Resistance Training Machine and Methods of Controlling the Same

The present application claims priority to U.S. application Ser. No. 18/641,846 filed on Apr. 22, 2024 and U.S. application Ser. No. 18/678,233 filed on May 30, 2024, wherein U.S. application Ser. No. 18/641,846 claims priority to PCT application serial no. PCT/US2022/047441, filed Oct. 21, 2022, which claims priority to U.S. provisional application Ser. No. 63/270,408, filed Oct. 21, 2021 and U.S. Provisional application Ser. No. 63/346,800, filed May 27, 2022, and U.S. application Ser. No. 18/678,233 claims priority to PCT application serial no. PCT/US2022/051356, filed Nov. 30, 2022, which claims priority to U.S. provisional application Ser. No. 63/284,412, filed Nov. 30, 2021, each herein incorporated by reference in their entireties.

The present disclosure generally relates to exercise equipment and, more specifically, to resistance training machines employing electric motors to provide custom workouts.

Resistance training is a form of exercise undergone to build muscular strength and endurance by working against a weight or applied force. While some resistance training routines can be accomplished without external equipment, i.e. bodyweight exercises, many others require the use of specialized equipment, such as but not limited to free weights, weight machines, cable machines, resistance bands, and the like.

Traditional resistance training equipment is often specialized and, while each piece of equipment may offer distinct advantages, each may also suffer from drawbacks and inefficiencies. For example, free weights and weight machines are commonly employed for isotonic exercises, i.e. exercises requiring muscle activation against a constant force across a given range of motion. However, adjusting the weight or force for such exercises can be inconvenient, often requiring a user to add or remove plates, install clips, swap out dumbbells, etc. Furthermore, initiating an exercise with free weights and weight machines can create undue strain on a user's body, since the force applied by such equipment acts as a step function-jumping from zero to the full resistance. Perhaps more importantly, traditional resistance training equipment is usually designed for specific exercises or specific exercise modes only, requiring an individual to own a plurality of equipment in order to access a variety of well-rounded exercises.

More recently, ‘smart’ exercise machines have been developed that claim to offer a number of different exercises in a single machine. These machines commonly operate by providing resistive forces through electronic motors, which may be adjusted to the user's strength level. However, the exercise machines disclosed by the prior art have consistently failed to provide a range of exercise modes, or can provide some modes but fail in others. Moreover, such machines tend to be limited in the amount of force they produce; they are usually unwieldy and difficult to install or transport; and many fail to provide adequate safety measures for the user. Finally, neither traditional resistance training equipment nor newer exercise machines offer feedback regarding both user form and user balance during workouts.

Accordingly, there remains a need in the art for a resistance training machine that is capable of implementing a large number of exercise modes, including at least isotonic and isokinetic exercises; that is capable of supplying high levels of resistive force; and that may provide feedback on user form and user balance throughout each exercise.

Provided herein are Methods and Systems for Controlling Resistance Training Machine. According to a second aspect of the present disclosure, a method of providing custom workouts using a resistance training machine is disclosed. The method comprises: calibrating one or more exercises, each exercise including a relative beginning position and a relative end position; the user selecting an exercise from among the one or more calibrated exercises; the user selecting an isokinetic exercise mode or an isotonic exercise mode; the user moving a cable to a beginning position without resistance; a motor ramping up the cable to a constant velocity or a constant force, depending on the exercise mode; the user performing one or more repetitions of the exercise; and the motor ramping down the cable from the constant velocity or the constant force, depending on the exercise mode.

According to a third aspect of the present disclosure, a method of providing feedback on user form and user balance during an exercise on a resistance training machine is disclosed. The method comprises: a user performing an isokinetic exercise or an isotonic exercise using resistance supplied by a motor; a machine controller receiving position data from the motor throughout the exercise; the machine controller receiving torque data from the motor throughout the exercise; the machine controller receiving force data from one or more load cells located in a base of the resistance training machine; the machine controller generating user form feedback; the machine controller generating user balance feedback; and displaying the user form feedback and user balance feedback through an HMI.

These and other aspects and features of the present disclosure will be more readily understood after reading the following description in conjunction with the accompanying drawings.

