WHEELCHAIR TRAINING SYSTEM

Abstract

A wheelchair training system comprising a first support assembly configured to rotatably support a first wheel of a wheelchair, and a second support assembly configured to rotatably support a second wheel of the wheelchair. Each of the first and second support assemblies comprises a main frame presenting an open interior space, a front rotor extending across the open interior space of the main frame, a rear rotor extending across the open interior space of the main frame, and a motor operably connected to either the front rotor or the rear rotor. The motor is configured to adjust a rolling resistance experienced by the front rotor or the rear rotor. The motor of the first support assembly and the motor of the second support assembly are configured to operate independently.

Claims

1. A wheelchair training system comprising: a first support assembly configured to rotatably support a first wheel of awheelchair;and a second support assembly configured to rotatably support a second wheel of thewheelchair, wherein each of the first and second support assemblies comprises a main frame presenting an open interior space, a front rotor extending across the open interior space of the mainframe, a rear rotor extending across the open interior space of the main frame,and a motor operably connected to either the front rotor or the rear rotor, wherein the motor is configured to adjust a rolling resistance experienced by the front rotor or the rear rotor, wherein the motor of the first support assembly and the motor of the second support assembly are configured to operate independently.

2. The wheelchair training system of claim 1, wherein the motor of each of the first support assembly and the second support assembly comprises a drive motor configured to rotate the front rotor or the rear rotor.

3. The wheelchair training system of claim 2, wherein the drive motor of each of the first support assembly and the second support assembly is configured to rotate the front rotor or the rear rotor in a forward direction and a rearward direction.

4. The wheelchair training system of claim 1, wherein the motor of each of the first support assembly and the second support assembly comprises an adaptive resistance motor.

5. The wheelchair training system of claim 1, wherein for each of the first support assembly and the second support assembly, the motor is operably connected to the front rotor, and the rear rotor is an idler rotor.

6. The wheelchair training system of claim 1, wherein each of the first support assembly and the second support assembly further comprises an actuator configured to shift the rear rotor forward and rearward with respect to the main frame.

7. The wheelchair training system of claim 6, wherein the rear rotor of each of the first support assembly and the second support assembly is configured to shift along tracks formed in interior sidewalls of the main frame.

8. The wheelchair training system of claim 6, wherein the rear rotor of each of the first support assembly and the second support assembly is configured to translate downward as the rear rotor shifts forward with respect to the main frame.

9. The wheelchair training system of claim 1, wherein each of the first support assembly and the second support assembly further comprises a ramp configured to permit the respective first wheel and second wheel of the wheelchair to roll into the open interior space of the main frame of the first support assembly and the main frame of the second support assembly.

10. The wheelchair training system of claim 1, further comprising a controller configured to independently control the motor of the first support assembly and the motor of the second support assembly, wherein the controller is configured to control the motor of the first support assembly and the motor of the second support assembly to execute an exercise routine program.

11. The wheelchair training system of claim 10, wherein the exercise routine program simulates a route traversable by the wheelchair, wherein the route includes uneven terrain.

12. The wheelchair training system of claim 11, wherein the controller is configured to present, via a graphic display, a visual depiction of the route during execution of the exercise routine program.

13. The wheelchair training system of claim 10, further comprising one or more sensors configured to obtain information regarding the wheelchair training system, the wheelchair, and/or a wheelchair user.

14. The wheelchair training system of claim 13, wherein the controller is configured to function based on the information obtained from the sensors regarding the wheelchair training system, the wheelchair, and/or the wheelchair user.

15. The wheelchair training system of claim 14, wherein the controller is configured to cause the motor of each of the first support assembly and the second support assembly to adjust the rolling resistance of the respective front rotor or rear rotor based on the information obtained from the sensors regarding the wheelchair training system, the wheelchair, and/or the wheelchair user.

16. The wheelchair training system of claim 14, wherein the controller is configured to initiate the exercise routine program based on the information obtained from the sensors regarding the wheelchair training system, the wheelchair, and/or the wheelchair user.

17. The wheelchair training system of claim 13, wherein the sensors are selected from one or more of the following: rotation sensors and load sensors.

18. The wheelchair training system of claim 10, wherein the controller is configured to receive instructions from and/or transmit data to an external device, wherein the external device is selected from one or more of the following: a laptop, a tablet, a smartphone, and a smartwatch or other wearable.

19. A wheelchair training system comprising: a first support assembly including a main frame, a front rotor rotatably supported by the mainframe, a rear rotor rotatably supported by the main frame,and a motor operably connected to either the front rotor or the rear rotor, wherein the motor is configured to adjust a rolling resistance experienced by the front rotor or the rear rotor, wherein the first support assembly is configured to rotatably support a first wheel of a wheelchair between the front rotor and the rear rotor; and a second support assembly including a main frame, a front rotor rotatably supported by the mainframe, a rear rotor rotatably supported by the main frame,and a motor operably connected to either the front rotor or the rear rotor, wherein the motor is configured to adjust a rolling resistance experienced by the front rotor or the rear rotor, wherein the second support assembly is configured to rotatably support a second wheel of the wheelchair between the front rotor and the rear rotor.

20. A method of using a wheelchair training system, said method comprising: (a) supporting a first wheel of a wheelchair between a front rotor and a rear rotor of a first support assembly; (b) supporting a second wheel of the wheelchair between a front rotor and a rear rotor of a second support assembly; (c) adjusting a rolling resistance of the front rotor or the rear rotor of the first support assembly using a first motor; (d) adjusting a rolling resistance of the front rotor or the rear rotor of the second support assembly using a second motor, wherein said adjusting of steps (c) and (d) are performed independently; (e) shifting the rear rotor of the first support assembly forward toward the front rotor of the first support assembly; and (f) shifting the rear rotor of the second support assembly forward toward the front rotor of the second support assembly, wherein said shifting of steps (e) and (f) are configured to assist in removing the wheelchair from the wheelchair training system.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Embodiments of the present invention are described in detail below with reference to the attached drawing figures, wherein:

[0010] FIG. 1 is a front perspective view of a wheelchair training system according to embodiments of the present invention;

[0011] FIG. 2 is a rear perspective view of the wheelchair training system from FIG. 1;

[0012] FIG. 3 is another front perspective view of the wheelchair training system from FIG. 1 with a portion of a right wheel support assembly removed to illustrate interior components of the right wheel support assembly;

