Systems and Methods for Haptic Simulaton in Incline Exercise Devices

The present application for Patent claims priority to U.S. patent application Ser. No. 18/123,026 by SILCOCK et al., entitled “SYSTEMS AND METHODS FOR HAPTIC SIMULATION IN INCLINE EXERCISE DEVICES” filed Mar. 17, 2023, which claims the benefit of U.S. Provisional Application No. 63/321,303 by SILCOCK et al., entitled, “SYSTEMS AND METHODS FOR HAPTIC SIMULATION IN INCLINE EXERCISE DEVICES” filed Mar. 18, 2022, each of which is assigned to the assignee hereof and each of which is expressly incorporated by reference in its entirety herein.

Exercise devices simulate many of the aspects of outdoor exercises using a stationary device, which is conventionally used indoors as an alternative to the outdoor exercise. Exercise devices provide a controlled environment with improved safety and less distractions than the outdoor activities simulated by the exercise devices, such as bicycling, running, rowing, or hiking. Exercise devices allow the user to focus on efficiency, comfort, and convenience without the concerns of external factors.

In simulating the outdoor activity, an exercise device may present video and/or audio information of the outdoor activity, such as running on a beach or riding a bicycle on a dirt road, to the user. A disconnect exists, however, between what the user sees and hears in the presented video and audio information and what the user feels through their interaction with the exercise device.

In some embodiments, a haptic simulation exercise device includes a frame, a base supporting the frame, and an actuator. The actuator is configured to move the frame relative to the base to provide haptic simulation during a workout routine.

This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter.

Additional features and advantages will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the teachings herein. Features and advantages of the disclosure may be realized and obtained by means of the instruments and combinations particularly pointed out in the appended claims. Features of the present disclosure will become more fully apparent from the following description and appended claims or may be learned by the practice of the disclosure as set forth hereinafter.

The present disclosure relates generally to systems and methods for haptic simulations in an exercise device. More particularly, the exercise devices of the present disclosure include a frame that is movable relative to a base of the exercise device to increase the user's immersion in a simulated environment.

An exercise device is any mechanical device that is used to provide or replicate a physical activity in a localized space. Exercise devices can include a treadmill, cable or spring resistance machine, weight resistance machine, dumbbells, elliptical machine, stepper machine, stationary bicycle, rowing machine, or any other machine or exercise device. In an example, it should be understood that while a road bicycle may not be an exercise device, as used herein, a bicycle positioned on a stationary trainer device should be considered an exercise device as the bicycle remains in one location while the user rides the bicycle on the stationary trainer device.

In some embodiments, an exercise device includes or is in communication with a display. The display allows a user of the exercise device to view video information as the user engages in exercises. In some embodiments, the display presents video information that simulates a route, path, track, road, trail, or other environment associated with the activity replicated by the exercise device. For example, a display integrated in or in communication with a treadmill may present video information simulating traveling down a road in Oahu, Hawaii at a speed approximately equal to the speed at which the tread belt is moving on the treadmill. The resulting experience for the user is a simulated run down the road presented on the display. Similarly, in another example, a display integrated in or in communication with a stationary bicycle may present video information simulating traveling down a mountain trail in Sedona, Arizona at a speed approximately equal to the speed at which the user moves the pedals of the stationary bicycle. The resulting experience for the user is a simulated mountain bike ride down the trail presented on the display. In yet another example, a display integrated in or in communication with a rowing machine may present video information simulating rowing down the Charles River in Cambridge, Massachusetts at a speed approximately equal to the speed at which the user pulls the handle of the rowing machine. The resulting experience for the user is a simulated row down the river presented on the display.

The exercise device simulates the experience based on simulation data that includes video information as described above. In some embodiments, the simulation data includes audio information. For example, the exercise device may offer one or more simulations such as simulate racing in a stage of a bike race or running away from a dinosaur. In such examples, audio information can increase the immersion of a bike race simulation by simulating cheering fans or sound of another racer approaching from behind on a climb. In another example, audio information can increase the immersion of a dinosaur chase by simulating the roar of the dinosaur behind the runner.

In some embodiments, the simulation data includes haptic information. In the previous examples, the exercise device offers simulations that simulate racing in a stage of a bike race or running away from a dinosaur. In such examples, haptic information can increase the immersion of a bike race simulation by rapidly changing inclination of a frame of the exercise bicycle relative to a base of the exercise bicycle simulate the cobblestone road surface of the Paris-Roubaix bicycle race. In another example, haptic information can increase the immersion of the dinosaur chase by rapidly changing the inclination of the tread belt of the treadmill to simulate the ground shaking with the dinosaur footsteps.

