System and Method for Simulated Flywheel Training

Aspects of the present application relate to fitness equipment, for example exercise equipment useful for strength and/or endurance training. One goal for some users of fitness equipment is to improve performance, ability, competitive level, etc. at a sport or game, intended to result from improved fitness, strength, mobility, endurance, etc. achieved via repeated use of the fitness equipment. Flywheel training involves a rope wound about a shaft with a flywheel mounted to the shaft. When the user moves an end effector, the flywheel is driven to rotate. The user exerts a force during a concentric portion of an exercise to accelerate the flywheel, and exerts force during an eccentric portion of the exercise to decelerate the flywheel. Flywheel training can advantageously provide increased resistance during the eccentric portion of the exercise compared to other cable or dumbbell exercises.

One implementation of the present disclosure is fitness equipment, according to some embodiments. In some embodiments, the fitness equipment includes an electric motor, a tensile member, an end effector, a sensor, and a controller. In some embodiments, the tensile member is coupled with an output shaft of the electric motor. In some embodiments, the end effector is coupled to the electric motor through the tensile member and configured for interaction with a user during performance of a flywheel training exercise by the user. In some embodiments, the electric motor is operable to provide a force to the end effector through the tensile member. In some embodiments, the sensor is configured to obtain at least one of a position, a velocity, or an acceleration of the end effector. In some embodiments, the controller is programmed to cause the electric motor to operate to exert the force on the end effector during the interaction with the user by generating motor controls by simulating rotation of a virtual flywheel using the at least one of the position, the velocity, or the acceleration of the end effector.

In some embodiments, the controller is further programmed to, during a wind-out phase of the flywheel training exercise, determine a first force to be exerted on the end effector based on the acceleration of the end effector and a characteristic of a simulated flywheel using a first model of the simulated flywheel. In some embodiments, the controller is further programmed to track a speed of the simulated flywheel. In some embodiments, the controller is further programmed to cause the electric motor to operate to exert the first force on the end effector. In some embodiments, the first force is exerted on the end effector in a direction opposing a first direction of motion of the end effector during the wind-out phase of the flywheel training exercise. The wind-out phase occurs over a concentric portion of the flywheel training exercise when the tensile member is winding out, according to some embodiments.

In some embodiments, the controller is further programmed to, during a wind-in phase of the flywheel training exercise, determine a second force to be exerted on the end effector based on a comparison between a speed of the end effector and the speed of the simulated flywheel using a second model of the simulated flywheel. In some embodiments, the controller is programmed to cause the electric motor to operate to exert the second force on the end effector. In some embodiments, the second force exerted on the end effector in the direction that is the same as a second direction of motion of the end effector during the wind-out phase of the flywheel training exercise and opposing a force exerted by the user on the end effector in the first direction. The wind-in phase occurs over an eccentric portion of the flywheel training exercise when the tensile member is being wound in or taken up, according to some embodiments.

In some embodiments, the second model of the simulated flywheel is different than the first model of the simulated flywheel. In some embodiments, the second model includes a monotonically increasing function of the comparison between the speed of the end effector and the speed of the simulated flywheel.

In some embodiments, the controller is further programmed to determine whether to transition a simulator of a virtual flywheel out of a wind-out state corresponding to the wind-out phase of the flywheel training exercise and into a wind-in state corresponding to the wind-in phase of the flywheel training exercise. In some embodiments, the controller is programmed to transition the simulator out of the wind-out state and into the wind-in state responsive to at least one of (i) a position of the end effector exceeding a maximum allowable position corresponding to an end of the wind-out phase, or (ii) a simulated payout of the virtual flywheel returning to an intermediate position of the end effector after passing the maximum allowable position. In some embodiments, the controller is programmed to determine whether to transition the simulator of the virtual flywheel out of the wind-in state and into the wind-out state responsive to at least one of (i) the position of the end effector being less than or equal to a minimum allowable position corresponding to an end of the wind-in phase, or (ii) a speed of the virtual flywheel being less than or equal to zero.

In some embodiments, the controller is programmed to implement a calibration phase before the flywheel training exercise by operating a display screen of the fitness equipment to prompt the user to perform one or more repetitions of the flywheel training exercise. In some embodiments, the controller is programmed to record a first position of the end effector at which the end effector is fully retracted. In some embodiments, the controller is programmed to record a second position of the end effector at which the end effector is fully extended. In some embodiments, the controller is programmed to use the first position and the second position of the end effector to transition a simulator of a virtual flywheel between a wind-out state corresponding to the wind-out phase of the flywheel training exercise and a wind-in state corresponding to the wind-in phase of the flywheel training exercise.