[0013] FIG. 4 is a front perspective view of the wheelchair training system from FIG. 1, further including a wheelchair mounted in the wheelchair training system;

[0014] FIG. 5 is a rear perspective view of the wheelchair training system and wheelchair from FIG. 4;

[0015] FIG. 6 is another front perspective view of the wheelchair training system and wheelchair from FIG. 4 with a portion of a right wheel support assembly removed to illustrate interior components of the right wheel support assembly;

[0016] FIG. 7 is a side elevation view of the wheelchair training system and wheelchair from FIG. 6;

[0017] FIG. 8 is another front perspective view of the wheelchair training system and wheelchair from FIG. 4 with a portion of a right wheel support assembly removed to illustrate interior components of the right wheel support assembly, and with a rear rotor shifted forward within the right wheel support assembly to aid in ejecting the wheelchair from the wheelchair training system;

[0018] FIG. 9 is a side elevation view of the wheelchair training system and wheelchair from FIG. 8;

[0019] FIG. 10 is a rear perspective view of a main frame of a wheel support assembly from the wheelchair training system of FIG. 1, with the main frame supporting a control motor and a positioning mechanism for adjusting a position of a rear rotor with respect to the main frame, and with the positioning mechanism being in a lowered position;

[0020] FIG. 11 is a side elevation view of a portion of the main frame from FIG. 10;

[0021] FIG. 12 is a cross section taken along the line 1212 from FIG. 11;

[0022] FIG. 13 is another rear perspective view of the main frame from FIG. 10, with the positioning mechanism being in a raised position;

[0023] FIG. 14 is a side elevation view of a portion of the main frame from FIG. 13;

[0024] FIG. 15 is a cross section taken along the line 1515 from FIG. 13;

[0025] FIG. 16 is a schematic view of a controller for the wheelchair training system of FIG. 1; and

[0026] FIG. 17 is a schematic illustration of a wheelchair wheel being ejected from the wheelchair training system of FIG. 1.

[0027] The figures are not intended to limit the present invention to the specific embodiments they depict. While the drawings do not necessarily provide exact dimensions or tolerances for the illustrated structures or components, the drawings are to scale with respect to the relationships between the components of the structures illustrated in the drawings.

DETAILED DESCRIPTION

[0028] The following detailed description of embodiments of the invention references the accompanying figures. The embodiments are intended to describe aspects of the invention in sufficient detail to enable those with ordinary skill in the art to practice the invention. The embodiments of the invention are illustrated by way of example and not by way of limitation. Other embodiments may be utilized and changes may be made without departing from the scope of the claims. The following description is, therefore, not limiting. The scope of the present invention is defined only by the appended claims, along with the full scope of equivalents to which such claims are entitled.

[0029] In this description, references to one embodiment, an embodiment, or embodiments mean that the feature or features referred to are included in at least one embodiment of the invention. Separate references to one embodiment, an embodiment, or embodiments in this description do not necessarily refer to the same embodiment and are not mutually exclusive unless so stated. Specifically, a feature, component, action, step, etc. described in one embodiment may also be included in other embodiments, but is not necessarily included. Thus, particular implementations of the present invention can include a variety of combinations and/or integrations of the embodiments described herein.

[0030] Embodiments of the present invention are directed to a wheelchair training system 100, as illustrated in FIGS. 1-3, which is accessible by a wheelchair 10 (as illustrated in FIGS. 4 and 5) to permit a wheelchair user to perform exercise training in a simulated environment, such as though virtual exercise routines. The system 100 broadly comprises pair of wheel support assemblies 102, which may include a left wheel support assembly 102 and a right wheel support assembly 102. As will be discussed in more detail below, and as illustrated by FIGS. 4 and 5, the left wheel support assembly 102 is configured to rotatably, yet stably, support a left wheel 12 of the wheelchair, while the right wheel support assembly 102 is configured to rotatably, yet stably, support a right wheel 12 of the wheelchair 10.

[0031] With reference to FIGS. 1-5, the wheel support assemblies 102 may each generally comprise a main frame 104 that presents an open interior space configured to at least partly receive one of the wheels 12 of the wheelchair 10. Each main frame 104 may include (or be at least partly enclosed by) an exterior housing, such as a plastic housing. Each of the wheel support assemblies 102 may further comprise a drive motor 106 operably connected to and configured to drive either a front rotor 108 or a rear rotor 110 of the respective wheel support assembly 102. An exemplary drive motor 106 is shown in FIG. 3 positioned within the interior of the main frame 104 and being operably connected to and configured to drive a front rotor 108. In certain embodiments, the drive motors 106 of the wheelchair training system 100 will be operably connected to and configured to drive a front rotor 108.

[0032] For each wheel support assembly 102, the front rotor 108 extends across the interior space presented by the main frame 104 at a position adjacent to a front end of the main frame 104. The front rotor 108 is rotatably supported by the main frame 104, e.g., via bearings positioned at ends of the front rotor 108. And, as noted above, the front rotor 108 may be operably coupled to and rotatably driven by an associated drive motor 106. Similarly, for each wheel support assembly 102, the rear rotor 110 extends across the interior space presented by the main frame 104 at a position adjacent to a rear end of the main frame 104. The rear rotor 110 is rotatably supported by the main frame 104, e.g., via bearings positioned at ends of the rear rotor 110. In some embodiments, the rear rotors 110 of the wheelchair training system 100 will not be rotatably driven by motors, such that the rear rotors 110 are considered idler rotors.

[0033] However, as will be discussed in more detail below, each of the wheel support assemblies 102 may further comprise an actuator configured to shift the position of the rear rotor 110 forward and rearward with respect to the main frame 104 (e.g., closer to and further away from the front rotor 108). For instance, a position of each of the rear rotors 110 may be shifted forward and/or rearward by a control motor 112 and/or a positioning mechanism 114 associated with each wheel support assembly 102 (See FIGS. 3 and 6-15). Notwithstanding the ability of the rear rotors 110 to move forward and rearward, the rear rotors 110 remain rotatably supported by the main frames104.

