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;
an actuator for receiving each 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 on each oar;
a damping system 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 nonlinear 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.
108 Citations
30 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; an actuator for receiving each 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 on each oar; a damping system 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 nonlinear 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)
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12. An actuator apparatus for an object rotating about a rotational axis, comprising:
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a drive assembly 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 on the object; a damping system 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)
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22. 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; and
,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. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30)
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Specification