE), Wi-Fi or cell. The embedded processor provides local control and calculations and variables, such as main power, timers, motor control profile, start/stop, effective forces and safety interlock status. It can also provide the ATPU with calculated or raw data so higher-level calculations can be performed at either boundary of the architecture. The ATPU is a logical element that may be physically located within the DMRM or in the user interface. The ATPU transmits the apparatus conditions such as battery charge status, safety status and system health. The optimized linear forces are directed to cable or strap 4. Cable or strap 4 includes an attachment point 5, such as a cleat, an eyehook or other common or custom attachment points, to allow a variety of accessories and attachment options to cable or strap 4. When the module is off-line it can be in either low power sleep mode or powered off.
[0049] FIGS. 3a and 3b illustrate an embodiment of the DMRM 1 in practice with application of forces and internal force functionality mounted on a typical exercise barbell or dumbbell rod 30. The resulting vector of force 2 may be accommodated by an internal Industry Standard/Common Barbell or Dumbbell rod 30 or other common hub adaptations for the module to connect/mount. Strap or cable 4 and attachment point 5 are in a linear direction, such that the user experiences a varying force based upon rate, form, pre-planned exercise routines, sensor and/or calculated inputs to optimize a physical activity session. DMRM 1 includes multiple safety mechanisms, such as cable safety stops (cut-off switch), anchor points (foot anchor 18 in FIG. 3a or floor anchor 17 in FIG. 3b), and/or hardware/software control loops and feedback loops (Sensor, Electronic, Software) for a real-time closed loop controlled and dynamic force application. Foot anchors 18 counteract the applied forces for a dynamic free weight experience.
[0050] FIGS. 4a, 4b, and 4c illustrate DMRM 1 being used with weight bench 40. DMRM 1 is mounted on bar 30. The user is able to perform a variation of exercises with different ranges of vector of force 2. FIG. 5 illustrates the use of DMRM 1 on rowing machine 50. The user interface 9 can be part of the rowing machine or can be a separate user interface such as a smartphone. Two DMRM 1 are attached to rower 50, however the number of modules attached to the equipment can be one or more. The user pulls on cables 4 while rowing on rowing machine 50 and receives real-time feedback and a haptic sensation of actually rowing in water.
[0051] FIGS. 6, 7, 8 and 9 show exemplary illustrations of additional uses with DMRM 1. In addition to mounting the DMRM to traditional exercise equipment, static weight plates 14 may be added as seen in FIG. 6. DMRM 1 may be mounted in other ways, for example, DMRM 1 may be mounted to one or more anchor points 70 on a load bearing structure and then attached to a swimmer's harness 15 to adjust or measure dynamic physical activity force while swimming (FIG. 7). As seen in FIG. 8, DMRM 1 may also be used for two-person interactive exercises or therapy activities. One user holds the onto barbell 80 where two modules are mounted, for example, while the other user attaches a barbell (or other form of equipment) 85 to strap or cable 4 via attachment point 5. Another example, shown in FIG. 9, attaches DMRM 1 to an animal or pet by a harness or leash 12, for example. DMRM 1 provides freedom of movement for the animal, unless the animal reaches the user set boundary. Once the set boundary 92 is reached; dynamically applied forces begin to apply resistance leading to a full stop (a hold or lock mode, for example) at a controlled length and containment.
[0052] FIGS. 10, 11 and 12 provide additional alternate uses of DMRM 1. FIG. 10 shows attaching DMRM 1 to treadmill 100 at attachment point 102 and attaching cable or strap 4 to the user's waist by a harness or other connection point 105 keeping the runner perfectly centered on treadmill 100. DMRM 1 may also be used as a safety arresting module, such as in FIG. 11, attached to a user at connection point 110, such as a harness, providing freedom of movement to the user (human or animal). If, or when, a spurious force is detected, such as a fall or trip, the apparatus holds or locks, securing the user. FIG. 12 illustrates use by a sprinter or skater in which DMRM 1 is attached to the user by a harness or other connection point 19 during training. The apparatus senses and controls the applied forces to the user. The module can additionally be profiled and used for static force routines with programable forces and hold times, adapted to the daily physical activity or to add the same elements of closed loop force adjustments to other physical exertion applications and therapies.
