Treadmill Including Selectable Operating Modes and Related Methods

The present application claims the priority benefit of provisional application Ser. No. 63/661,999 filed on Jun. 20, 2024, the entire contents of which are herein incorporated by reference.

The present disclosure is directed to the field of exercise equipment, and, more particularly, to treadmills and related methods.

Exercise equipment may be used to facilitate or enhance physical activity. Exercise equipment may include devices of different forms, for example, static weights, powered or static machines or devices to assist in a particular physical activity, or wearable devices, to name a few.

One particular type of exercise equipment is a treadmill. A treadmill is a device generally used for walking, running, or climbing while staying in the same place. A treadmill includes a moving belt driven by an electric motor and/or flywheel. The belt moves to the rear so that the user walks or runs at a speed matching the belt. The speed is typically controllable by controlling speed of the motor or the user's motion.

A pattern of movement of limbs may generally be referred to as gait. Gaits are generally classed as “symmetrical” and “asymmetrical” based on limb movement. For a human, a gait may be the way a human moves. Various gaits may be characterized by differences in limb movement patterns and changes in contact with the ground. A disturbance in limb movement patterns generally manifests itself with increased gait variability and asymmetry, leading to compensation.

A treadmill may include a frame, a deck carried by the frame, and a belt movable over the deck to provide a moving contact surface for feet of a user. The treadmill may also include a handrail carried by the frame to be grasped by the user. The treadmill may further include a belt drive arrangement carried by the frame and coupled to the belt, the belt drive arrangement operable in a selected one of a plurality of operating modes. The operating modes may include a set pace mode with the speed of the belt set to a fixed pace, and a freewheel mode with the belt operationally decoupled from the belt drive arrangement. The operating modes may also include a sled push mode with selectable resistance provided to the belt as the user pushes against the handrail.

The operating modes may include a protocol mode with the speed of the belt set based upon a user-program associated with the user. The operating modes may include an adaptive protocol mode with the speed of the belt set based upon a user-program associated with the user and a plurality of sensors obtaining data associated with user during operation of the treadmill, for example.

The treadmill may include a controller coupled to the belt drive arrangement. The controller may be configured to wirelessly obtain user identification data for each user of a plurality of users, for example. The controller may be configured to collect performance data associated with each user of the plurality of users, for example.

The treadmill may include a vertical drive arrangement configured to selectively raise and lower a forward end of the deck. The belt drive arrangement may include a motor and a flywheel coupled thereto, for example. The treadmill may include a respective foot landing pad on the deck on each opposite side of the belt.

The treadmill may include a user gait sensing arrangement carried by the deck. The user gait sensing arrangement may include a first series of optical emitters carried by the deck along a first side of the belt, and a second series of optical receivers carried by the deck along a second side of the belt, for example. The first series of optical emitters and second series of optical receivers may be substantially flush with adjacent portions of the deck.

A method aspect is directed to a method for operating a treadmill that includes a frame, a deck carried by the frame, a belt movable over the deck and configured to provide a moving contact surface for feet of a user, a handrail carried by the frame and configured to be grasped by the user, and a belt drive arrangement carried by the frame and coupled to the belt. The method may include selectively configuring the drive arrangement to operate in one of a plurality of operating modes. The operating modes may include a set pace mode with the speed of the belt set to a fixed pace, and a freewheel mode with the belt operationally decoupled from the belt drive arrangement. The operating modes may also include a sled push mode with selectable resistance provided to the belt as the user pushes against the handrail.

The operating modes may include a protocol mode with the speed of the belt set based upon a user-program associated with the user. The operating modes may include an adaptive protocol mode with the speed of the belt set based upon a user-program associated with the user and a plurality of sensors obtaining data associated with user during operation of the treadmill, for example.

The method may include wirelessly obtaining user identification data for each user of a plurality of users. The method may also include collecting performance data associated with each user of the plurality of users, for example. The method may also include operating a vertical drive arrangement to selectively raise and lower a forward end of the deck.

The method may further include sensing a gait of the user. Sensing the gait of the user may include operating a first series of optical emitters carried by the deck along a first side of the belt, and operating a second series of optical receivers carried by the deck along a second side of the belt, for example. The first series of optical emitters and second series of optical receivers may be substantially flush with adjacent portions of the deck, for example.

