HK1229276B - Exercise device with varied gait movements - Google Patents

Description

Exercise device with diverse gait motions

This invention patent application is a divisional application of the PCT patent application with an international application date of May 4, 2011, an international application number of PCT/US2011/035188, and an invention name of “Exercise device with diverse gait movements” (national application number: 201180029654.1; date of entry into the Chinese national phase: December 17, 2012).

Technical Field

The present invention relates generally to exercise equipment and, more particularly, to exercise equipment that simulates or promotes the motion of an ambulatory person.

Background Art

Exercise is an essential part of a healthy lifestyle. Without proper exercise, muscle mass decreases, bone mineral density decreases, and people tend to store more fat mass. This leads to a variety of health problems, including cardiovascular disease, osteoporosis, and diabetes. A common aerobic exercise is running. The ground-pounding action of running can cause joint problems in some people. Furthermore, outdoor running requires the right space and environment. Weather and personal safety factors prevent some people from engaging in this activity as often as they would like, as running in bad weather or in adverse conditions can cause problems more serious than heart disease.

Indoor running and walking can be achieved using a treadmill, but again, the pounding action of the foot on the pedals can cause overuse injuries to the joints. Other products, such as elliptical machines, address this problem but limit the user to setting a gait pattern. Any slight variation between the user's natural gait and the machine's predetermined gait can cause an imbalance in joint loading and muscle growth in the limb being used. Given that people have different stride lengths and vary greatly in height and weight, it is unlikely that a single, predefined gait will be ideal for all users.

From this, it should be appreciated that there is a need for an exercise device that enables motion in multiple gait patterns with minimal transition effort from one pattern to another.The present invention satisfies this need and other needs.

Summary of the Invention

The present invention provides a frame supporting a first upper leg link and a second upper leg link, each of which is pivotally connected to the frame. A first lower leg link is pivotally connected to the first upper leg link, and a second lower leg link is pivotally connected to the second upper leg link, each of which may include a foot support. A first transfer system may be provided, which may be movably connected to the frame and include a first transfer member connected to the first upper leg link and a second transfer member connected to the second upper leg link. A second transfer system may be provided, which may be movably connected to the frame and may include a pair of third transfer members, each of which is connected to each of a pair of fourth transfer members via each of a pair of transfer couplers, each of which may be movably mounted to the frame. The fourth transfer member can be coupled to the first lower leg link and the second lower leg link, whereby movement of the first lower leg link can cause movement of the second lower leg link regardless of movement of the upper leg link.

In one embodiment of the present invention, the first transmission system may include a first gear and a second gear, whereby rotation of the first gear causes rotation of the second gear in an opposite direction. The first transmission system may also include a pivot rod having a first end and a second end and being pivotally mounted to the frame. The first end may be coupled to the first transmission member and the second end may be coupled to the second transmission member.

The exercise device may also include a support system that defines a lowest position of the foot supports. The support system may include a compression link having a first end coupled to the frame and a second end coupled to a lower leg link. The compression link may include a housing, a rod received by the housing, and a biasing member captured between the housing and the rod to thereby limit the amount of displacement of the rod relative to the housing. The support system may include a first compression link coupled to the first lower leg link and a second compression link coupled to the second lower leg link.

The support system may include one or more belts, each of which is movably coupled to the frame via at least two pulleys. The belt may include an upper run disposed adjacent a lower portion of the foot support, the foot support being adapted to contact the upper run, whereby the belt may limit vertical displacement of the foot support. The support system may include a belt tensioner coupled to the frame, the belt tensioner being biased to provide tension in the belt. The support system may also include a belt drive, such as a motor or other powered device, operably coupled to the belt to effect continuous rotation of the one or more pulleys, thereby allowing continuous movement of the belt without power input from a user.

To summarize the present invention and its advantages over the prior art, certain advantages of the present invention have been described above. Of course, it should be understood that not all of these advantages may be achieved according to any particular embodiment of the present invention. Thus, for example, those skilled in the art will recognize that the present invention may be implemented or carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other advantages as taught or suggested herein.

All such embodiments are intended to be within the scope of the invention disclosed herein.These and other embodiments of the invention will be readily apparent to those skilled in the art from the following description and drawings of the preferred embodiments, the invention not being limited to any particular embodiment disclosed.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present invention will now be described, by way of example only, with reference to the following drawings, in which:

1 is an isometric view of an exercise device including a system for achieving diverse gait motions according to the present invention.

2 is an isometric partial detail of the delivery system with a portion of the frame removed for visual clarity, the view being shown along line 2 - 2 in FIG. 1 .

3 is an isometric view of the linkage system of the exercise device shown in FIG. 1 with the frame removed.

4 is an isometric view of a detail of the upper leg link pivot of the linkage shown in FIG. 3 , shown along line 4 - 4 in FIG. 3 .