[0053] FIG. 13 further illustrates DMRM 100 with self-contained regenerative power source/supply 107 packaged within DMRM 100. The casework covers are removed 106, as shown on the user's left-hand side, exposing the motor controller and local user display 108 (ATPU or other interface electronics) and the self-contained regenerative power supply 107 packaged within the stator of the electromechanical motor or similar force generating devices. The device's cable or strap 104 is anchored at an anchor point 105, for example. When a mode is selected and exercise has started, the user experiences resulting force 102, which is optimized during the routine based either upon the speed at which the user is moving the device, or in the case of pre-calculated routines, dynamic adjustments are calculated during the exercise and applied to the original plan. These adjustments are modified in real-time based upon speed and/or repetition rate, all while maintaining the form and exercise mode selected. As an example, in the case of a pre-calculated routine, if during the first cycle of a routine the user's motion is too fast, the adaptive force will be increased, during or on the next cycle, slowing the rate to an optimized value. If on successive cycles the rate is too slow, the force will adapt lower. Additionally, both DMRMs 100 shown are communicating rate and cable length, so both the right- and left-hand forces can be balanced to ensure proper form. When the primary extension or contraction force is experienced, the motor controller reverses current flow and charges self-contained regenerative power supply 107 proportionally to adaptive force 109 experienced by the user. DMRM device 100 can be positioned for many different use cases, therefore, the charge direction for extension or contraction is based upon how DMRM 100 is oriented relative to the user, but will typically be in the higher force bias, to maximize charging of the power source. For example, if the next set point of force is within a range of what a regenerative force can produce, the power supply will be charged. However, if the next set point of force is higher than the regenerative force can supply, the motor will compensate for the gap. The cumulative force is then made up from part regenerative force and part from driving the motor in reverse. The amount of regenerative force accomplished may vary. 20-30% of the force, for example, can be accomplished by regenerative force and the remainder of the force from the motor drive. For example, on a 100 lbs. set point, 20-30 lbs. comes from regenerative force and the remaining 70-80 lbs. from motor drive (draining of power supply). (This is happening in micro/milliseconds of adjustment, so the experienced force is fluid while you are getting 20-30% of recovered charging).FIG. 14 shows an exemplary isometric view illustrating the inner workings of DMRM 140 with self-contained regenerative power supply 147 and demonstrates stator area 141 and typical rotor cover 142 enabled by a slip bearing interface 143. The rotor has torsional freedom of motion in rotational motor direction 144 and extends or retracts a cable or strap attached to re-coil channel 147. When the mode and closed loop motor control commands are sent to motor controller 145, tangential force 146 is generated as resulting force 149 is experienced by the user. Force and position electronics 148 measure and determine the next set of parameters to be used during the next adjustment cycle.
[0054] FIG. 15 shows another exemplary isometric view further highlighting the inner workings of DMRM 150 with self-contained regenerative power supply 157 and regenerative capable motor controller 155 implementation. Although packaged in this embodiment as part of a DMRM, the same principles and utility apply to other force generating devices and electromechanical inner stator and outer rotor motor configurations. The present invention provides a self-contained, regenerative main power source located within the stator section of an electromechanical motor, where the energy expended from physical activity, such as exercise or work, is directed to the power source/supply, recharging the power source. This is accomplished by reversing the typical role of a motor controller. In the regenerative mode, expended energy from the physical activity is equivalent to running the motor in reverse and the controller directing that energy to recharge the self-contained power source. This is accomplished by the ATMU measuring and the ATPU tracking the forces and rotor position from a sensed and tracked home position, gathering and processing power consumption and directional force sensor data of the electromechanical motor, based on the primary contraction or extension force. The ATPU determines the direction of current flow, based upon the programmed routine and a next set point. Commands/proportional values are then sent to the motor controller to apply a regenerative percentage (0-100%). This value is adjusted in real-time based on the forces measured by the ATMU. The ATMU (or functional equivalent) is located on the rotor section of the motor and can pass the measured force either wirelessly or through a slip connector to the ATPU for further processing. The ATPU is a logical component and can be located anywhere, but generally will be located within the stator. The location may be driven by packaging restrictions and the interest in keeping the user display/interface on a non-moving part of the device. If the configuration does not require a local setup or display, a remote device that is wirelessly connected, such as a mobile phone, may house the ATPU (or functional equivalent) located outside of the device with the self-contained regenerative power supply. In the DMRM configuration, the motor controller 155 is also part of the logical ATMU functionality and communicates this information with the ATPU for further processing. The sensors, positional and measurement information are used for the tracking and determination of the current flow direction. In alternate embodiments of this method, the ATMU and ATPU modules can be functionally equivalent; similarly measuring, tracking and processing forces and motor status feedback. Once the extension or contraction forces are determined, the power source is either charging or supplying energy. When charging the power source, the motor controller reverses