In some embodiments, the controller is programmed to operate a user interface of the fitness equipment to prompt the user to enter a user input indicating a characteristic of a virtual flywheel for the flywheel training exercise. In some embodiments, the controller is programmed to, based on the characteristic of the virtual flywheel, cause the electric motor to operate to exert the force on the end effector during interaction with by the user to simulate the flywheel training exercise across both the wind-out phase and the wind-in phase of the flywheel training exercise.

In some embodiments, the fitness equipment further includes a gearbox and a spool. In some embodiments, the output shaft of the electric motor is coupled with the gearbox, and the gearbox is coupled with the spool, the spool configured to take-up and let-out the tensile member responsive to movement of the end effector.

Another implementation of the present disclosure is a method of simulating a flywheel training exercise, according to some embodiments. In some embodiments, the method includes providing exercise equipment including a motor and an end effector operably coupled with the motor. In some embodiments, the method includes obtaining a user input indicating a desired characteristic of a virtual flywheel, the desired characteristic determining an amount of resistance to be exerted on the end effector by the motor during the flywheel training exercise. In some embodiments, the method includes obtaining calibration data indicating a first position and a second position of the end effector corresponding to a range of motion of the flywheel training exercise. In some embodiments, the method includes, during a wind-out phase in which the end effector is moved in a first direction, determining a first force to be exerted on the end effector using a simulation of a flywheel based on acceleration of the end effector, and operating the motor to exert the first force on the end effector. In some embodiments, the method includes, during a wind-in phase in which the end effector is moved in a second direction, determining a second force to be exerted on the end effector using the simulation of the flywheel based on speed of the end effector, and operating the motor to exert the second force on the end effector.

In some embodiments, determining the first force during the wind-out phase of the flywheel training exercise includes determining the first force based on an acceleration of the end effector and the desired characteristic of the virtual flywheel. In some embodiments, determining the second force during the wind-in phase of the flywheel training exercise includes determining the second force based on a monotonically increasing function of a difference between a speed of the end effector and a simulated speed of the virtual flywheel. In some embodiments, the simulated speed of the virtual flywheel is updated based on a previously determined simulated speed of the virtual flywheel and a force exerted by a user on the end effector. In some embodiments, the calibration data is obtained by at least one of (i) prompting a user to perform a repetition of the flywheel training exercise and recording the first position and the second position of the end effector, (ii) predicting the first position and the second position of the end effector based on one or more characteristics of the user, or (iii) predicting the first position and the second position of the end effector based on a first position and a second position of the end effector for a different exercise. In some embodiments, the method includes determining whether to transition the simulation of the virtual flywheel out of a wind-out state corresponding to the wind-out phase of the flywheel training exercise and into a wind-in state corresponding to the wind-in phase of the flywheel training exercise responsive to at least one of (i) a position of the end effector exceeding the first position, or (ii) a simulated payout of the virtual flywheel returning to an intermediate position of the end effector after passing the second position.

In some embodiments, the method includes determining whether to transition the simulation of the virtual flywheel out of a wind-in state and into a wind-out state responsive to at least one of (i) the position of the end effector being less than or equal to a minimum allowable position corresponding to an end of the wind-out phase, or (ii) a speed of the virtual flywheel being less than or equal to zero. In some embodiments, the first force is determined in the wind-out phase during a concentric portion of a repetition of the flywheel training exercise, and the second force is determined in the wind-in phase during an eccentric portion of the repetition of the flywheel training exercise. In some embodiments, the speed of the end effector and the acceleration of the end effector are determined based on sensor data from a position sensor and inertial measurement data obtained from an inertial measurement unit positioned within the end effector.

Another implementation of the present disclosure is a control system for simulating flywheel training, according to some embodiments. In some embodiments, the control system includes processing circuitry. In some embodiments, the processing circuitry is programmed to obtain sensor data indicating movement of an end effector of fitness equipment. In some embodiments, the processing circuitry is programmed to operate an electric motor of the fitness equipment, based on the movement of the end effector, to exert a force on the end effector, the force on the end effector determined based on a result of a physics-based simulation of a virtual flywheel in order to provide a flywheel training experience for a user without requiring a flywheel physically coupled to the end effector.

