CN116407811A - Intelligent leg kicking machine - Google Patents

Abstract

The present disclosure relates to an intelligent leg kicking machine. Intelligence machine of kicking one's legs includes: a seat configured to allow a user to sit down; a frame to which a first guide for guiding the movement of the seat is mounted; foot pedals supported by the frame; a first sensor module configured to detect a force applied to the foot pedal; a display configured to be able to receive user input and output motion related information, and a control unit configured to control operation of the display.

Description

Smart leg machine

technical field

The present disclosure relates to an intelligent leg press machine, and more particularly to an intelligent leg press machine capable of providing real-time feedback related to a user's motion.

Background technique

Recently, with the increase of leisure time and the increase of social interest in health, the population doing weight training in order to improve muscle strength and build a balanced body is increasing. The leg press machine used in weight training is a device that the user uses the power of the lower body to push the pedals connected to high weights, thereby comprehensively exercising the muscles of the lower body.

Previous leg presses had a problem with users having difficulty knowing if they were exercising with the correct form or strength. In addition, existing leg press machines have the problem that physical resistance cannot be used to adjust the resistance during exercise, or a large-capacity motor accompanied by noise is required to generate large resistance.

Contents of the invention

The technical problem to be solved in the present invention

The present disclosure provides an intelligent leg press machine for solving the above problems.

Technical solutions

The present disclosure can be realized in various forms including a method, an apparatus (system), or a computer program stored in a readable storage medium.

According to an embodiment of the present disclosure, the smart leg press machine may include: a seat configured to allow a user to sit down; a frame installed with a first guide for guiding the movement of the seat; a footrest supported by the frame; A first sensor module configured to detect force applied to the footrest; a display configured to receive user input and output motion-related information; and a control unit configured to control operation of the display.

According to an embodiment of the present disclosure, the control unit may be further configured to receive information about the force applied to the pedal from the sensor module; and output the force applied to the pedal to the display in real time.

According to an embodiment of the present disclosure, the sensor module may be further configured to include a plurality of sensors arranged to be able to measure the respective positions of the user's left foot and right foot on the pedal; the control unit may further configured to: receive information related to the position of the user's left foot and information related to the position of the user's right foot from the plurality of sensors; output the information related to the position of the user's left foot to a first area of the display; and Information about the position of the user's right foot is output to a second area of the display.

According to an embodiment of the present disclosure, the control unit may be further configured to: when the distance between the position of the user's left foot and the predetermined first position exceeds a preset first threshold, output the first warning sign to on the display; and when the distance between the position of the user's right foot and the predetermined second position exceeds the preset first threshold, outputting the second warning sign to the display.

According to an embodiment of the present disclosure, it may be further configured that the predetermined first position and the predetermined second position change according to the type of exercise selected by the user.

According to an embodiment of the present disclosure, the control unit may be further configured: the first area of the display uses the first visual object to display the position of the user's left foot; the second area of the display uses the second visual object to display the position of the user's right foot. The position of the feet; the first warning sign is provided to the user by the color change of the first visual object; and the second warning sign is provided to the user by the color change of the second visual object.

According to an embodiment of the present disclosure, the sensor module may be further configured to include a plurality of sensors arranged to be able to measure the forces respectively exerted by the user's left foot and right foot on the pedals, and the control unit may is further configured to: receive from the plurality of sensors information related to the force exerted by the user's left foot on the pedal and information related to the force applied to the pedal by the user's right foot; outputting information related to force on the footboard to a first area of the display; and outputting information related to force exerted by the user's right foot on the footboard to a second area of the display.

According to an embodiment of the present disclosure, the control unit may be further configured to, when the difference between the force applied by the user's left foot on the pedal and the force applied by the user's right foot on the pedal exceeds a preset first When the second threshold is reached, the third warning sign is output to the display.

According to an embodiment of the present disclosure, the display may be configured as follows: the first area on the display displays the force exerted by the user's left foot on the pedal with a bar graph, and the second area on the display displays the force exerted by the user's left foot on the pedal with a bar graph. graph to display the force exerted by the user's right foot on the pedal, and when the difference between the force exerted by the user's left foot on the pedal and the force exerted by the user's right foot on the pedal exceeds a preset At the second threshold of , the first area and the second area are displayed in different colors from each other.

According to an embodiment of the present disclosure, the smart leg press machine further includes: a load generating unit generating a load to be applied to the seat, wherein the load generating unit includes: a motor (motor) generating an initial load; connected to the motor to amplify the initial load Electro-Hydrostatic Actuator (EHA, Electro-Hydrostatic Actuator) to generate the load to be applied to the seat; , Series Elastic Actuator), the control unit may be further configured to receive from the user a first user input related to the magnitude of the load applied to the seat; receive information related to the time point at which the user starts pushing the foot pedal from the electrohydraulic driver; And controlling the electric motor and the electro-hydraulic drive based on the first user input and the time-related information.

According to an embodiment of the present disclosure, the control unit may be further configured to: receive from the user a second user input related to viscous force, elastic force, and inertial force of the load to be applied to the seat generated by the load generating unit; and based on Information related to the first user input, the second user input and the point in time is used to control the electric motor and the electrohydraulic drive.

According to an embodiment of the present disclosure, the smart leg press machine further includes: a second sensor module configured to detect the movement of the pedals, wherein the control unit may be further configured to: receive the user's initial exercise length from the second sensor module ; calculate the motion recognition distance based on the initial motion length; and when the user pushes the pedal beyond the motion recognition distance, it is recognized as a motion.

Beneficial effect

According to an embodiment of the present disclosure, by providing the user with the force applied to the pedals in real time, the user can monitor the exercise state in real time, and exercise with an appropriate force in each exercise.

According to an embodiment of the present disclosure, when a user wrongly positions a foot according to a type of exercise, warning information related thereto may be received in various forms to easily move the position of the foot to a normal position. Therefore, the user can exercise with an optimal posture.