5 is an isometric view of the linkage of FIG. 3 shown from the front left.

6 is an isometric view of a detail of the upper leg link pivot of the linkage shown in FIG. 5 , shown along line 6 - 6 in FIG. 5 .

7 is a side view of the exercise device of FIG. 1 with dashed lines illustrating different walking and running pedal paths.

8 is a side view of the exercise device of FIG. 1 , with the inclined pedal path shown in phantom.

9 is an isometric view of an exercise device including a system for achieving varied gait motions, the device including a transmission system including a pivot rod.

10 is a rear isometric view of the device of FIG. 9 with the cover removed to illustrate the delivery system.

FIG. 11 is a detail of the apparatus of FIG. 10 taken along line 11 - 11 , showing the delivery system in greater detail.

12 is a detail of the apparatus of FIG. 10 taken along line 12 - 12 , showing the upper link pivot area in greater detail.

13 is an isometric view of an exercise device including a system for enabling diverse gait motions and including a support system including a compression link.

14 is a detail of the apparatus of FIG. 13 taken along line 14 - 14 showing the compression link with the cover partially removed.

15 is a side view of the apparatus of FIG. 13 showing different pedal paths as might be guided by compression links arranged in different positions relative to the frame, with the pedal in a relatively vertical orientation.

16 is a detail of the apparatus of FIG. 15 taken along line 16 - 16 showing the compression link with the cover partially removed.

17 is a side view of the apparatus of FIG. 15 showing different pedal paths as might be guided by compression links arranged in different positions relative to the frame, with the pedals in a relatively horizontal position.

18 is a detail of the device of FIG. 17 taken along line 18 - 18 showing the compression link with the cover partially removed.

19 is a side view of an exercise device including a system for enabling diverse gait motions and including a support system including a strap.

20 is an isometric view of the device of FIG. 19 oriented from the front side.

21 is a detail of the apparatus of FIG. 20 taken along line 21 - 21 showing the front pulley of the support system.

22 is a detail of the apparatus of FIG. 20 taken along line 22-22 showing the rear pulley of the support system.

23 is a rear isometric view of an exercise device including a system for achieving diverse gait motions in accordance with the present invention.

24 is a detail of the device of FIG. 23 taken along line 24 - 24 showing a rear view of the drive element of the device.

25 is a front view of the drive element of the device of FIG. 23 .

26 is a side view of an exercise device including a system for enabling diverse gait motions and providing articulated legs.

FIG. 27 is an isometric view of the apparatus of FIG. 26 .

28 is a detail of the apparatus of FIG. 27 taken along line 28 - 28 showing a side isometric view of support system components of the apparatus.

29 is a front right isometric view of the apparatus of FIG. 27 .

30 is a detail of the apparatus of FIG. 29 taken along line 30 - 30 showing a side isometric view of the front portion of the support system of the apparatus.

31 is a detail of the device of FIG. 29 taken along line 31 - 31 showing a side isometric view of the resistance system of the device.

32 is a side view of an exercise device including a system for achieving varied gait motions, the device including a transmission system including a pivot rod and a support system.

33 is an isometric view of the device of FIG. 32 with a portion of the bottom cover and frame removed.

34 is a detail of the device of FIG. 33 taken along line 34 - 34 showing an isometric view of the delivery system.

35 is a detail of the apparatus of FIG. 33 taken along line 35 - 35 showing an isometric view of the upper link and support system.

DETAILED DESCRIPTION

Referring to the illustrative drawings, and in particular to Figures 1-6, an exercise device in the form of a multi-functional adaptive training device 38 is shown. This embodiment of the present invention may include a frame 36 that supports a pair of leg linkages, including a first leg linkage 40 and a second leg linkage 42. The first leg linkage 40 may include a first upper link 44 coupled to a first lower link 46. In a similar manner, the second leg linkage 42 may include a second upper link 48 coupled to a second lower link 50. A foot support 52 may be disposed on a distal end of each of the first lower link 46 and the second lower link 50. A user may position themselves on each of the foot supports 52 with one foot and perform a variety of different exercises.

The foot supports 52 are connected to each other by a first transmission system 54 and a second transmission system 56. The first transmission system 54 may include a first transmission member 58 coupled to the first upper link 44 and a second transmission member 60 coupled to the second upper link 48. The first transmission system 54 may also include a first transmission rod 62 that enables substantially relative movement of the first transmission member 58 relative to the second transmission member 60. The substantially relative movement can be achieved by mounting a first gear 64 adjacent to a second gear 66, by the first transmission member 58 coupled to the first gear 64, and by the second transmission member 60 coupled to the second gear 66 via the first transmission rod 62. This combination can provide substantially reciprocating movement of the first upper link 44 relative to the second upper link 48.