In some embodiments, a size of the virtual flywheel for the physics-based simulation is user adjustable to adjust a behavior of the virtual flywheel and the force exerted on the end effector responsive to movement of the end effector. In some embodiments, the processing circuitry is further programmed to, prior to the operation of the electric motor to simulate the flywheel training experience, operate a display screen of the fitness equipment to prompt the user to perform multiple repetitions of the flywheel training exercise with the end effector. The processing circuitry is also programmed to record minimum and maximum positions of the end effector while performing the multiple repetitions. The processing circuitry is also programmed to implement the physics-based simulation of the virtual flywheel using the minimum and maximum positions to determine when to transition between a wind-in state and a wind-out state of the virtual flywheel.

In some embodiments, the sensor data includes position data obtained from a position sensor operably coupled with an output shaft of the electric motor. In some embodiments, the movement of the end effector includes a speed and an acceleration of the end effector. In some embodiments, the speed and the acceleration of the end effector are determined by the processing circuitry using numerical differentiation of the position data and a filter.

Another implementation of the present disclosure is one or more non-transitory computer-readable media storing program instructions that, when executed by one or more processors, cause the one or more processors to perform operations, according to some embodiments. The operations may include obtaining data indicating movement of an end effector of fitness equipment. The operations can also include determining a target force for a motor of the fitness equipment by, during a first phase of an exercise, determining the target force based on an acceleration of the end effector, and during a second phase of the exercise, determining the target force based on a simulated speed of a virtual mass. The operations may also include controlling the motor based on the target force. In some embodiments, the virtual mass is a virtual flywheel.

Before turning to the figures, which illustrate certain exemplary embodiments in detail, it should be understood that the present disclosure is not limited to the details or methodology set forth in the description or illustrated in the figures. It should also be understood that the terminology used herein is for the purpose of description only and should not be regarded as limiting.

Referring generally to the figures, an exercise apparatus and methods relating thereto are shown. In particular, an exercise apparatus configured as a motorized strength training apparatus is shown. In the motorized strength training apparatus described herein, an electric motor operates to generate a tension in a cable. An end effector, in particular an exercise implement such as a handle, bar, etc. can be connected to the cable such that the tension is communicated to the exercise implement and a force is exerted on a user holding (or otherwise in contact with) the exercise implement. As described in further detail below, fitness equipment within the scope of the present disclosure can provide an integrated fitness and game (e.g., sport) experience, which can cause users to increase their fitness and game performance.

According to various embodiments, a control system including a controller and a motor are configured to implement simulated flywheel training. The motor may be operably coupled with the end effector. The controller is configured to use sensor data indicating motion of the end effector as the user performs an exercise and perform a physics-based simulation of a virtual flywheel. The controller operates the motor to provide a counter-force that opposes a direction of motion of the movement of the end effector in accordance with the physics-based simulation of the virtual flywheel in order to implement a simulated flywheel training experience for the user without requiring a physical flywheel to be coupled with the end effector.

Referring now to, fitness equipment, in particular an exercise apparatus, is shown, according to some embodiments. The exercise apparatusincludes a base platform, a first stanchionextending vertically from the base platformproximate a first end of the base platform, a second stanchionextending vertically from the base platformproximate the first end of the base platform, a display consolecoupled to the base platformand positioned between the first stanchionand the second stanchion. The exercise apparatus can also include a bench selectively positionable on the base platform. The exercise apparatusalso includes a first motorpositioned on the base platformat the first stanchionand a second motorpositioned on the base platformat the second stanchion.

The exercise apparatuscan also include a first cable extending from the first motorand a second cable extending from the second motor. The exercise apparatusalso includes a first terminalcoupled to the first stanchion and repositionable along the first stanchion, and a first set of pulleyspositioned at the base platform. In the state shown in, the first cable can extend from the first motoralong the first set of pulleysto the first terminal, for example. Cable routing according to some embodiments is shown in U.S. patent application Ser. No. 17/495,584, filed Oct. 6, 2021, the entire disclosure of which is incorporated by reference herein in its entirety.

The exercise apparatusalso includes a second terminalcoupled to the second stanchionand repositionable along the second stanchion, and a second set of pulleyspositioned at the base platform. In the state shown in, the second cable can extend from the second motoralong the second set of pulleysto the second terminal, for example. Cable routing according to some embodiments is shown in U.S. patent application Ser. No. 17/495,584, filed Oct. 6, 2021, the entire disclosure of which is incorporated by reference herein in its entirety.

