WO2024005377A1

WO2024005377A1 - Muscle exercise device

Info

Publication number: WO2024005377A1
Application number: PCT/KR2023/007086
Authority: WO
Inventors: Jaehoon Lee; Junyoung Huh; Taehee Lee
Original assignee: LG Electronics Inc
Current assignee: LG Electronics Inc
Priority date: 2022-06-27
Filing date: 2023-05-24
Publication date: 2024-01-04
Anticipated expiration: 2024-12-27
Also published as: EP4415833A4; US20250050158A1; EP4415833A1

Abstract

Proposed is a muscle exercise device. In the muscle exercise device, when it is detected that a withdrawal position of a cable has entered a preset safety area in a process in which a device control part controls a drive motor in an exercise mode, the drive motor may be controlled so that an exercise load of the drive motor is reduced. Through this, when it is detected that the cable is retracted into the safety area without completely entering the initial position, for example, the device body, an exercise load may be reduced, thereby obtaining the same effect as ending exercise by mounting an exercise device such as a barbell to an existing mounting part.

Description

MUSCLE EXERCISE DEVICE

The present disclosure relates generally to a muscle exercise device and, more particularly, to a muscle exercise device using a cable.

In general, a muscle exercise device used for increasing muscular strength is designed to repeat muscle relaxation and contraction while a lever connected to a weight of a predetermined unit of weight is pushed or pulled.

Such an exercise device includes various types of exercise devices, such as an arm curl machine for biceps exercises, a chest press or butterfly machine for exercises for chest, such as pectoralis major, and a pull-up device for a muscle exercise.

Recently, as part of self-management, a home workout, which is exercise for health management at home which is my own resting place without jogging or visiting a fitness center has become an issue. In response to this issue, various types of exercise devices for a home workout have been proposed, and a new phrase called a home workout group has been created.

As one example of a muscle exercise device for a home workout, a muscle exercise device using a cable is being used. Inside the muscle exercise device, a drive motor is installed, and an exercise load supplied from the drive motor is transmitted to a user through the cable so that the user performs a muscle exercise by pulling or releasing the cable.

In the case of a muscle exercise device using a weight generally provided in a fitness center, a device equipped with a weight, for example, a barbell, is maintained in a state of being mounted at a predetermined height of the muscle exercise device rather than in a state of being placed on the floor.

As illustrated in FIG. 1, a support 1 of the muscle exercise device has a mounting part 3 to which a barbell 5 can be mounted at a predetermined height h thereof, and thus with an exercise device such as the barbell 5 being mounted on the mounting part 3, a muscle exercise is ready. Generally, a horizontal bar B of the barbell 5 is mounted on the mounting part 3, and a weight W is mounted on the mounting part 3 by being located at each of the opposite sides of the mounting part 3.

Accordingly, a user lifts an exercise device such as the barbell 5 from the predetermined height h away from the ground so as to perform a desired exercise, and even during the end of the exercise, the exercise device such as the barbell is mounted on the mounting part 3 at the height.

However, in the case of the muscle exercise device using the drive motor and the cable, when the device is initially turned on, the cable is located by being maximally retracted into the muscle exercise device.

In addition, when an exercise load is applied for a muscle exercise, for example, while an exercise load is applied by being changed to a target load input by a user, the user pulls the cable until a preparation posture for a muscle exercise desired by the user is completed. This is the same as the situation in which an exercise device such as a barbell is lifted from the ground in a general muscle exercise device using weights.

Likewise, when exercise is finished after exercising with a target load provided, the cable is slowly retracted to an initial position. In this case, when an exercise load is continuously applied in the process of retracting the cable to the initial position, this is the same as a situation in which an exercise device such as a barbell is lowered to the ground.

For example, in the FITNESS TRAINING APPARATUS AND SYSTEM disclosed in International Patent Publication WO2021/046596, a cable is retracted into the base until a handle is held on the base, and a situation in which an exercise load is supplied until the cable is retracted into the base is the same as a situation in which a barbell placed on the ground is lifted or the barbell is lowered to the ground.

Such a situation is undesirable because the situation may put strain on a user's body, for example, the lower back.

