Patent Description:
While actual outdoor conditions cannot be exactly replicated when exercising on exercise equipment in an indoor environment, exercise equipment can be configured to simulate outdoor conditions. For example, in the case of the treadmill, the incline of the treadmill belt can be adjusted to simulate running or walking uphill or downhill. Stationary cycles and bicycle trainers, which most commonly are positioned upright and horizontal, have been designed to include features that allow the stationary cycle or bicycle and trainer combination to tilt side-to-side and to adjust an angle of inclination either upwardly or downwardly.

Often stationary cycles and bicycle trainers that are used indoors are utilized in combination with a visual ride simulation to enhance the rider experience through visual simulation of an outdoor ride. While the cadence of the cycle may be translated into the speed of an avatar in the visual ride simulation, traditional systems lack lateral, i.e., side-to-side, movement controls. Some systems attempt to provide users with lateral steering of the avatar through limited handlebar rotation. For example document <CIT> shows a video game controller in a shape of a bicycle for receiving a person interacting with the controller. The controller has a support about which the main portion can be tilted relative to the ground while maintaining the person interacting with the controller facing substantially the same direction, the controller can communicate values representative of the tilt to a video game being controlled.

However, such systems are generally limited to stationary cycles, and are neither well suited for use with bicycle trainers nor do they provide a steering input that replicates the natural lean-to-steer motion that occurs in outdoor cycling. Accordingly, there is need for a lean-to-steer indoor cycling system for use with a ride simulation program.

It is an object of the present invention to enable a user to more realistically experience lateral steering that natural occurs in an outdoor environment when using an item of exercise equipment in an indoor environment. It is another object of the invention to provide movement of an item of exercise equipment in the lateral plane to enhance the user's experience when using the item of exercise equipment, while simultaneously providing direction input. It is a still further object of the invention to provide a support system for an item of exercise equipment that allows movement of the item of exercise equipment in the lateral plane to enhance the user's experience, and that can filter out non-turn indicative lateral movement of the exercise equipment from movement that indicates an intentional turn by the user.

In accordance with a first aspect of the invention as defined in claim <NUM>, a lean-to-steer system for use with ride simulation is provided. The system includes a cycle mounted to a support, wherein the cycle is configured to tilt laterally during operation of the cycle. A sensor is located on the cycle, which may be an accelerometer or gyroscopic sensor, wherein the sensor generates a first signal to indicate a tilt of the cycle during operation. A processor providing an algorithm is configured to receive the first signal and generate a second signal indicative of a right or left turn of the cycle during operation in response to the lateral tilt of the cycle. The algorithm comprises at least one moving average filter configured to reduce the significance of short duration or outlying magnitude tilt signals to filter a portion of the first signal that is indicative of lateral tilt of the cycle but that is not generated in response to the right or left leaning turn of the cycle during operation. The second signal provides a directional input for a ride simulation interface.

The direction input provided by the system may define right or left steering of an avatar during the ride simulation interface as presented on the visual display. The algorithm may comprise a Kalman filter. The sensor may comprise at least one accelerometer. The sensor may comprise at least one gyroscope. The system may further include a ride simulation interface, such as a visual display. The ride simulation may include a single user or alternatively, multiple users connected via a network. Wherein the ride simulation interface is a network connected system including a plurality of avatars, each may be configured to receive directional input from a corresponding second signal indicative of a right or left turn of the cycle corresponding to each avatar's individual sensor equipped lateral tilting exercise device. Such devices may include a bicycle engaging a bicycle trainer and supported by at least one platform disposed on a base configured to allow lateral tilting movement of the bicycle relative to base during operation of the bicycle. The device may alternatively or additionally include an indoor cycle supported by a portion of the frame of the indoor cycle disposed on a base configured for lateral tilting movement of the indoor cycle relative to base during operation of the indoor cycle.

The filtering applied by the processor, may include one or more of Kalman filters, moving average, temporal average, exponential treatment, numerical differentiation and/or threshold modification.

