Apparatus to apply forces in a three-dimensional space

Abstract

The present invention relates to a robotic system useful to unload an object/person from its weight. The robotic system is useful in locomotor rehabilitation programs and allows the manipulation of forces in a three-dimensional space with far lower actuator requirements and a much higher precision than prior-art systems. The apparatus combines passive and active elements to minimize actuation requirements while still keeping inertia to a minimum and control precision to a maximum. It requires minimal actuators and at the same time has a low inertia.

Claims

1. An apparatus comprising: one or more ropes or wires, wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, and wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user; and wherein the apparatus comprises one further associated drive unit per each second associated deflection device in addition to the first and second associated drive units, said one further associated drive unit applying forces to each of the first and third associated deflection devices, thus resulting in additional horizontal and/or vertical force components of Fn exerted on said object or said user via said second associated deflection device, and one further rope or wire per each second associated deflection device, in addition to said one or more ropes or wires, said one further rope or wire extending from said further respective associated drive unit through said first associated deflection device to said third associated deflection device so that said further associated drive unit applies forces to each second associated deflection device through said further rope or wire.

2. The apparatus according to claim 1, wherein said second associated deflection device is interconnected to said object or said user through one or more common coupling points.

3. The apparatus according to claim 1, wherein said additional horizontal and/or vertical force components are applied to said first and third associated deflection devices through said one further rope or wire extending from said one further associated drive unit per each second associated deflection device to said first and third associated deflection devices.

4. The apparatus according to claim 1, wherein said additional horizontal and/or vertical force components are applied by said one further associated drive unit per each second associated deflection device, said one further associated drive unit per each second associated deflection device directly attached to said first and third associated deflection devices via said one further rope or wire.

5. The apparatus according to claim 1, wherein said one further associated drive unit per each second associated deflection device connected to said first associated deflection devices through an elastic or viscoelastic connecting element, wherein said connecting element is a spring or a rubber rope.

6. The apparatus according to claim 1, wherein said one further rope or wire is present between said first and third associated deflection devices so as to form a single deflection unit.

7. The apparatus according to claim 1, wherein said first and third associated deflection devices are slidably connected to a guide rail.

8. The apparatus according to claim 1, wherein said apparatus further comprises at least a first guide rail running along a longitudinal axis and a second guide rail running along the longitudinal axis, the first guide rail and the second guide rail both extending horizontally with respect to an operating position of the apparatus, said first guide rail and said second guide rail being connectable to a support structure.

9. The apparatus according to claim 1, wherein said first associated drive unit and said second associated drive unit control a position of said object or said user, or forces/moments acting on said object or said user, and wherein control is split into high-frequency and low-frequency portions, whereby said first and second associated drive units control primarily low-frequency portions and said further drive units control primarily high-frequency portions.

10. The apparatus of claim 1, wherein said second associated drive unit is a winch.

11. An apparatus comprising: one or more ropes or wires, wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, and wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, and wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user; and one or more further drive units applying forces to each of the first and third associated deflection devices, thus resulting in additional horizontal and/or vertical force components of F.sub.n exerted on said object or said user via said second associated deflection devices, wherein said one or more further drive units are connected to said first associated deflection device through an elastic or viscoelastic connecting element, wherein said connecting element is a spring or a rubber rope.

12. An apparatus, comprising: one or more ropes or wires wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user, and wherein free ends of each of said one or more ropes or wires are interconnected.

13. The apparatus of claim 12, wherein one free end of the interconnected free ends extends from said first associated drive unit to said second associated drive unit and then back to said first associated drive unit, wherein the one free end is wound up to an other free end of said interconnected free ends, and wherein the first associated drive unit and said second associated drive unit are actuated.

14. The apparatus of claim 12, wherein both free ends of each of said one or more ropes or wires extend from said first associated drive unit to said first associated deflection device, are deflected by said first and second associated deflection devices towards said third associated deflection device, and are guided backwards by said third associated deflection device with a deflection angle >90° over said first associated deflection devices and extend to the second associated drive unit.

15. An apparatus, comprising: one or more ropes or wires, wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user, wherein a connecting element is present between said first and third associated deflection devices so as to form a single deflection unit, and wherein said connecting element is elastic.

16. An apparatus, comprising: one or more ropes or wires wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection devices, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user, and wherein each associated deflection device is a double deflection device and the one or more ropes or wires are guided twice over each pair of deflection devices.

17. An apparatus, comprising: one or more ropes or wires, wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, and wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user, and wherein said first and second associated drive units and one or more further drive units control a certain position of said object or said user or forces/moments acting on said object or said user and the control is split into high-frequency and low-frequency portions, whereby said associated drive units control primarily low-frequency portions and said one or more further drive units control primarily high-frequency portions.

18. An apparatus, comprising: one or more ropes or wires, wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device, respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, and wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user; and one or more further drive units that apply forces to each of the first and third associated deflection devices, thus resulting in additional horizontal and/or vertical force components of Fn exerted on said object or said user via said second associated deflection device, and a force sensor that measures a force in the one or more ropes or wires, and wherein a torque of one or more of said first associated drive unit and said second associated drive unit is adjusted responsive to said measured force.

19. The apparatus of claim 18, wherein the first associated deflection device and the third associated deflection device are connected via a connecting element, wherein the connecting element is rigid.

20. The apparatus of claim 19, wherein the first associated deflection device and the third associated deflection device each comprise a cart that slidably connects the first associated deflection device and the third associated deflection device to respective guide rails.