Some of muscle exercise devices using a drive motor and a cable provide a remote controller that can be attached to a gripping bar that a user grips. However, it is inconvenient to find and press a necessary button of the remote controller. Particularly, when one hand is moved from the gripping bar to remove an exercise load while the gripping bar is gripped and the exercise load is applied during exercise, an exercise posture may be disturbed due to the exercise load and an accident may occur.

The present disclosure is intended to provide a muscle exercise device in which the function of mounting an exercise device, such as a barbell, to a mounting part of a predetermined height is performed.

In addition, the present disclosure is intended to provide a muscle exercise device in which the function of mounting an exercise device to the mounting part of a predetermined height is performed without additional manipulation by a user.

Furthermore, the present disclosure is intended to provide a muscle exercise device in which the function of mounting an exercise device to the mounting part of a predetermined height is performed without adding separate hardware.

Additionally, the present disclosure is intended to provide a muscle exercise device in which the function of mounting an exercise device to a mounting part at a mounting height of the mounting part suitable for various exercise types is performed.

According to an embodiment of the present disclosure, there is provided a muscle exercise device in which when it is detected that a withdrawal position of a cable has entered a preset safety area in a process in which a device control part controls a drive motor in an exercise mode, the drive motor may be controlled so that an exercise load of the drive motor is reduced.

The drive motor according to the embodiment of the present disclosure may be installed inside a device body and may provide the exercise load.

In addition, the cable may be pulled out from the device body and transfer the exercise load of the drive motor to the outside.

The muscle exercise device according to the embodiment of the present disclosure may include a position measurement part. The position measurement part may detect the withdrawal position of the cable

In one embodiment, in the exercise mode, the device control part may control the drive motor so that the exercise load of the drive motor is maintained as a preset target load.

In one embodiment, the device control part may control the drive motor so that a preset basic load is output as an initial value of the exercise load. In addition, when it is detected that the withdrawal position has entered the safety area, the device control part may control the drive motor so that the exercise load of the drive motor is reduced to the basic load.

The muscle exercise device according to the embodiment of the present disclosure may include a data storage part and a user input part.

In one embodiment, a plurality of exercise types and a safety area for each of the exercise types may be stored in the data storage part. In addition, one of the plurality of exercise types may be selected through the user input part.

Here, the device control part may control the exercise load of the drive motor based on a safety area corresponding to an exercise type selected through the user input part.

In one embodiment, an exercise area in the exercise mode for each exercise type may be stored in the data storage part. The exercise type may include a first exercise type and a second exercise type.

In one embodiment, in the first exercise type, the safety area may be located under the exercise area based on a withdrawal direction of the cable. In addition, in the second exercise type, the safety area may be located within the exercise area.

In one embodiment, in a case in which the withdrawal position detected by the position measurement part is detected to have entered the safety area when the muscle exercise device operates in the exercise mode according to the first exercise type, the device control part may control the drive motor so that the exercise load of the drive motor is reduced.

Here, the safety area for the first exercise type may be preset between the initial position of the cable and a position upper limit registered according to the exercise type.

In one embodiment, in a case in which a preset exercise discontinuance condition is satisfied in the state in which the withdrawal position detected by the position measurement part is detected to have entered the safety area when the muscle exercise device operates in the exercise mode according to the second exercise type, the device control part may control the drive motor so that the exercise load of the drive motor is reduced.

Here, in a case in which the withdrawal position detected by the position measurement part is maintained for a preset period of maintaining time within the safety area when the muscle exercise device operates in the exercise mode according to the second exercise type, the device control part may determine that the exercise discontinuance condition is satisfied.

When it is detected that a preset exercise preparation condition is satisfied during the initial operation of the drive motor, the device control part according to the embodiment of the present disclosure may control the drive motor so that the exercise load of the drive motor reaches the target load.

Here, when it is detected that the withdrawal position detected by the position measurement part exceeds the safety area, the device control part may determine that the exercise preparation condition is satisfied.

In one embodiment, the safety area may be preset between the initial position of the cable and the position upper limit registered according to an exercise type.

The position measurement part according to the embodiment of the present disclosure may include an encoder. The encoder may be installed inside the device body and may directly or indirectly detect the rotation of the drive motor.

Here, the position measurement par may detect the withdrawal position of the cable based on the rotation of the encoder.