In another aspect of the invention, as defined in claim <NUM>, a method of controlling the lateral direction of an avatar in a ride simulation is provided. The method may include the steps of first providing a cycle mounted to a support, wherein the cycle is configured to tilt laterally during operation of the cycle, and wherein a sensor is affixed to the cycle. Upon laterally tiling the cycle during operation, generating a first signal at the sensor to indicate the tilt of the cycle during operation. Then, transmitting the first signal from the sensor to a processor providing an algorithm configured to receive the first signal and generating a second signal indicative of a right or left turn of the cycle during operation in response to the lateral tilt of the cycle. The algorithm comprises at least one moving average filter configured to reduce the significance of short duration or outlying magnitude tilt signals to filter a portion of the first signal that is indicative of lateral tilt of the cycle but that is not generated in response to the right or left leaning turn of the cycle. Then, transmitting the second signal to a ride simulation to provide a directional instruction to the avatar. The step of generating the second signal may further comprise applying applying a Kalman filter to remove data outliers and smooth the data to reduce the significance of the short duration or outlying magnitude tilt signals to filter a portion of the first signal that is indicative of lateral tilt of the cycle that is not generated in response to the right or left turn of the cycle during operation. Additionally, the step of generating the second signal may also comprise generating a magnitude of directional input for the avatar displayed within the ride simulation interface.

Other aspects, features and advantages of the invention will become apparent to those skilled in the art from the following detailed description and accompanying drawings. It should be understood, however, that the detailed description and specific examples, while indicating certain embodiments of the present invention, are given by way of illustration and not of limitation.

A clear conception of the advantages and features constituting the present invention, and the construction and operation of typical mechanisms provided with the present invention, will become more readily apparent by referring to the exemplary, and therefore non-limiting, embodiments illustrated in the drawings accompanying and forming a part of this specification, wherein like reference numerals designate the same elements can be several views, and in which:.

In describing the embodiments of the invention which are illustrated in the drawings, specific terminology will be resorted to for the sake of clarity. However, it is not intended that the invention be limited to the specific terms such as "connected", but includes all technical equivalents which operate in a similar manner to accomplish a similar purpose. For example, the words "connected," "attached," or terms similar thereto are often used. They are not limited to direct connection or attachment, but include connection or attachment to other elements where such connection or attachment is recognized as being equivalent by those skilled in the art.

Referring initially to <FIG>, a lean-to-steer exercise system is indicated generally as <NUM> in the figures. The lean-to-steer exercise system <NUM> contemplates a sensor <NUM> that is representatively mounted to an exercise cycle <NUM> such as an indoor cycle or trainer mounted bicycle that exhibits side-to-side tilting movement during use. However, in an alternative embodiment, the sensor may be attached directly to the rider <NUM>. When the rider leans into a left or right turn, the frame <NUM> of the exercise equipment, which may be mounted to a movable support <NUM>, will similarly lean or rotate to the side and the sensor will measure the corresponding movement. The initial tilt signal that is measured at the sensor <NUM> will be filtered through a steering signal determination algorithm to generate a consistent steering signal. The steering signal will then be transmitted to a processor <NUM> executing a ride simulation interface, i.e., video game, training simulator, etc., as a directional movement instruction for an avatar <NUM> that is displayed on a viewing screen <NUM>. In this manner, a rider may steer the avatar through the ride simulation interface through the tilting of the exercise equipment during use as to provide an improved simulation of the feel of real-world cycling. While different components will be described below in the context of a number of different embodiments, it should be noted that any of these components could be used in combination with any components of the other embodiments in order to achieve a lean-to-steer exercise system <NUM> that generates a directional input, i.e., steering signal, for use in a ride simulation interface through the leaning of the user and corresponding tilting of the exercise equipment.

Specific potential embodiments will now be described in further detail. Turning now to <FIG> and initially to <FIG>, one embodiment of the lean to steer exercise system <NUM> generally includes a sensor <NUM> or sensor array that is incorporated into an item of exercise equipment <NUM> that may include or alternatively be mounted to a movable support <NUM>. In one embodiment, the movable support <NUM> is incorporated into the structure of the item of exercise equipment <NUM>, which as shown in <FIG> may include a stationary cycle-type exercise device <NUM> (hereafter referred to as cycle <NUM>) in which exercise equipment <NUM> is movably supported on a base <NUM>. It is understood that the item of exercise equipment incorporated into the movably supported item of exercise equipment <NUM> need not be limited to equipment such as a stationary cycle <NUM>, and that any type of stationary exercise equipment to which repetitive or cyclic forces are applied by a user during operation may be employed.