According to an embodiment of the present disclosure, when a user applies different forces to both feet, the user may receive warning information related thereto in various forms to easily adjust so that the same force is applied to both feet. Therefore, it is possible to prevent the user from exercising the imbalance of the lower limbs.

According to an embodiment of the present disclosure, various exercise programs suitable for a user's exercise purpose may be provided by combining various characteristics and intensities of loads. Thereby, the user's exercise effect can be maximized.

According to an embodiment of the present disclosure, the risk of accidents during exercise can be reduced by changing the amount of exercise load in real time.

According to an embodiment of the present disclosure, by including a load generating unit with a miniaturized driver, the weight and size can be greatly reduced compared with existing leg press machines, and when the user's exercise weight changes, it is possible to prevent the injury caused by direct contact.

According to an embodiment of the present disclosure, the noise problem of the existing leg press machine can be solved, and the power waste caused by using a large-capacity motor can be reduced.

The effects of the present disclosure are not limited to the above effects, and other effects not mentioned can be clearly understood by those of ordinary skill in the art to which the present disclosure pertains (hereinafter referred to as “ordinary skilled person”) from the description of the claims.

Description of drawings

Embodiments of the present disclosure will be described with reference to the drawings described below, in which like reference numerals indicate like elements, but are not limited thereto.

FIG. 1 is an exemplary diagram illustrating an example diagram in which a user receives exercise-specific information through a display during use of a smart leg press machine according to an embodiment of the present disclosure.

Fig. 2 is a perspective view of an intelligent leg press machine according to an embodiment of the present disclosure.

FIG. 3 is a diagram illustrating a sensor module of a foot pedal of a smart leg machine according to an embodiment of the present disclosure.

FIG. 4 is a diagram illustrating an example in which a guide is displayed on a display when a position of a user's foot deviates from a prescribed position according to an embodiment of the present disclosure.

FIG. 5 is a diagram illustrating an example in which a guide is displayed on a display when a user exerts different forces on both feet according to an embodiment of the present disclosure.

FIG. 6 is a diagram illustrating an example of comprehensively outputting information related to a user's motion on a display according to an embodiment of the present disclosure.

FIG. 7 is a block diagram illustrating a detailed configuration of an intelligent leg press machine according to an embodiment of the present disclosure.

FIG. 8 is a flowchart illustrating a method for a control unit to provide appropriate load and exercise-related information to a user according to an embodiment of the present disclosure.

Detailed ways

Hereinafter, specific contents for implementing the present disclosure will be described in detail with reference to the accompanying drawings. However, in the following description, specific descriptions of well-known functions or configurations will be omitted if there is a risk of unnecessarily obscuring the gist of the present disclosure.

In the drawings, the same or corresponding components are given the same reference numerals. In addition, in the description of the following embodiments, repeated descriptions of the same or corresponding components may be omitted. However, even if descriptions about components are omitted, it does not mean that these components are not included in any embodiment.

The advantages and features of the disclosed embodiments and methods of achieving them will become apparent with reference to the embodiments described below in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below, but can be implemented in various forms, but the present embodiments are provided only to make the present disclosure complete and to fully inform those skilled in the art to which the present disclosure pertains. Inform the scope of the present invention.

Terms used in this specification will be briefly described, and the disclosed embodiments will be described in detail. The terms used in this specification are currently widely used general terms selected as much as possible while considering the functions of the present disclosure, but this may change according to the intention or case of those skilled in the relevant field, or the emergence of new technologies. In addition, in specific cases, there are also terms arbitrarily selected by the applicant, and in this case, their meanings will be described in detail in the description of the corresponding invention. Therefore, the terms used in the present disclosure should be defined according to the meaning of the terms and the entire content of the present disclosure, rather than the simple names of the terms.

Expressions of the singular in this specification include expressions of the plural unless the context clearly indicates the singular. In addition, expressions of the plural number in this specification include expressions of the singular number unless the context clearly stipulates the plural number. Throughout the specification, when a certain part "includes" a certain component, it means that other components may also be included, rather than excluding other components, unless there is a specific contrary statement.

In addition, "module" or "unit" used in the specification means a component of software or hardware, and the "module" or "unit" performs certain roles. However, "module" or "unit" is not meant to be limited to software or hardware. A "module" or "unit" may be configured to reside on an addressable storage medium, or may be configured to play to one or more processors. Therefore, as an example, a "module" or "unit" may include multiple components such as multiple software components, multiple object-oriented software components, multiple class components, and multiple task components, multiple methods, multiple functions, multiple multiple attributes, multiple programs, multiple subroutines, multiple sections of program code, multiple drivers, firmware, microcode, circuits, data, databases, multiple data structures, multiple tables, multiple arrays, or multiple variables at least one of the Multiple components and multiple "modules" or multiple "units" are combinations of internally provided functionality into a smaller number of multiple components and multiple "modules" or multiple "units", or further separated into multiple additional components and multiple "modules" or multiple "units".

According to an embodiment of the present disclosure, a "module" or a "unit" may be realized by a processor and a memory. "Processor" should be construed broadly to include general purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, and the like. In some cases, "processor" may also refer to an Application Specific Integrated Circuit (ASIC), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), and the like.

"Processor" may refer to a combination of processing devices such as a combination of a DSP and a microprocessor, a combination of multiple microprocessors, one or more microprocessors combined with a DSP core, or any other similarly structured combination . Additionally, "memory" should be interpreted broadly to include any electronic component capable of storing electronic information. "Memory" may also refer to Random Access Memory (RAM), Read Only Memory (ROM), Non-Volatile Random Access Memory (NVRAM), Programmable Read Only Memory (PROM), Erasable Programmable Read Only Memory ( EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic or optical data storage devices, registers and other processor-readable media and other types. A memory is said to be in electronic communication with a processor if the processor can read information from the memory and/or record information in the memory. Memory integrated into a processor is in electronic communication with the processor.

Throughout this specification, the term "on the network" or "on the network" may refer to a state of being searched or accessible by any electronic device capable of wired/wireless communication. For example, "on the web" or "on the web" means the state of being able to search for or access any content and/or information related thereto stored in any device connected to any electronic device by wired or wireless means.