To complete the connection of the foot support 52 of the first leg linkage 40 to the foot support of the second leg linkage 42, the first lower link 46 can be connected to the second lower link 50. This can be achieved by coupling a pair of third transfer members 68 (one coupled to the first lower link 46 and one coupled to the second lower link 50). A pair of transfer couplers 70 can be supported on the frame 36 and couple each of the pair of third transfer members 68 to each of a pair of fourth transfer members 72. The fourth transfer members 72 are coupled to each other by the second transfer system 56, thereby achieving substantially reciprocating motion of the fourth transfer members relative to each other. A second transfer rod 74 can be used to transmit torque from one of the fourth transfer members 72 to another.

As with the first transmission system 54, the second transmission system 56 can include a third gear 76 coupled to the second transmission rod 74 and a fourth gear 78 adjacent to the third gear 76. The fourth gear 78 can be coupled to one of the fourth transmission members 72, and the second transmission rod 74 is coupled to the other fourth transmission member 72, thereby enabling substantially reciprocating motion of the fourth transmission member 72 relative to the other. This motion provides substantially relative motion of the third transmission members 68 relative to each other, which in turn provides substantially relative motion of the first lower link 46 relative to the second lower link 50. The first and second transmission systems 54, 56 allow for controlled motion of one foot support 52 relative to the other. Each foot support 52 can be positioned in an unlimited number of positions within its plane of motion. In this case, the other foot support 52 will be positioned in a specific position in space within its plane of motion. This combination allows for a machine-independent motion path for the foot supports 52, as it can be infinitely varied by the user. Stability for the user is provided by the connection arrangement of each foot support 52, thereby providing a stable platform for supporting the user.

Referring to Figures 2, 3, and 5, a device for providing resistance is shown. When a person runs or walks on a flat surface in the absence of wind, there is no resistance to motion. The runner's potential energy at the end of the run is the same as at the beginning of the running exercise. Energy has been expended through the mechanics of the running or walking gait. The user's center of mass rises and falls with each stride. Furthermore, the mass of the leg portion is accelerated to provide a complex motion that is repeated with each stride. This is work performed by the runner, in which energy is not stored but rather expended by the runner. These aspects of energy consumption are also apparent with respect to the invention disclosed herein. The running gait of the legs can be the same as that of a runner on a flat or stepped surface, and the energy required to maneuver and change the direction of the legs is thereby provided by the user. This energy can be amplified by the mass of the first leg linkage 40 and the second leg linkage 42, which is added to the mass of the runner's legs. The present invention can also provide for a vertical displacement of the user's center of mass.

In some cases, it may be desirable to add additional resistance to the movement of the first transmission system 54, the second transmission system 56, or both. This can be achieved by a brake 80 or another resistance element of either transmission system (54 and 56). In Figures 2, 3, and 5, a brake 80 is added to resist the rotation of the first transmission rod 62 of the first transmission system 54, and a second brake 80 is provided to resist the rotation of the second transmission rod 74 of the second transmission system 56. One or both brakes 80 can be used to add torque to their respective transmission systems (54 and 56) to increase the workload, as if the runner were training by running in soft sand. In addition, by adding resistance to one or the other transmission system (54 and 56), the running gait can be modified for the user. This may be desirable if a defect is identified and specific training is needed to correct that defect.

Another purpose of brakes 80 is to add support to foot supports 52 during the user's entry and exit of the machine. By engaging both brakes 80, foot supports 52 can be effectively locked in place and then slowly released to provide a smooth and stable method of entering and exiting exercise device 38. By reducing any rapid movements during entry and exit, the user is less likely to feel unstable, thereby potentially reducing the possibility of feeling unstable.

Since the system as described provides a stable platform for the user by placing one foot support 52 in a specific position in the space as determined by the other foot support 52, it may be desirable to change this relationship between the foot supports 52. One way to accomplish this is to change the length of the third transfer member 68. As shown in Figures 1, 3 and 5, the third transfer member 68 may include an actuator 82 having a bearing bracket 84 on each end thereof. The actuator 82 enables the distance between the bearing brackets 84 to be changed, thereby changing the angle between the first upper link 44 and the first lower link 46, and likewise changing the angle between the second upper link 48 and the second lower link 50. By changing these angles, the position of the foot supports 52 relative to the frame 36 and thereby relative to each other is changed, thereby changing the gait pattern.

Some examples of variations in gait patterns that can be obtained without changing the length of the third transfer member 68 are shown in Figures 7 and 8. In Figure 7, the longer path 86 is consistent with the desired foot travel path for a running gait. For a walking gait, a shorter path 88 is shown. The present invention 38 automatically relates the amplitude (vertical height) and length (step length) of the stroke of the foot support 52, because these are naturally associated in a typical gait pattern of a person. Thus, in many cases, the present invention 38 may not need to be changed to allow the user to transition from one gait pattern to another during use. This achieves a smooth and fluid transition from one gait to another. If you wish to change the path, the third transfer member 68 can be changed during use without the user having to stop the machine 38. The arcuate path 90 depicts a pendulum path that can be used to restore gait.

