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Robotic exercise machine and method

  • US 4,235,437 A
  • Filed: 07/03/1978
  • Issued: 11/25/1980
  • Est. Priority Date: 07/03/1978
  • Status: Expired due to Term
First Claim
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1. A programmable exercise machine for defining and recording an exercise path comprising:

  • a rigid frame;

    at least two links connected to one another and attached at at least one point to said rigid frame, said links being movable relative to one another and to said rigid frame;

    user interaction means attached to one of said links for contacting a body part of the user and for receiving user-exerted forces so as to be movable to any desired position in at least two degrees of freedom relative to said frame;

    independent powering means associated with each link, each said powering means being operative to drive said associated link in a predetermined path of motion relative to said other links and to said frame and exerting resisting forces to oppose said user-exerted forces; and

    automatic control means operative to receive and store signals corresponding to magnitude and direction of an arbitrary user-defined exercise path in said two degrees of freedom, and further operative for controlling said powering means in response to said stored signals to define movement of said user interaction means along said path in response to the magnitude and direction of said user-exerted force.

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