| 摘要 |
The exercise and/or rehabilitation apparatus comprises at least one motor (1) combined with a central unit for controlling and managing a force, a speed and a position and controlled by a programmable processor capable of reading a value of a signal sent by at least one force sensor (2) subject to pulling means (4) that can be actuated by a user in order to control the rotation of the motor (1), said sensor (2) being positioned under a mechanical assembly (5) receiving the motor (1) and the peripherals of same, the motor (1) being equipped with a brake and an encoder capable of knowing the position of the pulling and/or pushing means, and controlled by a PID feedback loop in order to regulate the rotation of same so as to maintain a setpoint force, said pulling means being constituted by a strap (4) transmission member wound on a pulley (3) rotated by the motor (1), said apparatus constituting an independent unit without the use of a counterweight. |
