Bilaterally Actuated Sculling Trainer

• US 20100240494A1
• Filed: 06/01/2010
• Published: 09/23/2010
• Est. Priority Date: 05/04/2007
• Status: Active Grant

• Current Assignee: Rafael R. Medina
• Original Assignee: Rafael R. Medina
• Inventors: Medina, Rafael R.
• Granted Patent: US 8,109,859 B2
• Time in Patent Office: Days
• US Class Current: 482/5
• CPC Class Codes: A63B 2022/0082 with pivoting handlebars
• CPC Class Codes: A63B 21/005 using electromagnetic or electric force-resisters
• CPC Class Codes: A63B 21/008 using hydraulic or pneumatic force-resisters
• CPC Class Codes: A63B 22/0076 Rowing machines for conditioning the cardio-vascular system seats moving during exercise A63B22/0087; training appliances for rowing or sculling on boats A63B69/06
• CPC Class Codes: A63B 2220/16 Angular positions
• CPC Class Codes: A63B 2220/54 Torque
• CPC Class Codes: A63B 2225/20 with means for remote communication, e.g. internet or the like
• CPC Class Codes: A63B 24/00 Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances

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.

Claims

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.

2. The apparatus of claim 1, additionally comprising:

a processor programmed to receive signals corresponding to the sensed angular velocities of each oar and to receive signals corresponding to the torque generated by each oar;

determine damping output for the damping system from these received signals; and

, send signals to the damping system for controlling the linear and non-linear damping.

3. The apparatus of claim 1, wherein the damping system includes at least one non-linear damper and at least one linear damper.

4. The apparatus of claim 1, wherein the at least one non-linear damper and the at least one linear damper are variable dampers.

5. The apparatus of claim 3, wherein the at least one non-linear damper is configured for damping in accordance with a square law function.

6. The apparatus of claim 3, wherein the at least one linear damper is configured for damping in accordance with a linear function.

7. The apparatus of claim 4, wherein the at least one variable non-linear damper is selected from the group consisting of air, fluid or viscous dampers.

8. The apparatus of claim 4, wherein the at least one variable linear damper includes a magnetic damper.

9. The apparatus of claim 2, wherein the processor is additionally programmed for controlling linear and non-linear damping to simulate resistance to rowing through water.

10. The apparatus of claim 1, wherein each or the first and second simulated oars includes a counterweight.

11. The apparatus of claim 1, additionally comprising:

a seat movably coupled to the main frame for supporting a user.

22. The apparatus of claim 1, wherein the at least one torque sensor relates an input drive torque to an angular velocity and acceleration by the following equation:

T_i=(J_i+N²•

J_o)•

w_iaa+((b_i+N²•

(b_o+b_l))•

w_i+b_nl•

N³•

w_i².

24. The apparatus of claim 1, wherein the drive assembly comprises a harmonic drive.

12. An actuator apparatus for an object rotating about a rotational axis, comprising:

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.

13. The apparatus of claim 12, additionally comprising:

a processor programmed to receive signals corresponding to the sensed angular velocities of the object and to;

receive signals corresponding to the torque on the object;

determine damping output for the damping system from these received signals; and

send signals to the damping system for controlling the linear and non-linear damping.

14. The apparatus of claim 12, wherein the damping system includes at least one non-linear damper and at least one linear damper.

15. The apparatus of claim 12, wherein the at least one non-linear damper and the at least one linear damper are variable dampers.

16. The apparatus of claim 14, wherein the at least one non-linear damper is configured for damping in accordance with a square law function.

17. The apparatus of claim 14, wherein the at least one linear damper is configured for damping in accordance with a linear function.

18. The apparatus of claim 15, wherein the at least one variable non-linear damper is selected from the group consisting of air, fluid or viscous dampers.

19. The apparatus of claim 15, wherein the at least one variable linear damper includes a magnetic damper.

20. The apparatus of claim 13, wherein the object includes at least one simulated oar and the processor is additionally programmed for controlling linear and non-linear damping to simulate resistance to rowing through water.

21. The apparatus of claim 14, wherein the object includes at least one simulated oar.

23. The apparatus of claim 12, wherein the at least one torque sensor relates an input drive torque to an angular velocity and acceleration by the following equation:

T_i=(J_i+N²•

J_o)•

w_iaa+((b_i+N²•

(b_o+b_l))•

w_i+b_nl•

N³•

w_i².