The haptic information may be predetermined and stored on a hardware storage device with the video and/or audio information of the simulation data. In some embodiments, the haptic information may be calculated by the exercise device, a client device, or a workout server based on the video information. For example, a recorded video of a mountain bike ride from a rider's viewpoint (such as video information recorded by a GoPro® or other action camera) may include the bicycle handlebars within the frame of the video information. In some embodiments, the system detects the location of the handlebars in the video information and determines the movement of the handlebars relative to the trail surface. The movement of the handlebars may be presented to the exercise device as haptic information and allow the exercise device to simulate the movement of the handlebars in the video information by moving the handlebars of the stationary bicycle relative to a frame of the stationary bicycle.

is a perspective view of an exercise device, according to some embodiments of the present disclosure. The embodiment of an exercise deviceinis a stationary bicycle with a displayintegrated into the exercise device. In some embodiments, the displaymay be independent from, but in data communication with, the exercise deviceand receive video information from a computing deviceof the exercise device. The computing deviceincludes a processor and a hardware storage device with instructions stored thereon that, when executed by the processor, cause the exercise deviceto perform any of the methods described herein.

In some embodiments, the hardware storage device is any non-transient computer readable medium that may store instructions thereon. The hardware storage device may be any type of solid-state memory; volatile memory, such as static random access memory (SRAM) or dynamic random access memory (DRAM); or non-volatile memory, such as read-only memory (ROM) including programmable ROM (PROM), erasable PROM (ERPOM) or EEPROM; magnetic storage media, such as magnetic tape; platen-based storage device, such as hard disk drives; optical media, such as compact discs (CD), digital video discs (DVD), Blu-ray Discs, or other optical media; removable media such as USB drives; non-removable media such as internal SATA or non-volatile memory express (NVMe) style NAND flash memory, or any other non-transient storage media. In some embodiments, the hardware storage device is local to and/or integrated with the computing device. In some embodiments, the hardware storage device is accessed by the computing device through a network connection.

The exercise deviceincludes one or more contact points supported by a framewith which the user touches, contacts, or engages with the exercise deviceduring the exercise. It should be understood that while the user may touch or contact one or more controls of the exercise device, such as a touchscreen of the displayor other input devices to provide inputs to the computing device(e.g., volume controls, resistance levels, power buttons), the controls or input devices are not considered the contact points of the exercise devicefor the purposes of the exercise performed on the exercise device. In the embodiment illustrated in, the exercise deviceis a stationary bicycle and the intended exercise of the stationary bicycle is cycling, therefor, the components of the stationary bicycle used for cycling are considered to be the contact points of the exercise device. The contact points of the exercise deviceinclude the handlebars, the saddle, and the pedals.

In some embodiments, the framemoves relative to a baseat a pivot. By moving the framerelative to the base, the exercise devicecan provide haptic feedback and/or simulations to the user by moving one or more contact points of the exercise device. In some embodiments, the contact points all move together to simulate, for example, a bicycle moving over a surface. In other embodiments, at least one contact point moves relative to another contact point, such as moving handlebarsrelative to a seat or saddle. In some embodiments, the rotation of the framearound the pivotcan simulate cobblestones, washboard roads, mountain bike trails, etc. on an exercise bicycle. In other embodiments, the rotation of the framecan simulate other real-world experiences for other exercise devices, such as rough water on a stationary rower exercise device or rocky running trails on a treadmill exercise device.

In some embodiments, the frameis movable relative to the baseby one or more incline motors. The incline motorapplies a torque around the pivotto rotate the framerelative to the base. In some embodiments, the incline motorincludes gears, worm gears, pinions, etc. to mechanically apply the torque around the pivot. In some embodiments, the incline motorincludes a piston-and-cylinder with a pressurized fluid therein to apply pneumatically or hydraulically apply the torque around the pivot. In some embodiments, the incline motorincludes an electromagnetic motor to move the framerelative to the base.