In one embodiment, the cable may have recognition marks marked at preset intervals. In addition, the position measurement part may detect a withdrawal position of the cable by counting the recognition marks.

The safety area according to the embodiment of the present disclosure may be provided to be changeable according to a user's setting.

The muscle exercise device according to the present disclosure may have at least one of the following effects.

First, when it is detected that the cable is retracted into the safety area without completely entering the initial position, for example, the device body, an exercise load may be reduced, thereby obtaining the same effect as ending exercise by mounting an exercise device such as a barbell to an existing mounting part.

Second, when starting exercise, the movement of the cable out of the safety area may be recognized as an exercise initiation to increase an exercise load, thereby obtaining the same effect as starting muscle exercise with an exercise device such as a barbell being mounted to a mounting part of a predetermined height.

Third, the safety area corresponding to the height of a support for each exercise type may be preset, thereby obtaining the same effect as performing muscle exercise at a position corresponding to the position of the support for various types of muscle exercise by using one muscle exercise device.

Fourth, whether the withdrawal position of the cable enters the safety area may be determined, thereby enabling a user to adjust an exercise load without additional manipulation.

Fifth, the control of increasing an exercise load during exercise initiation or of decreasing an exercise load during the end of exercise may vary according to an exercise type selected by a user, thereby creating the same situation actual exercise according to the corresponding exercise type.

FIG. 1 is a view illustrating an example of an existing muscle exercise device.

FIG. 2 is a view illustrating an example of a muscle exercise device according to an embodiment of the present disclosure.

FIG. 3 is a control block diagram of the muscle exercise device according to the embodiment of the present disclosure.

FIG. 4 is a view illustrating an example of the configuration of a position measurement part according to the embodiment of the present disclosure.

FIG. 5 is a view illustrating another example of the configuration of the position measurement part according to the embodiment of the present disclosure.

FIG. 6 is a control flow diagram of the muscle exercise device according to the embodiment of the present disclosure.

FIG. 7 is a control flow diagram illustrating an example of an initial exercise initiation process of the muscle exercise device according to the embodiment of the present disclosure.

FIGS. 8(a) and 8(b) are graphs illustrating the control process of the muscle exercise device according to the embodiment illustrated in FIGS. 6 and 7.

FIG. 9 is a control flow diagram of a muscle exercise device according to another embodiment of the present disclosure.

FIGS. 10(a) and 10(b) are graphs illustrating the control process of the muscle exercise device according to the embodiment illustrated in FIG. 9.

In a muscle exercise device according to the embodiment of the present disclosure, when it is detected that a withdrawal position of a cable has entered a preset safety area in a process in which a device control part controls a drive motor in an exercise mode, the device control part may control the drive motor so that an exercise load of the drive motor is reduced.

Advantages and characteristics of the present disclosure, and methods for achieving them will become clear with reference to embodiments described later in detail in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in a variety of different forms. However, these embodiments are provided to make the disclosure of the present invention complete and to completely inform those skilled in the art of the scope of the invention to which the present disclosure belongs, and the present disclosure is only defined by the scope of the claims. The same reference numbers designate the same elements throughout the specification.

FIG. 2 is a view illustrating an example of a muscle exercise device 10 according to the embodiment of the present disclosure.

Referring to FIG. 2, the muscle exercise device 10 according to the embodiment of the present disclosure may include a device body 110. In the embodiment of the present disclosure, the device body 110 may have the shape of a mat.

In one embodiment, with the device body 110 seated on an indoor or outdoor floor, a user may step on the device body 110 and exercise by using one pair of cables 120 extending from the device body 110 to the outside.

Here, a gripping instrument which a user grips to exercise may be connected to the one pair of cables 120. In FIG. 2, a gripping bar 130 whose opposite ends are respectively connected to the cables 120 is installed. In addition, a grip such as a D-type grip may be connected to each of the cables 120 at opposite sides, and various types of gripping instruments for exercise may be connected thereto.

FIG. 3 is a control block diagram of the muscle exercise device 10 according to the embodiment of the present disclosure. Referring to FIG. 3, the muscle exercise device 10 according to the embodiment of the present disclosure may include a drive motor 213. The drive motor 213 may be installed inside the device body 110 and may generate an exercise load to be transferred through the cable 120.