[0034] As discussed herein, the wheels 12 of the wheelchair 10 will be supported between the front and rear rotors 108, 110 when the wheelchair 10 is mounted within the wheelchair training system 100. The front and rear rotors 108, 110 may be designed with a specific shape to prevent the wheelchair wheels from slipping laterally within the main frames 104 during operation of the wheelchair training system 100. For example, a circumference of the rotors 108, 110 may vary along their length. As perhaps best illustrated in FIG. 10, the circumference of the rotors 108, 110 may gradually increase moving away from a center of the rotors 108, 110, creating a concave profile. Such a design causes the wheelchair 10 wheels 12 to naturally settle toward the center of the rotors 108, 110, where the circumference is smallest, helping to keep the wheels 12 properly aligned and securely positioned.

[0035] Returning to FIGS. 1-5, each of the wheel support assemblies 102 may include a ramp 116 that is rotatably connected to a front of an associated main frame 104. The ramps 116 may be lowered to provide a shallow incline to facilitate the ability of the wheelchairs 10 wheels 12 to travel up along the ramps 116 and into the interior space of the main frames 104. Similarly, the wheels 12 can be dismounted from the main frames 104 and exit the wheelchair training system 100 by rolling down the ramps 116. The ramps 116 may, alternatively, be folded up for compactness of the system 100, such as for transport or storage.

[0036] The wheel support assemblies 102 may, in some embodiments, be separate and discrete units to aid in storage and transport. For example, each of the wheels support assemblies 102 may be stacked on one another to reduce their storage footprint. The discrete nature of the wheels support assemblies 102 can allow them to be easily positioned to accommodate wheelchairs 10 of different wheelbase or track lengths. In additional embodiments, however, a pair of wheel support assemblies 102 may be integrated, attached, or otherwise connected or formed as a single unit. For example, as illustrated in FIGS. 1 and 2, the wheelchair training system 100 may additionally comprise a connection mechanism 118 that interconnects the left wheel support assembly 102 and the right wheel support assembly 102 to, thereby, stably support the wheel support assemblies 102 in position with respect to each other. As such, the connection mechanism 118 can ensure that the left and right wheel support assemblies 102 are the proper distance apart from each other to support the wheels 12 of the wheelchair 10. In certain embodiments, the connection mechanism 118 may be connected to the wheel support assemblies 102 via a track assembly, such that the left and right wheel support assemblies 102 can move further apart or closer together with respect to each other, via the track assembly, to achieve various spacings that may be required for wheelchairs having wheels of different wheelbase or track lengths. In certain embodiments, the connection mechanism 118 may include an actuator, such as a motor, for adjusting the positions of the left and right wheel support assemblies 102 with respect to each other about the track assembly.

[0037] The wheelchair training system 100 may, as illustrated in FIG.16, include one or more controllers 120 that provide control and communication functionality for the system 100, as described in more detail below. The controller 120 may broadly comprise one or more processing elements 122, one or more memory elements 124, and/or one or more communication elements 126. The processing element 122 may implement operating systems, and may be capable of executing a computer program (which may be stored on the memory element 124), which is also generally known as instructions, commands, software code, executables, applications (apps), and the like. The processing element 122 may include processors, microprocessors, microcontrollers, field programmable gate arrays, and the like, or combinations thereof. The memory element 124 may be capable of storing or retaining the computer program and may also store data, typically binary data, including text, databases, graphics, audio, video, combinations thereof, and the like. The memory element 124 may also be known as a non-transitory computer-readable storage medium and may include random access memory (RAM), read only memory (ROM), flash drive memory, floppy disks, hard disk drives, optical storage media, and the like, or combinations thereof. In general, the memory element 124 may be configured to store all of the information described herein, which is used to carry out the methods and processes of embodiments of the present invention. Such methods and processes of the present invention, as described herein, may be performed (at least partly) by the processing element 122 of the controller 120 executing the computer program stored on the memory element 124. In addition to the general data described above, the memory element 124 of the wheelchair training systems 100 controller 120 may be configured to store user data, wheelchair data, performance data, and/or exercise routine programs, as will be described in more detail below.

[0038] The communication element 126 may be configured to permit the wheelchair training system 100 to send/receive data between different devices (e.g., external/peripheral devices, graphic displays, etc.) and/or over one or more communications networks. The communication element 126 may include various communication components and functionality including, but not limited to: one or more antennas; a transmitter, receiver, and/or transceiver; a wireless radio; data ports; software interfaces and drivers; networking interfaces; data processing components; and so forth. The networks over which the communication element 126 may communicate include various wired and wireless networks, such as a local area network, a wide area network, an intranet, the Internet; a satellite network; a cellular network; a mobile data network; and the like. Specific examples wireless networks include, but are not limited to: networks configured for communications according to: one or more standard of the Institute of Electrical and Electronics Engineers (IEEE), such as 802.11 or 802.16 (Wi-Max) standards; Wi-Fi standards promulgated by the Wi-Fi Alliance; Bluetooth standards promulgated by the Bluetooth Special Interest Group; and so on. Wired communications are also contemplated such as through universal serial bus (USB), Ethernet, serial connections, and so forth.

[0039] For example, the communication element 126 may permit the wheelchair training system 100 to communicate with a graphic display 127, which may comprise a LCD (Liquid Crystal Diode) display, a TFT (Thin Film Transistor) LCD display, an LEP (Light Emitting Polymer) or PLED (Polymer Light Emitting Diode) display, and/or the like, which is configured to display text and/or graphical information to a user, such as in the form of a graphical user interface (GUI). For example, the wheelchair training system 100 may transmit data, via the communication element 126, to the graphic display 127, such that the graphic display may generate and display simulated visual environments associated with virtual exercise routines, which the wheelchair user can view while the wheelchair user is using the system 100.

[0040] In addition to the above, the controller 120 may communicate with other peripheral devices 128 (e.g., external, paired devices), such as smartphones, tablets, laptops, external computers, wearable devices (e.g., smartwatches), touchscreen displays, other training systems or the like. As discussed in more detail below, such peripheral devices 128 may be used by the wheelchair user to provide control inputs to the wheelchair training system 100. In some additional embodiments, the controller 120 of the wheelchair training system 100 may comprise control elements 129 (e.g., input/output I/O elements) integrated with the wheelchair training system 100, such as a keypad, buttons, dials, knobs, track stick, touchscreen display, remote control, etc., which can be used by the wheelchair user to provide control inputs to the wheelchair training system 100. The control elements 129 may also include one or more audio I/O devices, such as a microphone, speakers, and the like.