In FIG8 , a more extreme vertical path of motion 92 is shown. Again, this can be configured without changing the length of the third transmission member 68. It illustrates a foot path that may be consistent with climbing stairs or ascending a steeply inclined hill (such as during hiking). The performance of the device 38 enables a wide range of versatility, which is only exemplified by the numerous gait patterns possible with the device 38.

By replacing the brake 80 with a drive motor (such as a servo motor or stepper motor), the gait pattern can be controlled to guide the user into a specific pattern. One embodiment of this system is to have one transmission system be the driving device and the other transmission system be the driven device. For illustrative purposes, a system will be described in which the first transmission system 54 is the driving device and the second transmission system 56 is the driven device. It should be understood that the status of the driving device and the driven device can be reversed, and the described system can be essentially the same, with only the sensed device and the driven device being reversed. With this in mind, two servo motors are used to replace each of the brakes 80, providing a device for generating torque about the first transfer rod 62 and the second transfer rod 74. In this servo motor with a built-in shaft positioning device, there is no need for an external encoder or other device to sense the position, direction, and speed of the motor shaft and the first and second transfer rods 62 and 74 connected thereto. If a stepper motor is used to replace the servo motor instead of the brake 80, the sensing device of at least the first transfer rod 62 will be used.

In this embodiment, when the user drives the foot support 52 in a certain direction at a certain speed, and the first upper link 44 is displaced, thereby also displacing the second upper link 48, the first transfer rod 62 will rotate a certain amount in a certain direction and at a certain speed. Sensors (such as encoders in servo motors) can be used to collect information about the position, direction of movement, and speed of movement of the motor and, thereby, the first transfer rod 62. This information can be used to determine a gait pattern, as this information may be specific to a particular gait pattern, or a particular gait pattern may be pre-selected by the user. For that gait pattern, an algorithm can be provided to correlate the position and direction of movement of the first transfer rod 62 (driving device) with the desired position of the second transfer rod 74 (driven device). A motor (in the form of a brake 80) coupled to the second transfer rod 74 can be actuated to drive the second transfer rod 74 to a position determined by the information from the first transfer rod 62 (as calculated by the algorithm). This process electrically connects the first transmission system 54 to the second transmission system 56 while still allowing the user to determine the path and speed of movement of the foot support 52, and thereby the user's foot. By connecting the first transmission system 54 to the second transmission system 56, a defined path of movement of the foot support 52 can be provided. Through electrical connections, how they are connected can be infinitely varied. With current processor technology, a 500-1000 Hz read-and-respond closed-loop system is possible, providing a smooth path with little or no moving "joints," making such a system feasible with currently available technology.

9-12 , another embodiment of the present invention 38 ′ is shown. In this embodiment, the present invention 38 ′ has a first upper link 44 ′, a second upper link 48 ′, a first lower link 46 ′, a second lower link 50 ′, and a third transfer member 68 ′ connected to the first and second lower links 46 ′, 50 ′. A transfer coupler 70 ′ transfers the load from the third transfer member 68 ′ to a fourth transfer member 72 ′, and the first transfer member 58 ′ is coupled to the second transfer member 60 ′ via a first transfer system 54 ′ including a pivot arm 94, thereby providing substantially reciprocating motion of the first transfer member 58 ′ relative to the second transfer member 60 ′.

The second transfer system 56' is configured to achieve a similar reciprocating motion of the fourth transfer member 72'. In this embodiment, in contrast to the previously disclosed embodiments, the transfer coupling 70' is substantially longitudinal, providing a classic first-class lever, in which the load and force can be considered to be on the same side of the fulcrum (second- or third-class lever). In this case, the load in the fourth transfer member 72' can always be in tension. This allows for the use of flexible members such as ropes or cables, as opposed to rigid structural elements such as steel rods. The second pivot arm 96 can provide the substantially reciprocating motion for the fourth transfer member 72'. As with the pivot arm 94, the second pivot arm 96 is a substantially rigid arm that is pivotally mounted to the frame at a center point about its longitudinal axis, with its ends free to move so that one end is lowered relative to the frame 36' and the other end is raised relative to the frame 36'. This action enables the respective transfer members (72' to 72' and 58' to 60') to move in a substantially reciprocating manner relative to each other. In this embodiment, a hydraulic damper 98 can be used to provide resistance to movement of one or both transfer systems (54' and 56'). The damper 98 can be attached to the first transfer member 48' and the second transfer member 60' at or near the transfer coupling 70' or at any other location in the system.

