APPARATUS FOR THE GYMNASTIC EXERCISES OF PADDLING SIMULATION

Abstract

The present invention provides an apparatus for the gymnastic exercise of paddling simulation, comprising a frame (1) which includes aa front part and a rear part, a housing region (11) for a user (4) within said frame (1) at said rear part of said frame (1), a kinematic mechanism (3) connected to said frame (1) via supporting means (2,10) onto said frame (1), wherein said supporting means (2,10) are connected with the said frame (1) in aa lockable tiltable manner, said kinematic mechanism (3) includes two crank mechanisms (30), wherein each crank mechanism (30) is mounted on said supporting mechanism (2,10) via aa respective supporting base (31), and wherein each crank mechanism (30) is capable of rotating about aa rotation axis (Y-Y) via a respective rotation shaft associated with said supporting base (31), and wherein said kinematic mechanism (3) is kinematically connected with a mechanical resistance means (23) via transmission mechanism (22,37), the apparatus is characterized by the fact that said supporting base (31) is mounted on said supporting means (2,10) in a tiltable and lockable manner, the arrangement being such that each rotation axis (Y-Y) of said crank mechanism (30) forms a predetermined angle with respect to said supporting means (2,10) following a locked arrangement of said supporting base (31) on said supporting means (2,10).

Claims

1) Apparatus for the gymnastic exercise of paddling simulation, comprising a frame (1) which includes a front part and a rear part, a housing region (11) for housing a user (4) provided in said frame (1) at said rear part of said frame (1), a kinematic mechanism (3) connected to said frame (1) by supporting means (2,10) for supporting said kinematic mechanism (3) onto said frame (1), wherein said supporting means (2,10) are connected to said frame (1) in a lockable oscillating manner, said kinematic mechanism (3) includes two crank mechanisms (30), wherein each crank mechanism (30) is mounted on said supporting means (2,10) by a respective supporting base (31), and wherein each crank mechanism (30) is capable of rotating about a rotation axis (Y-Y) by a respective rotation shaft associated with said supporting base (31), and wherein said kinematic mechanism (3) is kinematically connected with mechanical resistance means (23) via transmission means (22,37), characterized by the fact that said supporting base (31) is mounted onto said supporting means (2,10) in an tiltable and lockable manner, the arrangement being such that each rotation axis (Y-Y) of said crank mechanism (30) has a determined angled position with respect to said supporting means (2,10) following to a locked arrangement of said supporting base (31) onto said supporting means (2,10).

2) Apparatus for the gymnastic exercise of paddling simulation according to the preceding claim, wherein both of said rotation axis (Y-Y) of each of said crank mechanism (30) are arranged such that: They are symmetrically arranged with respect to a sagittal plane of said apparatus, said sagittal plane being defined by a vertical plane that crosses the longitudinal axis of said apparatus; They are not parallel with respect to said sagittal plane; They each form an angle less than or equal to 90 degrees with respect to said sagittal plane at said front part of said apparatus; They are contained on a same plane; They intersect said sagittal plane at the same point; and They are both at the same height from the surface where said frame (1) of said apparatus rests.

3) Apparatus for the gymnastic exercise of paddling simulation according to claim 1 or 2, wherein said transmission means (22,37) are chosen from the group which comprises: chains, belts, pulley and tie rod system, revolving shafts, bevel gears pairs, universal joints, articulated joints, elastic joints, constant velocity/tripoid joints.

4) Apparatus for the gymnastic exercise of paddling simulation according to any of the preceding claims, wherein said mechanical resistance means (23) are chosen from the group which comprises: flywheel, electromagnetic flywheel, current generator, electric motor, electric gearmotor.

5) Apparatus for the gymnastic exercise of paddling simulation according to any of the preceding claims, wherein each crank mechanism (30) comprises: a shaft rotatably connected to said supporting base (31); an crank arm (33) connected at one end to said shaft, said arm (33) being optionally telescopic and lockable; and a grip (35a, 391) of a handle (35) rotatable and/or oscillating mounted at the opposite end of said arm (33) via a rotatable/oscillating supporting member (36, 390).

6) Apparatus for the gymnastic exercise of paddling simulation according to the preceding claim, wherein said arm (33) includes at least two segments (33a, 33b) mutually connected via a joint chosen from the group which comprises: rotational joint, prismatic telescopic joint, sliding and rotating cylindrical joint.