The incline motor(s)is in data communication with the computing deviceto move the framerelative to the basein response to simulation data. In some embodiments, the computing devicehas stored thereon instruction that, when executed by the computing device, cause the exercise deviceto perform any of the methods described herein. In some embodiments, the computing devicecommunicates with the incline motorto move the framerelative to the base by moving at least a portion of the incline motorat a rate of 5 millimeters per second. In contrast to conventional incline motors, an incline motor, according to the present, disclosure is configured to move the framerapidly and for a period of time at least 5 seconds in duration. For example, a conventional incline motor moves the framerelative to the baseslowly and smoothly to provide gradual changes in inclination of the running surface (e.g., treadmill) or inclination of a bicycle frame to replicate riding a hill. However, there is no mechanism by which a conventional incline motor produces rapid, sustained movement to provide haptic simulations to a user.

is a perspective view of another embodiment of an exercise deviceconfigured to provide haptic simulations for a user. In some embodiments, a treadmill exercise devicehas a displayand computing devicein communication therewith to provide exercise routines and video information to a user. The exercise devicehas a tread beltsupported by a framethat is movable relative to a baseof the exercise device. As described herein, the computing devicemay move the frame, and, hence, contact points such as the tread belt, relative to the baseto produce a haptic simulation for the user. In some embodiments, the frameis movable relative to the basearound a pivotby an incline motor. In some embodiments, the incline motor is used to provide haptic simulation through rapid and/or sustained movement of the frame. In other embodiments, the incline motor provides slow and/or smooth changes in inclination of the framerelative to the baseto simulate the overall angle of a running surface, while an actuatoris additionally provided to move the framerelative to the base.

In some embodiments, the actuatoris connected to the incline motor, as will be described in greater detail herein, to move the framerelative to the incline motor (or move the frameand incline motor relative to the base). For example, the incline motor and actuatormay be connected in sequence to allow the incline motor to provide macro changes in the position of the framerelative to the base, while the actuatorprovides smaller, but more rapid, changes in the position of the framerelative to the base.

In some embodiments, the exercise deviceincludes a single actuator. In other embodiments, the exercise deviceincludes a plurality of actuators. Each of the actuatorscan include one or more individual actuatable devices, such as including a pair of actuatable devices to allow movement of the framein one or more directions or axes relative to the base. In some embodiments, the actuatorsare electromagnetic actuators that use permanent magnets, electromagnets, or combinations thereof to apply magnetic force to move the framein one or more directions or axes relative to the base. In some embodiments, the actuatorsare fluid piston actuators that use compressible or incompressible fluid in a cylinder to apply a force to a piston that is slidable relative to the cylinder. The fluid may be a gas (e.g., pneumatic piston and cylinder) or a liquid (e.g., hydraulic piston and cylinder) that moves piston relative to the cylinder to move the framein one or more directions or axes relative to the base. In some embodiments, the actuatorsare mechanical actuators that use gears, springs, elastic or biasing elements, or combinations thereof to apply a compression and/or tension force to move the framein one or more directions or axes relative to the base.

In different embodiments, the actuatorsmove the contact points m different path directions and/or shapes. In some embodiments, an actuatormoves the framearound the pivotrelative to the baseto move at least a portion of the tread beltin an arcuate path. In other embodiments, the actuatorcan move the framein a linear path relative to the base. For example, one or more actuatorsmay move the framevertically. In another example, one or more actuatorsmay move the framehorizontally.

The actuatorsmove in response to the simulation data provided by the computing device. The simulation data includes haptic information that instructs one or more actuatorsto move a contact point coordinated with audio and/or video information of the simulation data that is presented to the user on the displayor other audiovisual devices (e.g., speakers or headphones). The haptic information may include instructions for one or more actuatorsto move the framea nominal or relative (to a total range of motion) amount, at a particular speed, for a particular duration, or combination thereof.

For example, the haptic information may instruct the actuatorto move the tread beltin coordination with a tree stump presented on the display. The haptic information may instruct the actuatorat a 3:26 timestamp to translate the tread beltupward by 35 millimeters (mm) at a rate of 100 millimeters per second (mm/s) and return the tread beltto the original position at a rate of 50 mm/s. The higher rate of upward travel and the lower rate of downward travel may replicate an asymmetry of the tree stump in the video information.

In other examples, the entire surface of the tread beltmay displace upward before returning to the original position to simulate an explosion in the video information presented on the display. In at least one example, the exercise devicemay simulate an action scene and prompt the user of the exercise deviceto run to safety by evading objects and/or clearing obstacles in the presented video and/or audio information. The action scene may simulate escaping a boobytrapped temple where the user must run along uneven pathways, crumbling walls, and escape a large boulder following the user. The actuator(s)may move the framearound the pivotto simulate the debris from the walls on the running surface and simulate the shaking of the ground as the boulder rolls behind the user.

is a side view of an embodiment of an actuatorand incline motorconnected in sequence to provide a cumulative displacement of a framerelative to a base.

