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Pilates exercises were invented in the early 20th century by Joseph Pilates, an exercise enthusiast and fitness trainer. Pilates incorporates a lot of flexibility and range of motion exercises, but it differs from yoga in its use of equipment, such as Pilates foam rollers, designed specifically for Pilates exercises. Pilates is an appropriate workout for people who want to improve their fitness and balance, but don't who wish to avoid the impact on the joints that comes with activities such as aerobics or running.