The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout, and prime notation is used to indicate similar elements in alternative embodiments. Referring initially to, a treadmillillustratively includes a frame, and more particularly a running deck frameand a lift frame. The framemay be metal, for example, steel. The framemay be another type of material or combination of materials as will be appreciated by those skilled in the art, for example, carbon fiber for increased strength. The framemay be modular, for example, to enable relatively quick assembly and adaptation. The framemay be about 120 inches long by about 48 inches wide by 60 inches high, for example. Of course, the framemay include other dimensions.

The treadmillalso includes a deckcarried by the frame, and more particularly, the running deck frame. The deck, and consequently the running deck frame, for example, may be sized, for example, in terms of length, to accommodate a person, such as an athlete, running in stride. An exemplary length of the deckmay be 2-meters or about 72 inches.

A beltis movable over the deckto provide a moving contact surface for feet of a user. The beltmay be rubber and may include fiber elements, such as for example, polyester. An exemplary beltmay be polyester with rubber compounds. The beltmay include treads or a tread pattern to engage footwear of the user, for example.

Referring additionally to, the beltillustratively surrounds front and rear rollersrespectively at the front and rear ends of the belt. The rollersmay be steel rollers, for example, and may be balanced, as will be appreciated by those skilled in the art. The rollersmay be coupled to the running deck framevia mounting brackets. In an embodiment, one of the rollersmay be fixed (e.g., the front roller), while the other roller may be adjustable along the longitudinal axis of the frameto permit tension to be added to the beltas may be desirable as the belt may stretch over time.

To aid in the control of the belt, for example, to maintain the belt in a relative center position during use, the rollersmay have a crowned shaped built into its outer shell. For additional control, for example, for increased transverse side loading of the belt, additional or side rollersmay be used on the sides of the belt adjacent the front and back ends. The side rollersmay be in the form of stainless steel shells with roller bearings angled at greater than 20-degrees, for example, to contact the lower side of the belt. When a relatively large transverse load is applied to the beltduring operation, the belt may tend to slide side to the side and contact the side rollers. The side rollersmay provide a centering side force back onto the beltwhile allowing relatively low friction forward or reverse motion of the belt. Other and/or additional roller arrangements may be used to address forces on the belt.

A portion of the deckmay define a running deckand may include or be in the form of a multi-layer wood laminate with a relatively low frictionhard wood composite on the top and bottom surfaces, for example. The outer surface ofhard wood composite offers unique properties that allow for lower friction and longer life. Other deckmaterials may be used.

The running deckis illustratively held into position at the rear end using two anchor support bracketswhich are attached to the running deck frameon both sides. Other and/or additional supports may be used. Along the length of the beltor running deck, additional running deck supportsare placed may be positioned at specific locations along the running deck frame. The running deck supportsmay include a bracket and a rubber polymer having a specific durometer. The durometer of the rubber bumper and location of the support brackets may be particularly advantageous for providing a relatively soft but firm user feedback on the moving contact surface.

A handrailis carried by the frame, and more particularly, the running deck frame. The handrailis to be gripped by the user. For example, the handrailmay be gripped by the user for increased balance. The height of the handrailmay be about 60 inches from the ground at about a 0° incline and be raised to about 80 inches above the ground at about a 45° incline. Of course, the handrailmay have a different relative height and may be adjustable, either from the ground or from the deck, for example, to accommodate users of different sizes. For example, in an embodiment, the handrailmay be adjusted by removing locking pins and rotating it 360-degrees until the desired height or location of from the moving contact surfaceis achieved.

A foot landing pad, which may also be referred to by those skilled in the art as a side running board, is on the deckon each opposite side of the belt. Each foot landing padmay be in the form of a grip (e.g., grip tape) or other material for providing increased friction with the user's foot or shoe. During operation, the user may move from walking or running to a stationary position by placing his or her feet on the foot landing padswithout stopping operation of the belt. In other words, the user straddles the belt when the user's feet are on each foot landing pad. The foot landing padsmay provide increased stability while the user moves between active and stationary positions during operation of the belt.

Referring additionally to, a belt drive arrangementis carried by the frame. The belt drive arrangementis also coupled to the belt. Illustratively, the belt drive arrangementincludes a motorand a flywheelcoupled to the motor. The motormay be in the form of a 3-phase, 5 hp motor. More particularly, single phase 240 VAC may be supplied to the treadmill, and converted to 3-phase via a variable frequency drive (VFD), which in turn, drives the motor. The motormay have a power rating of about 5 HP, for example. Of course, the motormay have another power rating. The flywheelmay be relatively weighty, for example, 50-55 lbs, and may be directly coupled to the motorvia a vibration isolating coupler, for example. A motor shaftmay pass through bearingsand carry the flywheel. The weight and direct-to-motor coupling of the flywheelmay be desirable to overcome friction that may be caused by the user when impacting the beltor moving contact surface, and the deck. In some embodiments, a flywheelmay not be used and/or may have a different coupling arrangement. The motorand flywheelmay cooperate to move the beltin a range from about 0-40 mph both forward and in reverse. An internal beltmay be coupled to the flywheelto drive the belt.

Referring additionally to, a vertical drive arrangementis illustratively carried by the frame. The vertical drive arrangementselectively raises and lowers a forward endof the deck, or running deck frame. More particularly, the vertical drive arrangementincludes a motorcoupled to a gear trainvia a drive shaft. Drive shafts,are coupled to the gear trainand to gear arrangements that each drives a respective deck coupling bodyalong a jack screwcarried by a respective lifter armof the frame, or more particularly, lifter frame. In other words, operation of the motorcauses the deck coupling bodiesto move along the jack screwsto vertically raise and lower the forward endof the running deck frameand deck(i.e., move the deck to and from an inclined position). A flanged mounted bearing may be used with the coupling bodyto permit rotation, misalignment, and relatively small amounts of side-to-side movement. The motormay be in the form of a 3-phase 1 hp motor. More particularly, single phase 240 VAC may be supplied to the treadmill, and converted to 3-phase via a variable frequency drive (VFD), which in turn drive the 3-phase motor. The motormay have a power rating of about 1 hp, for example. Of course, the motormay have another power rating.

The rear endof the deckincludes a wheelthat permits the rear end of the deck to move as the front endis raised and lowered. The above-described arrangement may be particularly advantageous for providing increased stability and incline speed change, for example. In some embodiments, the treadmillmay not include a vertical drive arrangement, and thus may not incline. In other embodiments, the frame(i.e., the running deck frameand the lift frame) may be configured to allow for negative incline if desired by the user.

Referring additionally to, a controllermay be carried by the frame, for example, the running deck frame. The controllerincludes circuitry to perform the operations described herein. The controllermay be coupled to the belt drive arrangement. The controllermay operate the belt drive arrangement, for example, in conjunction with the vertical drive arrangement, in any one of a number of operating modes. The operating modes may include a set pace mode, which may be considered by those skilled in the art as a normal manual mode. During the set pace mode, the speed of the beltis set to a fixed pace. During the set pace mode, the vertical drive arrangementmay be operated to set the incline of the deckor running deck frameto a fixed incline. The fixed pace or speed and/or the incline may be user-settable, for example, via the controlleror an input device (e.g., in the form of touchscreen display).

The touchscreen displaymay be coupled to or carried by the frame. While a touchscreen displayis illustrated, those skilled in the art will appreciate that the touchscreen display may not include touch input functionality. In some embodiments, the speed of the beltmay be controlled remotely or wirelessly. (e.g., from a remote device) via wireless communications circuitry coupled to the controller.

The controllermay operate the belt drive arrangementin a freewheel modewith the beltoperationally decoupled from the belt drive arrangement. The freewheel modemay conceptually be considered non-motorized mode. By operationally decoupled, those skilled in the art will appreciate that the beltmay be electrically (e.g., remove power from/deenergize the motor) and/or mechanically decoupled from the belt drive arrangement(e.g., release a clutch, remove an engagement pin). The freewheel modemay be considered operating the belt drive arrangement in “neutral”. However, during the freewheel mode, the beltremains coupled to the flywheeland any driving mechanisms, but no power is provided to the motor. The user drives beltup to a desired speed using their own power, which spins the flywheeland drive system. During the freewheel mode, it may be possible to reach speeds of up to 40 mph, but those skilled in the art will appreciate that the speed may be limited by the user's ability to drive the beltand flywheel.

The controllermay also operate the belt drive arrangementin a sled push modewith selectable resistance provided to the belt(e.g., as the user pushes against the handrail). More particularly, the sled push mode, the beltmay be operated with preselected levels of resistive braking applied to the motor. The level of resistance may be selected via the touch screen display. During operation, for example, when the user pushing the belt, the belt drive arrangementprovides braking resistance at the selected level. As the resistance increases, the user may use the handrailto provide additional support to drive more force into the belt(i.e., sled push). These operations in the sled push modemay conceptually be considered a resistive braking mode. The 3-phase VEDs may control operations during this sled push mode

As part of the sled push mode, the controllermay also apply relatively precise levels of resistive braking to the motor, for example, via a directed current (DC) power controller. The DC control may permit relatively smooth and precise levels of resistance to be applied. Accordingly, the use of the sled push modein this way to provide the relatively precise levels of resistive braking, may conceptually be considered to be operation of in dynamometer mode or “dyno” mode in that the motoris engaged and acts to provide braking or resistance that can be controlled. Additionally, the controllermay cooperate to determine an amount of force that is being exerted by the user as they push the belt.

The controllermay also operate the belt drive arrangementin a protocol modewith the speed of the beltset based upon a user-program associated with the user. More particularly, the controllermay operate the belt drive arrangementaccording to protocols within application software. The protocols may operate based upon predetermined speed and incline settings that are defined for the user (e.g., other users as the case may be). The predetermined speed and incline settings may be defined for specific users and specific weeks, days, and sessions of training as part of, for example, multi-level 8-week periodized speed development protocols. The controllermay automatically control incline and speed per the protocols in the software via touchscreen display. Elevation or inclination angle (up/down) and speed (up/down) control via the touchscreen displaymay still provide for manual adjustment.

The controllermay also operate the belt drive arrangementin an adaptive protocol modewith the speed of the beltset based upon a user-program associated with the user and a plurality of sensorsobtaining sensor data associated with user during operation of the treadmill. More particularly, protocols within application software have predetermined speed and incline settings defined for specific users and specific weeks, days, and sessions of training as part of the multi-level 8-week periodized speed development protocols. The protocols may be automatically adjusted by adaptive software based on user inputs from previous session performance metrics. The controllermay automatically control incline and speed per the protocols in the software via touchscreen display. Elevation or inclination angle (up/down) and speed (up/down) control via the touchscreen displaymay still provide for manual adjustment. The sensorsmay include cameras, for example, mounted to the frame. The camerasmay capture video data of specific users running on the treadmillfrom several angles in any of the modes described herein to sync with their incline and speed metrics for upload to their specific user profiles.

In an embodiment, the controllermay operate a machine learning or artificial intelligence (AI) algorithm that accepts as input thereto, the video data from the cameras(or other sensors) while a user is operating the treadmill. The controllermay operate the AI algorithm to identify or analyze movement mechanics of the user while operating the treadmill. The AI algorithm may generate, as output, control parameters for adjustment of the protocols, for example, for enhanced training and pre-injury detection and/or prevention. In other words, if the camerasdetect a user is wincing during a stride, the operation of the belt drive arrangementmay be adjusted to reduce the chances of further injury, and the controlleralter the protocols for that user for the same reasons. Those skilled in the art will appreciate that other and/or additional sensorsmay include user biometric sensors, gait sensors (as described in further detail below), force sensors, etc.

In an embodiment, the controller(e.g., via the displayand software executed by the controller) may provide user management and data processing functions. For example, the controllermay cooperate with wireless communications circuitry (e.g., Near-Field Communication (NFC), RFID, Bluetooth, WiFi, cellular, etc.) to obtain user identification datafor each user from among different users and retrieve or store user profiles. The user identification datamay include a unique user identifier, for example, a number, username, etc. The controllermay track the activities of different users based upon the user identification data. In some embodiments, the users may be identified based upon manual entry of a user identifier associated with the user at the touchscreen display. Other types of data associated with the user may be associated with the profile data.

The controllermay also collect, determine, and/or calculate performance dataassociated with each user. Performance datamay include selected operating mode, corresponding times, durations, speeds, incline angle, biometric data (e.g., when biometric sensors and/or biometric data are used), health data, caloric burn rates, and/or force data (e.g., in sled push mode). Of course, the performance datamay include other and/or additional types of data, as will be appreciated by those skilled in the art.

The controllermay cooperate with the touchscreen displayto display the performance data, for example, in real time. The controllermay also display treadmill settings, for example, incline angle and/or operating mode. The controllermay cooperate with the touchscreen displayor other input device to operate the vertical drive arrangement to selectively raise and lower the forward endof the deck(i.e., set the incline).

Referring now to, in another embodiment, the treadmill′ may be particularly advantageous for gait sensing, processing, and analysis. The treadmill′ illustratively includes a user gait sensing arrangement′ carried by the deck′, for example, and supported by the running deck frame′. More particularly, the gait sensing arrangement′ illustratively includes a first series of optical emitters′ carried by the deck′ along a first side of the belt′. The first series of optical emitters′ may be light emitting diode (LED) emitters, for example. The first series of optical emitters′ may be another type of optical receiver, for example, an infrared (IR) receiver.

The first series of optical emitters′ may be embedded, at least partially within the deck′ (e.g., underneath side running boards) along the first side of the belt′ so that the first series of optical emitters are substantially flush with adjacent portions of the deck. For example, the first series of optical emitters′ may be raised by about 900 microns relative to the belt. Of course, the first series of optical emitters′ may be raised by a different relative measurement and/or may not be embedded.

The gait sensing arrangement′ also illustratively includes a second series of optical receivers′ carried by the deck′ along a first side of the belt′. The second series of optical receivers′ may be LED receivers, for example. The second series of optical receivers′ may be another type of optical receivers, for example, IR receivers.

Similarly to the first series of optical emitters′, the second series of optical receivers′ may be embedded, at least partially within the deck′ (e.g., partially underneath side running boards) along the first side of the belt′ so that the first series of optical emitters are substantially flush with adjacent portions of the deck. For example, the second series of optical receivers′ may be raised by about 900 microns relative to the belt′. Of course, the second series of optical receivers′ may be raised by a different relative measurement and/or may not be embedded. In an exemplary embodiment there may be about 1000 first series of optical emitters′ and second series of optical receivers′ that provide sensing for gait analysis of a user's stride. About 1000 first series of optical emitters′ and second series of optical receivers′ generally corresponds to a length of about 2 meters, for example, for sensing of a full stride of a user or athlete. To achieve a 2-meter length, a splitter/joiner′ may be included as part of the user gait sensing arrangement′. If longer lengths may be desired, additional splitters/joiners′ may be used to couple lengths of the first series of optical emitters′ and second series of optical receivers′.

As will be appreciated by those skilled in the art, mounting the first series of optical emitters′ and second series of optical receivers′ to a top surface of the deck′, for example, via an adhesive material layer, may be undesirable. A “taped” or surface mount variation of the first series of optical emitters′ and second series of optical receivers′ may not fully support relatively heavy users with a desirable level of accuracy, particularly during running and/or on an incline.

The controller′ may obtain gait sensor data′, based upon or from the first series of optical emitters′ and second series of optical receivers′. Using the gait sensor data′, the controller′ may collect and display the performance data′ to also include gait analysis data based upon the optical emitters and receivers. For example, gait analysis data may be displayed (e.g., in real time) on the touchscreen display′ and/or a separate display adjacent the treadmill. In an embodiment, the performance data′ including the gait analysis data, may be communicated, for example, wirelessly, to a remote device for processing. Elements illustrated, but not specifically described are similar to the elements described in the above embodiments. More particularly, the lifter arm′, forward end′, frame′, drive arrangement′, jack screw′, handrail′, foot landing pad′, wheel′, and rear end′ are similar to the lifter arm, forward end, frame, drive arrangement, jack screw, handrail, foot landing pad, wheel, and rear end, respectively.

Referring now briefly to, in another embodiment, the treadmill″ may include an overhead user-harness support″. Illustratively, the overhead user-harness support″ is coupled to the frame″ so that it extends over the user's head. The overhead user-harness support″ provides a coupling point for a user wearing a harness, for example, the harness may attach thereto. The overhead user-harness support″, when used with a harness may provide additional support for a user during operation. For example, should a user slip, begin a fall, or otherwise be unable to continue usage, the user would simply be suspended from the from the overhead user-harness support″ via their harness. Elements illustrated, but not specifically described are similar to the elements described in the above embodiments. More particularly, the lifter arm″, jack screw″, handrail″, wheel″, deck″, display″ and belt″ are similar to the lifter arm, jack screw, handrail, wheel, deck, display, and belt, respectively.

The treadmill′ described herein may be particularly advantageous for training of relatively large athletes, for example, and/or detecting an injury. For example, by employing the user gait sensing arrangement′, as described herein, a given user may develop a better synchronization or stride symmetry. For example, a typical college athlete has asymmetry of about 1.5% while a professional athlete may have an asymmetry of about 0.58. For reference, an asymmetry of about 8% is indicative of an injury. This is because an injured person or user tends to favor a foot or leg and this will show up in timing as an asymmetry. If for example, there is no injury, but a higher than desirable asymmetry, the treadmill′ described herein may show the asymmetry in real time and show corrective actions. Thus, the treadmill′ may be particularly advantageous for high-level athletic training and injury detection based upon a full stride, the full stride detection of which being based upon the length of the first series of optical emitters′ and second series of optical receivers′ as described herein. Moreover, the different operating modesmay provide multiple training programs that can be customized on a per-user basis, for example.

Referring now additionally to, in another embodiment, the treadmill′″ may be fitted with a rear harness support′″ illustratively in the form of a rear bar mount. The rear harness support′″ is illustratively mounted adjacent the rear end′″ of the frame′″, and more particularly, the running deck frame′″ and used to tether the athlete to the treadmill′″ allowing various methods of resistance to be applied to the center of mass via a vest/harness. This may advantageously permit the user nearly complete freedom of their hands/arms to swing as they would normally in acceleration phases of the run cycle, instead of being restricted by having to hold onto a front handlebar (e.g., sled push). The methods of resistance include static tethering and dynamic tethering, where the levels of resistance can be varied using elastic bands and electronic devices for full control of the amount of load applied to the athlete. The loads may also be concisely controlled and varied depending on the length of the tether, including inverse band resistance (heavier loads at shorter lengths and lighter loads at longer lengths, etc.). The rear harness support′″ may be used in motorized and non-motorized modes of operation, for example. The rear harness support′″ may include quick-disconnect attachments allowing the user to install and remove the rear harness support relatively quickly. Elements illustrated, but not specifically described are similar to the elements described in the above embodiments. More particularly, the lifter arm′″, jack screw′″, handrail′″, wheel′″, deck′″, lift frame′″, display′″ and belt′″ are similar to the lifter arm, jack screw, handrail, wheel, deck, lift frame, display, and belt, respectively.

A method aspect is directed to a method for operating a treadmillthat includes a frame, a deckcarried by the frame, a beltmovable over the deck and configured to provide a moving contact surface for feet of a user, a handrailcarried by the frame and configured to be grasped by the user, and a belt drive arrangementcarried by the frame and coupled to the belt. The method includes selectively configuring the belt drive arrangementto operate in one of a plurality of operating modes. The operating modesinclude a set pace modewith the speed of the beltset to a fixed pace, and a freewheel modewith the belt operationally decoupled from the belt drive arrangement. The operating modesalso include a sled push modewith selectable resistance provided to the beltas the user pushes against the handrail.

The method includes wirelessly obtaining user identification datafor each user of a plurality of users. The method also includes collecting performance dataassociated with each user of the plurality of users, for example. The method also includes operating a vertical drive arrangementto selectively raise and lower a forward endof the deck.

The method further includes sensing a gait of the user. Sensing the gait of the user may include operating a first series of optical emitters′ carried by the deck′ along a first side of the belt′ and operating a second series of optical receivers′ carried by the deck along a second side of the belt, for example. The first series of optical emitters′ and second series of optical receivers′ may be substantially flush with adjacent portions of the deck′, for example.

While several embodiments have been described herein, it should be appreciated by those skilled in the art that any element or elements from one or more embodiments may be used with any other element or elements from any other embodiment or embodiments. Many modifications and other embodiments of the invention will come to the mind of one skilled in the art having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is understood that the invention is not to be limited to the specific embodiments disclosed, and that modifications and embodiments are intended to be included within the scope of the appended claims.