In a representative embodiment, the base <NUM> of the movably supported item of exercise equipment <NUM> is adapted to be positioned on a supporting surface such as a floor, and includes a longitudinally extending central lower support member <NUM> and a transversely extending front support member <NUM>, which cooperate to form a generally T-shaped lower support for the base <NUM>. A pair of inwardly angled front stanchions <NUM>, <NUM> extend upwardly from the opposite ends of the front support member <NUM> and cooperate to form a front support for the cycle <NUM>. A rear stanchion <NUM> extends upwardly from the rear end of central lower support member <NUM>, and forms a rear support for the cycle <NUM>. A pair of foldable outriggers <NUM> are pivotably mounted to a rear bracket <NUM>, which is secured to the rear of the base <NUM> at the interconnection of central lower support member <NUM> and rear stanchion <NUM>. The outriggers <NUM> can be moved between an operative extended position as shown, in which the outriggers <NUM> provide lateral stability to the movably supported item of exercise equipment <NUM>, and a retracted or inward position in which the outriggers <NUM> are positioned adjacent the central lower support member <NUM>, to reduce the footprint of the item of exercise equipment <NUM> for shipment and storage. It is understood, however, that the structural details of the base <NUM> as described are illustrative of any number and configuration of support components that may be employed for providing a stable support for the cycle <NUM> during use.

The cycle <NUM>, which is movably supported on the base <NUM>, generally includes a frame assembly that mounts user support and input components. In the illustrated embodiment, the user support and input components include a saddle or seat <NUM>, a handlebar <NUM>, and a pedal-type input arrangement <NUM>. The saddle <NUM> is supported by a seat tube <NUM>, which forms part of the frame assembly of cycle <NUM>. In a manner as is known, the position of the saddle <NUM> may be adjusted using a height adjustment member <NUM> that is telescopingly engaged with the seat tube <NUM>, and a front-rear longitudinal adjustment member <NUM> that is secured to the upper end of height adjustment member <NUM>, and to which saddle <NUM> is adjustably secured. Similarly, the handlebar <NUM> is supported by a head tube <NUM>, which forms part of the frame assembly of cycle <NUM>. In a manner as is known, the position of the handlebar <NUM> may be adjusted using a height adjustment member <NUM> that is telescopingly engaged with the head tube <NUM>, and a front-rear longitudinal adjustment member <NUM> that is secured to the upper end of height adjustment member <NUM>, and to which handlebar <NUM> is adjustably secured. The pedal-type input arrangement <NUM> includes a set of pedals (not shown) with which the user's feet are engageable, and a pair of crank arms <NUM> which, during operation, transmit torque to a resistance mechanism, shown generally at <NUM>, that is mounted to the frame of cycle <NUM>. Typically, the crank arms <NUM> are connected to an input ring or gear, and a drive member, such as a chain or belt, rotates a flywheel associated with the resistance mechanism in response to application of pedaling forces by the user. The resistance mechanism <NUM> may be any suitable type of resistance mechanism that provides adjustable resistance to pedaling forces applied by the user. Examples include, but are not limited to fluid-type, mechanical, magnetic, electrical or electromechanical resistance mechanisms, although any type of resistance mechanism may be employed.

In addition to the seat tube <NUM> and head tube <NUM>, the frame of the cycle <NUM> further includes top and bottom frame members <NUM>, <NUM>, respectively, which extend between and interconnect the seat tube <NUM> and head tube <NUM>. In the illustrated embodiment, the resistance mechanism <NUM> is secured to the frame of cycle <NUM> within an area defined by the seat tube <NUM>, head tube <NUM> and top and bottom frame members <NUM>, <NUM>, respectively, although any other satisfactory configuration may be employed.

