A New Jersey mechanical engineer who took treadmills out of doctor's offices and into homes and gyms has died.

William Staub was 96. His family says he died Thursday at his home in Clifton, where he was still using a treadmill as recently as two months ago.

Staub built his treadmill in the late 1960s. It was made up of 40 steel rollers covered by an orange belt, with orange dials to determine the time and speed.

He had owned an aerospace company but soon focused on selling his treadmill.

Health and fitness pioneer Dr. Kenneth Cooper says the treadmill was almost exclusively used by doctors to perform stress tests until Staub came along.

Missouri State kinesiology professor Barbara Bushman says the Philadelphia-born Staub changed the way people exercised.

(Copyright 2012 by The Associated Press.  All Rights Reserved.)