Closed loop rope system for a resistance training machine, systems, and methods of use

Abstract

Provided herein are Closed Loop Rope System for a Resistance Training Machines, Systems, and Methods of Use.

We claim: 
     
         1 . A multi-motor resistance training motor system with a closed loop rope feedback system for an exercise machine, comprising: a closed loop rope system operably coupled to a motor system, a first pulley, a second pulley and a rope creating a rope tension; wherein the motor system module sets a mode of a drive system in an isokinetic mode at varying velocity levels and or a isotonic mode at varying force levels; the motor system module sets and removes the force for both a right and a left motor systems and operates a first motor in a left drive system and a second motor in a right motor system in parallel; the motor system module sets and removes the target velocity for the right and left motor system; and upon receiving a command to set and remove the target velocity, the motor system module independently maintains the commanded velocity through internal control mechanisms without the need for additional signals from a machine controller or from external encoders; and the closed loop rope system managing rope tension failure if the user fails to keep the rope tension when the motor is letting out rope from the exercise machine. 
     
     
         2 . The multi-motor resistance training motor system of  claim 1 , wherein the closed loop rope system prevents the rope from tangling and jamming the machine, and the closed loop rope system monitors a second pulley as the rope exits and the tension status of the rope. 
     
     
         3 . The multi-motor resistance training motor system of  claim 2 , wherein the closed loop rope system comprises a force sensor operably coupled to the first pulley or second pulley and monitoring the tension of the pulley with the force sensor. 
     
     
         4 . The multi-motor resistance training motor system of  claim 3 , wherein the closed loop rope system constantly compares to the motor encoder positions and within milliseconds can stop the push on the rope and the force sensor provides a loop signal back to the motor which quickly stops and reverses to retighten/tension the rope. 
     
     
         5 . The multi-motor resistance training motor system of  claim 4 , wherein the closed loop rope system removes a break/stop of the motor system and sets an actuator position; a training program module sends the start calibration mode or sets the movement data from a previous calibration, where the motor system module tracks an encoder and not allow the user to pull out more cable by placing the brake at the proper max/min; wherein if calibration is needed, the motor drive module looks for the tension on the cables and if the user is resisting the cable, the drive system should stop pulling the cable in; and the user then presses the sensor once it is in right stop. 
     
     
         6 . The multi-motor resistance training motor system of  claim 5 , wherein programming framework comprises an independently implementing closed-loop Proportional-Integral-Derivative (PID) controller that independently tunes the drive system to operate at a constant current, operate at a constant position, operate at a constant velocity, or implement a specific motion profile; the motor system module moves the cable and provides tension by a control loop; the motor system module may apply a stop value, a start value, apply current value or a speed value, depending on isotonic or isokinetic mode applied; the PID values instructions the motor on how smooth the motor pulls the cable and how much current is applied to the motor to pull the cable or provide tension on the cable or a counter force; the motor system module operatively supplies instructions to the drive system through a CAN bus, PWM signal; when the exercise machine is off, the motor system module applies a brake or stop value to the right and left motor systems. 
     
     
         7 . The multi-motor resistance training motor system of  claim 6 , wherein a combination of the left cable and the right cable can exert a maximum of 800 to 1000 pounds of resistance during a workout. 
     
     
         8 . The multi-motor resistance training motor system of  claim 7 , further comprising: one or more adjustable pulleys attached to the front upright stand and configured to change a direction of force of the left cable and/or the right cable. 
     
     
         9 . A multi-motor resistance training motor system with a closed loop feedback system for an exercise machine, comprising: a closed loop rope system operably coupled to a motor system, a pulley, and a rope creating a rope tension; wherein the motor system module sets a mode of a drive system in an isokinetic mode at varying velocity levels and or a isotonic mode at varying force levels; the motor system module sets and removes the force for both a right and a left motor systems and operates a first motor in a left drive system and a second motor in a right motor system in parallel; the motor system module sets and removes the target velocity for the right and left motor system; and upon receiving a command to set and remove the target velocity, the motor system module independently maintains the commanded velocity through internal control mechanisms without the need for additional signals from a machine controller or from external encoders; and the closed loop rope system managing rope tension failure if the user fails to keep the rope tension when the motor is letting out rope. 
     
     
         10 . The multi-motor resistance training motor system of  claim 9 , wherein the closed loop rope system prevents the rope from tangling and jamming the machine, and the closed loop rope system monitors a pulley as the rope exits and the tension status of the rope. 
     
     
         11 . The multi-motor resistance training motor system of  claim 10 , wherein the closed loop rope system comprises a plurality of rope touch points monitored with a hall effect sensor after the motor is outfitted to the pulley and monitoring the rotation of the pulley with the hall effect sensor. 
     
     
         12 . The multi-motor resistance training motor system of  claim 11 , wherein the closed loop rope system constantly compares to the motor encoder positions and within milliseconds can stop a push on a rope negative action; and a sensor that loops back to the motor to quickly stop and reverse to retighten/tension the rope. 
     
     
         13 . The multi-motor resistance training motor system of  claim 12 , wherein the closed loop rope system removes a break/stop of the motor system and sets an actuator position; a training program module sends the start calibration mode or sets the movement data from a previous calibration, where the motor system module tracks an encoder and not allow the user to pull out more cable by placing the brake at the proper max/min; wherein if calibration is needed, the motor drive module looks for the tension on the cables and if the user is resisting the cable, the drive system should stop pulling the cable in; and the user then presses the sensor once it is in right stop. 
     
     
         14 . The multi-motor resistance training motor system of  claim 13 , wherein programming framework comprises an independently implementing closed-loop Proportional-Integral-Derivative (PID) controller that independently tunes the drive system to operate at a constant current, operate at a constant position, operate at a constant velocity, or implement a specific motion profile; the motor system module moves the cable and provides tension by a control loop; the motor system module may apply a stop value, a start value, apply current value or a speed value, depending on isotonic or isokinetic mode applied; the PID values instructions the motor on how smooth the motor pulls the cable and how much current is applied to the motor to pull the cable or provide tension on the cable or a counter force; the motor system module operatively supplies instructions to the drive system through a CAN bus, PWM signal; when the exercise machine is off, the motor system module applies a brake or stop value to the right and left motor systems. 
     
     
         15 . The multi-motor resistance training motor system of  claim 14 , wherein a combination of the left cable and the right cable can exert a maximum of 800 to 1000 pounds of resistance during a workout. 
     
     
         16 . The multi-motor resistance training motor system of  claim 15 , further comprising: one or more adjustable pulleys attached to the front upright stand and configured to change a direction of force of the left cable and/or the right cable.