Referring now to the drawings and with specific reference to, a diagram of a resistance training machine is generally referred to by a reference numeral. The resistance training machinemay be situated in a home, apartment, hotel, commercial gym, and the like, and may be capable of enabling both isotonic exercises and isokinetic exercises at varying force and velocity levels, respectively, for a user. Furthermore, the resistance training machine may measure and communicate form feedback and balance feedback during some or all exercises performed on the machine, thereby improving workout efficacy and safety for the user. As seen in, the machinemay comprise at least a base, a left cableA, a right cableB, and a human-machine interface (HMI). In another possible embodiment, shown in, the resistance training machinemay comprise the base, including a front section, a middle section, and a rear section. An electromagnetic assembly (EM)may be attached to the front section, and a front upright standmay be attached to and extend vertically from the EM assembly.

Turning now to, a cut-away schematic of the baseof the resistance training machineis provided, as viewed from the bottom up. In particular, the machinemay comprise a power supply, a left motorA, a right motorB, a left pulley systemA, a right pulley systemB, a left cableA, a right cableB, a machine controller, and one or more load cells. While each of the above components are located within the basein, in other embodiments, some or all of the above components may be placed elsewhere in the machine. For example, in an embodiment shown in, each of the power supply, motors, and machine controllermay be located in the EM assembly, and the pulley systemsmay be located in both the EM assemblyand the base. No limitation is intended herein for the precise placement of the components of the machine, which may include any combination of locations in the base, EM assembly, and front upright stand.

The power supplymay receive electrical power from an external supply and may provide electrical power to some or all of the other electronic components of the machine, where wattage ratings may be determined by specific applicational requirements. In some embodiments, such as the one shown in, each of the aforementioned motors, pulley systems, and cables may be substantially mirrored across a central plane (defined by the Y-axis and Z-axis) of the machine. In other embodiments, however, the left elements and the right elements may necessarily be symmetrical, and may be offset with respect to the X-axis, Y-axis, or Z-axis, depending on specific applicational requirements. Regardless, for ease of clarity, the following discussion with respect to the right elements of the machinemay be analogously applied to their left counterparts.

As seen in, the right pulley systemB may be configured to operatively convert a torque outputted by the right motorB to a vertical (Z-axis) force vector, i.e. a force vector having a non-zero vertical (Z-axis) component. Associated with the right pulley systemB is the right cableB, which may be operatively, but not necessarily directly, coupled to the right motorB at a first end, and which may run through the right pulley systemB. In other words, a torque generated by the right motorB may be operatively converted into tension in the right cableB through the right pulley systemB. As previously discussed, an analogous configuration may be applied to the left motorA, left pulley systemA, and left cableA.

Returning to, it may be appreciated that the baseis situated substantially parallel to the floor. Consequently, a “docking position” or position of maximum retraction for either cablemay be its lowest possible position with respect to the Z-axis. A knobmay define an endpoint for each cableand may prevent further retraction into a pulley housing, which will be discussed in greater detail below. In some embodiments, the machinemay further comprise one or more adjustable legs, pegs, or the like (not shown), which extend from the bottom of the baseand which adjust a height, angle, and/or level of the basewith respect to the floor.

Returning now to, in some embodiments, the machinemay further comprise three or more load cellslocated inside the base. Each load cellmay be, without limitation, a single point load cell, digital load cell, beam load cell, canister load cell, and the like, and may operatively measure a force, force distribution, weight and/or weight distribution of a user working out on top of the base. The load cell is a transducer which converts force into a measurable electrical output. In the embodiment shown, the machinemay specifically comprise four load cellsspaced evenly across the four quadrants of the base, although other quantities and distributions are also possible. And in another embodiment shown in, the load cellsmay specifically be placed in a middle sectionof the base. Appropriate markings may further be included on a surface of the baseto indicate the position of the load cellsand/or a preferred standing position for the user.

Turning now to, a detailed schematic of the right pulley systemB is now provided. The right pulley systemB may include a right drive beltB, a right drum pulleyB, one or more right cable pulleysB, and a right pulley housingB. Given the mirrored nature of the left elements and the right elements in many embodiments, for the ease of clarity, the descriptors “left” and “right” will now be foregone. Accordingly, the following description may be applied to either or both the left and right elements of the machine.

With continued reference to, the drive beltmay be configured to transfer torque from the motorto the drum pulley. According to some embodiments, the drive beltmay be a toothed belt, timing belt, synchronous belt, or the like, including a plurality of evenly spaced teeth (not shown) along its inner surface. In such an embodiment, complementary splines (not shown) may be included on both a shaft of the motorand a wheelof the drum pulley, and a torque ratio therein defined by specific applicational requirements. In other embodiments, the drive beltmay be a roller chain, and complementary sprockets (not shown) may be included on the shaft of the motor and/or the wheelof the drum pulley. And in yet other embodiments, other mechanism for torque transfer are possible and envisioned between the motorand the drum pulley, such as but not limited to serpentine belts, gears, clutches, etc.