In the embodiment of the present disclosure, two drive motors 213 may be provided so that exercise loads can be individually supplied to the one pair of cables 120 extending outside the device body 110. In addition, one drive motor 213 may be configured to provide an exercise load to each of the one pair of cables 120 through a differential mechanism.

The muscle exercise device 10 according to the embodiment of the present disclosure may include a position measurement part 212. The position measurement part 212 may detect the withdrawal position of the cable 120.

FIG. 4 is a view illustrating an example of the configuration of the position measurement part 212 according to the embodiment of the present disclosure. Referring to FIG. 4, the position measurement part 212 according to the embodiment of the present disclosure may include an encoder 212a.

In the embodiment illustrated in FIG. 4, the encoder 212a may detect the movement of a timing belt 217 which connects the drive motor 213 with an output pulley 216.

For example, the timing belt 217 may connect the drive motor 213 and the output pulley 216 to each other to operate in cooperation with each other so that the drive motor 213 and the output pulley 216 can be rotated. That is, when the drive motor 213 rotates in a negative direction, that is, in the direction of pulling the cable 120 to the retraction position of the cable 120 according to the output load of the drive motor 213, the output pulley 216 may be rotated in the negative direction. In addition, when a user pulls the cable 120 by overcoming the output load of the drive motor 213 and the cable 120 is pulled out of the device body 110, the positive directional rotation of the output pulley 216 may be transferred to the drive motor 213.

In the embodiment of the present disclosure, a bobbin on which the cable 120 is wound may be coaxially coupled to the output pulley 216 and rotate in synchronization with the rotation of the output pulley 216, so the drive motor 213 and the cable 120 may operate in cooperation with each other.

In the embodiment illustrated in FIG. 4, the encoder 212a, for example, may detect the movement of the timing belt 217 connecting the drive motor 213 and the output pulley 216 to each other, thereby indirectly detecting the rotation of the drive motor 213. For another example, the encoder 212a may rotate synchronously with the rotation of the drive motor 213 to directly detect the rotation of the drive motor 213.

FIG. 5 is a view illustrating another example of the configuration of the position measurement part 212 according to the embodiment of the present disclosure.

In the embodiment illustrated in FIG. 5, the cable 120 may have recognition marks M marked at preset intervals. In addition, the position measurement part 212 may be installed inside the device body 110 and may detect the withdrawal position of the cable 120 by counting the recognition marks M. For example, an image sensor 212b for the recognition of each of the recognition marks M may be applied as the position measurement part 212. Here, the position measurement part 212c may detect the withdrawal position of the cable 120 by counting the recognition marks M by adding (+) or subtracting (-) the number thereof according to the retraction/withdrawal direction of the recognition mark M.

Referring back to FIG. 3, the muscle exercise device according to the embodiment of the present disclosure may include a device control part 215. The device control part 215 may control an overall function of each component of the muscle exercise device 10 according to the embodiment of the present disclosure. Here, the device control part 215 may include hardware such as a processor, and software such as firmware.

In addition, in the embodiment of the present disclosure, the device control part 215 may control an exercise load output from the drive motor 213. For one example, the device control part 215 according to the embodiment of the present disclosure may control the drive motor 213 through impedance control.

In impedance control, the device control part 215 may control a system by modeling the system as a mass-damper-spring system. For example, in impedance control, a force that the device control part 215 intends to simulate, that is, an exercise load may be expressed as [Equation 1].

[Equation 1]

F_d = m_refg + m_refa - J_ma - B_mv - F_f

In [Equation 1], F_d is force to be simulated, that is, an exercise load, m_ref is weight, g is gravitational acceleration, a is acceleration at which the cable 120 is pulled, and v is speed at which the cable 120 is pulled, J_m is coefficient of inertia of a system, B_m is damping coefficient of the system, and F_f is friction coefficient of the system.

In the embodiment of the present disclosure, the device control part 215 may calculate the speed and acceleration at which the cable 120 is pulled based on the withdrawal position of the cable 120 detected by the position measurement part 212.

Meanwhile, the device control part 215 according to the embodiment of the present disclosure may control the drive motor 213 in an exercise mode. In the exercise mode according to the embodiment of the present disclosure, the device control part 215 may control the drive motor 213 so that the exercise load of the drive motor 213 is maintained as a preset target load L_T.