7) Apparatus for the gymnastic exercise of paddling simulation according to any of the preceding claims, wherein said supporting means (2) of said kinematics mechanism (3) comprises: a base (20) connected to said frame (1) at said front and central part of said apparatus; and a supporting rod (21) connected to said base (20) in a lockable oscillating manner, said rod (21) supporting said base (31) of said kinematics mechanism (3); the arrangement being such that a user (4) is able to position himself on said apparatus in such a way that said supporting means (2) and said crank mechanisms (30) are arranged inside the legs of said user (4).

8) Apparatus for the gymnastic exercise of paddling simulation according to the preceding claim, wherein said base (31) further comprises a pair of supporting members (32) each of which connects in a rotary manner a crankshaft of a respective crank mechanism (30) to said base (31), said supporting members (32) being mounted on said base (31) in an orientable and lockable manner with respect to said base (31), the arrangement being such that each predetermined arrangement of said pair of supporting members (32) on said base (31) corresponds to a predetermined angled arrangement of said rotation axis (Y-Y) of said crank mechanisms (30) with respect to said sagittal plane of said apparatus.

9) Apparatus for the gymnastic exercise of paddling simulation according to the preceding claim, wherein said supporting means (2) further comprises said transmission means (37) of the rotation of said two crank mechanisms (30), the arrangement being such that the shaft of a first crank mechanism (30) is rotatably connected to the shaft of the second crank mechanism (30), and such that said rotation axis (Y-Y) of said shafts form an angle less than or equal to 90 degrees with respect to the sagittal plane of said frame (1).

10) Apparatus for the gymnastic exercise of paddling simulation according to the preceding claim, wherein said transmission means (37) comprises two bevel gears pairs (37), each of which is constituted by a bevel pair which comprises a bevel gear (38a) and a bevel pinion (38b), each pair (37) being associated to a respective crankshaft of a crank (30), and wherein said supporting means (2) further comprises a transmission shaft (22) rotatably housed in said supporting rod (21) and rotatably connected at one of its ends with said transmission means (37), said transmission shaft (22) being rotatably connected at the opposite end thereof with a mechanical resistance member (23).

11) Apparatus for the gymnastic exercise of paddling simulation according to any of the preceding claims from 1 to 6, wherein: said supporting means of said kinematics mechanism (3) comprises a pair of mechanical supporting members (10) each comprising a rod and each mounted in an tiltable and lockable manner on said frame (1) at a first end thereof, each mechanical supporting member (10) being associated to a respective crank mechanism (30) via a supporting base (31), and each mechanical supporting member (10) being arranged on the frame (1) externally with respect to said housing region (11) of said user (4) and such that said housing region (11) is internally arranged between the pair of f said mechanical supporting members (10), and wherein each supporting base (31) is mounted in an orientable and lockable manner onto each opposite end of each mechanical supporting member (10); each crank mechanism (30) is mounted on a respective mechanical supporting member (10) in a manner that said rotation axis (Y-Y) of the shafts diverge at the front part and the longitudinal direction of said frame (1) and that they are symmetrical with respect to the sagittal plane of said apparatus; each crank mechanism (30) is mounted on a respective mechanical supporting member (10) in an orientable manner such that the divergence of said axis (Y-Y) of said shaft and the inclination of the plane containing said shaft axis (Y-Y) can be varied with respect to said apparatus; each crank mechanism (30) comprises an arm (33) which includes at least two parts (33a, 33b) mutually connected via a rotating joint (34), and wherein at least one part (33a, 33b) of said arm (33) is optionally telescopically slidable and lockable.

12) Apparatus for the gymnastic exercise of paddling simulation according to any of the preceding claims, wherein said kinematic mechanism (3) includes a bar (39) which has two end regions one opposite to the other, and which is connected in rotatable and oscillating manner at each of said two end regions with a respective crank mechanism (30) via oscillating and rotatable hinge joints (390).

13) Apparatus for the gymnastic exercise of paddling simulation according to the preceding claim, wherein said bar (39) is connected on each of its ends to a respective arm (33) of a crank mechanism (30), and comprises at each end thereof a respective handle (391), each handle (391) being mounted on said bar (39) in a rotatable manner, and such that the longitudinal axis of said two handles (391) coincides with the longitudinal axis of said bar (39), the arrangement being such that said user (4) sets said kinematics mechanism (3) in motion by acting on said handles (391) of said bar (39).

14) Apparatus for the gymnastic exercise of paddling simulation according to the preceding claim, wherein said bar (39) is made in at least two parts (39a, 39b) telescopically, slidingly and rotatably connected one to the other via a joint.