The cablemay be fixed to the drum pulleyat a first end and configured to wind and unwind from the drum pulleyas it is retracted and extended, respectively. More specifically, the cablemay begin at the drum pulley, extend through the one or more cable pulleys, and exit vertically through the pulley housing. In some embodiments, the pulley housingmay be located on an outer perimeter of the base, wherein a left pulley housingA and a right pulley housingB may be appropriately mirrored across the base. In other embodiments, however, the pulley housingand the termination of the cablemay be located in other sections of the base, may be symmetrical across a different plane of the base, or may not be symmetrical at all.

In an embodiment shown in, the motorand drum pulleymay be located in the EM assemblyinstead of the base. In such a configuration, the above disclosure may still apply, but the pulley systemmay direct the cableout of the EM assembly, into the adjacent base, through the base, and out of the basethrough a pulley housing. No limitation is intended herein for the number of elements included in each pulley system, which may include elements designed to change a direction of travel for the cable, stabilize the cable, manage reactive forces, and even perform force multiplication. Finally, while only the right pulley systemB is shown, the left pulley systemA may be configured and behave analogously, and may or may not be symmetrical with its right counterpart.

As discussed above, the cablemay terminate in the knob, which acts as a stop defining a maximum retraction of the cable. For example, the pulley housingmay include a limiter brackethaving an aperture with dimensions smaller than a diameter of the knob. Consequently, when the cableis in the docking position, the knobmay rest against the limiter bracketof the pulley housing. In some embodiments, the cablemay terminate in a carabiner, D-ring, snap-hook, or comparable attachment device for the incorporation of various accessories, which will be discussed further below. And in the same or other embodiments, said attachment device may be in addition to or may altogether replace the knob.

With continued reference to, the motormay be a ‘smart’ DC brushless motor, including both an integrated motor encoder and an integrated motor controller (not shown). Moreover, the motormay be capable of providing independent closed-loop control of a position, speed, acceleration, torque, and current outputted by its shaft. Moreover, the machine controllermay be in bi-directional communication with the motor, and both operatively control its operation and receive feedback therefrom. Accordingly, by including an integrated encoder and controller within the motoritself, the resistance training machinemay comprise a reduced total number of parts and a reduced total number of electrical connections, and may further improve a manufacturing efficiency, machine reliability, machine reparability, and overall cost. A motor controller is a device or group of devices that can coordinate in a predetermined manner the performance of an electric motor. A motor controller might include a manual or automatic means for starting and stopping the motor, selecting forward or reverse rotation, selecting and regulating the speed, regulating or limiting the torque, and protecting against overloads and electrical faults. Motor controllers may use electromechanical switching, or may use power electronics devices to regulate the speed and direction of a motor.

In addition to the foregoing, the motormay be configured with a number of specific control features. According to an embodiment, the motormay be capable of independently implementing closed-loop PID feedback; and/or may be capable of independently operating at a constant current, operating at a constant position, operating at a constant velocity, and/or implementing a specific motion profile. In the same or other embodiments, the machine controllermay operatively supply instructions to the motorwith respect to the above parameters through a CAN bus, PWM signal, or similar protocol common to the art.

For example, the machine controllermay command the motorto operate at a specific velocity, e.g. in order to provide an isokinetic exercise to a user exercising with the machine. Upon receiving such a command, the motormay be capable of independently maintaining the commanded velocity through internal control mechanisms without the need for additional signals from the machine controlleror from external encoders (not shown). The above notwithstanding, in some embodiments, the motormay also receive external feedback from the machine controllerand/or from external encoders to supplement its internal control mechanisms.

In another embodiment, the machine controllermay command the motorto operate at a specific current or torque, e.g. in order to provide an isotonic exercise to the exercising user. Likewise, the motormay be capable of independently maintaining the necessary current or torque through internal control mechanisms without the need for external data, feedback, or commands. It may be appreciated that, with regard to isotonic exercises in particular, the machine controllermay be configured to convert a desired force level in the cableto a current or torque level of the motor. In such circumstances, the machine controllermay be configured to consider any number of system factors, such as but not limited to force multipliers in the pulley system, transfer functions in the motor, and the like.