In a state in which the exercise load is applied by being changed to the target load L_T, a user may grip the gripping bar and may repeat the motions of pulling the cable 120 and releasing the cable 120 toward the device body 110 so as to perform muscle exercise. In this case, the exercise load may be provided in a direction in which the cable 120 is retracted into the device body 110, so a user may feel an exercise load when pulling the cable 120.

For example, when it is detected that the withdrawal position detected by the position measurement part 212 has entered a preset safety area SA in the process of controlling the drive motor 213 in the exercise mode, the device control part 215 according to the embodiment of the present disclosure may control the drive motor 213 so that the exercise load of the drive motor 213 is reduced.

FIG. 6 is a control flow diagram of the muscle exercise device 10 according to the embodiment of the present disclosure. FIG. 7 is a control flow diagram illustrating an example of an initial exercise initiation process of the muscle exercise device 10 according to the embodiment of the present disclosure.

Referring to FIG. 6, first, when exercise starts, the device control part 215 may control the drive motor 213 in the exercise mode at S10. Here, a process in which the muscle exercise device 10 is turned on and operates in the exercise mode will be described with reference to FIG. 7.

Referring to FIG. 7, in a state in which the muscle exercise device 10 according to the embodiment of the present disclosure is turned on at S11, an exercise type may be selected at S12. To this end, the muscle exercise device 10 according to the embodiment of the present disclosure may include the data storage part 211 as illustrated in FIG. 3.

In one embodiment, a plurality of exercise types and a safety area SA for each of exercise types may be stored in the data storage part 211. In general, the height of a support may vary depending on an exercise type, or an exercise distance, that is, the maximum and minimum withdrawal distances of the cable 120 in a muscle exercise process may vary depending on an exercise type.

Accordingly, in the embodiment of the present disclosure, by presetting and storing a different safety area SA according to each of the exercise types, a user may select an exercise type, and the device control part 215 may control the exercise load of the drive motor 213 based on the safety area SA suitable for the exercise type.

The muscle exercise device 10 according to the embodiment of the present disclosure may include a user input part 214 for selecting an exercise type as illustrated in FIG. 3.

In one embodiment, the user input part 214 may be provided on the upper surface of the device body 110 in the form of a manipulation part manipulated by a user. For another example, the user input part 214 may be provided in the form of a remote control.

For another example, the user input part 214 may be provided in the form of a smart device such as a smart phone. To this end, a communication module supporting short-range communication such as Bluetooth may be provided in the muscle exercise device 10 according to the embodiment of the present disclosure, and various input signals may be transmitted from the smart device to the muscle exercise device 10 through communication of the muscle exercise device 10 with an app installed in the smart device.

Referring back to FIG. 7, the control process of the muscle exercise device 10 according to the embodiment of the present disclosure may include a process of inputting a target load L_Tat S13. A user may input a target load L_Tsuitable for an exercise type selected by him or her through the user input part 214.

For another example, a target load L_T may be maintained to be in a state preset for each exercise type by a user, and when a user does not change the exercise type in the initiation process of exercise, the target load L_Tregistered for the corresponding exercise type may be preset to have a default value.

As described above, when the exercise type is selected at S12 and the target load L_Tis input at S13, the device control part 215 may determine whether the exercise preparation condition is satisfied at S15.

After a user inputs the target load L_T, when an exercise load is applied by being changed to the target load L_T through the drive motor 213 in a state in which muscle exercise is not ready, the user may pull the cable 120 from an initial position, that is, a state in which the cable 120 is completely retracted into the device body 110.

Such a situation is the same as a situation in which an exercise device such as a barbell is lifted from a state of being placed on the floor, and may cause strain on a user's lower back.

Accordingly, in the present disclosure, when a user has completed a predetermined preparation posture for the start of exercise, whether the exercise preparation condition is satisfied based on the withdrawal position of the cable 120 measured by the position measurement part 212 at S14 may be determined S15.

FIGS. 8(a) and 8(b) are graphs illustrating the control process of the muscle exercise device 10 illustrated in FIGS. 6 and 7. FIG. 8(a) illustrates the withdrawal position of the cable 120 detected by the position measurement part 212, and FIG. 8(b) illustrates exercise loads output by the drive motor 213.

