Patent ID: 11944871
Assignee: ZEROWHEEL, LLC
Field: Furniture, games (Other fields)
Classification: CPC A | IPC A

Claim 19:
20. A method of operating a motorized exercise wheel for performing an exercise having at least one cycle in which a user rolls the wheel along a surface in a forward direction from an approximate resting position to an extended position and then rolls the wheel along the surface in a backward direction from the extended position toward the resting position, thus forming an exercise cycle, the wheel having a wheel assembly including a surface contacting element, an electric motor coupled to the wheel assembly, first and second handles extending from the wheel assembly for handling by the user, a microcontroller and a battery on-board the exercise wheel and configured to power the motor and the microcontroller, the method, performed by the microcontroller, comprising:
determining, using a first sensor, a rotary angle of the motor and a movement variable concerning movement of the exercise wheel during the exercise, the rotary angle and the movement variable being determined using the first sensor in real-time throughout the exercise cycle, wherein the movement variable includes one or more of a position of the exercise wheel, a velocity of the exercise wheel and an acceleration of the exercise wheel,
determining, a target output torque for the motor dynamically throughout the exercise cycle based on the movement variable determinations and one or more torque trajectory parameters, wherein the one or more torque trajectory parameters comprise a torque profile defining the target output torque value of the motor that varies as a function of the one or more of the position, the velocity and the acceleration; and
controlling an output torque of the motor over the exercise cycle as a function of the rotary angle and the determined target output torque.