Fitness equipment based on the principle of flexible mechanical arm

Abstract

A fitness apparatus based on the principle of a flexible mechanical arm, includes a mechanical arm and a support part, the mechanical arm is connected with the support part, the end of the mechanical arm being provided with a mechanical interaction structure; also including a force feedback joint, a motion control module, a force field control module, a human-computer interaction module, and a human body motion posture analysis module. The present disclosure does not use any counterweights for strength control, allowing fitness training to be performed in a limited environment that could only be done in a professional environment in the past. The present disclosure can simulate a variety of huge fitness equipment, miniaturize and integrate large exercise equipment in many gyms, making strength training possible in a limited space, and also allowing gyms to save a large amount of equipment space and greatly improve their operational efficiency.

1 - 26 . (canceled) 
     
     
         27 . A fitness apparatus based on a principle of a flexible mechanical arm, comprising a mechanical arm and a support part, the mechanical arm is connected with the support part, an end of the mechanical arm is provided with a mechanical interaction structure that cooperates with human limbs; the fitness apparatus also includes a force-feedback joint, a motion control module, a force field control module, a human-computer interaction module and a human body motion posture analysis module; the force-feedback joint is located at a connection between the mechanical arm and the support part and/or at each joint of the mechanical arm itself, the force-feedback joint includes a force sensor, a power device, and a mechanical transmission mechanism; the human-computer interaction module is used to select/input the training mode and training intensity, the human-computer interaction module transmits the training mode and training intensity parameters to the force field control module, the force field control module generates a force demand parameter of the end of the mechanical arm according to the received training mode and training intensity parameters and sends the parameter to the motion control module, the motion control module calculates each power output parameters of each force-feedback joint according to the received force demand parameter of the end of the mechanical arm, and sends each power output parameter to each force-feedback joint, and each force-feedback joint drives each joint of the mechanical arm to move, and each force sensor detects actual force parameters of each force-feedback joint and forms negative feedback control logic, the force field control module feeds back the motion parameters of the mechanical arm to the human-computer interaction module;
 wherein the mechanical arm comprises a first power arm and a second power arm, and the first power arm is hinged with the support part by the first force-feedback joint, the second power arm is hinged with the first power arm by the second force-feedback joint, and the power devices of the first force-feedback joint and the second force-feedback joint are electrically connected to the motion control module; the mechanical interaction structure is connected with the second power arm;   wherein mechanical transmission mechanisms of the first force-feedback joint and the second force-feedback joint are the same, wherein mechanical transmission mechanism of the first force-feedback joint comprises a connecting rod and a sliding part, the sliding part is slidably connected to the first power arm along the length direction of the first power arm, and one end of the connecting rod is hinged with the sliding part, and the other end is hinged with a fixed seat, the fixed seat is connected with the support part, and the first power arm is hinged with the fixed seat;   wherein the power device of the first force-feedback joint is a linear driving element for driving the sliding part to slide.   
     
     
         28 . The fitness apparatus based on the principle of flexible mechanical arm according to  claim 27 , wherein the human-computer interaction module is further configured to input a motion posture detection control instruction, and the human-computer interaction module sends the motion posture detection control instruction to the human body motion posture analysis module, the human body motion posture analysis module receives the motion parameters of the mechanical arm output by the force field control module, calculates the actual motion posture data of the human body according to the parameters, and then sends the human body motion posture data to the human-computer interaction module. 
     
     
         29 . The fitness apparatus based on the principle of a flexible mechanical arm according to  claim 27 , wherein the fixed seat is movably connected with the support part along the vertical direction, so that the overall vertical height of the mechanical arm can be adjusted. 
     
     
         30 . The fitness apparatus based on the principle of flexible mechanical arm according to  claim 27 , wherein the mechanical interaction structure is a two-hand grip bar, and the two-hand grip bar comprises a fixed part and a folding part, the fixing part is arranged horizontally, and the folding part is hinged at both ends of the fixing part so that the folding part can move between the following two stations: station one, folding part is coaxial with the fixing part; and station two, the folding part swings upward or downward relative to the fixing part to the state of forming an angle with the fixing part. 
     
     
         31 . The fitness apparatus based on the principle of a flexible mechanical arm according to  claim 27 , wherein a seat is provided on the support part, and the seat comprises a base, a first flap and a second flap, the surfaces of the first flap and the second flap are provided with cushions, the first flap and the second flap are coaxially hinged with the base, so that the first flap and the second flap can be switched between the following three stations: station a, the first flap is in an upright state, and the second flap is in a flat state; station b, the first flap is in a flat state, and the second flap is in an upright state; and station c, the first flap and the second flap both are in a flat state, and among the first flap, the second flap and the base, there is a first locking mechanism that can keep the three at the above three stations and can release the three from the above three stations. 
     
     
         32 . The fitness apparatus based on the principle of a flexible mechanical arm according to  claim 31 , wherein the base is slidably connected to a slide rail provided on the support part, and a second locking mechanism is provided between the slide rail and the base that can lock the base at any position and can release the base from that position. 
     
     
         33 . The fitness apparatus based on the principle of a flexible mechanical arm according to  claim 30 , wherein the human-computer interaction module is a mobile terminal, and a bracket for fixing the mobile terminal is provided on the two-hand grip bars. 
     
     
         34 . The fitness apparatus based on the principle of flexible mechanical arms according to  claim 30 , wherein the mechanical interaction structure is provided with a detection module for detecting human physiological parameters, and the detection module comprises a current sensor provided on the two-hand grip bar, the current sensor is used to detect human heart rate and blood sample data, and the detection module sends the detected data to the human-computer interaction module.