[0041] The controller 120 may be configured to independently control the drive motors 106 of each of the wheel support assemblies 102, such that the drive motors 106 can drive (e.g., rotate) the front rotors 108 in a forward direction and/or a backward direction (or resist rotation in either direction) to provide desired movement and rolling resistance. Specifically, when the wheels 12 of the wheelchair 10 are received within the interior spaces presented by the main frames 104 of the wheel support assemblies 102, the wheels 12 will be supported in place between the front and rear rotors 108, 110. The wheelchair user can manually actuate/rotate the wheels 12 (e.g., via the wheelchair users hands while the user is seated in the wheelchair 10), while the wheelchair 10 remains stationary within the wheelchair training system 100. Such functionality is achieved by way of the wheels 12 being secured between the front and rear rotors 108, 110, with such rotors 108, 110 being rotatably secured to the main frames 104. In addition, however, the drive motors 106 ability to rotatably drive the front rotors 108 forward and/or backward (or resist rotation in either direction) allows the wheelchair training system 100 to adjust the forces experienced by the wheelchair user actuating the wheels 12. Use of the dual motors 106 (i.e., one on each of the left wheel support assembly 102 and the right wheel support assembly 102) allows for independent control and operation of the drive motors 106 and, thus, the front rotors 108. As a result, each wheel 12 of the wheelchair 10 can be driven (or resisted) independently, to independently adjust the forces experienced by the wheelchair user actuating the left and right wheels 12, and to otherwise improve the feel and control of the wheelchair training system 100.

[0042] For example, a wheelchair user may wish to exercise one arm more than the other arm, which may be accomplished by increasing resistance (e.g., rolling resistance) of one of the front rotors 108 compared to the other (by controlling the respective drive motors 106). Exercise routines (e.g., interval routines) can be created, stored on the controller 120, and executed by the controller 120 to instruct the left and right drive motors 106 to vary the required exercise intensity between the wheelchair users left and right arms. The adaptive resistance provided by the drive motors 106 to the front rotors 108 allows the wheelchair training system 100 to accommodate a variety of use cases for wheelchair users. For general exercise, the drive motors 106 can apply, via the front rotors 108, uniform resistance to both wheels 12, simulating straight-line movement and providing a consistent workout. The independent control of each motor 106 also enables targeted training, where one wheel 12 of the wheelchair 10 can encounter greater resistance than the other wheel 12, allowing the wheelchair user to focus on strengthening one arm or practicing turning maneuvers. This is especially useful for interval training, where resistance can be varied between the left and right wheels 12 of the wheelchair 10 to create a more dynamic workout. In virtual exercise routines or simulations (discussed in more detail below), adaptive resistance provided by the drive motors 106 to the front rotors 108 can mimic real-world conditions that can be encountered by the wheelchair 10, e.g., uneven terrain or sharp turns, by increasing the resistance on one side of the wheelchair training system 100 (i.e., on one of the wheel support assemblies 102), thereby requiring the wheelchair user to exert more effort on one wheel 12 than the opposite wheel 12. Additionally, as discussed in more detail below, the wheelchair training system 100 can simulate different terrain conditions via virtual exercise routines, such as uphill or downhill resistance, to enhance training realism.

[0043] In some embodiments, the drive motors 106 may comprise an adaptive resistance motor. In alternative or additional embodiments, the drive motors 106 may comprise brushless DC motors, which provide high efficiency, low maintenance, and precise control. Brushless DC motors operate without the use of brushes, reducing wear and allowing for smoother and quieter operation, which is particularly beneficial in exercise systems where noise and durability are considerations. These brushless DC motors provide consistent torque and are highly responsive, enabling precise adjustments to the resistance applied to each wheel, which improves the overall control and experience for the wheelchair user.

[0044] However, the drive motors 106 of the wheelchair training system 100 are not limited to brushless DC motors; other motor types may be used depending on the desired functionality and cost considerations. For instance, brushed DC motors could be employed in configurations where cost is a primary concern, though such motors may require more frequent maintenance due to brush wear. Alternating current (AC) motors could also be used for high-power applications where greater torque is required. In addition, a single drive motor 106 may, in some embodiments, be used to drive both front rotors 108, simplifying the design while still offering basic functionality.

[0045] The rear rotors 110 are positioned at the rear of the main frame 104 to support and retain the rear edges of the wheels 12 of the wheelchair 10 when the wheelchair 10 is mounted in the wheelchair training system 100 (with the front rotors 108 supporting the front edges of the wheels 12). As different wheelchairs 10 may have different wheel 12 sizes (e.g., different circumferences), the positions of the rear rotors 110 may be adjustable (in a front to back direction) such that the distance between the front rotors 108 and rear rotors 110 are correspondingly adjustable. For instance, as perhaps best shown in FIGS. 1-3, each of the rear rotors 110 may be slidingly supported by its respective main frame 104 via grooves or tracks 130 formed in the left and right interior sides or sidewalls of the main frame 104. Although the figures illustrate the tracks 130 positioned on the left sides of the wheel support assemblies 102 (i.e., to movingly support the left ends of the rear rotors 110), it should be understood that the right sides of the wheel support assemblies 102 similarly have tracks 130 for movingly supporting the right ends of the rear rotors 110. Each track 130 may include a rear stop 132 and a front stop 134 (see FIG. 3), which define the back-to-front limits the rear rotors 110 can travel along the track 130.

[0046] As illustrated, the tracks 130 are generally angled in a downward orientation (from back to front), such that the rear rotor 110 will (when no wheelchair 10 is mounted in the wheelchair training system 100) generally be configured to roll forward (and downward) along a bottom surface of the tracks 130 until the rear rotor 110 makes contact with the front stop 134. As illustrated in FIGS. 13 and 15, the ends of the rear rotor 110 may have bearings or wheels that allow the rear rotor 110 to travel along the tracks 130 via rolling engagement between the bearings and the bottom surface of the track 130. When a wheelchair 10 is being mounted in the wheelchair training system 100, the wheels 12 of the wheelchair 10 will roll up the ramps 116, over the front rotors 108, and into the interior space presented by the main frames 104. At such point, the rear edges of the wheels 12 will force the rear rotors 110 rearward, up the tracks 130 until the rear rotors 110 make contact with the rear stop 132. As such, the wheels 12 will be supported in place between the front and rear rotors 108, 110, as shown in FIGS. 6 and 7.