As shown in, the base platformis substantially planar and is configured to stably rest on a floor or other ground surface to provide a stable foundation for the exercise apparatus. The base platformcan define an exercise surface on which a user can perform one or more exercise and/or on which a bench can be positioned. In some embodiments, the base platformis configured to be at least partially foldable into an out-of-use configuration in which the base platformis folded up and away from the floor or ground under the base platform(thereby reducing the space occupied by the exercise apparatuswhen not in use). The base platformcan include one or more sensors configured to detect user interactions with the base platform, for example one or more force sensors, pressure sensors, load cells, accelerometers, acoustic sensors (microphones), etc. For example, the base platformmay include one or more force plates coupled to a frame of the base platformso as to be slightly moveable, enabling the one or more force plates to measure (e.g., weigh) forces and/or pressures exerted thereon and/or accelerations thereof (e.g., caused by a user). In some embodiments, sensors in the base platformcan measure a shifting, change of balance, etc. of user's weight (e.g., shifting of weight from one foot of the user to the other foot of the user).

The display consolemay be configured to display information relating to operation of the exercise apparatusto a user. As shown in, the display consoleincludes a screen(e.g., LED screen). In some embodiments, the screenis a touchscreen configured to accept user input. In other embodiments, one or more additional buttons, keys, toggles, etc. are included on the display consoleto receive user input. In some embodiments, the display consoleincludes one or more speakers configured to emit sounds relating to operation of the exercise apparatus. In some embodiments, the exercise apparatusalternatively or additionally includes a virtual reality or augmented reality headset configured to be worn by a user and to display information relating to operation of the exercise apparatusto the user. In some embodiments, the display consolehouses a controller for the exercise apparatus.

The first stanchionand the second stanchionextend upwards from the base platformand are spaced apart from one another near an end of the base platform. The first stanchionand the second stanchionare shown as being substantially symmetric across a center line of the base platform. As shown in, the first stanchionand the second stanchionare substantially the same height. The first stanchionand the second stanchionmay be approximately six feet tall, for example with a height in a range between five feet and seven feet, as in the example of. In other embodiments, the first stanchionand/or the second stanchionmay be shorter, for example with a height in a range between two feet and four feet.

The first terminalis coupled to the first stanchionand is configured to be selectively repositioned along the first stanchion. For example, the first terminalmay include a projection that rides along a groove or slot of the first stanchion(or vice-versa) and can be selectively held in place at various heights using a pin configured to engage apertures of the first stanchion. The first terminalcan include a handle to facilitate repositioning of the first terminal. The second terminalis coupled to the second stanchionand is configured to be selectively repositioned along the second stanchion. For example, the second terminalmay include a projection that rides along a groove or slot of the second stanchion(or vice-versa) and can be selective held in place at various heights using a pin configured to engage apertures of the second stanchion. The second terminalcan include a handle to facilitate repositioning of the second terminal. Accordingly, the first terminaland the second terminalcan be repositioned (e.g., manually by a user) to various heights along the first stanchionand the second stanchion, i.e., at various heights above the base platform. In some embodiments, actuators (e.g., linear actuators) are included in the first stanchionand the second stanchionto automatically move the first terminaland the second terminal, for example as described in U.S. patent application Ser. No. 17/584,245, filed 20 Jan. 2022, the entire disclosure of which is incorporated by reference herein.

The first motoris shown as being positioned on the base platformat a bottom end of the first stanchion. The first motorcan be operationally coupled to a first cable such that the first motorcan generate tension in the first cable. In some examples, the first motorcan include an electric motor coupled to a spool such that the electric motor operates to generate a torque that rotates the spool. In such examples, the spool is coupled to a first cable such that the first cable can be repeatedly wound and unwound from the spool of the first motorby operation of the first motor.

The first motoris configured to controllably generate a force that acts both acts to retract a first cable towards the first motorand to resists the first cable from being pulled out (unspooling, releasing) from the first motor. Thus, the first motorcan provide a controllable tension in the first cable in different phases (e.g., concentric and eccentric phases) of exercises performed using the exercise apparatus, for example providing different amounts of tension in different phases or otherwise dynamically altering the tension. In some embodiments, the first motorincludes a permanent magnet direct current motor. In various embodiments, the first motorincludes a belt, a gear, a set of gears, various gearing, etc.

