Bilaterally actuated sculling trainer
First Claim
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1. A method for simulating movement along water comprising:
- receiving angular velocity and torque data from at least one simulated oar in a rotation about a rotational axis;
determining a damping load for a drive assembly, in communication with the at least one simulated oar, from the received angular velocity and torque data, the damping load including non-linear and linear damping components; and
relating through a transmission the received torque data to the received angular velocity data by the following equation;
Ti=(Ji+N2·
Jo)·
wiaa+((bi+N2·
(bo+b1))·
wi+bnl·
N3·
wi2 wherein Ti=input drive torque, Ji=input rotational inertia, Jo=output rotational inertia, N=transmission multiplying factor or gear factor, Wi=input angular velocity, Wiaa=input angular acceleration, bi=input drag coefficient, bo=output drag coefficient, bl=output linear damping coefficient, and bnl=output non-linear damping coefficient.
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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
9 Claims
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1. A method for simulating movement along water comprising:
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receiving angular velocity and torque data from at least one simulated oar in a rotation about a rotational axis; determining a damping load for a drive assembly, in communication with the at least one simulated oar, from the received angular velocity and torque data, the damping load including non-linear and linear damping components; and relating through a transmission the received torque data to the received angular velocity data by the following equation;
Ti=(Ji+N2·
Jo)·
wiaa+((bi+N2·
(bo+b1))·
wi+bnl·
N3·
wi2wherein Ti=input drive torque, Ji=input rotational inertia, Jo=output rotational inertia, N=transmission multiplying factor or gear factor, Wi=input angular velocity, Wiaa=input angular acceleration, bi=input drag coefficient, bo=output drag coefficient, bl=output linear damping coefficient, and bnl=output non-linear damping coefficient. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification