US 12,076,601 B2
Digital strength training
Aly E. Orady, San Francisco, CA (US); and Bret G. Stott, Menlo Park, CA (US)
Assigned to Tonal Systems, Inc., San Francisco, CA (US)
Filed by Tonal Systems, Inc., San Francisco, CA (US)
Filed on Sep. 2, 2022, as Appl. No. 17/902,534.
Application 17/902,534 is a continuation of application No. 16/737,684, filed on Jan. 8, 2020, granted, now 11,465,006.
Application 16/737,684 is a continuation of application No. 15/655,682, filed on Jul. 20, 2017, granted, now 10,661,112, issued on May 26, 2020.
Claims priority of provisional application 62/366,573, filed on Jul. 25, 2016.
Prior Publication US 2023/0089946 A1, Mar. 23, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A63B 21/005 (2006.01); A63B 21/00 (2006.01); A63B 21/015 (2006.01); A63B 21/018 (2006.01); A63B 21/16 (2006.01); A63B 23/12 (2006.01); A63B 24/00 (2006.01); A63B 71/00 (2006.01); B66F 19/00 (2006.01); G01L 1/04 (2006.01); G01L 1/22 (2006.01); G01L 5/04 (2006.01); G01L 5/107 (2020.01); H02P 3/00 (2006.01)
CPC A63B 21/0059 (2015.10) [A63B 21/00181 (2013.01); A63B 21/015 (2013.01); A63B 21/018 (2013.01); A63B 21/16 (2013.01); A63B 21/169 (2015.10); A63B 21/4035 (2015.10); A63B 23/1281 (2013.01); A63B 24/0062 (2013.01); A63B 24/0087 (2013.01); A63B 71/0054 (2013.01); G01L 5/04 (2013.01); G01L 5/107 (2013.01); A63B 2071/0072 (2013.01); A63B 2220/17 (2013.01); A63B 2220/34 (2013.01); A63B 2220/40 (2013.01); A63B 2220/62 (2013.01); A63B 2220/80 (2013.01); A63B 2220/805 (2013.01); A63B 2220/833 (2013.01); B66F 19/00 (2013.01); G01L 1/04 (2013.01); G01L 1/22 (2013.01); H02P 3/00 (2013.01); H02P 2203/00 (2013.01); H02P 2203/03 (2013.01)] 26 Claims
OG exemplary drawing
 
1. An exercise machine including:
an actuator;
a motor;
a cable coupled between the actuator and the motor, wherein the motor is of a pancake style; and
a motor controller coupled to the motor;
a filter coupled to the motor controller, configured to:
receive an information related to a position of the actuator;
provide an input to the motor controller to adjust torque on the motor such that a strength curve is implemented relative to the position of the actuator, wherein the strength curve comprises a dynamic nonlinear strength curve that changes over time; and
compute motor position based on sensor fusion comprising a high speed sensor to determine motor position at high speed and a low speed sensor to determine motor position at low speed, wherein the computing of the motor position comprises to:
perform one or more of the following:
A) determine an initial position of the motor while the motor is at rest;
determine, using the low speed sensor, a current position of the motor while the motor is moving; and
in response to a determination that a difference between the initial position and the current position is equal to or exceeds a pre-determined threshold:
 switch to a high-speed mode using the high speed sensor; and
 determine, using the high speed sensor, a change in position, comprising to:
 in response to a determination that the change in position is less than the pre-determined threshold, switch back to a low-speed mode using the low speed sensor; and/or
B) determine an initial position of the motor using the high speed sensor;
after the motor moves no more than a predetermined motor angle:
 toggle the low speed sensor to a different low speed sensor; and
 record the current position and the predetermined motor angle; and
calculate a true motor angle based on a comparison of the current position with the current position and the predetermined motor angle.