15) Apparatus for the gymnastic exercise of paddling simulation according to any of the preceding claims, wherein said supporting base (31) comprises a unidirectional freewheel transmission connected to a respective shaft (Y-Y) of a relevant crank (30), the arrangement being such that the rotation of each shaft (Y-Y) of the respective cranks (30) is not mutually constrained one with respect to the other.

16) Apparatus for the gymnastic exercise of paddling simulation according to the preceding claim, wherein the arrangement of said freewheel transmission is such that said two cranks (30) can independently operate the relevant shaft (Y-Y) in a single direction of rotation, and such that said user by activating a crank (30) the latter interacts with said mechanical resistance member (23) independently from the other crank (30) by not constraining the latter to move.

17) Apparatus for the gymnastic exercise of paddling simulation according to any of the preceding claims, further comprising an electronic control system for the motion of the crank mechanisms (30), said control system comprising: a) a microcontroller that implements the control logic, b) said mechanical resistance means (23), c) a controller, which transforms the logic signals coming from said microcontroller into power signals directed to said mechanical resistance means (23); d) a position sensor system capable of detecting the angular position of said handles (35a, 391) and/or of the shafts of each crank mechanism (30); and optionally e) an electrical power supply system; f) a virtual reality system for simulating a virtual environment wherein said user (4) is positioned; and wherein said virtual reality system receives as input the signals coming from said position sensor system; said electronic control system is suitable for adjusting/modifying the resisting torque values applied by said resistance means (23) to said kinematics mechanism (3) via said transmission means (37), said adjusting/modification of the resistance torque values being a function of: the angular position of the shafts of each crank mechanism (30); and/or the angular position of said handles (35a, 391) of each crank mechanism (30). and wherein said setting of said resisting torque to said kinematics mechanism (3) is performed in a virtual reality context.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0030] A detailed description of some preferred embodiments of the apparatus for the gymnastic exercises of paddling simulation of the present invention will now be provided, given as a non limiting example, and making reference to the appended figures, wherein:

[0031] FIG. 1 is a schematic and partial elevation view of a first preferred embodiment of the apparatus for the gymnastic exercise of paddling simulation, and according to the present invention;

[0032] FIG. 2 is a schematic and partial elevation view of the apparatus of FIG. 1 with a user;

[0033] FIG. 3 is a schematic and partial view from above of the apparatus in FIG. 2;

[0034] FIG. 4 is a schematic and partial elevation view of a second preferred embodiment of the apparatus for the gymnastic exercise of paddling simulation of the present invention;

[0035] FIG. 5 is a schematic and partial elevation view of the apparatus of FIG. 4 with a user;

[0036] FIG. 6 is a schematic and partial elevation view of a third preferred embodiment of the apparatus for the gymnastic exercise of paddling simulation of the present invention;

[0037] FIG. 7 is a schematic and partial elevation view of the apparatus of FIG. 6 with a user;

[0038] FIG. 8 is a schematic and partially longitudinal sectional view of a part of the apparatus of FIG. 1 according to the first embodiment;

[0039] FIG. 9 is a schematic and partial longitudinal sectional view of a part of the apparatus according to a fourth alternative embodiment;

[0040] FIG. 10 is a schematic and partial elevation view of a fifth preferred embodiment of the apparatus for the gymnastic exercise of paddling simulation, according to the present invention; and

[0041] FIG. 11 is a schematic and partial elevational view of the apparatus of FIG. 10 with a user.

[0042] With reference now to FIGS. 1, 2, and 3, the apparatus of the present invention is partially illustrated therein and according to a first preferred embodiment thereof.

[0043] According to this first embodiment, a frame 1 is provided and it supports a supporting member 2 for a kinematic mechanism 3 of a paddling assembly which comprises two cranks 30. As will be better illustrated below, the kinematic mechanism 3 provides the simulation of the paddling motion.

[0044] The supporting member 2 of the kinematic mechanism 3 consists of a mechanical structure that includes a base 20 connected to the frame 1 and a supporting rod 21 connected to the base 20, all mounted onto the frame 1 at the front part of said frame, and substantially at the centre of the frame.

[0045] The supporting member 2 includes the vertical supporting rod 21 (the rod 21 being optionally tiltable via hinged connection) which supports the kinematics 3, the rod 21 is connected to the base 20 in a lockable manner and centrally onto the frame 1, the base 20 being mounted at the front part of the frame 1 with respect to the user's seat (the latter not shown in the figures).