The second motoris shown as being positioned on the base platformat a bottom end of the second stanchion. The second motoris operationally coupled to a second cable such that the second motorcan generate tension in the second cable. Other than acting on the second cable rather than the first cable, the second motoris configured substantially the same as the first motorin the examples shown. Various exercises that can be enabled by the operation of the first motorand the second motorincluding strength training exercises, cardio exercises (e.g., rowing, paddling, swimming, skiing, etc. exercises), Pilates exercises, etc., and are shown in U.S. patent application Ser. No. 17/495,584 filed Oct. 6, 2021, U.S. patent application Ser. No. 17/462,237 filed Aug. 31, 2021, and U.S. patent application Ser. No. 17/495,575 filed Oct. 6, 2021, the entire disclosures of which are incorporated by reference herein.

Referring now to, a perspective view of fitness equipment, in particular a fitness systemis shown, according to an example embodiment. The fitness systemis configured to provide a full fitness experience, including a resistance training experience. In particular, the fitness systemincludes a multi-cable force production system, a pacing lighting system, a display interface, an integrated bench, and adjustable rails.

The multi-cable force production systemcan be configured as described in detail in U.S. patent application Ser. No. 16/909,003, filed Jun. 23, 2020, the entire disclosure of which is incorporated by reference herein. The multi-cable force production systemas shown here inincludes multiple (shown as four) cablesconnected to an end effector, shown as barbell, that can be selectively supported by cradlessupported by a frame. The cablesare connected to independent electric motors via separate pulleys. The electric motors can be operated to independently vary the tension in each cable in order to create a desired force profile at the barbell, as described in detail in the above-cited U.S. patent application Ser. No. 16/909,003.

The multi-cable force production systemis also shown as include platform (base, foundation, exercise surface, etc.). Platformcan include one or more sensors configured to detect user interactions with the platform, for example one or more force sensors, pressure sensors, load cells, accelerometers, acoustic sensors (microphones), etc. For example, the base platformmay include one or more force plates coupled to a frame of the platformso as to be slightly moveable, enabling the one or more force plates to measure (e.g., weigh) forces and/or pressures exerted thereon and/or accelerations thereof (e.g., caused by a user).

The pacing lighting systemcan be configured as described in detail in U.S. patent application Ser. No. 17/010,573, filed Sep. 2, 2020, the entire disclosure of which is incorporated by reference herein. The pacing lighting systemas shown here inincludes a pair of vertically-arranged rows of lighting element configured to illuminate dots (points, circles, areas) of different colors. The dots illuminated on the pacing lighting systemcan indicate to a user a desired/preferred range of motion for an exercise a real-time indication of the preferred position of the user (showing movement intended to be followed by the user), and a current position of the user (or barbell) relative to that range of motion. As shown in, the pacing lighting systemcan be arranged parallel to a linear path along which the framecan move, such that the pacing lighting systemcan illuminate points that correspond to heights relative to the frame. In some cases, control of the pacing lighting systemand the linear positioning system for the frameare coordinated so that an illuminated dot intended to guide the user's motion is aligned with the cradlesat the beginning and end of an exercise.

The display interfaceis configured to show various instructions, exercise data, resistance amounts, exercise routines, and other information to a user. The display interfacemay be a touchscreen to enable interaction between the user and the display interface. For example, the display interfacemay be configured to accept user inputs requesting operations and changing settings for the fitness system, force production system, and/or pacing lighting system. Various customized exercise programs and content can be provided via the display interface, including as described in U.S. patent application Ser. No. 16/909,003 cited above and incorporated herein by reference.

The fitness systemis also shown as including an integrated benchwhich can be selectively included or removed from the fitness systemto enable exercises suitable for performance using a bench (e.g., bench press). The integrated benchmay be configured to be coupled to the platformin some embodiments. The integrated benchcan be adjustable to different inclinations for various exercises. In some embodiments, the integrated benchincludes sensors or electronics to facilitate use of the integrated bench with other elements of the fitness system.

The fitness systemis also shown as including adjustable rails. The adjustable railsare positioned below the cradlesand along sides of the platform, and are configured to stop the bar from moving lower than height defined by the adjustable rails. The adjustable railscan thus receive the barbellwhen a user is unable to complete an exercise or otherwise wishes to place the barbellsomewhere other than in the cradles.