The exercise type of the embodiment illustrated in FIGS. 8(a) and 8(b) is a type (hereinafter, referred to as a first exercise type) in which the safety area SA is located under an exercise area TA in which a user repeats exercise based on the withdrawal direction of the cable 120. For example, among exercises using a barbell, a shoulder press and a barbell curl which a user does while standing may belong to the exercise type.

In addition, the safety area SA, in which the role of a support (see FIG. 1) can be performed for a user to mount a barbell, etc., may be located at a side lower than the exercise area TA.

Here, the exercise area TA in the exercise mode for each exercise type may be stored in the data storage part 211 according to the embodiment of the present disclosure. Through this, when an exercise type is selected, the device control part 215 may distinguish the exercise area TA and the safety area SA in the corresponding exercise area TA.

When the withdrawal position of the cable 120 is outside the safety area SA (at time t1) in a state in which the first exercise type is selected at S12 as illustrated in FIGS. 8(a) and 8(b), the device control part 215 according to the embodiment of the present disclosure may determine that the exercise preparation condition is satisfied.

In one embodiment, the safety area SA may be preset between the initial position of the cable 120 and a preset position upper limit P_max. Accordingly, when the withdrawal position of the cable 120 goes out of the position upper limit P_max to be outside the safety area SA after a user pulls the cable 120 to prepare for exercise, the device control part 215 may determine that the exercise preparation condition is satisfied and may increase an exercise load.

Here, in the embodiment of the present disclosure, the device control part 215 may control the drive motor 213 so that the initial value of an exercise load is output by being changed to a preset basic load. Here, the basic load L_R may be an exercise load that the drive motor 213 basically outputs when the power of the muscle exercise device 10 according to the embodiment of the present disclosure is turned on. Through the application of the basic load L_R, the cable 120 may be prevented from being easily pulled out without resistance.

According to the above configuration, when a user selects an exercise type, inputs a target load L_T, and pulls the cable 120, the basic load LR may be provided to the user. In addition, when the withdrawal position of the cable 120 measured by the position measurement part 212 is detected to be outside the safety area SA, the device control part 215 may determine that the exercise preparation condition is satisfied at S15 and may gradually increase the exercise load of the drive motor 213 from the basic load L_R to the target load L_T at S16.

When the exercise load reaches the target load L_T through the above process, the device control part 215 may operate in the exercise mode to control the drive motor 213 through impedance control as described above so that an exercise load output from the drive motor 213 is maintained as the target load L_T at S17. Here, a user may start exercise even before the exercise load reaches the target load L_T.

In the embodiment illustrated in FIGS. 7, 8(a), and 8(b), when the withdrawal position of the cable 120 exceeds the safety area SA, the exercise preparation condition may be recognized to be satisfied. For another example, after a user pulls out the cable 120 so that the withdrawal position of the cable is in the exercise area TA, a case in which the position of the cable 120 is maintained for a preset period of time, for example, three seconds in the corresponding position may be recognized that the exercise preparation condition is satisfied.

Referring back to FIG. 6, during the initiation of exercise and the operation in the exercise mode through the process described above, the withdrawal position of the cable 120 may be measured by the position measurement part 212 at S20. Here, the device control part 215 may calculate the speed and acceleration of the cable 120 based on the withdrawal position of the cable 120 and may control the drive motor 213 through impedance control by using the speed and acceleration.

In addition, when it is detected that the withdrawal position of the cable 120 measured by the position measurement part 212 has entered the safety area SA at S30, the device control part 215 may control the drive motor 213 so that the exercise load of the drive motor 213 is reduced at S40.

In FIGS. 8(a) and 8(b), it is detected that the withdrawal position of the cable 120 enters to a side below the position upper limit P_max of the safety area SA at time t2, and the drive motor 213 reduces an exercise load.

In the embodiment of the present disclosure, when it is detected that the withdrawal position of the cable 120 has entered the safety area SA, the device control part 215 may reduce an exercise load from the target load L_T to the basic load L_R.

According to the above configuration, when the cable 120 is pulled from the initial position for the exercise initiation, the exercise load may not be increased until the withdrawal position of the cable 120 reaches the position upper limit P_max, but when the withdrawal position of the cable 120 exceeds the position upper limit P_max, the exercise load may be increased, so the same effect as lifting an exercise device such as a barbell at the position of the upper limit P_max may be obtained.