FIG. 1 is an exemplary diagram illustrating an example diagram according to an embodiment of the present disclosure, wherein a user receives information on exercise through a display during use of a smart leg press machine 120 . As shown in the figure, the user 110 is sitting on a seat, and the user 110 can push the foot pedal 122 supported by the frame of the smart leg machine 120 by the user 110 to exercise. In this case, the proper position of the user's 110 feet may vary depending on the purpose and desired effect of the exercise the user 110 wants to perform.

In an embodiment, the display 124 may be configured to receive input from the user 110 and output information related to the motion of the user 110 . For example, the user 110 may enter user input on the display 124 related to the magnitude of the load to be applied to the seat, the viscous force of the load, the elastic force of the load, the inertial force of the load, etc., and output information related thereto to the display 124 on. In another example, the user 110 may input a desired exercise (e.g., standard leg press, wide stance leg press, narrow stance leg press, high-leg press, low-leg press, single-leg press, weight training , muscle hypertrophy training, muscle endurance training, etc.) relevant user input, and output relevant information on the display 124.

In one embodiment, the display 124 may output information 126 on the display 124 when the positions of the feet of the user 110 are inaccurate during the exercise according to the exercise type selected by the user 110 . In another embodiment, when the force of pushing the pedal 122 by the left foot and the right foot of the user 110 is different, information related thereto may be output on the display 124 . Besides, the display 124 may output various information related to the motion of the user 110 . This will be described later.

FIG. 2 is a perspective view of an intelligent leg press machine 200 according to an embodiment of the present disclosure. As shown, the smart leg machine 200 may include a frame 210, a seat 220, a guide 230, a foot pedal 240, a display 250, a load generating module 260 and a control unit (not shown). The control unit (not shown) can be configured by at least one processor. The display 250 may be implemented integrally with the footrest 240, or separately. Seat 220 may be configured to allow a user to sit down.

The frame 210 is configured to allow the smart leg press machine 200 to contact the ground, and may be configured such that other components may be mounted in the frame 210, or the frame 210 supports other components. A guide 230 for guiding the movement of the seat 220 may be installed in the frame 210 so that the seat 220 moves as the user performs motions. It is shown in FIG. 2 that the guide 230 includes a pair of slide rails, but is not limited thereto, and may include any components capable of guiding the movement of the seat 220 .

The foot board 240 is supported by the frame 210, and can be arranged in a position where the user can push it with the foot while sitting on the seat 220. FIG. Footrest 240 may comprise any shape of footrest to activate the muscle region that the user desires to exercise. For example, the footrest 240 may include a footrest configured to simultaneously raise both feet of the user as a shape of a board, or a footrest configured to be separated into two boards to raise both feet of the user respectively, but not limited to this.

Display 250 may receive input from a user and provide the user with information related to the user's motion. Display 250 may refer to any display device associated with a computing device, for example, may refer to any display device that receives user input and is controlled by the computing device or capable of displaying any information/data provided from the computing device. For example, display 250 may be a touch display.

2 shows that the display 250 is located on the foot pedal 240 and is integrally formed with the foot pedal 240 . Alternatively, the display 250 may be connected with the smart leg machine 200 in a wired or wireless manner, located outside the smart leg machine 200, and may be configured to be freely detachable. In addition, the smart leg press machine 200 is connected to the user's mobile phone, tablet computer and other equipment through wired or wireless means, and the user can change the settings related to exercise or obtain information related to exercise through the mobile phone or tablet computer.

In an embodiment, the exercise-related information displayed on the display 250 may include setting values related to the exercise input by the user, values calculated according to the exercise performed by the user, and the like. For example, exercise-related information may include: the value of the load applied to the seat, the type of load applied to the seat, the number of target exercise sets, the number of exercise sets performed, the number of target exercise performed, the number of exercises performed, the number of exercises applied to the entire pedal The force on the board 240, the force exerted by the user's feet on the pedal 240, the position information of the user's feet, warning signs for wrong movements, recommended values of muscle activation time for improving muscle strength, etc.

The load generation module 260 may be configured to generate a load required for the user to perform exercise. In one embodiment, the load generating module 260 may include an electric motor, an electro-hydraulic actuator (Electro-Hydraulic Actuator), and a series elastic actuator (Series Elastic Actuator). When the electric motor generates a certain amount of initial load, the electrohydraulic driver may amplify the initial load generated by the electric motor, thereby generating a load to be applied to the seat 220 . In addition, the serial elastic actuator may be configured to include a plurality of elastic bodies, and may detect the point when the user 110 starts pushing the foot pedal 240 or the point when the user 110 finishes pushing the foot pedal 240 by being connected to the electrohydraulic actuator. Based on the data detected by the electrohydraulic actuator, the load may be applied to the seat 220 by controlling the electric motor and the electrohydraulic actuator.

FIG. 3 is a diagram illustrating a sensor module of a foot pedal 240 of a smart leg machine according to an embodiment of the present disclosure. As shown, the footrest 240 may include a first sensor module including a plurality of sensors 312 , 314 , 316 , 318 , 322 , 324 , 326 , 328 . In one embodiment, the first sensor module may be configured to detect the position of each foot of the user, the force exerted by the user's left foot on the footrest 240 and the force exerted by the user's right foot on the footrest 240 .

As shown, the footrest 240 may be configured as the position of the user's left foot, the first region 310 of the footrest for detecting the force exerted by the user's left foot on the footrest 240, and the user's right foot. The second region 320 of the footrest for detecting the force applied to the footrest 240 by the user's right foot. The first region 310 of the footrest and the second region 320 of the footrest may be made of separate iron plates or the like, and are arranged inside the footrest 240 . As shown, four sensors 312, 314, 316, 318 may be placed at each corner of the first region 310 of the footrest, as well as at each corner of the second region 320 of the footrest Four sensors 322, 324, 326, 328 are arranged. But not limited thereto, any number of sensors may be placed anywhere on the first area 310 of the footrest and the second area 320 of the footrest to measure the position of each foot of the user and the application of each foot of the user to the foot. The force on the pedal 240, etc. In addition, the first sensor module is illustrated as being arranged inside the footrest 240 , but is not limited thereto, and may also be arranged outside the footrest 240 .

