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, the first and second simulated oars being rotatable about respective first and second rotational axes; and
first and second actuators receiving the first simulated oar and the second simulated oar, respectively, the first and second actuators each comprising;
an inertial member that is rotatable around the respective rotational axis;
a damping member for resisting rotation of the respective inertial member;
a drive assembly comprising a speed changer configured for converting a torque and an angular speed rotation of the corresponding simulated oar about the respective rotational axis into a lower torque and a higher angular speed rotation of the respective inertial and damping members about the respective rotational axis;
at least one angular velocity sensor for detecting the angular velocity of the respective simulated oar;
at least one torque sensor unit for determining the torque generated by the respective simulated oar;
a damping system including the respective damping member, the damping system being coaxial with the respective rotational axis and in electronic communication with the respective at least one angular velocity sensor and the respective at least one torque sensor, the damping system providing linear and non-linear damping to create a damping load on the respective drive assembly based on the detected angular velocity and the determined torque on the respective 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
32 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, the first and second simulated oars being rotatable about respective first and second rotational axes; and first and second actuators receiving the first simulated oar and the second simulated oar, respectively, the first and second actuators each comprising; an inertial member that is rotatable around the respective rotational axis; a damping member for resisting rotation of the respective inertial member; a drive assembly comprising a speed changer configured for converting a torque and an angular speed rotation of the corresponding simulated oar about the respective rotational axis into a lower torque and a higher angular speed rotation of the respective inertial and damping members about the respective rotational axis; at least one angular velocity sensor for detecting the angular velocity of the respective simulated oar; at least one torque sensor unit for determining the torque generated by the respective simulated oar; a damping system including the respective damping member, the damping system being coaxial with the respective rotational axis and in electronic communication with the respective at least one angular velocity sensor and the respective at least one torque sensor, the damping system providing linear and non-linear damping to create a damping load on the respective drive assembly based on the detected angular velocity and the determined torque on the respective simulated oars. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. An actuator apparatus for an object rotating about a rotational axis, comprising:
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a drive assembly comprising a rotational speed changer configured for converting a torque and an angular velocity 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 flywheel coaxial with the rotational axis of the object; and a damping system coaxial with the 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 determined torque on the object. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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Specification