[0046] As illustrated in FIGS. 2 and 3, according to this embodiment, a user 4 may be positioned himself on the apparatus in such a way that the supporting member 2 of the crank assembly 3 is positioned inside the legs of the user 4.

[0047] With particular reference now to FIGS. 1 and 8, the kinematic mechanism 3 of the cranks 30 is illustrated therein. The kinematic mechanism 3 includes the following components:

Base of the Cranks

[0048] According to the invention, a base 31 is provided for the supporting of the upper part of the kinematic mechanism of the cranks 3 onto the supporting rod 21 onto the frame 1.

[0049] The connection between the base 31 and the supporting rod 21 of the kinematic mechanism 3 can be fixed or, in an alternative embodiment, it can be mounted in a tiltable manner in order to allow the possibility to adjust the inclination of the plane containing the rotation axis Y-Y of the cranks 30 with respect to the horizontal plane of frame 1.

Crank Shaft Supporting Members

[0050] According to the invention, a pair of supporting members 32 is provided, each of which supporting a shaft of a crank 30 onto the base 31, thereby enabling the rotation of the shaft about its own axis Y-Y. The supporting members 32 of the shafts of the first crank 30 and the second crank 30 are arranged on the base 31 in such a way that the rotation axis Y-Y of the shafts of the two cranks 30 are arranged as follows: [0051] They are symmetrical with respect to the sagittal plane. The sagittal plane is the vertical plane that crosses through the longitudinal axis of the apparatus; [0052] They are not parallel one to each other; [0053] Each axis Y-Y of a shaft forms an angle less than or equal to 90 degrees with respect to the front part of the sagittal plane; [0054] Both axis Y-Y are contained on the same plane. The plane of the axis Y-Y of the shafts passes through a horizontal straight line (parallel to the horizon) and orthogonal to the sagittal plane of the supporting member 2 or the frame 1. According to different embodiments, the plane of the axis Y-Y of the shafts can be horizontal or can be inclined with respect to the horizon (surface on which apparatus 1 rests). [0055] The axis Y-Y intersect the rear part of the sagittal plane at the same point and diverge at the front part. [0056] The homonymous ends of each shaft are equidistant from the sagittal plane and are at the same height from the surface where the frame 1 of the apparatus rests.

[0057] All the rotatable connections of the supporting members 32 can be made either with a bearing or, alternatively, with a bush, or with another mechanical member that allows the rotation of the shaft about its axis Y-Y in a fixed or adjustable position.

Crank

[0058] Each crank 30 includes: [0059] a) A shaft rotatably connected to the first supporting member 32 of the crank shaft. According to the present invention, the diverging angle between the axis Y-Y of both shafts of the cranks 30 can be adjustable. Furthermore, according to the present invention the angle of the plane containing the axis Y-Y of the shafts with respect to the horizon can be adjustable. The setting of said angle of the plane containing the axis Y-Y of the shafts can be achieved in two ways: [0060] 1a) by setting the inclination between the base 31 of the cranks and the supporting member 21 of the crank assembly 3. In this case, the base 31 is mounted on the supporting member 21 in a tiltable manner and can be locked in position, and in such a way that it can be arranged in different inclinations with respect to the latter; or [0061] 2a) by setting the inclination of the supporting member 21 of the kinematic mechanism 3 with respect to the frame 1. In this case, the supporting member 21 is mounted in a tiltable manner onto the base 20 and can be locked in position, and in such a manner to be arranged in different inclinations with respect to the latter. [0062] b) An arm 33 connected to the crank shaft. The arm 33 can have a fixed length or a variable length. In the last case, the length of the arm 33 can be telescopically adjustable. The arm 33 can be straight or curved. The arm 33 can be connected to the respective rotation shaft about the Y-Y axis via a fixed connection or via a rotational joint, in such a way as to allow a possible oscillation of the arm 33 with respect to its shaft about the Y-Y axis.

[0063] As illustrated in FIGS. 1, 2, and 3 and according to the present embodiment, the arm 33 is made of two parts/segments 33a and 33b. In this case, the segment 33a and 33b can be connected in the following alternative embodiments: [0064] Mutually rotatable manner via a rotational joint 34;

[0065] or [0066] Mutually slidable manner via a prismatic joint. Said joint can be equipped with a locking mechanism, for adjusting the overall length of the arm 33;

[0067] or [0068] Mutually rotatable and slidable manner via a cylindrical joint. [0069] c) A handle 35, rotatably mounted at the opposite end of the arm 33, at the opposite side relevant to the connection between the arm 33 and the shaft.

[0070] The handle 35 includes a supporting member 36 and a handle 35a. The handle 35a can be connected to the supporting member 36 both in a fixed manner and, alternatively, in a rotatable/swinging manner. In this last configuration, the angle between the axis of the handle 35a and the axis of the handle supporting member 36 can vary during the rotation cycle of the arms 33 and in order to adapt from an ergonomic point of view to the system constituted by the hand-wrist-arm of the user.

[0071] With particular reference now to FIG. 8, a first embodiment of the mechanical transmission between the paddling assembly 3 and the frame 1 of the apparatus is illustrated.

[0072] The transmission includes transmission means 37 between the shaft of the first crank 30 and the shaft of the second crank 30 (the latter not in the figure), configured in such a way that the shafts of the two cranks each rotates about its own axis Y-Y substantially at the same mean speed calculated on a complete revolution of each shaft about its axis Y-Y (one shaft clockwise and the other shaft counterclockwise).

[0073] The transmission means 37 rotatably connects the shaft of the first crank 30 to the shaft of the second crank 30, and in a manner that the transmission transmits a torque to the shafts that are on different axis.

[0074] The axis Y-Y of the shafts may have an angle less than or equal to 90 degrees with respect to the sagittal plane of the frame 1. According to this embodiment of the invention, the transmission includes a pair of bevel gears 37, each of which consists of a bevel gear 38a and a bevel pinion 38b, each pair 37 being associated with a respective crankshaft.

[0075] It must be highlighted here that in an alternative embodiment of the transmission, the latter can be cardan joints, articulated joints, elastic joints, constant velocity/tripoid joints or technically equivalent ones.

[0076] According to the invention, the kinematic mechanism 3 can be made in such a way as to allow different types of settings of the arrangement of the axis Y-Y of the crankshafts. In the embodiment described here and illustrated in FIG. 8, the arrangement of the pair of bevel gear 37 may provide for the setting of the angle between the axis Y-Y of the shafts. With this aim, it is provided that the supporting members 32 of each shaft are connected onto the base 31 in a movable manner with respect to each other and along an arc trajectory. In this way, by sliding a supporting member 32 along an arc trajectory onto the base 31 it is possible to change the angle of divergence between the axis Y-Y of a shaft of the crank with respect to the sagittal plane of the frame 1, while keeping the transmission of the bevel gears 37.

[0077] According to other alternative embodiments of the transmission, a further setting of the plane of the axis Y-Y with respect to the horizon may be provided. For the above purpose, the base 31 can be mounted in a tiltable manner with respect to the base 20.

[0078] On the other hand, the kinematic mechanism of the bevel gear 37 is connected to a rotatable transmission shaft 22 via a pair of gears 24, the shaft 22 being rotatably arranged inside the supporting rod 21 of the kinematic mechanism 3, and being connected at its opposite end with a mechanical resistance member 23.

[0079] Below the base 20 of the supporting rod 21 for the kinematics assembly 3 it is provided a flywheel 23 as a mechanical resistance member rotatably mounted on the frame 1, and a friction adjustment device 230 it is provided for functionally engaging with the flywheel 23 in a known manner.

[0080] The transmission shaft 22 is associated with the flywheel 23 via a respective bevel gear pair 25 in the self-evident manner.

[0081] According to alternative embodiments of the transmission of the present invention, a number of different motion transmission members can be provided such as, for example, a chain, or a belt, or a system of pulleys and tie rods, or technically equivalents.

[0082] With particular reference now to FIG. 9, an alternative embodiment of the mechanical transmission between the paddling assembly 3 and the frame of the apparatus 1 is illustrated. For the sake of clarity, same or equivalent parts will have equal numbers and the detailed description thereof will be here omitted since already described above.

[0083] As can be seen in the figure, according to this embodiment, an electric gearmotor 23 mounted on the frame 1 is provided and functioning as a mechanical resistance member, the electric gearmotor 23 being powered by an electrical power source external to the apparatus 1 (the source not being illustrated in the figures).

[0084] According to this embodiment, the kinematic mechanism of the bevel gear pair 37 is connected to the rotatable transmission shaft 22 via a pair of gears 24, and each gear 24 is mounted on the base 31 via a respective freewheel bearing, i.e. of the type which a blocked rotation in one direction of rotation and a free rotation in the other direction of rotation is provided.

[0085] According to this construction arrangement, the pair of shafts of the two cranks 30 are not constrained to rotate at the same average speed.