FIG. 4 is a diagram illustrating an example in which a guide is displayed on a display when a position of a user's foot deviates from a prescribed position according to an embodiment of the present disclosure. The control unit may receive and output to the display information relating to the position of the user's left foot and information relating to the position of the user's right foot from a plurality of sensors arranged to measure the position of the user's left foot and the respective positions of the right foot on the pedals. Through the first operation 410 and the second operation 440, the user may adjust the position of the feet to accommodate the movement.

The first operation 410 represents an example in which the position of the user's right foot deviates from the specified position and exceeds a predetermined threshold, and a warning sign is output on the display. As shown, a first visual object 422 showing the position of the user's left foot on the footrest may be displayed within the first region 420 of the display. Similarly, a second visual object 432 showing the position of the user's right foot on the footrest may be displayed within the second region 430 of the display.

In an embodiment, when the distance between the position of the user's foot and the predetermined position exceeds a preset first threshold (for example, 15 cm), a warning message may be displayed. Here, the predetermined position where the user's feet should be and/or the first threshold may vary depending on the type of exercise selected by the user (standard leg press, wide stance leg press, narrow stance leg press, etc.). For example, when the distance between the position of the user's left foot and the predetermined first position 424 does not exceed the preset first threshold, the warning message may not be displayed. On the contrary, when the distance between the position of the user's right foot and the predetermined second position 434 exceeds the preset first threshold, a warning message may be displayed.

For example, the second visual object 432 representing the location of the user's right foot may be displayed in a different color than the first visual object 422 and/or the second visual object 432 may be a different size than the first visual object 422 displayed. Additionally or alternatively, near the second visual object 432 representing the position of the user's right foot, an icon (eg, an arrow icon) representing the direction the user should move the foot may be simultaneously displayed. Additionally or alternatively, the warning sign can be provided by changing the background, pattern type or pattern size of any visual object, symbol, text, etc., or in any shape that can be recognized by the user through other senses other than vision, such as warning sound supply.

In one embodiment, the force exerted by the user's feet on the pedals may be displayed on the display in the form of a histogram. As shown, the force exerted by the user's left foot on the pedal may be displayed in the shape of a bar graph 426 on the first area 420 of the display. Similarly, the force exerted by the user's right foot on the pedal may be displayed in the shape of a bar graph 436 on the second area 430 of the display. When the distance between the position of the user's right foot and the predetermined second position 434 exceeds the preset first threshold, the color of the histogram 436 displayed on the second area 430 of the display is the same as that displayed in the first area of the display. The histogram 426 on 420 is colored differently so that the user can be warned that the foot is in the wrong position.

In an embodiment, the display modes of the warning signs related to the position of the user's left foot and the warning signs related to the position of the user's right foot may be different from or the same as each other. For example, the warning signs related to the position of the left foot and the warning signs related to the position of the right foot may have different colors and sizes, and the user can directly set them.

The second operation 440 shows an example in which the user moves the position of the right foot so that both the left foot and the right foot are in normal positions after receiving the warning information. As shown in the figure, since the distance between the position of the user's left foot and the predetermined first position 424 does not exceed the preset first threshold, the warning information related to the position of the left foot may not be displayed. Since the distance between the position of the user's right foot and the predetermined second position 434 does not exceed the preset first threshold, the warning information related to the position of the right foot may not be displayed.

4 shows that the information related to the position of the user's feet is displayed on the display with foot-shaped visual objects 422, 432, 442, 444, but it is not limited thereto, and can also be displayed in any visual object, voice, symbol or text, etc. output. 4 shows that information related to the position of the user's left foot and information related to the position of the user's right foot are respectively output to the first area 420 and the second area 430 of the display, but are not limited thereto. For example, the above information can be simultaneously displayed or overlapped and output in one area of the display. In addition, when the user performs the single-leg press exercise with only one leg, only information related to the position of the user's exercising foot may be provided.

With this configuration, depending on the type of exercise performed, when a foot position is wrongly placed, the user can receive warning information in various forms related thereto, thereby easily moving the foot position to a normal position. Therefore, the user can exercise with an optimal posture.

FIG. 5 is a diagram illustrating an example of a guide displayed on a display related to a user exerting different forces on both feet according to an embodiment of the present disclosure, wherein. The control unit may receive information related to the force exerted by the user's left foot on the pedal and information related to the user's Information about the force exerted by the right foot on the pedal and output it to the display. Through the first operation 510 and the second operation 560, when the force of the left foot and the right foot are different, the user can obtain feedback related thereto.

The first operation 510 represents an example of receiving, through the display, information related to forces applied to the pedals by the left and right feet in a state where the user starts exercising. In one embodiment, the force exerted by the user's feet on the pedals may be displayed on the display in the form of a histogram. As shown, the force exerted by the user's left foot on the pedal may be displayed in the shape of a bar graph 522 on the first area 520 of the display. Similarly, the force exerted by the user's right foot on the pedal may be displayed in the shape of a bar graph 532 on the second area 530 of the display. Here, the heights of the histograms 522 and 532 may be determined based on the real-time force exerted by the user's feet on the pedals and the load value set by the user for exercising.

In one embodiment, when the difference between the force applied by the user's left foot on the pedal and the force applied by the user's right foot on the pedal exceeds a preset second threshold (for example, 5kg, 5%) etc.), a warning message related to this can be output to the display. In the case of the first operation 510, the difference between the force applied by the user's left foot on the pedal and the force applied by the user's right foot on the pedal does not exceed the preset second threshold value, so it may not Display a warning message.

