Exercise recording and training apparatus

An exercise apparatus comprising:

• a. two substantially parallel pantograph trusses, each pantograph truss further comprising a plurality of beams and a plurality of pivots;
• the beams being moveably connected at the pivots;
• b. at least two congruent pivots having a central bore;
• c. an one exercise bar moveably mounted between congruent pivot points of the pantograph trusses, for transmitting to the pantograph trusses a force applied by a user to the exercise bar;
• the exercise bar being moveably mounted through the central bore in each pivot;
• d. two substantially parallel rails;
• each of the rails further comprising a linear bearing, for moveably supporting the pantograph trusses;
• e. a frame supporting the rails;
• f. at least one horizontal actuator;
• the horizontal actuator connected between a linear bearing and the frame;
• g. at least one vertical actuator;
• the vertical actuator connected between two pivots of a pantograph truss;
• h. an active load control system;
• the vertical and horizontal actuators being responsive to the active load control system;
• and,
• i. a means for measuring the displacement of the exercise bar;
• the means for measuring the displacement of the exercise bar operatively connected to the active load control system.

An active load control system for an exercise apparatus comprising parallel pantograph trusses, the active control system comprising:

• a. at least one horizontal actuator, the horizontal actuator being double-acting;
• the horizontal actuator connected to one of the pantograph trusses;
• b. at least one vertical actuator, the vertical actuator being double-acting;
• the vertical actuator connected to one of the pantograph trusses;
• c. a means for measuring the displacement over time of a predetermined point associated with the pantograph trusses;
• d. a means for generating horizontal and vertical actuator signals from the means for measuring the displacement over time;
• e. a first pair of actuator valves operatively connected to the horizontal actuator;
• the first pair of actuator valves responsive to the means for generating actuator signals;
• and,
• f. a second pair of actuator valves operatively connected to the vertical actuator;
• the second pair of actuator valves responsive to the means for generating actuator signals.

A method of providing active load control for an exercise apparatus comprising two substantially parallel pantograph trusses, each pantograph truss further comprising a plurality of beams and a plurality of pivots;

• the beams moveably connected at the pivots;
• an exercise bar moveably connected between the pantograph trusses at two congruent pivots for transmitting a force applied by a user to the pantograph trusses, a means for measuring the displacement ova time of the exercise bar, horizontal and vertical actuators connected to move the exercise bar, a means for generating horizontal and vertical actuator signals operatively connected to the means for measuring the displacement of the horizontal and vertical actuators and the means for generating actuator signals;
• the method comprising:
• programming the means for generating horizontal and vertical actuator signals to generate actuator signals for a predetermined exercise activity;
• generating displacement signals from the means for measuring the displacement over time of the exercise bar;
• transmitting the displacement signals to the means for generating horizontal and vertical actuator signals;
• calculating, in the means for generating horizontal and vertical actuator signals, the speed and acceleration of the exercise bar;
• calculating, in the means for generating horizontal and vertical actuator signals, one or more actuator signals sufficient to maintain the speed, displacement, or force parameters for the predetermined exercise activity;
• and,
• transmitting the actuator signal to the actuators, so that the actuators move the exercise bar according to the predetermined exercise activity.