[0086] Furthermore, through the use of unidirectional bearings, the two cranks 30 can independently operate the relevant shaft in only one direction of rotation. Therefore, by operating a crank 30 in the appropriate direction, the user interacts with the mechanical resistance member 23 while the other crank 30 is not constrained to move. This allows the user to have mechanical resistance on the two cranks 30 independently, and by operating a single resistance member 23 for both cranks 30.

[0087] On the other hand, according to this embodiment, when the user 4 applies a force to the kinematic paddling assembly 3 upstream of the gear motor 23, the paddling assembly 3 is subjected to the resistant force of the gear motor 23. That is, when actuated by the user, said assembly 3 moves only if the gearmotor 23 is moving, with the constraint that the rotation speed of the irreversible gears 24 of the transmission cannot be higher than the rotation speed of the gearmotor 23. Therefore, if the user 4 applies to said gears 24 a force such as to accelerate said gears 24 up to a speed that exceeds the rotational speed of the gearmotor 23, the user will feel an additional resisting force. Said additional force is transmitted to the gearmotor 23 and can be measured via a suitably positioned sensor. The controller of the gearmotor 23 can vary the rotation speed of the motor depending on the force measured by the sensor, so that the user 4 feels an appropriate resisting force (adjustable by setting appropriate parameters).

[0088] This construction solution of the apparatus has the following advantages: [0089] 1) A very light (and economical) electric motor can be implemented compared to the resisting force generated by the system to the user's action, and with said electric motor only having the function of unlocking or adjusting the motion of the reduction gear; [0090] 2) In the resisting force regulation system, the system may use a load sensor, which is much less expensive than a torque sensor, typically used in such types of systems.

[0091] With particular reference now to FIGS. 4 and 5, a second embodiment of the kinematic paddling assembly 3 of the apparatus of the present invention is illustrated.

[0092] It must be highlighted here that, for the sake of clarity, same parts will have same numbers and the detailed description thereof will be here omitted since already provided above.

[0093] According to this second embodiment, a bar 39 is provided which simulates a paddle, which is connected at its ends to the kinematic assembly 3, the latter as previously described.

[0094] The bar 39 is connected at its ends with the respective ends of the arms 33 of the cranks 30 via rotatable hinge joints 390. Furthermore, handles 391 are provided on each end of the bar 39, the handles 391 can be mounted on the bar 39 in a rotatable manner and the longitudinal axis of the two handles 391 coincides with the axis of the bar 39.

[0095] As is evident in the FIG. 5, according to this embodiment the user 4 moves the cranks 30 by acting on the handles 391 of the bar 39.

[0096] Through the aforementioned handles 391, the user 4 applies the force on the bar 39, which is counteracted by the resistant torque of the mechanical resistance member 23 connected to the shafts of the cranks 30 via the transmission as previously illustrated (the transmission not being illustrated in the figure).

[0097] The number of rotational and translational degrees of freedom of the system consisting of first crank/bar/second crank must be such that the user, acting onto the bar 39, can set the crank arms 33 in motion such that the latter can complete rotation cycles.

[0098] According to this embodiment, in order to provide the necessary DOF (Degree Of Freedom) the bar 39 is made of two parts 39a and 39b mounted in a reciprocal telescopic manner which can be axially slidable and rotatable one respect to the other. In this case, the arms 33 can be adjustable in extension, but they are lockable and do not slide while the user is performing the exercise.

[0099] With particular reference now to FIGS. 6 and 7, a third embodiment of the kinematic assembly 3 of the apparatus of the present invention is illustrated. For the sake of clarity, same parts will have like numbers and the detailed description thereof will be here omitted since already provided above.

[0100] According to this third embodiment it is provided that the bar 39 is made of a single piece. Therefore, each of the cranks 30 has one of the two segments 33a or 33b made of two parts connected in a telescopically sliding manner (in the figure the segment 33a is made telescopic), so as to telescopically translate dynamically during the rotation motion of the crank 30, and in such a way as to vary the length of the respective segment 33a or 33b and with the aim of providing the translational DOF necessary to make said rotation possible. Alternatively, according to another embodiment, it is possible to create a crank 30 equipped with an arm 33 made of two segments 33a and 33b which are mutually connected to each other in a telescopically sliding manner and so as to telescopically translate dynamically during the motion of rotation of the crank 30.

[0101] Furthermore, the handles 391 are provided on each end of the bar 39, the handles 391 are mounted on the bar 39 in a rotatable manner and the longitudinal axis of the two handles 391 coincides with the axis of the bar 39.

[0102] With reference now to FIGS. 10 and 11, a fifth embodiment of the apparatus of the present invention is illustrated.