An alternative embodiment of the present invention, including support system 99, is shown in Figures 13-18 , comprising a compression link 100. The compression link 100 can be two compression links 100, each having a shaft 102, both shafts 102 having first ends coupled to each of the first lower link 46 and the second lower link 50. The shaft 102 of each compression link 100 can be received by a sleeve 104, which can be coupled to a link bracket 108, which can be mounted to the frame 36. A compression spring 106 can be received within the sleeve 104. The spring 106 can be used to bias the extended portion of the shaft 102 against the extension of the sleeve 104. Thus, the distance that the compression link 100 can be extended is limited by the spring and the extension force on the shaft 102. With one end of the compression link 100 coupled to the frame via the link bracket 108 and the other end coupled to the lower links (46 and 50) of the device 38", the lowermost position of the foot support 52 is limited by the compressive force of the spring 106 of the compression link 100. Thus, as the user moves through the stance phase of running (where the maximum normal force is applied to the support surface), the maximum tension will be exerted on the spring 106. This may allow for a maximum length of the compression link 100.

As shown in FIG15 , the small curve 110 represents the path of travel of the foot support 52 for a walking gait. As can be seen, a smooth, curved path is provided at the bottom of the foot support 52. As the user begins to shift their weight onto the top foot support 52, as the foot transitions forward during the "swing phase," the forward foot will begin to descend as the trailing foot begins to rise as the user's weight transfers from the foot ending stance phase (approaching "toe-off" to transition into the swing phase) to the foot ending stance phase (approaching "heel strike" to transition into the stance phase). As the user's body weight begins to shift away from the stance (bottom) foot, the spring 106 can bias the shaft 102 inward toward the sleeve 104, thereby shortening the overall length of the compression link 100. This pulls the lower link 46 toward the link bracket 108, thereby pulling the foot support 52 upon which the user's foot rests, thereby guiding the foot support 52 upward in the desired gait pattern 110.

By changing the relative position of the link bracket 108 on the frame 36, the gait amplitude can be changed. The top arc 112 shown in Figure 15 is the connection path of the compression link 100 to the first lower link 46 throughout the stance phase (when supporting the user's body weight). The bottom arc 114 represents the connection path of the compression link 100 to the first lower link 46 throughout the stance phase (when supporting the user's body weight) when the link bracket 108 is lowered onto the frame 36. This can result in a travel path represented by the second travel path 116 of the foot support 52. Compared to the walking gait of the shorter path 110, this larger amplitude of foot travel can represent a running gait. Thus, by changing the position of the link bracket 108, the desired gait pattern can be changed.

To further illustrate the function of the compression link 100, the apparatus 38" having the compression link 100 and cutaway details are shown in Figures 15-18. In Figure 15, the second lower link 50 is shown in a raised position, as will be apparent when a user places their foot on the foot support 52 and their right foot is approximately midway through the swing phase of the forward motion 118 of the walking gait. As such, the user's right foot is likely unloaded since the user's weight is supported on the other (left) foot on the foot support of the first lower link 46. Details in cutaway view are shown in Figure 16 of the compression link 100 with the unloaded foot support 52 in the swing phase. When the shaft 102 is received within the sleeve 104, the spring 106 of the compression link 100 is in a relaxed position so that no pressure is placed on the spring 106.

In FIG17 , link bracket 108 has been moved downward to allow foot supports 52 to achieve a greater amplitude in their gait. Furthermore, second lower link 50 and second upper link 48 have been moved to position their respective foot supports 52 to simulate a past heel strike and the beginning of the stance phase of a running gait, wherein the foot supports 52 travel a path closer to a second path 116 of greater amplitude. Compared to the cutaway view of FIG16 , the detailed cutaway view of FIG18 shows spring 106 in a compressed state. This is due to shaft stop 120 contacting one end of spring 106 when it is captured within sleeve 104. Consequently, as shaft 102 extends from sleeve 104, spring 106 is compressed, thereby biasing compression link 100 to a more retracted position.

An alternative support system is shown in Figures 19-22, in which support system 99' includes a support belt 122 movably coupled to frame 36. The belt 122 can be two separate but identical belts 122 arranged in a parallel arrangement adjacent to foot support 52, such that when foot support 52 is lowered to a predetermined height relative to the frame, a portion of foot support 52 contacts the belt 122, thereby limiting the lowest position of foot support 52. An embodiment is shown in which there are two belts 122, each supported by a front base pulley 124 and a rear base pulley 126. It may be desirable to provide a resilient property for the support of foot support 52, as suggested by the use of compression spring 106 in compression link 100 shown and described previously. In this embodiment, similar cushioned support can be achieved by providing belt 122 with resilient properties. Thus, belt 122 can flex or stretch when the foot support contacts upper working surface 128 of belt 122. As the user applies force to the foot support during the stance phase of gait, strap 122 may flex to allow a degree of compliance to the load applied by the user's weight.

An alternative to elastic support of foot support 52 is to use a substantially inelastic belt 122, as defined by a small extension of belt 122 under load. Idler pulley 130 may be provided with a biasing member 132 arranged to maintain tension in belt 122. As shown in Figures 20 and 21, when foot support 52 contacts upper working surface 128 of belt 122, idler pulley 130 is displaced to accommodate displacement of upper working surface 128 of belt 122 due to the normal load applied by foot support 52.

