| 摘要 |
Disclosed is a semi-passive resistance force control system with active augmentation, which is suitable for a sport equipment with a pulling part. This semi-passive resistance force control system with active augmentation comprises a resistance force module, an energy neutral apparatus, and a control module. The energy neutral apparatus can not only provide an output resistance force to the pulling part when the pulling part is pulled by a user, but also reduce the variation of the output resistance force. The control module is able to accept the sensing data delivered by the internal sensors of the semi-passive resistance force control system with active augmentation to passively compensate the output resistance force and make it fixed. Furthermore, the control module can also provide an active adjustment to the output resistance force based on a preset control mode such that the user can experience a desired resistance force. |
| 主权项 |
1. A semi-passive resistance force control system with active augmentation, for use with an exercise equipment with a pulling part, comprising:
a resistance force adjustment module, connected to a pulling part of an exercise equipment;an energy neutral apparatus, connected to the resistance force adjustment module to provide an output resistance force to the pulling part when a user is pulling a moving part of the energy neutral apparatus by way of the pulling part and the resistance force adjustment module; and
a control module, electrically connected to the energy neutral apparatus and the resistance force adjustment module; wherein the control module sets up a preset gas pressure of the energy neutral apparatus and controls the resistance force adjustment module to actively compensate a deviation of the output resistance force from a desired resistance force due to a gas pressure change when pulling the pulling part and to generate an adjustment resistance force, such that the user experiences the desired resistance force when pulling the pulling part; wherein the energy neutral apparatus comprises a piston resistance force module and a gas supply module, the piston resistance force module is connected to the resistance force adjustment module to provide the output resistance force to the pulling part when the user is pulling a piston of the piston resistance force module, and the gas supply module is connected to the piston resistance force module to set the preset gas pressure of the piston resistance force module before the piston is pulled and control the output resistance force provided by the piston resistance force module to obey a first preset mode by using a gas interconnection between the gas supply module and the piston resistance force module when the piston is pulled by the user; wherein the gas supply module comprises a gas pressure sensor and a gas reservoir, the gas pressure sensor and the gas reservoir are connected to the piston resistance force module through a gas pipe; wherein the gas pressure sensor measures a gas pressure of the gas pipe, converts it into an electrical signal, and sends it to the control module; wherein the gas pipe is connected to an external gas source through a source control valve, the source control valve is controlled by a first control command of the control module to open or close, the gas reservoir is in communication with the piston resistance force module when the source control valve is closed, and a gas content of the gas reservoir is a plurality of times of that of the piston resistance force module, so as to enable the gas pressure of the piston resistance force module to stably change when the source control valve is closed and the user is pulling the pulling part; wherein the gas pipe is connected to an external environment through a vent control valve, the vent control valve is controlled by a second control command of the control module to open or close; wherein the resistance force adjustment module comprises an electrical motor and a coupler, the coupler is used to integrate the output resistance force and the adjustment resistance force of the electric motor into the desired resistance force; wherein the resistance force adjustment module further comprises a position sensor; the coupler is mechanically connected to the electrical motor, the piston resistance force module, and the pulling part; the position sensor detects a movement distance of the pulling part, converts the movement distance into an electrical signal, and sends the electrical signal to the control module; the control module dynamically controls the output torque of the electrical motor based on the electrical signal of the gas pressure sensor and the electrical signal of the position sensor to provide the adjustment resistance force to the coupler, thereby integrating the output force and the adjustment force into the desired resistance force to deliver to the pulling part when the user is pulling the pulling part; and wherein the coupler comprises a first revolving wheel, a second revolving wheel, and a third revolving wheel arranged coaxially; the first revolving wheel is mechanically connected to the piston resistance force module to convert the output resistance force of the piston resistance force module into a first torque; the third revolving wheel is mechanically connected to the electrical motor to convert the adjustment resistance force into a second torque; and the second revolving wheel is mechanically connected to the pulling part to convert the first torque and the second torque through a common axis to output the desired resistance force to the pulling part. |