According to some embodiments, the motormay be configured to implement a specific motion profile received from the machine controller, which may or may not be ‘streamed’ in real time. For example, the motormay be configured to ramp up to or ramp down from a given velocity, e.g. during an initial or ending phase of an isokinetic exercise; or the motormay be configured to ramp up to or ramp down from a given force, torque, or current, e.g. during an initial or ending phase of an isotonic exercise. In the same or other embodiments, the motormay be configured to implement independent S-curve smoothing; and/or may be configured to operate at constant accelerations, operate within minimum and/or maximum velocities, operate within minimum and/or maximum accelerations, and yet other kinematic controls, which further improve a perceived smoothness and overall safety for the user.

Furthermore, in some embodiments, one or both of the left motorand the right motormay be capable of implementing a ‘follow mode’ protocol, wherein a ‘follower’ motor may be controlled by and execute an identical motion profile to a ‘lead’ motor, e.g. during symmetrical exercises.

Turning now to, the specifications for an exemplary motorto be used in conjunction with the resistance training machineare now provided. In the table shown, the motormay specifically be a Falconmotor. The exemplary motormay have a nominal voltage between 8V and 16V, and preferably between 10V and 14V; a stall torque between 3 Nm and 6 Nm, and preferably between 4 Nm and 5 Nm; a peak power rating between 600 W and 100 W, and preferably between 750 W and 850 W; and a volume between 100 cmand 300 cm, and preferably under 250 cm. As discussed above, each of the left motorA and the right motorB may be functionally identical and may accordingly share the above characteristics.

In some embodiments, each motormay further include an integrated planetary gearbox, such as but not limited to the Versa Planetary Gearbox, which may feature any number of modular and interchangeable gear stages. Without limitation, the motormay further include any number of coupling components required to integrate its shaft with the pulley system. As shown in the exploded view in, an exemplary motormay include a gear box housing, a gear box, a ring gear, a CIM adapter, a motor coupler, a bush housing, and yet other possible components. Alternative gearboxes are discussed below.

Returning to, the machine controllerwill now be discussed in greater detail. The machine controllermay be, without limitation, a microcontroller, gateway computer, field-programmable gate array (FPGA), application-specific integrated-circuit (ASIC), or comparable computing device configured to interface with at least the motors, the load cells, and the HMI. The machine controllermay receive electrical power from the power supplyand may comprise at least a processor, a memory in the form of a non-transitory storage medium, and a communication bus (not shown).

As previously discussed, the machine controllermay be in bi-directional communication with each of the motors. More specifically, it may command an operation of each motorthrough a CAN bus, PWM signals, or comparable communication protocol, and may receive feedback from each motorvia the same or additional communication channels. For example, the machine controllermay command each motorto operate at a specific velocity, specific torque or current level, or specific motion profile, depending on the exercise being provided for the user. In some embodiments, after supplying the initial command to the motor, the machine controllermay not be required to participate in the motor'sindependent control processes. For example, the machine controllermay supply the initial command for a concentric motion of an exercise, defer to the motor's independent closed-loop control, and then, upon completion of the concentric motion, supply the command for the eccentric motion of the same exercise. And in other embodiments, the entire repetition or even the entire set of repetitions may be independently controlled by each motor. However, it may be appreciated that the control scheme between the machine controllerand each motormay differ depending on the exercise being performed, wherein each exercise may be left-side only, right-side only, symmetric, functionally symmetric, etc. For example, where a symmetric exercise is provided, the machine controllermay provide commands to the ‘lead’ motoronly, which may be then be replicated by the ‘follower’ without direct input from the machine controller.

In addition to controlling an operation of the motors, the machine controllermay also receive feedback therefrom, including at least a position feedback and a current, torque, and/or force feedback. In an embodiment, the position feedback may be supplied by the integrated motor encoder, and the current, torque, and/or force feedback may be supplied by the integrated motor controller. In some embodiments, each motormay only supply a position feedback and a current feedback, wherein the latter may be converted into the relevant parameter, e.g. force, by the machine controller, after accounting for force multipliers in the pulley system, transfer functions in the motor, and the like. In the same or other embodiments, additional metrics may be monitored by the machine controller, such as not limited to the temperature levels, voltage levels, power consumption, and efficiency of each motor.