Likewise, when the withdrawal position of the cable 120 moves below the position upper limit P_max when the cable 120 is retracted into the device body 110 to stop exercise in an exercise process to the target load L_T, that is, the exercise mode get load L_T, an exercise load may be reduced, so the same effect as ending the exercise after mounting an exercise device such as a barbell at the position of the position upper limit P_max may be obtained.

Hereinafter, the control method of the muscle exercise device 1 according to the another embodiment of the present disclosure0 will be described with reference to FIGS. 9, 10(a), and 10(b).

FIG. 9 is a control flow diagram of the muscle exercise device 10 according to another embodiment of the present disclosure, and FIGS. 10(a) and 10(b) are graphs illustrating the control process of the muscle exercise device 10 according to the embodiment illustrated in FIG. 9. FIG. 10(a) illustrates the withdrawal position of the cable 120 detected by the position measurement part 212, and 10(b) illustrates an exercise load output by the drive motor 213.

The exercise type of the control process illustrated in FIGS. 9, 10(a), and 10(b) is a type (hereinafter, referred to as a second exercise type) in which the safety area SA is located within the exercise area TA. For example, in the case of bench press using a barbell, the position of the support may be located within an area in which a user moves the barbell up and down.

Accordingly, unlike the first exercise type, the safety area SA in the second exercise type may be preset as a range between the position upper limit P_max and a position lower limit P_min, not 0 or the initial position of the cable 120.

Referring to FIGS. 9, 10(a), and 10(b), first, when the muscle exercise device operates in the exercise mode at S50, as described above, the device control part 215 may control the drive motor 213 through impedance control so that the output load of the drive motor 213 is maintained as the target load L_T.

Here, the process in which the muscle exercise device 10 operates in the exercise mode after turned on may correspond to the embodiment illustrated in FIG. 7.

On the other hand, the device control part 215 may determine whether the exercise preparation condition is satisfied according to whether the withdrawal position measured by the position measurement part 212 enters the safety area SA.

For example, when the withdrawal position measured by the position measurement part 212 exceeds the position lower limit P_min of the safety area SA (at time t1 of FIGS. 10(a) and 10(b)), the device control part 215 may determine that the exercise preparation condition is satisfied and may increase an exercise load.

For another example, the device control part 215 may determine a state of the withdrawal position of the cable measured by the position measurement part 212 exceeding the position lower limit P_min of the safety area SA maintained for a predetermined period of time (from time t1 to time t2) as the exercise preparation condition being satisfied.

In the embodiment illustrated in FIGS. 10(a) and 10(b), the device control part 215 may increase the exercise load of the drive motor 213 at time t2 at which a predetermined period of time elapses in a state in which the withdrawal position of the cable 120 exceeds the position lower limit P_min.

Through the process described above, the withdrawal position of the cable 120 may be measured by the position measurement part 212 at S51 during the initiation of the exercise and the operation in the exercise mode. Here, the device control part 215 may calculate the speed and acceleration of the cable 120 based on the withdrawal position of the cable 120 and may control the drive motor 213 through impedance control using the speed and acceleration.

Furthermore, the device control part 215 may detect whether the withdrawal position of the cable 120 measured by the position measurement part 212 enters the safety area SA at S52.

As illustrated in FIGS. 10(a) and 10(b), in an exercise according to the second exercise type, the safety area SA is located within the exercise area TA, and in a process in which a user is exercising, the process of the withdrawal position of the cable 120 entering and leaving the safety area SA may be repeated.

Accordingly, in the embodiment of the present disclosure, in a muscle exercise process according to the second exercise type, the device control part 215 may determine whether an exercise discontinuance condition is satisfied at S53 when the withdrawal position of the cable 120 enters the safety area SA.

In one embodiment, when the withdrawal position detected by the position measurement part 212 is maintained for a preset period of maintaining time, for example, from time t3 to time t4, in the safety area SA, the device control part 215 may determine that the exercise discontinuance condition is satisfied.

In addition, the device control part 215 may reduce an exercise load from the target load L_Tto the basic load L_R at time t4.

According to the above configuration, when intending to stop exercise, a user may stop a muscle exercise or remove an exercise load by maintaining the position of the cable 120 for the period of maintaining time while the position of the cable 120 is located in the safety area SA.

