US 12,453,901 B1
Emulating effective inertia experienced by user
Colin Russell Parker, San Francisco, CA (US)
Assigned to Tonal Systems, Inc., San Francisco, CA (US)
Filed by Tonal Systems, Inc., San Francisco, CA (US)
Filed on May 9, 2024, as Appl. No. 18/660,081.
Int. Cl. A63B 24/00 (2006.01); A63B 21/00 (2006.01); A63B 21/005 (2006.01)
CPC A63B 24/0087 (2013.01) [A63B 21/0058 (2013.01); A63B 21/153 (2013.01); A63B 2220/40 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An exercise device, comprising:
one or more coupled fixed mass components having a mechanical inertia, including a motor;
wherein the motor provides resistance to an actuator coupled to the one or more coupled fixed mass components;
and
a torque controller configured to:
determine or estimate tension of a cable coupled between the motor and the actuator;
determine a cable acceleration of a cable coupled between the motor and the actuator;
identify a current phase of an exercise movement for an exercise device user using the actuator;
dynamically adjust torque that is requested of the motor to generate an experienced inertia different from the mechanical inertia, by asserting phase current to the motor based at least in part on the tension of the cable coupled between the motor and the actuator and based at least in part on the determined cable acceleration;
wherein generating an experienced inertia different from the mechanical inertia comprises reducing the experienced inertia to be less than the mechanical inertia at least in part by adjusting motor torque based on the determined cable acceleration;
and
in an event the tension of the cable coupled between the motor and the actuator is zero and the current phase is an eccentric phase of an exercise movement, changing phase current to the motor until the tension of the cable coupled between the motor and the actuator is greater than zero.