Method and system for an exercise unit

Abstract

It is provided an exercise unit incorporating a module for exerting torque countering torque exerted by a user. The exercise unit includes a torque sensor and a processor. The torque sensor includes a first arm connected to a first axis rotatable by the user, and a beam load cell connected to the first arm and associated with a second arm. The second arm is connected to a second axis rotationally associated with the module, and is coaxially coupled to the first axis. Exerting torque on the first axis loads the beam load cell, providing a measured load, which the processor uses to provide a measured exerted torque. The processor is embedded within a motor driver, and its method of operation includes acquiring desired exercising parameters, receiving measurements of motion variable and driving the motor accordingly.

1 - 38 . (canceled) 
     
     
         39 . A high-viscosity, substantially homogeneous paste comprising An exercise unit incorporating a module for exerting torque countering torque exerted by a user, the exercise unit including:
 (a) a torque sensor comprising:
 (i) a first arm connected to a first axis rotatable by the user; 
 (ii) a beam load cell associated with said first arm and associated with a second arm, said beam load cell having a loading point at a certain distance from said first axis, and exerting torque on said first axis loading said beam load cell and sampling a measured load; and 
 (iii) said second arm being associated with a second axis rotationally associated with the module, and coaxially coupled to said first axis; 
   and   (b) a processor adapted to receive the measured load and calculate an exerted torque in accordance with said measured load and said certain distance.   
     
     
         40 . The exercise unit of  claim 39 , wherein said beam load cell is a planar beam load cell shaped as a substantially box having thickness smaller than 15 mm. 
     
     
         41 . The exercise unit of  claim 39  wherein said beam load cell connects two parts of a certain arm selected from the group consisting of said first arm and said second arm, a first part connected to a respective axis associated with said certain arm, and a second part connected to the other arm of said first arm and with said second arm. 
     
     
         42 . The exercise unit of  claim 39 , wherein the module is adapted to apply counter torque for both clockwise and counter-clockwise rotational directions, and for automatically switching between the two counter torque directions upon change of rotational direction by the user. 
     
     
         43 . The exercise unit of  claim 39  further including:
 (a) a motor driver driving a motor exerting torque in the exercise unit, the driver being associated with the motor, and with a man-machine interface unit; 
 (b) a user interface adapted for receiving one or more desired exercising parameters from said man-machine interface unit; 
 (c) one or more sensor interfaces adapted for receiving measurements of motion variables from one or more motion sensors; 
 (d) said processor adapted for driving the motor in accordance with said desired exercising parameters and in accordance with at least one parameter selected from the group of parameters consisting of:
 (i) a torque value determined in accordance with at least two measured motion variables; 
 (ii) a fed back control torque signal for reducing the deviation of a measured torque from a desired torque, the fed back control signal being determined by at least two values selected from a group of values consisting of an angular position relative to an initial angular rest position, an angular velocity, and an angular acceleration; 
 (iii) one or more operating parameters for exerting one or more torque pulses during exercising; and 
 (iv) one or more operating parameters for overlaying vibrations on the exerted torque. 
 
 
     
     
         44 . The exercise unit of  claim 43 , wherein the system further includes a storage for facilitating receiving data related to a user, storing data related to a user, and retrieving data related to a user. 
     
     
         45 . The exercise unit of  claim 43 , wherein said one or more motion sensors include at least one sensor selected from the group of sensors consisting of, an angle sensor, a velocity meter and an acceleration meter. 
     
     
         46 . A method for operating an exercise unit incorporating a module for exerting torque countering torque exerted by a user, the method comprising:
 (a) providing a torque sensor comprising:
 (i) a first arm connected to a first axis rotatable by the user; 
 (ii) a beam load cell associated with said first arm and associated with a second arm, said beam load cell having a loading point at a certain distance from said first axis; and 
 (iii) said second arm being connected to a second axis rotationally associated with the module, and coaxially coupled to said first axis; 
   
       and upon exerting torque on said first axis loading said beam load cell
 (b) sampling a load measurement to determine the load exerted on said beam load cell; and 
 (c) calculating a measured exerted torque in accordance with said measured load and with said certain distance. 
 
     
     
         47 . The method of  claim 46  wherein the method further includes the step of using the measured exerted torque in one or more control loops for reducing the deviation of the measured exerted torque from a desired torque. 
     
     
         48 . The method of  claim 47  wherein a control signal depends on the measured exerted torque and on at least one additional motion variable. 
     
     
         49 . The method of  claim 48  wherein the control signal has at least one variable gain coefficient which is determined, in accordance with at least one motion variable selected from the group of variables consisting of an angle of said first arm relative to an initial rest position, an angular velocity, an angular acceleration, and a deviation between a desired torque and a measured torque. 
     
     
         50 . The method of  claim 46  wherein the method further includes the step of continuously determining a desired torque in accordance with at least two motion variables. 
     
     
         51 . The method of  claim 46  wherein the method further includes the step of exerting one or more torque pulses during exercising. 
     
     
         52 . The method of  claim 46  wherein the method further includes the step of overlaying vibrations on the exerted torque. 
     
     
         53 . The method of  claim 46  wherein the exercise unit includes a driver of a motor installed in an exercise unit for countering trainer actions, the method further comprising:
 (a) acquiring one or more desired exercising parameters; 
 (b) receiving one or more measurements of motion variables; 
 (c) driving the motor to counter trainer actions in accordance with said desired exercising parameters, and in accordance with at least one parameter selected from the group of parameters consisting of:
 (i) a torque value determined in accordance with at least two measured motion variables; 
 (ii) a fed back control torque signal for reducing the deviation of a measured torque from a desired torque, the fed back control signal being determined by at least two values selected from the group of values consisting of an angular position value relative to an initial angular rest position, an angular velocity value, and an angular acceleration value; 
 (iii) a fed back control force signal for reducing the deviation of a measured force from a desired force, the fed back control signal being determined by at least two values selected from the group of values consisting of a position value, a velocity value, a force value and an acceleration value; 
 (iv) one or more operating parameters for exerting one or more torque pulses during exercising; and 
 (v) one or more operating parameters for overlaying vibrations on the exerted torque. 
 
 
     
     
         54 . The method of  claim 53  wherein the method includes a step of driving the motor to exert a desired force in accordance with said desired exercising parameters, and in accordance with a fed back control force signal for reducing the deviation of a measured force from a desired force, the fed back control signal being determined by at least two values selected from the group of values consisting of a position value relative to an initial rest position, a velocity value, an acceleration value, and a force value. 
     
     
         55 . The method of  claim 53  wherein the motion variables are selected from the group of motion variables consisting of an angular position relative to an initial angular rest position, an angular velocity, an angular acceleration, a deviation between a desired torque and a measured torque, a position, a velocity, an acceleration, a measured force, and a deviation between a desired force and a measured force. 
     
     
         56 . The method of  claim 53 , wherein the method further includes at least one step of storing said data related to said user, and retrieving data related to said user.