Furthermore, the machine controllermay implement algorithms and/or software processes which perform an analysis on the data received from the motorsto provide user form feedback and user balance feedback on some or all exercises performed on the resistance training machine. Such analysis may consider, without limitation, the type of exercise being performed, the mode of the exercise (e.g. isokinetic or isotonic), the specified velocity or force levels outputted by the motors, the number of repetitions, the motion profile executed by the motor, and yet other factors; and may further depend on a sampling frequency of the motorand/or the machine controller. For example, during an isokinetic and isometric exercise, the machine controllermay utilize the position feedback from the motorsto determine a kinematic motion of the user throughout his or her range of motion. Likewise, during an isotonic and isometric exercise, the machine controllermay utilize the current feedback from the motorsto determine a force applied by the user throughout his or her entire range of motion. In the above examples, it may be determined that the user's physical motion or force output is sufficiently balanced between the left and right sides of the body, or alternatively, that an unbalanced distribution has occurred. Such analysis by the machine controllermay then be communicated to the user through the HMIand/or, in some circumstances, may lead to the activation of certain safety protocols. No limitation is intended herein for the type and number of user form and user balance metrics which may be derived by the machine controller, nor for the algorithms and mechanisms by which feedback is extracted from the motorsand the subsequent analysis performed.

With continued reference to, the machine controllermay also be in operative communication with the one or more load cells. Accordingly, the force data from each load cellmay be analyzed independently or in conjunction with the data from the motorsto further extract feedback on user form and user balance. For example, given a specific force distribution among the load cells, it may be determined that a user's stance is irregular, that a user's stance is unbalanced with respect to the left-side or right-side of the body, that a user's stance is fluctuating too erratically, that a user is standing unacceptably close to an edge of the base, etc. In any case, such feedback may be communicated to the user through the HMIand/or may be used to engage safety protocols if certain tolerances are exceeded.

In the above or other embodiments, the force feedback from the load cellsmay be consolidated with feedback from the motorsto provide more complex insights into user form and user balance. For example, net force data from the load cellsmay be measured against a net force outputted by the motors. The comparison therein may be used to calculate a distribution of vertical (Z-axis) and horizontal (X-axis, Y-axis) force vectors, thereby arriving at a simulated pulling angle of one or both cables. It should be understood, however, that each of the above analyses are exemplary only, and that no limitation is intended herein for the methods or algorithms by which data from the motorsand the load cellsare measured and analyzed to drive insights for the user.

Returning now to, the HMImay further include at least a displayand an input mechanism. The displaymay include, without limitation, an electroluminescent (ELD) display, LCD monitor, LED monitor, OLED monitor, QLED monitor, touchscreen, and/or other technologies common to the art. In some embodiments, such as the one shown in, the HMImay further include one or more speakers. The input mechanismmay be in the form of a touch screen, analog or digital buttons, analog or digital dials and knobs, computer mouse, touchpad, microphone, and/or other technologies common to the art. It may be understood that, depending on the embodiment, the machine controllermay include additional infrastructure necessary to interoperate with the components of the HMI.

In some embodiments, the machine controllermay further implement software to generate a graphic user interface (GUI) displayed by HMI. The GUI may be configured to receive a user's selection of exercise type, exercise mode, exercise velocity, exercise force, exercise repetitions etc. Furthermore, the GUI may display feedback regarding the user's form and balance, and/or the GUI may alert the user when unsafe practice are detected. For example, during an ongoing exercise, a visual representation on the HMImay display a simulated user form, a relative position of the cable, a force distribution between the left and right sides of the user's body, a weight distribution across the base, a simulated user stance, and yet other possibilities. Indeed, no limitation is intended herein for the means by which the HMImay receive selections from the user, nor for the means by which feedback on user balance and form may be displayed on the HMI.

While the above has described a number of electronic components comprising the resistance training machine, several hardware features will now be discussed in greater detail.

More specifically, the resistance training machinemay comprise a number of hardware features which improve its ease of use and its customizability. In the embodiment shown in, the machinemay include at least two wheelslocated on the base, enabling the machineto be transported over short distances. In some embodiments, the resistance training machinemay be self-contained, i.e. may not require any installation with external infrastructure, and may be transportable without attachment or detachment from the floor or walls of a room. In other embodiments, however, the machinemay further benefit from external installation, such as through mechanisms (not shown) locking the baseonto the floor or mechanisms mounting the front upright standagainst a wall.