Cycle <NUM> further includes a front support assembly that extends forwardly from head tube <NUM> and a rear support assembly that extends rearwardly from seat tube <NUM>. The front support assembly includes an arcuate upper support member <NUM>, in combination with a front brace member <NUM> that extends downwardly from the forward end of upper support member <NUM>, and a centering guide member <NUM> that extends between the lower end of front brace member <NUM> and the lower end of head tube <NUM>. The arcuate upper support member <NUM> is movably supported by the upper ends of front stanchions <NUM>, <NUM>, as described in further detail below. As will also be explained, the centering guide member <NUM> assists in biasing cycle <NUM> toward an upright position during operation. The rear support assembly includes an arcuate lower support member <NUM>, which is supported by the upper end of rear stanchion <NUM>. The rear support assembly also includes an upper brace member <NUM>, which extends between the rear end of arcuate lower support member <NUM> and seat tube <NUM>.

Cycle <NUM> is supported on base <NUM> in a manner that simulates cycle riding in an outdoor environment. Specifically, cycle <NUM> is capable of movement relative to base <NUM> in a longitudinal fore-aft direction as well as movement in a tilting or side-to-side manner. A fore-aft centering arrangement and a tilt centering arrangement bias the cycle <NUM> toward fore-aft and tilt centered positions, respectively, relative to base <NUM>.

More specifically, a bracket <NUM> is secured between the upper ends of front stanchions <NUM>, <NUM>. The upper support member <NUM> is capable of translating in a fore-aft direction relative to the bracket <NUM>, such as by movement on a grooved roller mounted to bracket <NUM>. In a generally similar manner, the arcuate lower support member <NUM> of the cycle rear support assembly is capable of translating in a fore-aft direction relative to the top of the stanchion <NUM>, such as on a grooved roller mounted to the upper end of the stanchion <NUM>. Furthermore, the movement of the upper support member <NUM> relative to the bracket <NUM> and the movement of the arcuate lower support member <NUM> relative to the top of stanchion <NUM>, while restrained within retainer <NUM>, allows cycle <NUM> to tilt in a side-to-side manner when lateral sideward forces are applied to cycle <NUM> during use. As will be described in further detail below, the tilting of the cycle <NUM> in a side-to-side manner is configured to produce a signal within the sensor array <NUM>, which is indicative of steering the cycle <NUM> through rider leaning, which may be transmitted as an input signal to a ride simulation program.

Additionally, the system <NUM> may include a centering guide member <NUM>, which is operable to bias cycle <NUM> to a tilt-centered position relative to base <NUM>, where a centering guide member <NUM> may cooperate with an internally located shuttle assembly <NUM> affixed to a pair of biasing centering cables <NUM>, <NUM> that are connected to and extend outwardly in opposite directions from the shuttle assembly <NUM>, through the centering guide member <NUM> to front stanchions <NUM>, <NUM> respectively. It can be appreciated, however, that various other arrangements may be employed for biasing cycle <NUM> to a tilt-centered position.

As indicated above, the cycle <NUM> of system <NUM> is configured to tilt in a side-to-side manner as a result of the rider <NUM> leaning, which may generate a signal at sensor <NUM>, before the centering guide member <NUM> assists to return the biased cycle <NUM> to a tilt-centered position relative to the base <NUM>. More specifically, <FIG> illustrates a tilting position of cycle <NUM> relative to base <NUM>, wherein the rider (not shown) is leaning to steer the cycle <NUM> to the right, and <FIG> illustrates an opposite tilting position of the cycle <NUM> relative to base <NUM> wherein the rider (not shown) is tilting the cycle <NUM> to steer to the left.

Turning now to <FIG>, in an alternative embodiment of the present invention, a lean-to-steer exercise system <NUM> may generally include a sensor <NUM> or sensor array that is mounted to or incorporated into an item of exercise equipment <NUM> that may include or alternatively be mounted to a movable support <NUM>. As opposed to the prior embodiment of the system <NUM>, in which the movable support <NUM> is incorporated into the structure of the item of exercise equipment <NUM>, namely cycle <NUM>, the movable exercise equipment support <NUM> is separate from, but adapted to support, an item of exercise equipment <NUM>. In the illustrated embodiment of <FIG>, the item of exercise equipment <NUM> is in the form of a bicycle <NUM> engaged with a bicycle trainer <NUM>. The bicycle trainer <NUM> is illustrated as a generally conventional trainer that engages the rear wheel of the bicycle <NUM> and provides resistance when the rider applies input forces to the pedals of bicycle <NUM>, in a manner as is known. Trainers of this type are commonly available, such as those manufactured by Saris Cycling Group, Inc. of Madison, Wisconsin. It is understood, however, that any other type of bicycle trainer, such as a direct drive trainer, may be employed. It is further understood that the item of exercise equipment supported by the movable exercise equipment support <NUM> need not be limited to equipment such as a bicycle <NUM> and trainer <NUM> combination, and that any type of stationary exercise equipment to which repetitive or cyclic forces are applied by a user during operation may be employed.