The range of motion of the actuatorand a range of motion of the connection point of the framemovable by the actuatormay be different. For example, the actuator may be connected to the frame (e.g., the actuatorthat moves the frame) by being coupled to a linkage or lever that moves the frame. In other examples, the range of motion of the actuator and a range of motion of the frame movable by the actuator may be equal, as the actuator and the frame are directly coupled to one another.

In some embodiments, the incline motorhas a range of motion that is greater than the actuator. In some embodiments, the actuatormoves the framerelative to the basefaster than the incline motor.

In some embodiments, the range of motion of the frame is in a range having an upper value, a lower value, or upper and lower values including any of 5 mm, 10 mm, 15 mm, 20 mm, 25 mm, 30 mm, 35 mm, 40 mm, 45 mm, 50 mm, 55 mm, 60 mm, 65 mm, 70 mm, 75 mm, 80 mm, 85 mm, 90 mm, 95 mm, 100 mm, or any values therebetween. In some examples, the range of motion of the connection point is greater than 5 mm. In other examples, the range of motion of the connection point is less than 100 mm. In yet other examples, the range of motion of the connection point is between 5 mm and 100 mm. In yet other examples, the range of motion of the connection point is between 10 mm and 80 mm. In yet other examples, the range of motion of the connection point is about 50 mm.

In some embodiments, the maximum rate of motion of the connection point of the frame is in a range having an upper value, a lower value, or upper and lower values including any of 25 mm/s, 50 mm/s, 100 mm/s, 150 mm/s, 200 mm/s, 250 mm/s, 300 mm/s, 350 mm/s, 400 mm/s, 450 mm/s, 500 mm/s, 550 mm/s, 600 mm/s, 650 mm/s, 700 mm/s, 750 mm/s, 800 mm/s, 850 mm/s, 900 mm/s, 950 mm/s, 1000 mm/s, or any values therebetween. In some examples, the maximum rate of motion of the connection point is greater than 25 mm/s. In other examples, the maximum rate of motion of the connection point is less than 1000 mm/s. In yet other examples, the maximum rate of motion of the connection point is between 25 mm/s and 1000 mm/s. In yet other examples, the maximum rate of motion of the connection point is between 100 mm/s and 750 mm/s. In yet other examples, the maximum rate of motion of the connection point is greater than 500 mm/s.

In some embodiments, the actuatormoves the framerelative to the basefaster than the incline motor, and the incline motorhas a larger range of motion than the actuator. As described herein, in some embodiments, the actuatorincludes a magnetic actuator, such as a linear magnetic actuator or rotational magnetic actuator. In some embodiments, the actuatorincludes a piston-and-cylinder actuator, such as a hydraulic or pneumatic piston-and-cylinder actuator. In some embodiments, the actuatorincludes a mechanical actuator, such as a rack and pinion actuator.

In at least one embodiment, the incline motor has a heat sink that allows the incline motorto move the frame relative to the basefaster or for longer durations than a conventional heat sink. In some embodiments, the heat sink is an active heat sink with active cooling, such as a fan, liquid cooling, a thermoelectric cooler (e.g., a Peltier-style cooler), or other active cooling mechanisms. In some embodiments, the heat sink is a passive heat sink, such as cooling fins, pins, rods, heat spreaders, vapor chambers, heat pipes, or other heat sinks that increase surface area and passively exhaust heat to the ambient atmosphere.

In some embodiments, the incline motor heat sink is configured to allow the incline motorto operate at least at a 50% duty cycle. In some embodiments, the incline motor heat sink is configured to allow the incline motorto operate at least at a 90% duty cycle. In some embodiments, the incline motor heat sink is configured to allow the incline motorto operate at a 100% duty cycle.