FIG22 shows the rear portion of the alternative support system 99' in detail. Belt 122 is supported by rear base pulley 126. If a brake or other resistance to the movement of foot support 52 is desired, shaft drive 134 can be used to constrain rear base pulley 126, thereby rotating belt 122 and requiring work from the user. Alternatively, shaft drive 134 can be a positive drive, thereby driving rear base pulley 126 and, in turn, belt 122. By driving belt 122, foot support 52 can be actively driven rearward when the foot support contacts upper working surface 128 of belt 122, as would normally occur during a user's foot movement during a running or walking gait. Because foot supports 52 can be connected as described above, when one foot support 52 moves rearward relative to the user, the other foot support is elevated and moves forward, as the supporting foot would in a typical walking or running gait. This powered system can provide guided walking or running for injured individuals, thereby physically training their muscles. Furthermore, since stride length is determined by the user, there is some neurological requirement for user control. In individuals with neurological injuries, such as stroke patients, neurological training may be as important as muscle training. By adding shoulder straps to support the user's weight and eliminate falls, the system shown and described may be more beneficial for the rehabilitation of individuals with neurological injuries than more expensive and complex fully controlled ambulatory training devices.

An alternative control system is shown in Figures 23-25. The training device 38'" in this embodiment includes a frame 36", which supports a first upper link 44" connected to a first lower link 46" and a foot support 52 located on its lower end. In a similar manner, a second upper link 48" can be provided, which can be pivotally connected to the frame 36" and includes a second lower link 50", with a foot support 52 connected to the second lower link 50". A third transfer member 68" can be connected to the first lower link 46", and another third transfer member 68" is connected to the second lower link 50". In this embodiment, the first upper link 44" and the second upper link 48" can each be mounted to an internal sprocket 136. The third transfer member 68" can be connected to a transfer coupler 70", which can be connected to the external sprocket 138 via an axle 140 that is journaled to the frame 36".

The first transfer system 54" can be used to transfer motion from the first upper link 44" to the second upper link 48" via a first transfer rod 62", which can be connected to the internal sprocket 136 via a first transfer member 58" and a second transfer member 60". In this embodiment, the first transfer member 58" and the second transfer member 60" can be in the form of roller chains, belts or other flexible transmission members as opposed to the substantially rigid links shown in the previous embodiments. By virtue of the first gear 64' being radially oriented to be connected to the second gear 66', the direction of motion of the first transfer member 58" can be substantially opposite to the direction of motion of the second transfer member 60". The substantially opposite rotation of the first gear 64' relative to the second gear 66' will drive the sprocket 141 in a direction opposite to the direction of the first transfer rod 62". This combination achieves a substantially reciprocating motion of the first upper link 44" relative to the second upper link 48".

In this embodiment of the present invention, as previously described, the first lower link 46" is connected to the second lower link 50" via the third transfer member 68". The external sprocket 138 drives the fourth transfer member 72" to the second transfer system 56", thereby connecting the first lower link 46" to the second lower link 50". The second transfer system 56" may include a second transfer rod 74" to facilitate the transfer of power to the external sprocket 138 and thereby to the first lower link 46" and the second lower link 50" via the third transfer member 68".

In this embodiment, substantially reciprocating motion of the first lower link 46" relative to the second lower link 50" can be achieved by a lower link control system 142. Referring to Figure 25, a drive motor 144 is used to provide torque to the second transfer link 74" via a drive belt 146, which is hingedly mounted to a drive pulley 148 of the second transfer link 74". A pair of clutches 150 can be used to regulate the torque output from the second transfer link 74" via the drive motor 144 to the fourth transfer member 72", which in turn applies force to the first lower link 46" and the second lower link 50". An advantage of such a lower link control system 142 is that it can provide the ability to change the interaction between the first lower link 46" and the second lower link 50", which interaction can be changed during use based on the speed of movement, direction of movement and spatial position of any of the leg links (44", 48", 46" and 50"). This achieves a dynamic system that can be changed by the user's gait or speed. One or more sensors can be used to determine the speed or movement or orientation of a leg link relative to any other leg link, and a logic system is used to read this information and adjust the clutch 150 to change the torque about the joint of the first lower link 46" and the first upper link 44", and the joint of the second lower link 50" and the second upper link 48". By changing these torques, the user's gait pattern can be mimicked or supported by the device 38'" to achieve a smooth and comfortable exercise period for the user.