The movable exercise equipment support <NUM> generally includes a base <NUM> that is adapted to be positioned on a supporting surface such as a floor, a platform <NUM>, and a frame <NUM>. The bicycle <NUM> and trainer <NUM> are positioned on an upwardly facing surface defined by the platform <NUM>. The platform <NUM> is secured to the frame <NUM>, and the frame <NUM> is movably mounted to the base <NUM>, in a manner to be explained. The frame <NUM> is movable relative to the base <NUM> in response to input forces applied by the rider or user to the pedals of bicycle <NUM> during use, as will also be explained. In a first direction of movement, as shown in <FIG> and <FIG>, the platform <NUM> and frame <NUM> are movable in clockwise and counterclockwise directions about a longitudinal tilt axis, which enables the bicycle <NUM>, trainer <NUM> and the rider to move from side-to-side in response to input forces applied by the rider to the pedals of bicycle <NUM>, akin to leaning right and left as described generally above in reference to <FIG> and <FIG>.

Still referring the <FIG>, the base <NUM> may support a first grooved roller <NUM> and a second grooved roller <NUM>. A step <NUM> is also secured to one side of the base <NUM>. In the illustrated embodiment, the step <NUM> includes an upright post <NUM> that is secured at its lower end to the base <NUM>, and a generally horizontal step member <NUM> secured to the upper end of the post <NUM>. The step <NUM> is stationarily secured to the base <NUM> and is adapted to support the weight of the user above the platform <NUM> as the user mounts and dismounts the bicycle <NUM>.

In the illustrated embodiment, the frame <NUM> includes a central longitudinal frame member <NUM> that overlies the base <NUM> and that extends beyond the ends of base <NUM>. The platform <NUM> may be affixed to the frame member <NUM>, above the base <NUM>. A pair of tilt biasing bracket assemblies <NUM>, <NUM>, are disposed between the base <NUM> and the platform <NUM>, and outwardly of the central longitudinal frame, where in use the tilt biasing bracket assemblies <NUM>, <NUM> pivot in response to the rider moving from side-to-side and tilting the bicycle <NUM>.

The platform <NUM> may be have a generally flat, planar configuration, defining an upwardly facing top surface on which the bicycle <NUM> and trainer <NUM> can be positioned. If desired, the platform <NUM> may include a series of holes or apertures <NUM>, which may receive fasteners, straps, etc. that can be used to secure the bicycle <NUM> and trainer <NUM> in position. The platform <NUM> may have any configuration as desired, and in the illustrated embodiment has a somewhat wider rear area for accommodating the trainer <NUM> and a narrower forward area on which the front wheel of the bicycle <NUM> is positioned.

The longitudinal frame member <NUM> is provided with first and second engagement areas <NUM>, <NUM>, respectively. The first and second engagement areas <NUM>, <NUM> rest on and are supported by the rear and front grooved rollers <NUM>, <NUM>, respectively, to allow frame <NUM>, and thereby platform <NUM> and bicycle <NUM> and trainer <NUM> supported thereabove, to move in an axial or fore-aft direction relative to the base <NUM> in response to input forces applied by the user to the pedals of bicycle <NUM>.