[0047] In some embodiments, the front-to-back position of each of the rear rotors 110 may be adjusted by the previously described control motors 112 and/or the positioning mechanisms 114. In more detail, as perhaps best illustrated by FIGS. 10-15, the control motor 112 of each wheel support assembly 102 may be configured to shift the position of the associated rear rotor 110 forward and/or rearward within the wheel support assembly 102, such as via actuation of the positioning mechanism 114. As illustrated in FIGS. 9 and 13, the positioning mechanism 114 may comprise a crossmember 114(a) that extends laterally across the interior space presented by the main frame 104. The control motor 112 may be operably engaged with the crossmember 114(a), with both of such components being positioned at the rear of the wheel support assembly 102. The positioning mechanism 114 may additionally comprise a pair of lever arms 114(b) (i.e., a right lever arm 114(b) and a left lever arm 114(b)), each being positioned generally at the left and right interior sides of the main frame 104, just below an associated track 130. A front end of each of the lever arms 114(b) is pivotably secured to the main frame 104 (see FIGS. 2 and 3), while a rear end of each lever arm 114(b) is operably engaged with one of the lateral sides of the crossmember 114(a) (see FIGS. 10 and 13). As a result, the control motor 112 can raise and lower the crossmember 114(a), which in turn pivots the lever arms 114(b) such that that portions of the lever arms 114(b) rearward of the respective pivot points correspondingly moves upward anddownward.

[0048] When the crossmember 114(a) is in the lowered position (see FIGS. 10-12), each of the lever arms 114(b) is also in a lowered position, with generally the entire length of each lever arm 114(b) being positioned below the track 130. As such, the lever arms 114(b) do not interfere with movement of the rear rotor 110 along the track 130. In contrast, when the crossmember 114(a) is raised by the control motor 112 (see FIGS. 13-15), the crossmember 114(a) raises rearward portions of the lever arms 114(b), such that the rearward portions of the lever arms 114(b) extend above the bottom surfaces of the tracks 130. The raised lever arms 114(b) thereby act as a selective blocking mechanism to prevent rearward translation of the rear rotor 110 beyond the point where the lever arms 114(b) begin to extend above the bottom surface of the tracks 130. The extent to which the crossmember 114(a) is raised defines the length of the rearward portions of the lever arms 114(b) that extend above the bottom surface of the tracks 130. The more the lever arms 114(b) are raised, the point at which the lever arms 114(b) begin to extend above the bottom surface of the tracks 130 extends closer and closer to the front rotor 108. As such, rearward movement of the rear rotor 110 is prevented by the raised lever arms 114(b), such that when a wheelchair 10 is mounted into the wheelchair training system 100, the wheels 12 of the wheelchair 10 will not force the rear rotor 110 all the way rearward to the rear stop 132. Instead, the wheels 12 of the wheelchair 10 will only force the rear rotor 110 to the point at which the lever arms 114(b) extend above the bottom surface of the tracks130.

[0049] As a result, the control motor 112 and the positioning mechanism 114 can be used to adjust the wheel support assemblies 102 to support wheelchairs with various sized wheels (i.e., various diameter lengths). Specifically, as discussed above, for wheelchairs with larger sized wheels, the lever arms 114(b) may be maintained in a lowered position, below the tracks 130, such that when the wheelchair is mounted within the wheelchair training system 100, the wheels 12 of the wheelchair 10 will force the rear rotor 110 rearward against the rear stop 132 (see, e.g., FIGS. 4-7). As such, the distance between the rear rotors 110 and the front rotors 108 is at a maximum, to support a larger sized wheels. To support wheelchairs with wheels having a reduced size, the distance between the rear rotor 110 and the front rotor 108 can be reduced by raising the lever arms 114(b) to the appropriate positions to block movement of the rear rotor 110 rearward. As such, when such a wheelchair is mounted within the wheelchair training system 100, the wheels of the wheelchair will force the rear rotor 110 rearward against the lever arms 114(b) (at the point where the lever arms 114(b) extend above the bottom surface of the tracks 130), such that the distance between the rear rotors 110 and the front rotors 108 are at less than the maximum, to thereby support the smaller sized wheels.

[0050] The control motor 112 and the positioning mechanism 114 can also be used to assist a wheelchair user in dismounting the wheelchair 10 from the wheelchair training system 100. For example, when the wheelchair 10 is mounted within the wheelchair training system 100, the wheels 12 of the wheelchair will be supported between the front and rear rotors 108, 110 of the wheel support assemblies 102 (see, e.g., FIGS. 4-7). To dismount the wheelchair 10 from the wheel support assemblies 102, the rear rotors 110 can be forced forward towards the front rotors 108 by the control motors 112 through the positioning mechanisms 114. Specifically, the control motors 112 can raise the crossmember 114(a), which in turn raises the lever arms 114(b) to force the rear rotors 110 forward toward the front rotor 108 (see, e.g., FIGS. 8 and 9). At the same time, the front rotor 108 may be driven forward by the drive motors 106 to assist in forcing the wheels 12 out of the wheel support assemblies 102. It is noted that such actuation by the wheelchair training system 100 may be used to supplement the force on the wheelchair 10 wheels 12 imparted by the wheelchair user. As such, the wheels 12 can be dislodged from the wheel support assemblies 102 and exit down the ramps 116 off the wheelchair training system 100.

[0051] FIG. 17 illustrates positions of a wheelchair 10 wheel 12 (a) when securely engaged within a wheel support assembly between the front and rear rotors 108, 110 (see solid line), and (b) when being forced out of the wheel support assembly by (i) actuation by the rear rotor 110, and/or (ii) rotation of the front rotor 108. It is noted that the wheel 12 is at least partly raised (e.g., as evidenced by the position of the wheel 12 and the wheels 12 center of gravity) when being dismounted from the wheel support assembly 102. As such, the wheel support assembly 102 assists in forcing the wheel 12 forward and raising the wheelchair 10 to dismount the wheelchair 10 from the wheelchair training system 100. It should be understood that the control motor 112 and/or the positioning mechanism 114 may be controlled by the controller 120.