In one embodiment, the force exerted by the user's left foot on the pedals and the force exerted by the user's right foot on the pedals may be displayed numerically on the display. As shown, numerical information 540 , 566 related to the force exerted by the user's left foot on the pedal may be displayed on the first area 520 . Similarly, numerical information 550 , 568 related to the force exerted by the user's right foot on the pedal may be displayed on the second area 530 . The force applied by the user's feet to the pedals may be provided in a form recognizable by the user by other senses such as beeps, in addition to visual information such as histograms and numerical information.

The second operation 560 represents an example in which the difference between the force exerted by the user's left foot on the pedal and the force exerted by the user's right foot on the pedal exceeds a preset second threshold to display a warning message. Here, the preset second threshold can be directly set by the user, or recommended to the user by the control unit, or automatically determined based on the type of exercise performed by the user. As shown, the warning information may be provided in the form of displaying the histogram 562 related to the left foot and the histogram 564 related to the right foot in different colors. The warning signs may be provided as height differences and color differences of bar graphs, etc., but are not limited thereto. For example, the warning sign can be provided by changing the background, pattern type or pattern size of any visual object, symbol, text, etc., or it can be provided in any form that can be recognized by the user through other senses other than vision, such as warning sound.

With this configuration, when the user applies different forces to both feet, the user can receive warning information related thereto in various forms, and then easily make adjustments to apply the same force to both feet. Therefore, unbalanced exercise of the user's lower limbs can be prevented.

FIG. 6 is a diagram illustrating an example of integrated output of information related to user motion on a display according to an embodiment of the present disclosure. The information can be displayed on the display of the smart leg press machine, or can be displayed on the display of a user terminal (for example, a smart phone) connected to the smart leg press machine.

In an embodiment, the display may display information related to the magnitude of the load and the setting values of various load characteristics in the first area 610 . The magnitude of the load can be set directly by the user or the control unit can be set automatically for the user. The characteristics of the load can include the viscous force of the load, the elastic force of the load, and the inertial force of the load, and can be set to low (25%), medium (50%), high (75%) and very high (100%) four one of the stages. Alternatively, the characteristics of the loads can be set in more subdivided stages, or in more simplified stages such as the second stage or the third stage.

Here, the viscous force of the load represents the load characteristic that the higher the speed at which the user tries to exercise, the greater the weight felt. The elastic force of the load represents the load characteristic that the greater the distance between the seat and the footboard, the greater the weight felt by the user. The inertial force of the load represents the load characteristic of the user feeling a higher weight when the same specific amount of force is applied to the pedals in a stationary state than when a specific amount of force is applied to the pedals in a dynamic state. At this point, one or more load types may be applied to the seat simultaneously.

A specific method of generating the above load will be described later. In Fig. 6, the load value that the user wants to use for exercise is displayed in numbers (for example, 50kg), and the setting values of various load characteristics are displayed as graphs and text, but not limited thereto, the above information can be displayed in various Types of numeric values, symbols, text, diagrams, etc.

In one embodiment, the display can display in the second area 620 the number of exercise groups currently performed by the user, the total number of exercise groups specified by the user, the number of exercise times the user currently performs in each group, and the number of exercise groups specified by the user in each group. Information such as the total number of exercises performed and the recommended muscle activation time. Here, the muscle activation time (Time Under Tension, TUT) may mean the time during which the user lasts one exercise. Muscle activation time can be directly input by the user, or according to the user's training purpose (increase strength, increase explosive power, increase maximum strength, increase muscle hypertrophy, improve muscle endurance, etc.), information related to the user's exercise (user's weight, body fat, etc.) mass, skeletal muscle mass, etc.) are automatically determined. Only when the time for the user to perform one exercise is longer than or equal to the muscle activation time, can the control unit recognize it as one exercise. In addition, whether or not each exercise is performed for more than the muscle activation time can be provided as audio-visual materials such as graphs.

In an embodiment, the display may display information related to the exercise length of each exercise of the user in the third area 630 . The control unit may receive the user's initial motion length, and calculate the motion recognition distance 632 based on the initial motion length. For example, motion recognition distance 632 may be 65% of the original motion length.

In one embodiment, if the user pushes the foot pedal beyond the motion recognition distance 632, it may be recognized as a motion. The display can use visual data such as charts to show whether the user pushes beyond the motion recognition distance 632 each time. For example, the display can display the movement distance of each movement in various ways such as bar chart, line chart, pie chart and so on.

In an embodiment, the position of the user's left foot, the position of the user's right foot, the force applied by the user's left foot to the pedal, and the force applied by the user's right foot to the pedal can be displayed in the fourth area 640 . force-related information. The information related to the user's motion that can be output to the display is not limited to the illustrated example, and may include motion-related setting values input by the user or values calculated based on the motion performed by the user, as well as visual materials related thereto, etc. . For example, information such as the maximum force or average force that the user pushes the pedals during each exercise can be displayed on the display.

FIG. 7 is a block diagram illustrating a detailed configuration of an intelligent leg press machine according to an embodiment of the present disclosure. As shown, the smart leg press machine may include an input/output device 710 , a communication device 720 , a control unit 730 , an electric motor (not shown), an electrohydraulic driver 740 , a series elastic driver 750 and a force connection unit 760 .

The input/output device 710 may include a series elastic drive encoder 712 and an electrohydraulic drive encoder 714 . The input/output device 710 may be configured to send operational data/real-time position data of the electrohydraulic drive 740 and the series elastic drive 750 to the control unit 730 . In addition, the input/output device 710 may include a touch panel, a keypad, a keyboard, and the like. A user may use the input/output device 710 to select and set an appropriate mode of operation according to the exercise plan. At this time, in each operation mode, the control operation can be adjusted in detail by inputting a plurality of additional control factors. The input/output device 710 may be connected to the control unit 730 to enable communication.

The communication device 720 may be configured to transmit and receive various information (eg, user information and motion information data) to and from the control unit 730 . In addition, the communication device 720 may provide configurations or functions for communicating with the user's mobile phone, tablet computer or other systems (eg, a separate cloud system, etc.) through the network.