flow and the current flows back to the self-contained power source proportionately to an adaptive force experienced by the user. In this specific implementation the electromechanical motor is formed by a magnet rotor ring 159 and coil stator 152. A self-contained regenerative power supply 157 is packaged within stator area 151. In this specific configuration contraction force work component 161 drives the motor in reverse or regenerative mode and current flows back to self-contained regenerative power supply 157 resulting in charging the power source (i.e., batteries or fuel cells) as part of the physical exercise. During extension force 162, the motor and current draw from the power source; this is typically a low force movement of the electromechanical motor and would have minimal amperage drain of self-contained regenerative power supply 157. Experienced force 160 is from the user's perspective and is mounted and programmed for an optimal work expenditure. The amperage drain and regenerative charging are correlated to force and position electronics 158 forming a closed loop motor control and regenerative capability. While either extending or contracting, depending on the mounting position, forces act upon a coiled cable or strap attached to the rotational section of the device, the major acting force is converted tangentially and regenerative charging of the power source, for example batteries or fuel cells, occurs back through the same motor. Relative to the device, regenerative force will happen on the extension of the coiled cable or strap. Relative to the use, the regenerative force (or current flow direction) occurs relative to the mounting of the device and the users hand position. For example, where there are two DMRM devices, each with self-contained regenerative power supply, on a barbell having cable ends anchored to the ground, the regenerative force occurs as the cable extends and a user will experience a contraction force (such as during a bicep curl). In another example, the DMRM device with the self-contained regenerative power supply may be mounted overhead and the user's hands are pulling down on a barbell that is tethered to the cable from the DMRM. In this example, the user experiences extension forces and regenerative force also occurs during extension of the cable.
[0055] The present invention also provides a rechargeable, self-contained dynamic motion resistance assembly that may be modular or stationary and analyzes real time data to provide automatic real time adjustments to forces with a main power supply located within a stator section of a motor or similar exercise module. The prior art discloses electromechanical stator and rotor motors relying on external power supplies, replaceable battery packs and motor control electronics. The present invention improves the prior art by providing a self-contained packaging system and method. The power supply harnesses the work of the user, putting the energy back into the renewable power supply of the device. In comparison to a modular DMRM that is portable and can be added and removed by the user from varying equipment, a stationary DMRM assembly may provide increased resistance due to larger motor or gearing, better durability/longer device life without needing to make the device lightweight, longer cables for increased range of motion and larger battery providing longer run time and more capacity for regeneration
[0056] The DMRM assembly may be fixed to exercise equipment or other apparatus, such as home gym systems, exercise machines and weight machines. The stationary DMRM contains essentially the same components and functions the same as disclosed above for the modular DMRM. FIGS. 16A-D and 17A-D show stationary DMRM 160, 170, respectively fixed to exercise equipment 180. The device's cable or strap 104 is anchored to a pulley system 182 of exercise equipment 180, for example. When a mode is selected and exercise has started, the user experiences resulting force 184, which is optimized during the routine based either upon the speed at which the user is moving the device, or in the case of pre-calculated routines, dynamic adjustments are calculated during the exercise and applied to the original plan. These adjustments are modified in real-time based upon speed and/or repetition rate, all while maintaining the form and exercise mode selected. As an example, in the case of a pre-calculated routine, if during the first cycle of a routine the user's motion is too fast, the adaptive force will be increased, during or on the next cycle, slowing the rate to an optimized value. If on successive cycles the rate is too slow, the force will adapt lower. When the primary extension or contraction force is experienced, the motor controller reverses current flow and charges self-contained regenerative power supply proportionally to adaptive force experienced by the user. DMRM assembly 160, 170 can be positioned for many different use cases, therefore, the charge direction for extension or contraction is based upon how DMRM 160, 170 is oriented relative to the user, but will typically be in the higher force bias, to maximize charging of the power source. For example, if the next set point of force is within a range of what a regenerative force can produce, the power supply will be charged. However, if the next set point of force is higher than the regenerative force can supply, the motor will compensate for the gap. The cumulative force is then made up from part regenerative force and part from driving the motor in reverse. The amount of regenerative force accomplished may vary, 20-30% of the force, for example, can be accomplished by regenerative force and the remainder of the force from the motor drive. For example, on a 100 lbs. set point, 20-30 lbs. comes from regenerative force and the remaining 70-80 lbs. from motor drive (draining the power supply). (This is happening in micro/milliseconds of adjustment, so the experienced force is fluid while getting 20-30% of recovered charging).
[0057] Although some of the exemplary embodiments described herein are tailored for a DMRM, the present invention of a self-contained regenerative power supply system and method is not limited to this configuration and can be used in other apparatus environments using similar applications and methods.
[0058] In the foregoing specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