Referring now to <FIG> and <FIG>, each of the tilt biasing bracket assemblies <NUM>, <NUM> includes a bracket member <NUM>, which is pivotably secured at its upper end to the underside of the platform <NUM>. A wheel or roller <NUM> is rotatably mounted to the lower end of bracket member <NUM>, and rests on the upwardly facing surface of frame <NUM>. A biasing component (not shown), which may be in the form of a torsion spring, a compression spring, or any other satisfactory mechanism or device for exerting a downward biasing force on bracket member <NUM> exerts a downward biasing force that urges roller <NUM> against base <NUM>. In this manner, roller <NUM> is biased against the upwardly facing surface of frame side member 108b, such that during use, when the rider of the bicycle leans to either the right side or the left side to simulate a turn, such that the application of forces to the pedals of bicycle <NUM> is unbalanced, i.e. when there is a net downward force on one side of bicycle <NUM> at any point in time that is experienced by platform <NUM>, the platform <NUM> will tilt in the direction of the downward force by pivoting movement, such that the roller <NUM> is urged back, and the bracket member pivots upwardly to support the tilting platform <NUM>. During such tilting, and as will be described in further detail below, the tilting of the bicycle <NUM> in a side-to-side manner is configured to produce a signal within the sensor array <NUM>, which is indicative of steering the bicycle <NUM> through rider leaning, which may be transmitted as an input signal to a ride simulation program. As shown in <FIG> and <FIG>, the sensor array <NUM>, <NUM>, may be mounted to the bicycle <NUM>. However, it should be understood that the present invention is not so limited and that other mounting embodiments are within the scope of the present invention. For example, the sensor <NUM> may be directly mounted to or integrated into the platform <NUM>, the frame <NUM>, or even the trainer <NUM>. In yet another alternative embodiment, the sensor <NUM> may be a wearable device that is to be affixed to a rider during use of the system <NUM>.

Turning now to <FIG>, in a block diagram of one embodiment of the present invention, system <NUM> generally includes a sensor <NUM> or sensor array disposed on a printed circuit board (PCB) having a power supply, which is incorporated into an item of exercise equipment <NUM>. The item of exercise equipment <NUM> is movable relative to a mounted support <NUM>, as described at length above, such that the exercise equipment <NUM> is configured to tilt in a side-to-side manner as a result of the rider leaning, which may be indicative of a rider simulating turning the exercise equipment <NUM> to the right or to the left. The sensor <NUM> may generate a tilt signal <NUM> that is indicative of the tilt of the exercise equipment <NUM> relative to the support <NUM>. The signal <NUM> is then transmitted to a processor <NUM>, which may be located on the PCB, or alternatively remotely located relative to the exercise equipment <NUM>. The processor <NUM> receives the tilt signal <NUM> and applies a steering algorithm to generate an output signal <NUM>. The output signal <NUM> is then transmitted to an exercise simulation program <NUM> visible on a display <NUM>, such as bicycle ride simulation software, where a visually displayed avatar executes a right or left steering maneuver indicative of the output signal <NUM> produced in response to the tilting of the exercise equipment <NUM> in a side-to-side manner as a result of the rider leaning.

More specifically, in one embodiment of system <NUM>, the sensor <NUM> is an accelerometer, which senses the angular rotation of the exercise equipment <NUM>, such as the cycle <NUM> or bicycle <NUM>, to which the sensor <NUM> is either directly or indirectly mounted. The accelerometer measures the acceleration along the Y-axis <NUM> of the exercise equipment <NUM>, i.e., perpendicular to both the longitudinal axis <NUM> and transverse axis <NUM> of the exercise equipment <NUM>, as shown in <FIG>, at a sampling rate of, for example, <NUM> to generate a value every <NUM>. However, it should be understood that alternative sensors, such as gyroscopes or rotational encoders may be utilized to sense the tilt of the mounted sensor <NUM> and generate a tilt signal <NUM>, and are well within the scope of the present invention.