The control unit 730 may include a driving force control unit 732 , an exercise force control unit 734 , and a content control unit 736 . Can be configured to control the entire algorithm associated with the drive in real time. In order to perform calculation processing, storage and control functions, etc., the control unit 730 may be configured in various forms such as circuits, circuit boards, integrated circuit chips, software, and firmware.

The control unit 730 may be configured to cause the electric motor and the electro-hydraulic drive 740 to generate a load based on the kinetic and drive forces received by the series elastic drive 750 . Specifically, the control unit 730 calculates the mutual force caused by the motion force and the driving force using the displacement changes of the plurality of elastic bodies included in the series elastic driver 750, and based on the calculated force, makes the electric motor and the electrohydraulic driver 740 generate load .

The storage device (memory) of the control unit 730 may store control models according to various operation modes in advance. The user can set the operation mode and the control mode through the input/output device 710 and additionally input values for adjusting various factors of each operation mode in detail to appropriately control the electric motor and the electrohydraulic driver 740 . As an example, the user may receive advice from an exercise instructor, formulate an exercise plan in advance, set an operating mode according to the plan, and input commands to the control unit 730 through the input/output device 710 . At this time, the user determines whether to still implement the basic type of the set operation mode, or to further adjust the set operation mode in detail, and then when the set operation mode is further adjusted in detail, the relevant factor value can be further input to the control unit 730 .

Therefore, the driving force control unit 732 can make the electric motor and the electrohydraulic driver 740 generate loads according to the pre-stored control model after receiving the user's input value and performing calculation. At this time, displacement changes of the plurality of elastic bodies included in the serial elastic driver 750 may occur, and may be configured to transmit the measured displacement change results of the plurality of elastic bodies to the driving force control unit 732 . Therefore, the driving force control unit 732 calculates the mutual force Fh acting on the serial elastic driver 750 using the displacements of the plurality of elastic bodies. The mutual force Fh can express the displacement values of a plurality of elastic bodies with a mathematical formula, and the driving force control unit 732 calculates the mutual force Fh based on this mathematical formula.

In addition, the motion force control unit 734 sets an admittance model (AdmittanceModel) based on the calculated mutual force Fh. As shown in Mathematical Formula 1 below, the admittance model I(s) can be established by including a plurality of factors. That is, the admittance model I(s) is established using virtual impedance factors M, B, K, and the values of M, B, K can be specified in advance according to the control model, or the user can set M, B, K through the input/output device 710 At least one of the values of K is input to the kinetic force control unit 734 . The exercise force control unit 734 can control the electrohydraulic driver 740 to generate an appropriate exercise load according to the value of a plurality of factors specified or input.

Mathematical formula 1

In Mathematical Formula 1, the factor M represents virtual mass, and when its value is increased, the effect on the inertial force is increased. Factor B means virtual damping, and when increasing its value, the effect on viscous forces increases. The factor K represents a virtual spring, and when increasing its value, the effect on the elastic force increases. The motion force control unit 734 may use the admittance model I(s) of Mathematical Formula 1 to perform a control action. Specifically, the motion force control unit 734 sets the admittance model I(s) based on the mutual force Fh, and generates an appropriate load by driving the electric motor and the electrohydraulic driver 740 . At this time, the generated load may act in relation to inertial force, viscous force, and elastic force, respectively, and may act in relation to a combination of at least two of inertial force, viscous force, and elastic force.

The smart leg press machine according to an embodiment may further include a body detection sensor capable of measuring a user's physical condition. For example, body detection sensors can measure the user's heart rate, body temperature, etc., and can also be applied to infrared sensors, camera sensors, etc. At this time, if the content control unit 736 judges that the user's physical condition value measured by the body detection sensor is a burden on the user, the torque controller limits the driving force to reduce the load applied to the seat, thereby preventing the user from being injured in advance. For example, the content control unit 736 may limit the driving force below the first set value according to the heart rate measured by the body detection sensor exceeding the pre-input set heart rate (heart rate limit). The set heart rate and the first set value here can be stored by inputting in advance by the user through the input/output device 710 , and the first set value preferably has a load value smaller than that generated by the electric motor and the electrohydraulic driver 740 . In addition, when the change value of the exercise force reaches the second set value (for example, when the user's force changes sharply, the user loses force, etc.), the content control unit 736 can limit the driving force to the third set value through the torque controller. the following.

In addition, the content control unit 736 may control the load value to measure the maximum load value (1RM) at which the user can perform one exercise. For example, when the user applies force to the foot pedals, the control unit applies the maximum load that can be applied to the seat to the seat, and then gradually reduces the magnitude of the load, thereby allowing the user to start moving the seat by pushing the foot pedals The load value at the time point is identified as the maximum load value (1RM) at which the user can perform one exercise.

The electrohydraulic driver 740 may be configured to generate the load applied to the seat by connecting to the electric motor to amplify the initial load generated by the electric motor. The electrohydraulic driver 740 may be configured to generate a load applied to the entire force acting connection unit 760 , and may be hydraulically operated while being controlled by the control unit 730 . According to an embodiment, the electro-hydraulic driver 740 may include a hydraulic pump and a hydraulic cylinder, and the control unit 730 may control the movement of the hydraulic cylinder rod by controlling the hydraulic pump or adjusting the hydraulic pressure from the hydraulic pump into the hydraulic cylinder.

The serial elastic driver 750 may be configured to be connected with the electrohydraulic driver 740, and include a plurality of elastic bodies, and receive a motion force acting on the force acting connection unit 760, and receive a driving force through a load generated by the electrohydraulic driver 740, thereby Change the displacement of the elastic body. Thus, the series elastic actuator 750 may be configured to detect the point at which the user begins to push the foot pedal or the point at which the user finishes pushing the foot pedal. The plurality of elastic bodies may be arranged differently depending on the magnitude of the maximum load to be generated, etc., in terms of their length, modulus of elasticity, and the like.