Returning now to, the resistance training machinemay further comprise a removable benchsituated on top of the base. In various embodiments, the benchmay be fully detached from the base, or the benchmay include one or more locking mechanism (not shown) securing it to the base. The machinemay further comprise any number of loose accessories, such as the triangle handleand the straight bar, which may be attached to the left cableA and/or the right cableB. The accessories may include both dual-cable attachments and single-cable attachments, such as but not limited to curl bars, double handle bars, lat pulldown bars, V-bars, hammer ropes, chinning triangles, close-grip bars, and many others. As previously discussed, in some embodiments, each cablemay also terminate in a carabiner, D-ring, or similar locking device to interlock with the various attachments provided.

With continued reference to, the machinemay also comprise a front upright standattached to a front of the baseand oriented substantially vertical to the baseand the floor. In the embodiment shown, the HMImay be located on the front upright stand, and its electrical connections may be wired through one or more upright supports. Accordingly, a user of the resistance training machinemay perform a workout while standing atop the base, holding the left and/or right cables, and entering selections and receiving feedback through the HMI. In the same or other embodiments, an accessory rack (not shown) may be attached to the front upright stand, and may include shelves, hooks, bar holders, trays, and other features common to the art. In another embodiment of the resistance training machine, as seen in, the HMImay still be located on the front upright stand, which is attached to and supported by the EM assembly. Returning now to, in yet further embodiments, one or more adjustable workout pulleys (not shown) may be operatively attached to the front upright stand (). For example, the front upright standmay feature one or more vertically-oriented pulley frames (not shown), whereupon the workout pulleys may be attached to the pulley frame and slidably raised or lowered with a locking mechanism. Furthermore, each cablemay extend from the pulley housingand run through one or more workout pulleys, which further change a direction of movement and force of the cable, thereby enabling yet additional exercises which can be performed on the resistance training machine. It may be appreciated that, regardless of the exercise being performed, all force vectors ultimately terminate in the baseand are transferred into the floor, a configuration which may enable larger weights to be safely handled by the machine. Indeed, in some embodiments, a combination of the left cableA and right cableB may be capable of exerting upwards of 800 to 1000 pounds of resistance during a workout.

Turning now to, a method of providing custom workouts using the disclosed resistance training machine is generally referred to by a reference numeral. The method may comprise first calibrating one or more exercises (block), each exercise having a relative beginning position and a relative end position. More specifically, the user may program the relative beginning position by extending or retracting one or both cables to a first position, without resistance, and holding the first position for 2-5 seconds. The user may then program the relative end position by extending or retracting one or both cables to a second position, without resistance, and holding the second position for 2-5 seconds. In some embodiments, it may be understood that the ‘relative’ beginning and ‘relative’ end positions may be used merely to define a length of travel for the cable. For example, various exercises may be started from any cable position, and the difference between the calibrated beginning and end positions may be used to determine a length of travel until the end position of the exercise. It may further be appreciated that some or all exercises may require calibration of only one of or both of the left and right cables.

In some embodiments, the machine and, more specifically, the machine controller, may be programmed to include a Calibration Mode incorporating the above steps, where said steps may be facilitated through the display and input mechanism of the HMI. In the same or other embodiments, recalibration of an exercise may be performed at any time by entering the Calibration Mode.

With continued reference to, in block, the user may optionally attach or detach an accessory to one or both cables. Next, the user may select an exercise from among the one or more calibrated exercises (block). In various embodiments, the user may further select to perform the exercise using the left cable only, the right cable only, or using both the left and right cables (); the user may select a number of repetitions for the exercise (block); and/or the user may select an exercise mode, such as an isokinetic mode or an isotonic mode (block). If an isokinetic mode is selected, the user may further select a constant velocity to be outputted by the machine (block); or, if an isotonic mode is selected, the user may further select a constant force to be outputted by the machine (block).

It may be understood, however, that different exercises may require only one or both cables, or may even be performed with functional symmetry, i.e. alternating left and right cables; that different exercises may require a specific number or range of repetitions; that different exercises may be performed in a specific exercise mode only; that different exercises may require a specific number or range of velocity and force; and/or that different exercises may be preprogrammed into the machine. Indeed, no limitation is intended herein for the specific combination of exercise type, handedness, symmetry, repetitions, exercise mode, and/or range of exertions that may be provided by the machine. Furthermore, it should be understood that some or all of the above steps may be obviated, may be performed in a different order, and/or may be performed concurrently, without departing from the scope of the present disclosure. In some embodiments, the machine and, more specifically, the machine controller may be programmed to include a Ready Workout Mode incorporating the above selection steps, where said steps may be facilitated through the display and input mechanism of the HMI.