Turning now to <FIG>, once generated at the sensor <NUM>, the tilt signal <NUM> is applied to a steering algorithm <NUM> at the processor <NUM> to generate the output signal <NUM> configured to indicate a steering instruction that will be received at the exercise simulation program <NUM>. At a first step <NUM> of the algorithm <NUM>, the tilt signal <NUM> is subject to a Kalman filter to remove data outliers as to smooth the data of the tilt signal <NUM> into a curve. Generally, the Kalman filter is a recursive filter that estimates or predicts the internal state of a linear dynamic system from a series of measurements from the sensor <NUM> and keeps track of the estimated state of the data in the system and the variance or uncertainty of the estimate. The estimate is continually updated using a state transition model and measurement data provided by sensor <NUM>. At subsequent step <NUM>, a moving average of the preceding twenty (<NUM>) data points is calculated, which equates to <NUM> seconds of data points collected by sensor <NUM> and subject to Kalman filtering at step <NUM>. Generation of the moving average further smooths the data set as to reduce the significant of short duration or outlying magnitude tilt signals that are not indicative of a steering signal generally. As a result of the initial collection of data points from the Kalman Filter, there is a <NUM> second delay in generating initial data at step <NUM>, while the initial <NUM> data points are generated and output from step <NUM>. At subsequent step <NUM> peaks are identified in the smoothed data curve provided from preceding step <NUM>. More specifically, in step <NUM>, numerical differentiation, through a three-point derivative, is utilized to identify the peaks in the smoothed curve as represented a sign change of the moving average data output at prior step <NUM>, i.e., local minimums and local maximums. A sign change of the tilt data signal <NUM> corresponds to the change in direction of angular acceleration of the cycle <NUM> or bicycle <NUM>, i.e., when the cycle <NUM> or bicycle <NUM> reaches its maximum tilt and begins to travel in an opposite direction. At subsequent step <NUM>, the data, and specifically the two (<NUM>) prior identified peaks, is subject to a second moving average as to average the peaks and identify a midpoint between the peaks, which were each identified in the preceding step <NUM> through sign change. The midpoint of the peaks is indicative of the transition of the angular acceleration of the cycle <NUM> or bicycle <NUM>, i.e., when the cycle <NUM> or bicycle <NUM> performs a change in angular motion indicating a change in lean direction. A time average is then applied to the data at step <NUM>, which in one representative embodiment is an average over a duration of <NUM> seconds or <NUM> initial data points, which further smooths the midpoint data. At step <NUM>, the data output from step <NUM> for each sampling is squared, which is to say multiplied by itself, thereby proportionately amplifying the output, while simultaneously rendering all outputs from step <NUM> positive. Although it should be understood that an alternative exponent may similarly be applied to the value at step <NUM>. At subsequent step <NUM>, the data output from step <NUM> is subject to a steering threshold calculation, which is to say in one nonlimiting embodiment of the invention is multiplying the data output from step <NUM> by a multiplier of approximately <NUM>, then raising the resultant base to the exponent of approximately <NUM> and reapplying the sign of the output values from the output of step <NUM> to generate a steering signal <NUM>. However, it is considered well within the scope of the present invention that the exponent of step <NUM> may be greater or less than <NUM>, where a lower value provides increased response speed near the center and a larger value provides increased response speed near the extremes. Finally, the steering signal <NUM> generated by the algorithm <NUM> at the processor <NUM> may be transmitted to a system, such as a computer providing a display <NUM> that is operating an exercise simulation program <NUM>. The steering signal <NUM>, which is generated in response to the lean of the exercise equipment <NUM> may be received as an input into the program <NUM>, where an avatar or alternative visual representation exhibits a movement in response to the steering signal <NUM> and corresponding to movement of the rider. In one representative embodiment of the present invention the exercise equipment <NUM> is a cycle <NUM> or bicycle <NUM>, as described above, which are configured to exhibit right and left tilt in response to the lean of the rider simulating a steering turn. The steering signal <NUM> generated in response to such a right or left tilt is received as an input at the program <NUM>, which in one representative embodiment may be a virtual ride simulation software, such as Zwift ® or Rouvy™, where the steering signal <NUM> generates a corresponding right or left steering turn in an avatar displayed on the display <NUM> running the virtual ride simulation software program <NUM>, in response to the rider effecting a similar turn via tilting of the cycle <NUM> or bicycle <NUM>.