In an embodiment, the smart leg press machine may further include a second sensor module configured to detect the movement of the seat to measure the length of the movement. For example, the second sensor module is configured to detect the movement of the series elastic actuator 750, and based on the movement length of the series elastic actuator 750, the movement length of the seat can be calculated. The control unit 730 may display the motion length of each motion of the user on the display. For example, the control unit 730 may calculate the user's initial motion length using the second sensor module, and determine the motion recognition distance based on the initial motion length. If the user pushes the seat beyond the motion recognition distance, it is recognized as a motion, and the control unit 730 can display on the display whether the user pushes the seat beyond the motion recognition distance through visual data such as graphs.

The force application link unit 760 may be configured to transmit the load generated from the electric motor, the electrohydraulic drive 740 and the series elastic drive 750 to the user. The force connection unit 760 may include load distributing members and cables, and may include fixed and/or moving pulleys.

FIG. 8 is a flowchart illustrating a method for a control unit to provide appropriate load and exercise-related information to a user according to an embodiment of the present disclosure. Method 800 may be performed by a control unit. As shown in the figure, in step S810, the control unit may receive user input. Here, the user input may include the magnitude of the load applied to the seat, the viscous force of the load, the elastic force of the load, the inertial force of the load, the type of exercise the user wants to perform, the number of exercise sets, the number of exercises within a set, the first threshold, second threshold, etc., but not limited thereto.

In step S820, the control unit may control the load generation unit based on the received user input. In one embodiment, the control unit receives and calculates input values related to the value of the load input by the user, the viscous force of the load, the elastic force of the load and the inertial force of the load, and then controls the motor and the motor according to a pre-stored control model. Electrohydraulic drive. In addition, the control unit receives information from the electrohydraulic driver about the point in time when the user starts pushing the foot pedal, and can control the electric motor and the electrohydraulic driver based thereon.

In step S830, the control unit may receive information from the sensor module. In an embodiment, the information received from the sensor module may include information related to the position of the user's feet, information related to the force exerted by the user's feet on the pedals, and movement information of the pedals, etc., but is not limited to this. In addition, the control unit may receive information on a time point at which the user starts pushing the foot pedal and information on a time point at which the user finishes pushing the foot pedal from the sensor module.

In step S840, the control unit may display motion-related information on the display based on the information received from the sensor module. In an embodiment, the control unit may display information on the display relating to the position of the user's feet and the force applied to the foot pedals. In addition, when the distance between the position of the user's feet and the predetermined position exceeds the first threshold, or when the force difference between the user's feet on the pedals exceeds the second threshold, the above-mentioned related warning signs may be displayed. displayed on the display.

The above methods can be implemented as computer readable codes on a computer readable recording medium. The recording medium may continuously store the computer-executable program, or temporarily store it for execution or downloading. In addition, the medium may be various recording means or storage means in the form of a single or a combination of multiple hardware, and is not limited to a medium directly connected to any computer system, and may exist dispersedly in a network. As examples of the medium, magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as compact disks (CD-ROM) and digital versatile disks (DVDs) such as optical floppy disks (floptical disks) can be configured to store The magneto-optical medium (magneto-optical medium) and program instructions such as read-only memory (ROM), random-access memory (RAM) and flash memory. In addition, as examples of other media, recording media or storage media managed by an application store that distributes application programs, websites that provide or distribute various other software, servers, and the like can be cited.

The methods, operations or techniques of the present disclosure may be implemented by various means. For example, these techniques may be implemented by hardware, firmware, software, or a combination thereof. Those of ordinary skill would understand that the various exemplary logical blocks, modules, circuits, and algorithm steps described in connection with the present disclosure may be implemented by electronic hardware, computer software, or a combination of both. To clearly describe this mutual substitution of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functions. Described. Whether such functionality is implemented as hardware or as software will vary depending upon the design requirements placed upon the particular application and the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementations should not be interpreted as departing from the scope of the present disclosure.

In hardware implementations, the processing units used to perform the techniques can also be implemented in one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), one or more digital signal processing devices (DSPD, digitalsignal processing devices), one or more programmable logic devices (PLD, programmable logicdevices), one or more field programmable gate arrays (FPGA, field programmable gate arrays), one or more processors, one or more controllers , one or more microcontrollers, one or more microprocessors, one or more electronic devices, one or more other electronic units designed to perform the functions described in this disclosure, computers, or combinations thereof realized within.

Therefore, in conjunction with the various exemplary logic blocks, modules, and circuits described in the present disclosure, a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, multiple discrete hardware components, or any combination designed to perform the multiple functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any existing processor, controller, microcontroller, or state machine. A processor may also consist of a combination of multiple computing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, multiple microprocessors, one or more microprocessors coupled to a DSP core, or any other configuration to fulfill.

In firmware and/or software implementation, multiple technologies can be composed of random access memory (RAM, random access memory), read-only memory (ROM, read-only memory), non-volatile random access memory (NAVRAM, non-volatile random access memory), programmable read-only memory (PROM, programmable read-only memory), erasable programmable read-only memory (EPROM, erasable programmable read-only memory), electrified erasable programmable read-only memory (EEPROM, electrically erasable PROM), flash memory, compact disc (CD, compact disc), magnetic or optical data storage devices and other computer-readable media to store commands. The commands may be executed by one or more processors, and may also cause one or more processors to perform certain aspects of the functionality described in this disclosure.

When implemented in software, various techniques described above may be stored on or transmitted over a computer-readable medium as one or more commands or code. Computer-readable media includes both computer storage media and communication media, and includes any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of non-limiting example, such computer-readable media can be used to transmit or store random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM) in the form of commands or data structures ), compact disc read-only (CD-ROM) or other optical disc storage, magnetic disc storage or other magnetic storage device, or desired program code, and may include any other medium accessible by a computer. Also, any connection is properly termed a computer-readable medium.