[0103] It must be highlighted here that for the sake of clarity, same parts will have like numbers and the detailed description thereof will be here omitted since already provided above.

[0104] According to this fifth embodiment, a frame 1 is provided which has a pair of mechanical supporting members 10 mounted in an oscillating lockable manner onto the frame 1 and in such a way as to be able to assume different positions with respect to the frame 1. Each mechanical supporting member 10 is associated with a respective crank 30, and is arranged on the frame 1 externally with respect to a seat 11 for the user 4. Each mechanical supporting member 10 is made up of a rod or similar.

[0105] At the opposite end of each supporting member 10 a crank 30 is rotatably mounted via a respective base 31 for the supporting of the upper part of the kinematic mechanism 3 of the cranks 30 onto the mechanical supporting member 10 on the frame 1.

[0106] It is necessary here to specify that the mechanical connection between the base 31 and the supporting member 10 of the kinematics mechanism 3 can be fixed (non-adjustable) or, in an alternative embodiment, it may provide the setting of the inclination of the plane of the rotating axis Y-Y of the cranks 30 with respect to the horizontal plane of the frame 1.

[0107] Each crank 30 is connected in a rotatable and oscillating manner with the ends of the bar 39, the latter simulating a paddle. It is important to specify here that according to this embodiment, the crank shafts 30 are mounted on the respective supporting members 10 in such a way that the direction of the axis Y-Y of each crankshaft diverge at the front area of the frame 1 according to the longitudinal direction of said frame 1, and that said axis Y-Y are symmetrically arranged with respect to the sagittal plane of the apparatus.

[0108] Furthermore, also according to this embodiment it is possible to set both the divergence of the axis Y-Y of the shafts and the inclination of the plane containing the axis Y-Y of the shafts, thanks to the fact that each base 31 which supports the relevant shaft of the cranks 30 is mounted on a respective mechanical supporting member 10 by means of a related oscillating/tilting support which allows the base 31 to be orientated and locked in position (the latter not being illustrated in the figures).

[0109] Also in this embodiment, the crank arms 33 are made of two segments 33a and 33b joined together by a rotating joint 34 (as already described previously).

[0110] According to this configuration, the bar 39 can be made in two telescopic parts mutually connected by a cylindrical joint. In this case, the length of the arms 33 is adjustable but also lockable, and during the execution of the exercise by the user the former do not slide, and with the aim of allowing the number of rotational and translational degrees of freedom of the system consisting of first crank/bar/second crank be such that the user when acting on the bar 39 he can set the arms 33 of the cranks 30 in motion, thereby ensuring that the latter can complete rotation cycles.

[0111] Alternatively, in another embodiment, the bar 39 can be entirely of one piece and one of the two segments 33a and 33b can be telescopically slidable so as to dynamically translate during the rotation motion of the crank 30, and in such a way to vary the length of the segment and with the aim of providing a translational DOF necessary to make said rotation possible.

[0112] As can be seen in FIG. 11, according to this embodiment, the user 4 positions himself onto the seat 11 of the apparatus and in such a way that his legs are arranged internally to the two mechanical supporting members 10 and behind the bar 39 which simulates the paddle.

[0113] Also in this embodiment, it is possible to provide a transmission system for transmitting the rotation of the cranks 30 connected to a resistance member as previously described, for example, a flywheel or an electric gearmotor or similar via a mechanical and/or electrical connection.

[0114] As per the preceding embodiments, the transmission of motion to the resistance member can include a bevel gears and transmission shaft, or pinions and chain, belts and pulleys, or technically equivalents. Alternatively, it can be provided that each shaft of each of the cranks 30 is connected to a respective electromagnetic or technically equivalent resistance member through the respective supporting member 10.

[0115] It should be highlighted here that according to an alternative embodiment of the apparatus of the present invention, two handles can be provided as an alternative to the bar 39, each arranged on a respective end part of a crank 30 mounted on a respective supporting member 10. According to this configuration, the user can perform the motion as previously described, reproducing a paddling stroke even in the absence of bar 39.

[0116] Furthermore, the apparatus of the present invention can also include further accessory systems for the operation and as illustrated below.

Sensors System

[0117] For the simulation of a variable resisting force exerted by the water on the paddle depending on the position of the blade of said paddle in the water, sensors can be provided which can detect the angular position of the handles of the bar 39 or of the cranks 30 and in such a way such as to give more or less resistance to motion.

[0118] For the above purpose, an electronic paddling control system interfaced with the sensor system is provided.