In some embodiments, the incline motor heat sink is configured to dissipate at least 500 Watts per minute (W/min). In some embodiments, the incline motor heat sink is configured to dissipate at least 750 Watts per minute (W/min). In some embodiments, the incline motor heat sink is configured to dissipate at least 1000 Watts per minute (W/min).

is a side view of another embodiment of an exercise devicewith haptic simulation. The exercise deviceincludes an incline motor, and, optionally, an actuator, configured to move a frameof the exercise devicerelative to a base. The incline motorand/or actuatormay move the frameaccording to haptic information provided by the computing device. In some embodiments, the frameis movable (e.g., tiltable) relative to a basethat contacts the ground. In some embodiments, the video information or workout routine includes global positioning satellite (GPS) location information or other location information. The location information may be compared to elevation or profile maps to determine an inclination or declination of the road or trail to be simulated by the tilt of the frame. The framemay connect to the baseat a rotational pivotthat allows the framesupporting the contact points to move relative to the ground. In some examples, an incline motorprovides macro-movements of the framearound the pivotto allow the exercise deviceto simulate the angle of climbing up a road, while the incline motorand actuatorprovides smaller movements for haptic simulation to simulate the surface condition of the road. The computing devicemay be in data communication with the actuator(s)and incline motorto tilt the frameto provide a more immersive simulation.

While the movable framerelative to the baseis described herein in relation to an exercise bicycle, it should be understood that a tiltable or movable frame with haptic simulation, where the frame is movable relative to a base, is applicable to other types of exercise devices, such as treadmills, rowing machines, and other devices.

An exercise device, according to the present disclosure, may include a plurality of electronic components in data communication.is a schematic representation of an electronic systemof any exercise device described herein. The electronic systemincludes a processorand a hardware storage device. In some embodiments, the hardware storage deviceis any non-transient computer readable medium that may store instructions thereon. The hardware storage devicemay be any type of solid-state memory; volatile memory, such as static random access memory (SRAM) or dynamic random access memory (DRAM); or non-volatile memory, such as read-only memory (ROM) including programmable ROM (PROM), erasable PROM (ERPOM) or EEPROM; magnetic storage media, such as magnetic tape; platen-based storage device, such as hard disk drives; optical media, such as compact discs (CD), digital video discs (DVD), Blu-ray Discs, or other optical media; removable media such as USB drives; non-removable media such as internal SATA or non-volatile memory express (NVMe) style NAND flash memory, or any other non-transient storage media. In some embodiments, the hardware storage deviceis local to and/or integrated with the processor. In some embodiments, the hardware storage deviceis accessed by the processorthrough a network connection.

The processoris further in communication with a display controller. The processorreceives simulation data from the hardware storage device. In some embodiments, the simulation data includes video information and haptic information. The processortransmits video information to the display controllerand instructions based on the haptic information to the incline motorand/or the actuator. The display controllercommunicates with the displayto present the video information to a user, while the incline motorand/or the actuatormoves the frame of the exercise device relative to the base to provide haptic simulation to the user. The processormay coordinate the presentation of the video information and haptic information to the user such that the user perceives the exercise device moving in coordination with the displayed video. In some embodiments, the processoris further in communication with the one or more sensors and/or cameras to monitor the position and/or movement of the user. The processormay transmit instructions or one or more actuators of a plurality of actuators based on the measurements from the sensors and/or cameras.

is a flowchart illustrating a methodof providing haptic simulation in an exercise device, according to some embodiments of the present disclosure. The methodincludes obtaining simulation data for a workout routine performed on an exercise device at. In some embodiments, the simulation data is obtained from local hardware storage device. In some embodiments, the simulation data is obtained from a remote hardware storage device, such as by downloading or streaming the simulation data from a remote server or datacenter. A workout routine is a predetermined set of instructions that may be provided to a user. Following the workout routine can guide, entertain, or encourage the user through one or more exercises to produce workout information. The workout routine may include haptic information, video information, audio information, text information, still images, or combinations thereof to communicate the workout routine to the user.

The methodfurther includes displaying video information of the simulation data on a display (such as displaydescribed in relation to) at. In some embodiments, the methodfurther includes playing audio information of the simulation data at. In some embodiments, the simulation data includes both audio information and video information. The audio and/or video information provides visual and/or auditory immersion to which the haptic simulation(s) add further immersion.

The haptic information of the simulation data is used in actuating an incline motor (and, optionally, an actuator) of the exercise device at, and the methodincludes moving a frame of the exercise device relative to a base of the exercise device with incline motor (and, optionally, actuator) at. In some embodiments, the frame is further movable relative to the base to change an inclination or declination of the exercise device.

While the methodincludes actuating an actuator of the exercise device based on the simulation data, in some embodiments, the simulation data does not include haptic information, and the processor may calculate haptic information from the simulation data as described in relation to.

is a flowchart illustrating another embodiment of a methodof providing haptic simulation in an exercise device. The methodincludes obtaining simulation data for a workout routine performed on an exercise device at, similar to or the same as described in relation to. In some embodiments, the simulation data is obtained from local hardware storage device. In some embodiments, the simulation data is obtained from a remote hardware storage device, such as by downloading or streaming the simulation data from a remote server or datacenter.