Although the embodiments of the present disclosure have been described above with reference to the accompanying drawings, the muscle exercise device of the present disclosure is not limited to the above embodiments, but may be manufactured in various different forms. Those skilled in the technical field to which the present disclosure belongs will be able to understand that the muscle exercise device of the present disclosure may be configured in other specific forms without changing the technical idea or essential characteristics of the present disclosure. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

10: Muscle exercise device 110: Device body

120: Cable 130: Gripping bar

211: Data storage part 212: Position measurement part

213: Drive motor 214: User input part

215: Device control part

The muscle exercise device according to the embodiments of the present disclosure may be applied to a device on which a user performs a muscle exercise by using a cable.

Claims

A muscle exercise device comprising:

a device body;

at least one drive motor installed inside the device body and configured to provide an exercise load;

a cable pulled out of the device body to transfer the exercise load of the drive motor to the outside;

a position measurement part configured to detect a withdrawal position of the cable; and

a device control part configured to control the drive motor so that the exercise load of the drive motor is reduced when it is detected that the withdrawal position detected by the position measurement part has entered a preset safety area in a process in which the device control part controls the drive motor in an exercise mode.
The muscle exercise device of claim 1, wherein in the exercise mode, the device control part controls the drive motor so that the exercise load of the drive motor is maintained as a preset target load.
The muscle exercise device of claim 2, wherein the device control part controls the drive motor so that a preset basic load is output as an initial value of the exercise load, and controls the drive motor so that the exercise load of the drive motor is reduced to the basic load when it is detected that the withdrawal position has entered the safety area.
The muscle exercise device of claim 2, further comprising:

a data storage part configured to store a plurality of exercise types and a safety area for each of the exercise types, and

a user input part for selecting any one of the plurality of exercise types,

wherein the device control part controls the exercise load of the drive motor based on a safety area corresponding to an exercise type selected through the user input part.
The muscle exercise device of claim 4, wherein an exercise area for each of the exercise types in the exercise mode is stored in the data storage part, and

the exercise types comprise: a first exercise type in which the safety area is located under the exercise area based on a withdrawal direction of the cable, and a second exercise type in which the safety area is located within the exercise area.
The muscle exercise device of claim 5, wherein when it is detected that the withdrawal position detected by the position measurement part has entered the safety area when the muscle exercise device operates in the exercise mode according to the first exercise type, the device control part controls the drive motor so that the exercise load of the drive motor is reduced.
The muscle exercise device of claim 6, wherein the safety area for the first exercise type is preset between an initial position of the cable and a position upper limit preset according to the exercise type.
The muscle exercise device of claim 5, wherein when a preset exercise discontinuance condition is satisfied in a state in which the withdrawal position detected by the position measurement part is detected to have entered the safety area when the muscle exercise device operates in the exercise mode according to the second exercise type, the device control part controls the drive motor so that the exercise load of the drive motor is reduced.
The muscle exercise device of claim 8, wherein in a case in which the withdrawal position detected by the position measurement part is maintained for a preset period of maintaining time within the safety area when the muscle exercise device operates in the exercise mode according to the second exercise type, the device control part determines that the exercise discontinuance condition is satisfied.
The muscle exercise device of claim 2, wherein when it is detected that a preset exercise preparation condition is satisfied during an initial operation of the drive motor, the device control part controls the drive motor so that the exercise load of the drive motor reaches the target load.
The muscle exercise device of claim 10, wherein when it is detected that the withdrawal position detected by the position measurement part is outside the safety area, the device control part determines that the exercise preparation condition is satisfied.
The muscle exercise device of claim 11, wherein the safety area is preset between an initial position of the cable and a position upper limit preset according to an exercise type.
The muscle exercise device of claim 1, wherein the position measurement part comprises an encoder installed inside the device body and configured to detect a rotation of the drive motor directly or indirectly, the position measurement part detecting the withdrawal position of the cable based on a rotation of the encoder.
The muscle exercise device of claim 1, wherein the cable has recognition marks marked at preset intervals, and

the position measurement part detects the withdrawal position of the cable by counting the recognition marks.
The muscle exercise device of claim 1, wherein the safety area is provided to be changeable according to a user's setting.