[0052] The wheelchair training system 100 may include one or more sensors 140, as illustrated schematically in FIG. 16 as part of the controller 120, which may collect information to assist the mounting and dismounting of the wheelchair 10 from the system 100. Such sensors 140 may include load sensors, position sensors, torque sensors, rotation sensors or the like, which are associated with the front and/or rear rotors 108, 110. The information or data obtained by the sensors 140 may be received, analyzed, and/or used by other components of the controller 120 (e.g., by the processing elements 122 and/or memory elements 124) As such, the controller 120 may control the wheelchair training system 100 based in part on the information collected from the sensors 140. For example, the controller 120 may cause the drive motor 106 of each of the wheel support assemblies 102 to adjust the rolling resistance of the respective front rotor 108 or rear rotor 110 based on the information obtained from the sensors 140 regarding the wheelchair training system 100, the wheelchair 10, and/or the wheelchair user.

[0053] In more detail, to facilitate an entry operation and/or an exit operation of the wheelchair 10 into the wheelchair training system 100, the front-to-back positions of the rear rotors 110 may be controllable by the control motors 112 through the positioning mechanisms 114. For instance, in an unmounted state, the control motors 112 may shift the positions the rear rotors 110 forward into close proximity to the front rotors 108. When the wheelchair training system 100 detects that the wheels 12 of the wheelchair 10 have entered the wheel support assemblies 102, such as when torque, weight, or movement is detected by the sensors 140 on one or more of the rotors 108, 110, the control motors 112 may slowly ease the rear rotors 110 rearward to their intended positions, without dropping the wheels 12 or requiring the wheelchair user to exert great effort. To help the wheelchair user exit the system 100, the control motors 112 may slowly force the rear rotors 110 forward, while the drive motors 106 slowly engage the front rotors 108 in the opposite direction, to push the wheelchair out of the wheel support assembly 102, again without requiring significant effort by the wheelchair user. Alternatively, wheelchair user inputs from peripheral devices (e.g., smartphone, training systems, video displays) and/or from the control elements 129 on the wheelchair training system 100 itself can be used to trigger the exit operation.

[0054] In some embodiments, the wheelchair training system 100 is configured to allow the wheelchair user to provide control inputs to the system 100 through specific patterns of wheel rotation of the wheelchair 10 wheels 12. As such, the wheelchair user can enable operation of and/or inputs to the wheelchair training system 100 without requiring use of the control elements 129 or other peripheral devices. For instance, the wheelchair user may rotate one or both wheelchair 10 wheels 12 in a pre-defined sequence, such as three short rotations with a one-second pause between each rotation. This rotation pattern may be detected by sensors 140 (e.g., position or rotation sensors) monitoring the movement of the front and/or rear rotors 108, 110. The controller 120 may recognize the pattern, and the controller 120 may interpret the pattern as an input command to (i) initiate a training routine, (ii) initiate the exit operation, and/or (ii) cause the wheelchair training system to otherwise perform another function. For example, if the rotation pattern is configured to initiate the exit operation of the wheelchair training system 100, upon receiving the input from the wheelchair user, the controller 120 will cause the front rotors 108 and/or the rear rotors 110 to respond by adjusting their position and movement. As was previously described, the controller 120 may instruct the control motors 112 of each of the wheel support assemblies 102 to actuate the positioning mechanisms 114 to force the rear rotors 110 forward, thereby pushing the wheels 12 of the wheelchair 10 forward out of the main frames 104 of the wheel support assemblies 102. In alternative embodiments, or in addition, such instructions to initiate the exit operation may be provided by the control elements 129 of the wheelchair training system 100.

[0055] Turning to the sensors 140 in more detail, as was noted above, the sensors 140 may comprise load sensors, position sensors, rotation sensors, torque sensors, or the like. As specific examples, the sensors 140 may include encoders, load cells, and strain gauges integrated into the front and/or rear rotors 108, 110 (or other components of the wheelchair training system 100) to monitor the movement and force applied to (or by) the wheelchair 10 wheels 12 when the wheelchair 10 is mounted within the system 100. For example, encoders may be used to track the rotational speed and/or position of the rotors 108, 110, allowing the controller 120 to detect specific rotation patterns provided by the wheelchair user, such as the pre-defined sequence of small rotations mentioned above. Additionally, torque sensors may be integrated into the drive motors 106 themselves, enabling the controller 120 to sense the applied torque from the wheelchair 10 wheels 12. Such data can be used to adjust resistance levels of the drive motors 106 (and thus the front rotors 108) in real-time or trigger control inputs based on the wheelchair user's movements. For instance, if a higher torque is detected on the left wheel 12 of the wheelchair 10, the controller 120 may cause the drive motor 106 on the left wheel support assembly 102 to increase resistance on the left front rotor 108. In addition, or alternatively, the controller 120 may adjust the relative positions of the left side front and rear rotors 108, 110 (e.g., via the left side control motor 112 and/or positioning mechanism 114) to aid in balance and positioning of the left wheel 12. As a result, further enhancement of the wheelchair users control over the wheelchair training system 100 can be achieved without the need for peripheral devices 128 to control the system 100.

[0056] The above described method of control of the wheelchair training system 100 is especially useful for wheelchair users with limited dexterity or those who prefer not to use peripheral devices like remote control units or smartphones. The use of wheel rotation of the wheelchairs 10 wheels 12 as an input allows the wheelchair user to remain seated and to maintain full control over the wheelchair training system 100 through intuitive movements. The wheelchair training system 100 can be programmed to recognize various rotation patterns for different commands, such as initiating the exit process, adjusting resistance settings of the drive motors 106 and/or front rotors 108, changing exercise routine programs (as discussed in more detail below) or parameters thereof, or even stopping the wheelchair training system 100, thus offering a customizable and flexible interface with the system 100.

[0057] In an alternative embodiment, the wheelchair training system 100 may include a mechanical blocking mechanism configured to selectively prevent rotation of the front rotor 108. The blocking mechanism may be operatively associated with the front rotor 108 and arranged to physically restrict rotational movement when actuated. Such blocking may be accomplished through engagement of a lever, push brake, cam lock, or other suitable mechanical device that frictionally or positively locks the rotor 108 against rotation. The blocking mechanism may be accessible to the wheelchair user during operation of the wheelchair training system 100, enabling the user to manually engage or release the front rotor 108 as desired. In some implementations, the blocking mechanism may be positioned on or adjacent to the main frame 104 or the wheel support assembly 102, and may be designed to require minimal dexterity or force to operate.