By way of another representative example, turning now to <FIG>, an alternative embodiment of the steering algorithm <NUM> to generate the output signal <NUM> configured to indicate a steering instruction that will be received at the exercise simulation program <NUM> is shown in the flow chart of <FIG>, and corresponding charts at <FIG>. At the initial step <NUM>, new acceleration data points are collected from the accelerometer sensors <NUM>, <NUM>. Graphically, for representative purposes, the chart <NUM> at <FIG> illustrates components of the tilt signal <NUM> that are provided as a result of the user's naturally occurring slight right/left rocking motion on the cycle <NUM> when traveling straight, i.e., without applying a leaning turn. That is to say that the pedaling of the cycle <NUM> generates a rhythmic right/left lean of the cycle <NUM> when the user is generally traveling in a straight path. Additionally, for representative purposes, the chart <NUM> at <FIG> illustrates components of the tilt signal <NUM> that are provided as a result of the users turning right or left, i.e., leaning on the cycle <NUM> to apply a leaning turn. When combined, as shown in chart <NUM>, the tilt signal <NUM> collected by the accelerometer <NUM>, <NUM> will include data that is a combination of both the users natural cadence of right/left lean on the cycle <NUM> without applying a leaning turn (from <FIG>) overlayed or combined with the intentional leaning on the cycle <NUM> to apply a leaning turn (From <FIG>). At step <NUM> the tilt signal <NUM> is subject to a filter, such as but not limited to a Kalman filter to remove data outliers, smooth the data and/or a moving average to further smooth the data set as to reduce the significance of short duration or outlying magnitude tilt signals <NUM> that are not indicative of a steering signal generally. At subsequent step <NUM> peaks are identified in the smoothed data curve provided from preceding step <NUM>, and more specifically, for example through a numerical differentiation. At subsequent step <NUM>, the data, and specifically the two (<NUM>) prior identified peaks, are subject to an average, such as a moving average, as to identify a midpoint between the peaks. The midpoint of the peaks is indicative of the transition of the angular acceleration of the cycle <NUM> or bicycle <NUM>, i.e., when the cycle <NUM> or bicycle <NUM> performs a change in angular motion indicating a change in lean direction, as shown in chart <NUM> of <FIG>. The data output from step <NUM> for each sampling is then modified through one or more of averaging, exponential applications, and/or application of a steering threshold calculation generally, to generate a steering signal <NUM> as shown in chart <NUM> of <FIG>. The steering signal <NUM> may then be transmitted to a system, such as a computer providing a display <NUM> that is operating an exercise simulation program <NUM>. Accordingly, and as by way of confirmation, the steering signal <NUM> as shown in <FIG> generally correlates with the lean-to-turn isolated input data provided at chart <NUM> in <FIG>, while also having generally removed non-lean-to-steer accelerometer data <NUM> as was shown isolated in chart <NUM> of <FIG>. The output steering signal <NUM> further provides even peaks <NUM> at the maximum and minimum lean positions; turns of various magnitudes, i.e., large turns <NUM> and small turns <NUM>; and, smooth transitions <NUM> from non-turn portions <NUM> to turns <NUM>, <NUM>.

It should be appreciated that the steering signal <NUM>, <NUM> generated by the lean-to-steer system <NUM> described above may be provided in addition to other input signals received by the ride simulation software program <NUM>, as are generally known.

Claim 1:
A lean-to-steer system (<NUM>, <NUM>, <NUM>) for use with ride simulation comprising:
a cycle (<NUM>, <NUM>, <NUM>) mounted to a support (<NUM>, <NUM>, <NUM>), wherein the cycle (<NUM>, <NUM>, <NUM>) is configured to tilt laterally during operation of the cycle (<NUM>, <NUM>, <NUM>);
a sensor (<NUM>, <NUM>, <NUM>, <NUM>) disposed on the cycle (<NUM>, <NUM>, <NUM>), or mounted directly or indirectly to the cycle (<NUM>, <NUM>, <NUM>), wherein the sensor (<NUM>, <NUM>, <NUM>, <NUM>) generates a first signal (<NUM>, <NUM>) to indicate a lateral tilt of the cycle (<NUM>, <NUM>, <NUM>) during operation;
a processor (<NUM>, <NUM>) providing an algorithm (<NUM>, <NUM>) configured to receive the first signal (<NUM>, <NUM>) and generate a second signal (<NUM>, <NUM>) indicative of a right or left turn of the cycle (<NUM>, <NUM>, <NUM>) during operation in response to the lateral tilt of the cycle (<NUM>, <NUM>, <NUM>), wherein the algorithm (<NUM>, <NUM>) comprises at least one moving average filter configured to reduce the significance of short duration or outlying magnitude tilt signals (<NUM>, <NUM>) to filter a portion of the first signal (<NUM>, <NUM>) that is indicative of lateral tilt of the cycle (<NUM>, <NUM>, <NUM>) but that is not generated in response to the right or left leaning turn of the cycle (<NUM>, <NUM>, <NUM>) during operation; and,
the second signal (<NUM>, <NUM>) providing a directional input for a ride simulation interface.