The methodmay further include detecting a simulated object in the simulation video or video information atand determining a movement of the simulated object in simulation video or video information at. In some embodiments, the simulated object is an object in the simulation video or video information that is analogous to a contact point of the exercise device. For example, the simulation video or video information may be a first-person perspective of a rider riding a mountain bike of a trail. The simulation video or video information may include the handlebars in the frame of the simulation video or video information, and a computing device or processor may detect the presence of the handlebars. In other examples, the simulation video or video information may include a running surface in the frame of the simulation video or video information, allowing the system to detect curbs, rocks, or roots in the video and simulate the running surface with actuators that move the tread belt.

The methodfurther includes displaying video information of the simulation data on a display (such as displaydescribed in relation to) at. In some embodiments, the methodfurther includes playing audio information of the simulation data at. In some embodiments, the simulation data includes both audio information and video information. The audio and/or video information provides visual and/or auditory immersion to which the haptic simulation(s) add further immersion.

In some embodiments, the simulated object in the simulation video or video information is detected relative to a horizon or other reference point to measure the amount of displacement of the simulated object in the video. For example, the horizon may be a horizontal line that provides a consistent reference within the video. In other examples, the horizon is not visible in the video information and another relatively stationary object may be used. In at least one embodiment, the sun is approximated to be stationary in the sky for the purposes of measuring the amount of displacement of the simulated object in the video information. In some examples, the simulated object is measured relative to other stationary objects in the environment to measure the amount of movement. In at least one embodiment, the sun is approximated to be stationary in the sky for the purposes of measuring the amount of displacement of the simulated object in the video information. In some embodiments, the movement of the simulated object is determined by a machine learning (ML) that refines through iterations.

A machine learning model (ML model) according to the present disclosure refers to a computer algorithm or model (e.g., a classification model, a regression model, a language model, an object detection model) that can be tuned (e.g., trained) based on training input to approximate unknown functions. For example, a machine learning model may refer to a neural network or other machine learning algorithm or architecture that learns and approximates complex functions and generate outputs based on a plurality of inputs provided to the machine learning model. In some embodiments, a machine learning system, model, or neural network described herein is an artificial neural network. In some embodiments, a machine learning system, model, or neural network described herein is a convolutional neural network. In some embodiments, a machine learning system, model, or neural network described herein is a recurrent neural network. In at least one embodiment, a machine learning system, model, or neural network described herein is a Bayes classifier. As used herein, a “machine learning system” may refer to one or multiple machine learning models that cooperatively generate one or more outputs based on corresponding inputs. For example, a machine learning system may refer to any system architecture having multiple discrete machine learning components that consider different kinds of information or inputs.

The methodfurther includes actuating an actuator of the exercise device based on the determined movement of the simulated object in the simulation video or video information at, and the methodincludes moving a frame of the exercise device relative to the base of the exercise device with the actuator at. In some embodiments, the frame is further movable relative to the base to change an inclination or declination of the exercise device.

An example of simulated object detection and image processing is illustrated in. The video information ofrepresents a mountain bike trail ride recorded by the user or another rider. The video information includes the handlebars(which may be detected as a simulated object for determining haptic information for actuating the handlebars of the exercise device), the trail, trail surface features(such as rocks and roots), and environmental objectsthat may be used as reference points. In some embodiments, the system may detect the handlebarsthrough image recognition, edge detection, or other image processing techniques to identify the expected shape of either straight handlebars or drop handlebars. Because part or all of the handlebarsmay be obscured or out of the video frame during portions of the video information. In some embodiments, the system may identify a stem, which connects the handlebarsto a frame of the bicycle as a proxy for the position and orientation of the handlebars.

In some embodiments, the handlebarsare a simulated object, and the system may determine the haptic information based on the position and movement of the handlebarsrelative to one or more reference points, such as the trail, trail surface features, or other environmental objects. In some embodiments, the system may detect more than one simulated object to provide haptic simulation with a plurality of actuators. For example, the handlebarsin the video information may be detected and tracked to calculated haptic information used to actuate a first actuator (or actuators) associated with the handlebars of the exercise device, and trail surface featuresmay be detected and tracked to approximate the objects interacting with the rear wheel of the bicycle to provide haptic simulation for the saddle movement.