For example, when the software is transmitted from a site, server, or other remote source using wireless technologies such as coaxial cable, fiber optic cable, twisted wire, digital subscriber line (DSL) or infrared, radio and microwave, coaxial cable, fiber optic Cable, twisted wire, digital subscriber line, or wireless technologies such as infrared, radio, and microwave are to be included in the definition of media. Disk (disk) and disc (disc) used in this article include network disc (CD), laser disc, optical disc, digital versatile disc (DVD, digital versatile disc), floppy disk, and Blu-ray disc, wherein multiple discs (disks ) usually play data magnetically, whereas multiple disks (discs) play data optically using lasers instead. Combinations of the above should also be included within the scope of computer-readable media.

Software modules can reside in RAM memory, flash memory, multiple read-only memories (ROMs), erasable programmable read-only memories (EPROMs), multiple electrically-erasable programmable read-only memories (EEPROMs), multiple registers, hard disk, removable disk, compact disk read-only (CD-ROM), or any other known form of storage medium. An exemplary storage medium can be coupled to the processor such that the processor can read information from, or record information on, the storage medium. Alternatively, the storage medium may be integrated into the processor. The processor and storage medium can reside in an ASIC. The ASIC may also reside in the user terminal. Alternatively, the processor and storage medium may reside in the user terminal as multiple single components.

Although the above-described embodiments have been described employing aspects of the presently disclosed subject matter in one or more stand-alone computer systems, the disclosure is not limited thereto and may be implemented in any computing environment, such as a network or distributed computing environment. Still further, aspects of the subject matter in this disclosure may be implemented in multiple processing chips or devices, and may similarly affect storage across multiple devices. These devices may include personal computers (PCs), network servers, and portable devices.

In this specification, although some embodiments of the present disclosure have been described, various modifications and changes can be made without departing from the scope of the present disclosure that can be understood by those skilled in the art to which the present invention pertains. In addition, such modifications and changes should be considered to fall within the scope of claims appended to this specification.

Explanation of reference signs

110: User 120: Smart leg machine

122: Foot pedal 124: Monitor

126: Sports related information displayed on the display

Claims (12)

1. An intelligent leg press machine, characterized in that it comprises: a seat configured to allow a user to be able to sit; a frame mounted with a first guide for guiding movement of the seat; a footrest supported by the frame; a first sensor module configured to detect a force applied to the pedal; a display configured to receive user input and output exercise-related information; and a control unit configured to control the operation of the display. 2. The intelligent leg press machine according to claim 1, characterized in that, The control unit is further configured to: receiving information from the sensor module relating to force applied to the foot pedal; and The force applied to the pedals is output on a display in real time. 3. The intelligent leg press machine according to claim 1, characterized in that, the sensor module includes a plurality of sensors arranged to measure the respective positions of the user's left and right feet on the footrest, The control unit is further configured to: receiving information related to the position of the user's left foot and information related to the position of the user's right foot from the plurality of sensors; outputting information related to the position of the user's left foot to a first area of the display; and Outputting information related to the position of the user's right foot to a second area of the display. 4. intelligent leg press machine according to claim 3, is characterized in that, The control unit is further configured to: When the distance between the position of the user's left foot and a predetermined first position exceeds a preset first threshold, output a first warning sign to the display; and When the distance between the position of the user's right foot and the predetermined second position exceeds a preset first threshold, a second warning sign is output to the display. 5. intelligent leg press machine according to claim 4, is characterized in that, The predetermined first position and the predetermined second position vary according to the type of exercise selected by the user. 6. The intelligent leg press machine according to claim 4, characterized in that, The control unit is configured as, a first area of the display to display a position of the user's left foot using a first visual object; a second area of the display to display a position of the user's right foot using a second visual object; The first warning sign is provided to the user through a color change of the first visual object; and The second warning sign is provided to the user through a color change of the second visual object. 7. The intelligent leg press machine according to claim 1, characterized in that, the sensor module comprises a plurality of sensors arranged to measure the forces exerted by the user's left and right feet respectively on the footrest, The control unit is further configured to: receiving information from the plurality of sensors relating to force applied to the footrest by the user's left foot and information relating to force applied to the footrest by the user's right foot; outputting information related to the force exerted by the user's left foot on the footrest to a first area of the display; and Information related to the force exerted by the user's right foot on the footrest is output to a second area of the display. 8. The intelligent leg press machine according to claim 7, characterized in that, The control unit is further configured to: When the difference between the force applied by the user's left foot on the pedal and the force applied by the user's right foot on the pedal exceeds a preset second threshold, the third Warning signs are output to the display. 9. The intelligent leg press machine according to claim 8, characterized in that, the first area on the display shows the force exerted by the user's left foot on the pedal in a histogram, The second area on the display shows the force exerted by the user's right foot on the pedal in a histogram, When the difference between the force applied by the user's left foot on the pedal and the force applied by the user's right foot on the pedal exceeds a preset second threshold, the first A region and the second region are displayed in colors different from each other. 10. The intelligent leg press machine according to claim 1, further comprising: a load generating unit that generates a load to be applied to the seat, Wherein, the load generation unit includes: electric motors for generating the initial load; an electrohydraulic driver configured to connect to the electric motor and amplify the initial load to generate a load to be applied to the seat; and a series elastic actuator configured to be connected to the electrohydraulic actuator and comprising a plurality of elastic bodies to detect when the user begins to push the foot pedal, The control unit is further configured to: receiving a first user input from the user relating to a magnitude of a load applied to the seat; receiving information from the electro-hydraulic driver relating to the point at which the user begins pushing the foot pedal; and The electric motor and the electro-hydraulic drive are controlled based on the first user input and the time-related information. 11. The intelligent leg press machine according to claim 10, characterized in that, The control unit is further configured to: receiving a second user input related to a viscous force, an elastic force, and an inertial force of a load to be applied to the seat generated by the load generating unit from the user; and The electric motor and the electrohydraulic driver are controlled based on information related to the first user input, the second user input and the point in time. 12. The intelligent leg press machine according to claim 1, further comprising: a second sensor module configured to detect movement of the foot pedal, Wherein, the control unit is further configured to: receiving an initial motion length of the user from the second sensor module; calculating a motion recognition distance based on the initial motion length; and When the user pushes the pedal beyond the motion recognition distance, it is recognized as a motion.

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