Another embodiment of the device 38"" is shown in Figures 26-31. The frame 36"' supports the first upper link 44"' and the second upper link 48"' about joints 152 and 154, respectively. The first lower link 46"' can be pivotally connected to the first upper link 44"' at joint 156, and the second lower link 50"' can be connected to the second upper link 48"' at joint 158. A pair of foot supports 52 can be located at the distal ends of the first lower link 46"' and the second lower link 50"'. This linkage combination can be functionally similar to the linkage combination previously disclosed herein. There may be a support guide 160 adjacent to the foot supports 52, which is connected to each of the first lower link 46"' and the second lower link 50"'. The support guides 160 are each received by a guide rail 162, and each guide rail 162 can be movably mounted to the frame 36"' about an axis 163. The guide rails 162 can be made to move in a substantially reciprocating manner relative to each other through the first transfer member 58' and the second transfer member 60'. The first transfer system 54'' includes a first transfer rod 62'', which can be connected to a pair of pulley arms 164 at each end of the first transfer rod 62''. The pulley arms 164 can include a pulley 166 that is suitable for engaging each of the first transfer member 58'' and the second transfer member 60''. The pulley arms 164 can be located substantially on opposite sides of the first transfer rod 62'' so that when one pulley 166 moves substantially forward, the other pulley 166 moves substantially rearward when viewed from the side. This causes the displacement of the first transfer member 58'' to be substantially opposite to the displacement of the second transfer member 60'', thereby achieving a substantially reciprocating movement of the guide rails 162 relative to each other, and the support guide 160 and the foot support 52 mounted adjacent to the support guide 160 together with it.

The movement of the support guide 160 along the guide rail 162 can be controlled by a third transfer member 68' connected to the lower portion of the support guide 160 and a fourth transfer member 72' connected to the upper portion of the support guide 160. The third transfer member 68' and the fourth transfer member 72' on each side of the device 38' are connected to a second transfer system 56', which includes a second transfer rod 74'. In this embodiment, the third transfer member 68' and the fourth transfer member 72' can be flexible structures such as roller chains, belts or strips. The third transfer member 68' and the fourth transfer member 72' can be connected to the second transfer rod 74' by a coupling 70' in the form of a sprocket or pulley. This combination provides a support guide 160, and thereby the substantially forward movement of the associated foot support 52, will cause a substantially rearward movement of the other support guide 160 and the associated foot support 52. The combination of the first transfer system 54'' and the second transfer system 56'' and the associated links simultaneously achieves substantially reciprocating motion along the guide rail 162 and substantially vertical displacement of the guide rail 162, thereby providing a stable platform for performing an unlimited number of gait pattern movements of a user disposed on the foot support 52.

The resistance system 168 may also be provided to the second transfer system 56'" or to the first transfer system 54'" as shown in Figures 29-31. The resistance system 168 may include a brake 170, a motor or any other form of resistance member to resist the movement of the second transfer rod 74'". A spring centering system 172 may be included in the first transfer system 54'" to include a pair of springs 174 to guide the first transfer system 54'" to a predefined position.

Referring to Figures 32-35, an apparatus 38 produced in accordance with an alternative embodiment of the present invention is shown. Some aspects of this embodiment similar to those shown in the aforementioned figures are not designated by unique prime values following the numerical designations. Similar to the aforementioned embodiments, the first upper link 44 is coupled to the first lower link 46, and the second upper link 48 is similarly coupled to the second lower link 50. A pair of third transfer members 68'' are shown in this embodiment as rigid links of fixed length. As previously disclosed, these third transfer members 68'' are coupled to the first lower link 46 and the second lower link 50, each having a second end coupled to a transfer coupler 70. A pair of fourth transfer members 72 connects each of the two transfer couplers 70 to a second transfer system 56''. In this embodiment, the second transfer system 56'' includes a second transfer rod 74'', which includes a first ear 176 arranged substantially opposite the second ear 178. This substantially opposite orientation of the first ear 176 relative to the second ear 178 enables substantially opposite displacement of one of the fourth transfer members 72 relative to the other fourth transfer member 72 .

A similar system may be used for the first transfer system 54″″, wherein the first transfer rod 62″″ may be provided with a first rod ear 180 that is arranged substantially opposite the second rod ear 182. As with the second transfer system 56″″, the first transfer rod 62″″ of the first transfer system 54″″ provides substantially opposite displacements of the first transfer member 58 relative to the second transfer member 60, thereby achieving substantially reciprocating motion of the first upper link 44 relative to the second upper link 48. To assist and guide the user, a compression link 100 may be provided to limit bottom movement of the foot support 52 beneath the user's foot during the stance phase of gait. As previously disclosed, the compression link 100 may include a spring or other biasing member that provides cushioning to accommodate the greater forces of the user during the middle of the stance phase of most gait patterns. Additionally, the bias of the compression link 100 may assist in retraction of the foot during toe-off at the end of the stance phase and the beginning of the stride phase of many running and walking gaits. As such, it may be desirable to use the compression link 100 with this or other embodiments of the present invention.

