Bilaterally Actuated Sculling Trainer
First Claim
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1. An apparatus for simulating sculling comprising:
- a main frame for supporting first and second simulated oars that are rotatable about respective first and second rotational axes;
dual actuators, each actuator receiving one of the first simulated oar and the second simulated oar, each actuator comprising;
a drive assembly configured for transmitting the rotations of the corresponding oar about the respective rotational axis;
at least one angular velocity sensor for detecting the angular velocity of each oar;
at least one torque sensor unit for determining the torque generated by each oar;
a damping system coaxial with an axis of oar rotation and in electronic communication with the at least one angular velocity sensor and the at least one torque sensor, the damping system providing linear and non-linear damping to create a damping load on the drive assembly based on the detected angular velocity and the torque on the first and second simulated oars.
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Abstract
An apparatus for simulating sculling or rowing on water includes a support frame with foot rests, a sliding seat, bilateral oars that are rotationally coupled to a set of actuators, integrated input velocity and torque sensors, computer and computer display. Each actuator incorporates a mechanical transmission, a rotational inertial mass, a variable linear and a variable non-linear damping element. The damping elements can be controlled manually or automatically by computer programs under user control.
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Citations
24 Claims
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1. An apparatus for simulating sculling comprising:
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a main frame for supporting first and second simulated oars that are rotatable about respective first and second rotational axes; dual actuators, each actuator receiving one of the first simulated oar and the second simulated oar, each actuator comprising; a drive assembly configured for transmitting the rotations of the corresponding oar about the respective rotational axis; at least one angular velocity sensor for detecting the angular velocity of each oar; at least one torque sensor unit for determining the torque generated by each oar; a damping system coaxial with an axis of oar rotation and in electronic communication with the at least one angular velocity sensor and the at least one torque sensor, the damping system providing linear and non-linear damping to create a damping load on the drive assembly based on the detected angular velocity and the torque on the first and second simulated oars. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 22, 24)
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12. An actuator apparatus for an object rotating about a rotational axis, comprising:
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a drive assembly comprising a harmonic drive configured for transmitting the rotations of the object about the rotational axis; at least one angular velocity sensor for detecting the angular velocity of the object; at least one torque sensor unit for determining the torque transmitted by the object; a damping system coaxial with a rotational axis of the object and in electronic communication with the at least one angular velocity sensor and the at least one torque sensor, the damping system for providing linear and non-linear damping to create a damping load on the drive assembly based on the detected angular velocity and the torque on the object. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 23)
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Specification