[0119] Optionally, the electronic control system regulates the resisting torque applied by the mechanical resistance member 23 to the transmission, the value of the torque can be a function of: [0120] 1) the angular position of the shafts of the crank arms 30; and/or [0121] 2) the angular position of the handles of the bar 39.

[0122] In a preferred embodiment, the control system is composed of the following components: [0123] a) a microcontroller that implements the control logic, [0124] b) a mechanical resistance member, preferably either an electromagnetic flywheel, or a current generator, or an electric motor, [0125] c) a controller, which transforms the logic signals of the microcontroller into power signals for the mechanical resistance member; [0126] d) sensors for detecting the positions of the paddling assembly; [0127] e) electrical power supply (battery or mains electricity) for the electric mechanical resistance device, in the case of the mechanical resistance device is not a electric generator;

[0128] and, optionally, [0129] f) a virtual reality system, for the simulation of paddling in a virtual environment with a canoe immersed in water, a system that receives input signals from position sensors

First Application of the Control System

[0130] Simulating the periodic impact and resistance of the water to the motion of the paddle blades, in particular simulating the different resistance force exerted by the paddle handle (bar) at the positions of the bar corresponding to the entry of one of the blades into the water with respect to the bar positions when the paddle blades are in the air.

Second Application of the Control System

[0131] Change of direction with virtual reality simulation system. The system sense which blade (right or left) is in the water and, if the system detects an acceleration of the motion of the handle when for example the right blade is in the water (greater force exerted by the user), then the canoe in the virtual environment change direction by turning left, and vice versa with the left blade.

[0132] Alternatively, the system can detect a deceleration or stop of the blade in the water, for example the right one; in this case the canoe in the virtual environment changes direction by turning to the right.

[0133] Through a second type of sensor that detects the angular position of the paddle handles it is possible to determine the angular position of the blades in the water, understanding whether for example if the right blade is in cutting or flat water: if cutting the resistance force of water on the blade is less if it is flat.

Flywheel

[0134] The flywheel can be rotatably mounted onto the frame, or it can be rotatable mounted onto the crank assembly 3.

[0135] The resistance generated by the flywheel and transmitted to the crank assembly 3 can be varied or set. For the setting of said resistance, different systems can be used, such as for example, a mechanical, or magnetic, or electromagnetic system. Optionally, the setting system for setting said resistance can be connected to the electronic control system.

Advantages

[0136] The apparatus of the present invention has numerous advantages.

[0137] A first advantage consists in the fact that the apparatus provides the user with a controlled motion, and with the possibility of regulating said motion, for example the setting of the angles between the axis Y-Y of the shafts of the cranks 30, and/or the setting of the plane of the axis Y-Y of the shafts with respect to the horizon, and therefore the user can isolate specific body muscle areas.

[0138] A second advantage consists in the fact that the apparatus provides the possibility of having a mechanical resistance member which simulates the stopping of the blade in water with the typical resistance force of water. The inertia of the mechanical resistance member simulates the inertia of the boat (canoe), thanks to the rigid connection between the mechanical resistance member and the paddling assembly.

[0139] A third advantage consists in the fact that the apparatus is highly compact compared to state-of-the-art apparatuses. Therefore, it is possible to use the apparatus even in small environments.

[0140] A fourth advantage consists in the fact that the apparatus allows a user to diversify the training by using the cranks or, alternatively, the bar and maintaining the sitting position.

[0141] A fifth advantage consists in the possibility of detecting the position of the user's arms and hands during the paddling cycle, using the information generated by the sensors; therefore, it is possible to adjust the resistance exerted by the mechanical resistance member dynamically during the paddling. The dynamically adjusting of the resistance during paddling is useful for adapting the paddling gymnastic exercise to different users, for example also to users who have particular disabilities or to users in rehabilitation therapy. Adjusting the resistance dynamically during paddling is also useful to make paddling simulation more realistic in virtual reality applications, or to simulate different paddling conditions corresponding, for example, to different weather conditions and/or different conditions of marine or river streams.

[0142] A sixth advantage is given by the use of an electric gearmotor 23 as a mechanical resistance member. Therefore, compared to a traditional apparatus, a change from a mechanically guided motion to an electronically guided motion is foreseen.

[0143] Therefore, it is possible to provide the user a feedback such as an acoustic signal or voice, or visual (with indicator light or on screen), or alternatively, a mechanical resistance (if out of the optimal trajectory) wherein it is possible to increase the resistance because it decreases the paddling efficiency, depending on the position of the paddle.