An alternative source of resistance has been provided in the form of a hydraulic damper 184. This may be a one-way shock that provides compression resistance thereby counteracting the tendency of the first and second upper links 44, 48 to fall under the weight of the user. If the damper 184 provides little or no extension resistance to the cylinder of the damper 184, then the retraction or upward movement of the first and second upper links 44, 48 may not be restricted. Any form of resistance known in the art may be used in any number of locations including the first transfer system 54", the second transfer system 56", the fourth transfer member 72, or in this case the first and second transfer members 58, 60 near their connection to the first and second upper links 44, 48, respectively. Restriction of movement of any part of the system may result in restriction of movement of the foot support 52 since the foot support 52 may be connected via a linkage system as shown and described.

The foregoing detailed description of the invention is provided for illustrative purposes and is not intended to be exhaustive or to limit the invention to the particular embodiments shown. Depending on the configuration for implementing the key features of the invention, the embodiment may provide different properties and benefits.

Claims (20)

1. An exercise device, comprising: (a) Framework; (b) A first upper link and a second upper link, each of which is pivotally connected to the frame about a first axis; (c) A first lower link and a second lower link, wherein the first lower link is pivotally connected to the first upper link at a position not collinear with the first axis, and the second lower link is pivotally connected to the second upper link at a position not collinear with the first axis, and each of the first lower link and the second lower link includes a foot support member; (d) A transmission system connected to the frame and including a first rod connected to the first upper link and a second rod connected to the second upper link, wherein the first and second rods can transmit tension and compressive forces; and (e) A first torque element and a second torque element, the first torque element being connected to the frame and the first lower link, and the second torque element being connected to the frame and the second lower link, such that the first torque element and the second torque element operate to respectively prevent the movement of the first lower link and the second lower link. 2. The exercise device according to claim 1, wherein the first torque element and the second torque element operate independently. 3. The exercise device according to claim 1, wherein the first torque element and the second torque element comprise a pair of clutches. 4. The exercise device according to claim 1, wherein the first torque element and the second torque element comprise a pair of dampers that provide resistance to the motion in one direction. 5. The exercise device according to claim 4, wherein the damper is a hydraulic damper. 6. The exercise device according to claim 1, further comprising an energy storage system connected to the frame and adapted to transmit torque to the first lower link and the second lower link. 7. The exercise device according to claim 6, wherein the energy storage system includes an electric motor for driving a transmission rod, the transmission rod being connected to a frame journal. 8. The exercise device according to claim 7, wherein the transmission rod provides input to a pair of clutches adapted to regulate the torque from the electric motor to the first lower link and the second lower link. 9. The exercise device according to claim 6, wherein the energy storage system comprises a compression spring. 10. The exercise device according to claim 6, wherein the energy storage system comprises a first compression spring mechanically connected to a first lower link and a second compression spring mechanically connected to a second lower link. 11. An exercise device, comprising: (a) Framework; (b) A first upper link and a second upper link, each of the first upper link and the second upper link having a first end and a second end, the first upper link and the second upper link being pivotally connected to the frame about their respective first ends; (c) A first lower link and a second lower link, wherein a first end of the first lower link is pivotally connected to the first upper link about a second end of the first upper link, and the second lower link is pivotally connected to the second upper link about a second end of the second upper link, and each of the first lower link and the second lower link includes a foot support located respectively at the distal end of the first end of the first lower link and the distal end of the first end of the second lower link; (d) A transmission system connected to the frame and comprising a first rod connected to the first upper link and a second rod connected to the second upper link, wherein the first and second rods are adapted to transmit tension and compressive forces; and (e) A first torque element and a second torque element, the first torque element being connected to the frame and the first lower link, and the second torque element being connected to the frame and the second lower link, such that the first torque element and the second torque element operate to respectively prevent the movement of the first lower link and the second lower link. 12. The exercise device according to claim 11, wherein the first torque element and the second torque element operate independently. 13. The exercise device according to claim 11, wherein the first torque element and the second torque element comprise a pair of clutches. 14. The exercise device of claim 11, wherein the first torque element and the second torque element comprise a pair of dampers that provide resistance to motion in one direction. 15. The exercise device according to claim 14, wherein the damper is a hydraulic damper. 16. The exercise device of claim 11, further comprising an energy storage system connected to the frame and adapted to transmit torque to the first lower link and the second lower link. 17. The exercise device according to claim 16, wherein the energy storage system includes an electric motor for driving a transmission rod, the transmission rod being connected to a frame journal. 18. The exercise apparatus of claim 17, wherein the transmission rod provides input to a pair of clutches adapted to regulate the torque from the electric motor to the first lower link and the second lower link. 19. The exercise device of claim 16, wherein the energy storage system comprises a compression spring. 20. The exercise device according to claim 16, wherein the energy storage system comprises a first compression spring mechanically connected to a first lower link and a second compression spring mechanically connected to a second lower link.