[0058] When the front rotor 108 is mechanically blocked from rotation, the wheelchair 10 user may apply a forward pushing force against the stationary rotor 108 using the wheelchair 10 wheels 12. This action allows the user to propel the wheelchair 10 forward and out of the wheel support assembly 102 without requiring actuation of the control motors 112 or the drive motors 106. The blocking mechanism may thus serve as an alternative or backup exit feature that operates independently of the controller 120 or the sensors 140. In certain embodiments, the blocking mechanism may include a detent or indicator to confirm engagement, and may automatically disengage when the wheelchair 10 exits the system 100 or when a specified release input is detected.

[0059] In some embodiments, the wheelchair training system 100 may further include a restraint mechanism configured to secure the wheelchair 10 within the system 100 during operation. The restraint mechanism may comprise one or more belts, straps, ropes, or similar flexible connectors that can be selectively attached between the wheelchair 10 and the main frame 104 or the wheel support assemblies 102. The restraint mechanism may function to stabilize the wheelchair 10 by restricting unwanted movement, such as tilting from side to side, rolling forward or backward, or drifting laterally while the wheelchair 10 is mounted within the wheelchair training system 100. The restraint mechanism may include adjustable connection points or locking features that enable the user to easily attach or detach the restraint while remaining seated in the wheelchair 10.

[0060] In certain embodiments, the restraint mechanism may be operatively coupled with the mechanical blocking mechanism associated with the front rotor 108. For example, actuation of the blocking mechanismsuch as by engaging a lever or push brakemay cause the restraint mechanism to automatically tighten around the wheelchair 10, thereby securing it firmly within the wheel support assemblies 102. Conversely, when the blocking mechanism is released, the restraint mechanism may correspondingly loosen or disengage, allowing the wheelchair 10 to exit the system 100. This functional coupling may be achieved through a direct mechanical linkage, cable system, or cam arrangement that synchronizes the tightening and loosening of the restraint with the engagement and release of the blocking mechanism. The restraint mechanism may further include a winding mechanism, such as a torsional spring device, configured to automatically wind and retract the rope, cable, or belt when the restraint mechanism is not in use.

[0061] As discussed above, the memory elements 124 of the controller 120 may store various types of data, such as user data, wheelchair data, exercise data, and exercise routine programs. The user data may include various information related to the wheelchair user using the wheelchair training system 100, such as age, height, weight, sex, fitness level, etc. The wheelchair data may include various information related to the wheelchair 10 being used by the wheelchair user in conjunction with the wheelchair training system, such as make, model, size (e.g., wheelbase length and/or track length), wheel size (e.g., diameter), weight, etc. In certain embodiments, the wheelchair user may enter the user data and/or the wheelchair data manually. However, in other embodiments, the sensors 140 of the wheelchair training system 100 may collect and/or periodically update the user data and/or the wheelchair data. For example, sensors 140 in the form of weight sensors within the wheelchair training system 100 may periodically obtain the weight of the wheelchair user and/or the wheelchair 10. Similarly, sensors 140 in the form of position sensors within the wheelchair training system 100 may obtain a size of the wheelchair 10 and/or the wheels 12 of the wheelchair 10 when the wheelchair 10 is mounted within the wheelchair training system100.

[0062] In addition, the memory elements 124 of the controller 120 may store a plurality of exercise routine programs, which may comprise software or code configured to cause the wheelchair training system 100 to execute virtual exercise routines for the wheelchair user to perform. The virtual exercise routines may comprise simulations of exercise routines, real-world routes, or real-world routes that the wheelchair user can perform when the wheelchair 10 is mounted within the wheelchair training system 100. For instance, the exercise routine program may simulate a route traversable by the wheelchair 10, with the route including uneven terrain. An exemplary virtual exercise routine may comprise a simulation of a wheelchair user using a wheelchair to traverse a course or route having multiple uphill and downhill segments. To simulate such uphill and downhill segments, the wheelchair training system 100 (when executing the exercise routine program) may cause the resistance of the front rotors 108 to be appropriately adjusted by the drive motors 106. For instance, when an uphill segment is being performed by the wheelchair user, the controller 120 of the wheelchair training system 100 may cause the drive motors 106 to increase the resistance of the front rotors 108. As such, rotating the wheels 12 of the wheelchair 10 becomes more difficult for the wheelchair user (i.e., requiring more effort to push the wheels 12), thus, simulating the wheelchair user traveling uphill in the wheelchair 10. In contrast, when a downhill segment is being performed by the wheelchair user, the controller 120 of the wheelchair training system 100 may cause the drive motors 106 to decrease the resistance of the front rotors 108. As such, rotating the wheels 12 of the wheelchair 10 becomes easier by the wheelchair user (i.e., requiring less effort to push the wheels 12), thus, simulating the wheelchair user traveling downhill in the wheelchair 10. More generally, the wheelchair training system 100 can selectively adjust the resistance imparted by the drive motors 106 onto the front rotors 108 in real time to simulate various terrain conditions encountered in virtual routes or courses.

[0063] Other exercise routine programs may generate simulations that include courses or routes with multiple curved segments. Depending on the direction of the simulated curve, the controller 120 of the wheelchair training system 100 may cause the left or right drive motors 106 to increase or decrease the resistance of the left or right front rotors 108. As such, rotating the left or right wheels 12 of the wheelchair 10 becomes more difficult or easier, thus, simulating the wheelchair user making a turn in the wheelchair 10. Thus, the independent control of each motor 106 by the controller 120 enables accurate simulation of turns, where one wheel 12 of the wheelchair 10 may require more resistance than the other, further enhancing the realism of the virtual exercise routine. The wheelchair training system 100 may, via execution of the exercise routine program, also simulate different course types, surfaces, and/or conditions, such as paved roads, gravel roads, dirt tracks, grass surfaces, sandy surfaces, weather conditions (e.g., wet surfaces, windy conditions, etc.), and the like.

[0064] The exercise routine programs may also include software that causes visual depictions of the simulated courses or routes to be presented on the graphic display 127. As such, when the wheelchair user is performing a virtual exercise routine, the controller 120 of the wheelchair training system 100 can simultaneously cause the graphic display 127 to generate a corresponding visual representation of the course or route for the wheelchair user to view to. As such, the wheelchair training system 100 is configured to provide an immersive virtual exercise environment for the wheelchair user. The visual representation of the simulated course or route presented on the graphic display 127 may update in real time as the wheelchair user performs the virtual exercise routine, such that the wheelchair is virtually traversing the simulated course or route presented on the graphic display 127. For example, the above-described simulated course with the uphill and downhill segments may be presented to the wheelchair user on the graphic display 127 as the wheelchair user using the wheelchair to traverse a course extending through a series of rolling hills. Alternatively, the above-described simulated course with the curved segments may be presented to the wheelchair user on the graphic display 127 as the wheelchair user using the wheelchair to traverse a course extending through a series of switchbacks.