Various hardware and/or software of the various elements of the fitness systemcan be integrated and/or interoperable to provide for a comprehensive, unified experience for users of the fitness system. For example, a control system for the fitness systemcan control the force production system, the pacing lighting system, and the display interface. As one feature enabled by this integration, the force production systemcan be controlled in coordinate with motorized movement of the cradlesby one or more actuators (e.g., as described in U.S. patent application Ser. No. 17/584,245, filed 20 Jan. 2022, the entire disclosure of which is incorporated by reference herein), for example either allowing the cablesto be extended as the cradlesmove upwards or by retracting slack in the cablesas the cradlesmove downwards. Various other integrations are also possible in various embodiments.

Referring now to, a diagram illustrates exercise equipment. The exercise equipmentmay be implemented as the exercise apparatusor the fitness system. The exercise equipmentincludes a motor, a gearbox, a spool, a cable(e.g., a rope, a tensile member, a tensile element, etc.), and an effector. The gearboxmay be optional. The motoris configured to drive the spoolthrough a driveshaft(e.g., an output shaft). The driveshaftmay be coupled directly with the spool(e.g., the spoolis mounted on the driveshaft), or may be coupled with an input of the gearboxwhich is coupled with the spoolat a separate driveshaft. The motormay be the first motoror the second motor. In some embodiments, multiple motorsare implemented to drive the spool. The cablemay be the first cable or the second cable described in greater detail above with reference to. The cablemay also be the cables. The effectoris movable by the user in a first direction (e.g., such that the cableis unwound from the spool) and a second direction (e.g., such that the cableis wound onto the spool).

The effectoris coupled with a free end of the cable. The effectormay have the form of a handle, a rope, a barbell, etc. For example, the effectormay have the form of the barbell. The effectoris fixedly coupled with the cablesuch that when a user pulls on the effectorduring a wind out state, the spoolis driven to rotate thereby winding out the cablethat is wrapped around the spool. The cableincludes a stopper(e.g., a member anchored or coupled to the cableproximate the effector). The cableis configured to pass through an openingof a frameof the exercise equipmentwith the stopperpositioned more proximate the effector. The stopperhas a larger size than the openingso that, when the effectoris released, the cableis limited from being fully wound around the spool.

It should be understood that the exercise equipmentmay include multiple motorsthat are arranged in series. For example, the exercise equipmentcan include a first electric motor positioned on a first side of the spooland a second electric motor positioned on a second side of the spool. The first and second electric motor can be operated in unison to drive the spool. Likewise, the exercise equipmentcan include multiple cablesthat are wound around separate spools. The motoris configured to drive to provide a counter-torque to the spoolduring the wind-out of the cabledue to the pulling motion by the user on the end effector.

The motoris operated to provide torque to the spoolto simulate a flywheel or disk coupled with the spool. The motoris specifically operated in order to provide counter-torques to resist the motion of the effectorand corresponding linear motion of the cablein a manner as if a flywheel or disk were coupled to the spool. The motorimplements a simulated disk having rotational inertia coupled with the spool.

The motormay be operated by a control systemof the exercise equipment. The control systemincludes a controller, a motor controller, and a user interface. The control systemalso includes a position sensorat the spoolthat is configured to measure a position of the spool. The control systemmay also include an inertial measurement unit (“IMU”)that is positioned within the effectoror another sensor, or a combination of one or more sensors. The IMUmay include multiple accelerometers configured to measure acceleration in multiple directions. The IMUmay be an optional sensor. The IMU(e.g., the sensor in the effector) may be configured to obtain position, velocity, or acceleration of the effector.

The controlleris configured to receive position sensor data from the position sensor, and inertial sensor data from the IMU sensor. The controllermay also receive, from the user interface, a virtual wheel size as an input. The controlleris configured to use the position sensor data, the inertial sensor data, and the virtual wheel size in order to perform a simulation of a position, speed, and acceleration of a virtual wheel (e.g., a virtual disk). The controlleris configured to generate, as a result of the simulation, control signals for the motor controllersuch that the motor controlleroperates the motorto provide torque to the spoolso that the user experiences corresponding forces on the effectoras if a disk having the virtual wheel size were coupled to the spool. It should be understood that the controllerand the motor controllermay be structurally similar (e.g., both including processing circuits) or may be implemented on a same processing circuit. For example, the controllermay be a remote computing system that is configured to wirelessly communicate with the components of the control systemand communicate wirelessly with the motor controlleror another intermediary controller. In another example, the functionality of both the controllerand the motor controllerare implemented on common processing circuitry. Advantageously, the control systemimplements a simulation of a disk in order to provide the user of the exercise equipmentwith the experience of flywheel training, without requiring a physical flywheel. The control systemcan also perform the simulation using different virtual wheel sizes as selected or set by the user via the user interface. The user interfacemay be or include the screen, the display console, or the display interface. The virtual wheel size may determine or result in an amount of resistance that is supplied to the effectorduring the simulated flywheel training experience by changing a behavior of the virtual flywheel simulated by the controller.