With continued reference to, after an exercise and its parameters are selected, the user may then begin the exercise and move the cable to a beginning position, without resistance from the motors (block). More specifically, the user may enter a GO command into the HMI, after which a period of time is allocated for the user to freely move the cable to the desired beginning position, such as between 1 and 10 seconds and, more preferably, between 4 and 6 seconds. As previously discussed, this beginning position may then be used by the machine controller to define the end position of the exercise, based on the difference between the relative beginning and the relative end that was calibrated for the exercise.

Next, the motor may ramp up the cable to a constant velocity (block), e.g. for an isokinetic exercise, or ramp up the cable to a constant force (block), e.g. for an isotonic exercise. The user may then perform a repetition of the exercise () at the constant velocity or force. Near the end position of the motion, the motor may ramp down the cable from the constant velocity to zero or a minimum velocity (block), e.g. for the isokinetic exercise; or ramp down the cable from the constant force to zero or a minimum force (block), e.g. for an isotonic exercise. Finally, blocks-may be repeated for a selected number of repetitions, and the workout completed. In various embodiments, specific ramp up and ramp down times may be selected by the user, set by the manufacturer, and/or changed according to the associated exercise; and may be set to between 0.5 and 3 seconds, and more preferably, between 1 and 2 seconds. Furthermore, additional smoothing, such as S-curve smoothing, may be applied to the motion profile of the cable during either ramp up or ramp down procedures.

In some embodiments, the machine may feature a Pull-in Slack mode that is designed to retract the cables when no longer in use. Accordingly, the methodmay include the motor retracting the cable to the docking position at a minimum force or minimum velocity if/when certain conditions are met. According to an embodiment, the Pull-In Slack mode may be activated if/when the cable is not in the docking position and no resistance has been detected by the machine controller for between 5 and 15 seconds and, more preferably, between 8 and 12 seconds. In the same or other embodiments, the Pull-in Slack Mode may be deactivated (and the retraction ceased) if, during retraction, a resistance is detected in the cables. It may be understood that Pull-in Slack mode may also be activated in other circumstances, and may be activated for a single cable at a time or both cables concurrently.

In some embodiments, the machine may further feature any number of safety protocols designed to protect the user and/or the machine when dangerous activity is detected or when certain limits are exceeded. In such embodiments, the machine may enter a Non-workout Mode, wherein no resistance is exerted by one or both motors. In the same or other embodiments, the Non-workout Mode may be followed by the Pull-in Slack Mode in order to reset the machine. For example, the machine may enter the Non-workout Mode if, in the course of an exercise: a force exceeding between 300 and 700 pounds or, more preferably, 500 pounds is exerted on either motor; a repetition exceeds between 6 and 14 seconds or, more preferably, 10 seconds; or either or both knobs are within between 0.5 and 2 inches or, more preferably 1 inch of the docking position. In such circumstances, the motor may cease providing resistance, followed by a brief pause, and then begin retraction through the Pull-in Slack mode. As discussed above, the machine may further utilize the load cells to enable additional safety protocols, in combination with or independent of the above conditions. For example, the Non-workout Mode may be activated if the cable is not in the docking position and one or more load cells detect an unsafe user balance, or if the user is standing to close to an edge of the base.

Furthermore, in some or all of the above embodiments, a corresponding status or alert may be communicated to the user through the HMI, informing the user of the type, cause, and/or remedy to an encountered problem. It should be understood that the above conditions and protocols are exemplary only, that other conditions or sets of conditions may be programmed to activate the Non-workout Mode, that periods of time other than the above may be necessary or sufficient to activate the Non-workout Mode, and that other procedures may be activated by the machine as part of various safety protocols without departing from the scope of the present disclosure.

Turning now to, a method of providing feedback on user form and user balance while exercising on the resistance training machine is generally referred to by a reference numeral. As seen in, the method may first comprise a user performing an isokinetic exercise or an isotonic exercise using resistances supplied by the motors of the machine (block). During the exercise, the machine controller may receive position data as a function of time from the motor (block), and the machine controller may receive current, torque, and/or force data as a function of time from the motor (block). In an embodiment, the machine controller may further receive force data, weight data, force distribution data and/or weight distribution from the load cells (block).