[0065] In certain embodiments, the exercise routine programs may also simulate other virtual participants performing the virtual exercise routine. The positions of these virtual participants may be updated in real-time as the wheelchair user performs the virtual exercise routine. As such, the wheelchair user can compete with or race such virtual participants.

[0066] In addition to adjusting resistances of the front rotors 108 to simulate exercise routines, the wheelchair training system 100 may be configured to collect exercise data, which may include performance metrics, such as speed, distance, and power output performed by the wheelchair user when using the system 100 and/or when performing a virtual exercise routine. Such exercise data may be analyzed by the controller 120 of the wheelchair training system 100 or may be transmitted to peripheral devices (e.g., smartphone or wearable device). This allows wheelchair users to monitor their progress, follow personalized training programs, or participate in virtual races. The wheelchair training system 100 enables wheelchair users to benefit from structured workouts and virtual exercise routines designed to improve fitness and technique. The combination of virtual exercise routines and the adaptive resistance from the drive motors 106 offers a dynamic training experience that is both engaging and tailored to the specific needs of the wheelchair user.

[0067] In some embodiments, the wheelchair training system 100 may include one or more integrated lighting elements, such as light-emitting diodes (LEDs), lasers, or similar light projection devices, configured to project light in front of the system 100 during operation. The lighting elements may be mounted on or within the main frame 104, the wheel support assemblies 102, or other structural components of the wheelchair training system 100, and may be oriented to direct illumination onto the floor or surrounding surface area in front of the system 100. During use, the projected light may display visual indicators corresponding to various exercise metrics or system status information, such as power output, speed, distance, resistance level, or operational mode of the wheelchair training system 100. By visually presenting such data within the users natural forward line of sight, the lighting elements provide real-time feedback without requiring the user to look toward a separate display or peripheral device.

[0068] In addition to displaying exercise data, the projected light from the integrated lighting elements may be used to assist with alignment and positioning of the wheelchair 10 during mounting and dismounting of the wheelchair training system 100. For example, the lighting elements may project alignment lines, patterns, or indicators onto the floor in front of the system 100, guiding the wheelchair user into proper alignment with the wheel support assemblies 102. Such visual cues may enable the wheelchair user to accurately position the wheelchair 10 without needing to turn or shift their upper body, thereby simplifying the entry and exit processes. In certain embodiments, the lighting system may dynamically change color, intensity, or pattern to indicate system states, such as readiness for entry, active exercise mode, or completion of a session.

[0069] In some embodiments, the wheelchair training system 100 can be integrated or paired with peripheral device that monitors a heart rate of the wheelchair user (e.g., a wearable device such as a smartwatch or fitness tracker). Such pairing allows for the combination of physiological data from the wearable device with exercise data from the wheelchair training system 100. Heart rate information collected by the wearable device can be synced with the exercise data obtained by the wheelchair training system 100 to provide a comprehensive overview of the wheelchair users exercise session. This integration allows heart rate data to be analyzed alongside key performance metrics from the wheelchair training system 100, including speed, distance, and the force exerted by the wheelchair 10 wheels 12. Furthermore, combining heart rate data with the wheelchair training systems 100 exercise data allows for more personalized virtual exercise routines. For instance, the wheelchair training system 100 can adjust resistance levels of the drive motors 106 and/or front rotors 108 dynamically based on target heart rate zones of the wheelchair user, ensuring that workouts stay within a desired intensity range. The analysis of heart rate, in conjunction with speed and exerted force, also enables the tracking of calorie expenditure, recovery time, and overall fitness improvements over time.

[0070] As described previously, the wheelchair training system 100 is capable of varying resistance independently for each wheel 12 of the wheelchair 10 (e.g., via independent control of the drive motors 106 and associated front rotors 108), allowing the wheelchair training system 100 to account for strength imbalances between the wheelchair user's arms. By adjusting the resistance applied to each wheel 12 through the drive motors 106, the wheelchair training system 100 can compensate for differences in force exerted by the wheelchair user's left and right arms. For users with a weaker arm, the wheelchair training system 100 can reduce the resistance to the wheel 12 on the wheelchair users weak arm side, enabling a more balanced and controlled workout experience. Over time, the wheelchair training system 100 can be programmed to progressively increase the resistance on the wheelchair users weaker side, helping to gradually build strength and symmetry between the arms. This feature is particularly useful for rehabilitation purposes or for athletes looking to address specific muscular imbalances.

[0071] The wheelchair training system 100 may also be configured to increase resistance on one side of the wheelchair training system 100 to strengthen one arm more than the other. By applying greater resistance to the wheel 12 on the targeted side, the wheelchair user is required to exert more effort with that arm, promoting increased muscle engagement and development. This feature is especially useful for wheelchair users who need to focus on strengthening a specific arm due to injury recovery, rehabilitation, or pre-existing strength imbalances. The wheelchair training system 100 allows for precise control of the resistance applied by the drive motors 106 to the front rotors 108, enabling gradual adjustments over time as the wheelchair user's strength improves.

[0072] As noted previously, the wheelchair training system 100 can be equipped with various sensors 140, such as weight sensor to weigh the wheelchair 10 and indirectly determine the wheelchair users weight, which can be used for tracking and training purposes. Such weight sensors may comprise load cells or strain gauge sensors integrated into the main frame 104 or the rotors 108, 110 to measure the force exerted by the wheelchair 10 when the wheelchair 10 is positioned in the wheelchair training system 100. By calculating the combined weight of the wheelchair 10 and the wheelchair user, and subtracting the known weight of the wheelchair 10, the wheelchair training system 100 can derive the wheelchair users weight with precision. This user data can then be utilized to adjust workout intensity, track weight fluctuations over time, and calculate exercise data such as power output and caloric burn.

[0073] Although the invention has been described with reference to the preferred embodiment illustrated in the attached drawing figures, it is noted that equivalents may be employed and substitutions made herein without departing from the scope of the invention as recited in the claims.