Referring to, the controllerincludes processing circuitryincluding a processorand memory. Processing circuitrycan be communicably connected to a communications interface such that processing circuitryand the various components thereof can send and receive data via the communications interface. Processorcan be implemented as a general purpose processor, an application specific integrated circuit (ASIC), one or more field programmable gate arrays (FPGAs), a group of processing components, or other suitable electronic processing components.

Memory(e.g., memory, memory unit, storage device, etc.) can include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage, etc.) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present application. Memorycan be or include volatile memory or non-volatile memory. Memorycan include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present application. According to some embodiments, memoryis communicably connected to processorvia processing circuitryand includes computer code for executing (e.g., by processing circuitryand/or processor) one or more processes described herein.

The memoryincludes a sensor manager, a calibration manager, a virtual wheel simulator, a state machine, a display manager, and a control manager. The controlleris configured to receive the position sensor data from the position sensorin real-time (e.g., time-series data). The controlleris also configured to obtain the IMU sensor data provided by the IMU. The controlleris also configured to receive a selection of the virtual wheel size from the user interface.

The controlleris configured to generate controls for the motor controlleras a result of the simulation implemented using the virtual wheel size. The controllermay either provide control signals to the motor controlleror directly to the motor(e.g., motor controls) such that the motoris operated to provide a tension to the cablethat results in a force at the effectorthat simulates a wheel having the virtual wheel size coupled with the spool.

The sensor manageris configured to obtain the position sensor data from the position sensorand determine both a speed of the effectorand an acceleration of the stopper. In some embodiments, the effectoris considered to be moved along a single dimension: either in a wind-out direction such as away from the spoolso that the cableis unwound from the spool, or in a wind-in direction such as towards to the spoolso that the cableis wound onto the spool.

The sensor manageris configured to use the position sensor data from the position sensorindicative of a position of the effectorto determine a speed and acceleration of the effector. The sensor managermay implement either a numerical differentiators or a Kalman filter to determine both the speed (e.g., velocity) and acceleration of the effector. Referring to, the sensor managermay implement a first numerical differentiator, a filter, and a second numerical differentiator. The first numerical differentiatoris configured to receive the position sensor data and numerically differentiate the position sensor data. The first numerical differentiatoris configured to output velocity of the effector. The first numerical differentiatorand the second numerical differentiatormay implement any numerical differentiation technique that receive time-series data of position and output velocity (e.g., a rate of change of the position sensor data with respect to time). When the first numerical differentiatoroutputs velocity, the velocity may include unwanted high frequency components in the signal due to the numerical differentiation technique. The first numerical differentiatormay provide the velocity (e.g., time-series data of velocity of the effector) to the filter. The filteris configured to attenuate higher frequency portions of the velocity while allowing lower frequency components to pass through. The filtermay be a first order low pass filter. The filteroutputs a filtered velocity signal to the second numerical differentiator. The second numerical differentiatoris configured to perform differentiation with respect to time on the filtered velocity signal to determine acceleration of the effector. The second numerical differentiatormay similarly output the acceleration to another filter similar to filterfor attenuating high frequency components of the acceleration output. In this way, the sensor managermay use numerical differentiation techniques in order to determine both a velocity and acceleration of the position sensor data as provided by the position sensor.

Referring to, the sensor managermay implement a Kalman filterto determine both the velocity and acceleration of the effector. The Kalman filteris configured to receive both the position sensor data from the position sensorindicating position of the spooland therefore the effector, and the IMU sensor data from the IMUindicating acceleration of the effectoris different directions (e.g., in multiple directions). The Kalman filteris configured to output both velocity and acceleration of the effector. In this way, the sensor managermay implement numerical differentiation techniques as described in greater detail above with reference to, or a Kalman filter as described herein with reference toin order to determine both the velocity and acceleration of the effector.