21. The apparatus of claim 20, further comprising a further rope or wire, wherein the further rope or wire is in addition to said one or more ropes or wires, wherein the further rope or wire is driven via said one or more further drive units.

22. The apparatus of claim 18, wherein said second associated drive unit is a winch.

23. The apparatus of claim 22, further comprising a further rope or wire, wherein said further rope or wire is deflected by said first associated deflection unit and said third associated deflection unit.

24. The apparatus of claim 19, wherein a position of said first associated deflection device, said second associated deflection device, and said third associated deflection device is adjusted via said first associated drive unit and said second associated drive unit.

Description

FIGURES

(1) FIG. 1 shows an exemplary apparatus according to the invention in a support structure.

(2) FIG. 2 shows an exemplary apparatus according to an embodiment of the invention in a support structure.

(3) FIG. 3 shows a 2D configuration of an embodiment of the apparatus of the invention. This can be combined with a second identical mechanism by connecting the second deflection devices (P1, P1′).

(4) FIG. 4 shows a 2D configuration of an embodiment of the apparatus of the invention. This can be combined with a second identical mechanism by connecting the second deflection devices (P1, P1′).

(5) FIG. 5 shows a 2D configuration of an embodiment of the apparatus of the invention. This can be combined with a second identical mechanism by connecting the second deflection devices (P1, P1′).

(6) FIG. 6 shows a 2D configuration of an embodiment of the apparatus of the invention. This can be combined with a second identical mechanism by connecting the second deflection devices (P1, P1′).

(7) FIG. 7 shows a 2D configuration of an embodiment of the apparatus of the invention. This can be combined with a second identical mechanism by connecting the second deflection devices (P1, P1′).

(8) FIG. 8 shows a 2D configuration of an embodiment of the apparatus of the invention. This can be combined with a second identical mechanism by connecting the second deflection devices (P1, P1′).

(9) FIG. 9 shows a 2D configuration of an embodiment of the apparatus of the invention. This can be combined with a second identical mechanism by connecting the second deflection devices (P1, P1′).

(10) FIG. 10 shows a 2D configuration of an embodiment of the apparatus of the invention. This can be combined with a second identical mechanism by connecting the second deflection devices (P1, P1′).

(11) Preferably, the first and third deflection devices (D.sub.1, D.sub.2, D.sub.3, D.sub.4) are passively displaceable (i.e. can change their position in space, particularly in a guided manner), which particularly means that they do not themselves comprise a movement generating means for moving the respective deflection device actively, but can be displaced by forces induced into the deflection devices via the ropes connected to the user or via drive units attached to them via additional ropes.

(12) Preferably, the first and third deflection devices (D.sub.1, D.sub.2, D.sub.3, D.sub.4) are connected to each other (for instance pairwise such that the respective two deflection devices can be displaced together while maintaining a constant distance between the deflections devices along the direction of displacement), and they may be guided by a guide rail or a plurality of guide rails or may be suspended from a support structure (e.g. support frame or ceiling of a room), particularly by means of a wire or another (elongated) supporting element such that their centers of mass can (passively) change position in space. Likewise, said guide rail(s) may be connected to a support structure (e.g. support frame or ceiling).

(13) However, in an embodiment of the invention, the deflection devices may be fixed such that they are not moving in space or along the guide rails. Particularly, the deflection devices can be designed to be fixed in a releasable manner to the guide rails so that the deflection units are temporarily lockable regarding their movement along the guide rails.

(14) A connection between two (or even more) deflection elements can be provided by means of a (e.g. separate) connecting means (element), which may be interchangeable. Said connecting element is preferably elastic (particularly such that the restoring force is a function of the elongation of the elastic connecting element, particularly a linear function) or viscoelastic or non-elastic, so as to form a deflection unit (also denoted as trolley). Further, the respective connecting element may be a flexible rope member or a rigid rod (particularly produced out of a carbon fibre composite).

(15) Deflection devices may also be integrally connected to each other (i.e. form a single piece).

(16) Optionally, this connecting element can be realized via additional pulleys on either end of the rail, such that a tension spring in this connection generates forces that pushes the deflection devices apart instead of pulling them towards each other.

(17) Each pair of first and third deflection devices (D.sub.1, D.sub.2, D.sub.3, D.sub.4) is used to guide a rope (R.sub.1, R.sub.1′) towards a freely moving, interconnected deflection device (P.sub.1, P.sub.1′).

(18) In an embodiment of the invention, the apparatus comprises two ropes.

(19) Preferably, the first rope extends from its first associated drive unit towards a first deflection device, is deflected by the first guided deflection device towards a second freely moving deflection device which deflects it to a third guided deflection device, preferably connected with said first deflection device, and then extends to a second associated drive unit. Likewise, the second rope extends from its first associated drive unit towards a first deflection device, is deflected by the first deflection device towards a second freely moving deflection device which deflects it to a third guided deflection device, preferably connected with said first deflection device and then extends to a second associated drive unit. The second deflection devices are connected to a common user and preferably also interconnected with each other through a common coupling point.

(20) In another embodiment of the invention, in particular in the case of a human user, each of the second deflection devices can be connected to the respective shoulder of the user. Then the person could not rotate freely anymore, but rotation could be actuated.

(21) Preferably, the first and third deflection devices are connected to each other on the same side to form a deflection unit, so that their combined movement is governed by (multiple) rope forces acting on them.

(22) According to an aspect of the invention, the apparatus comprises at least a first guide rail and a second guide rail (for instance in case of two ropes), each running along a longitudinal axis. These longitudinal axes preferably extend horizontally with respect to an operating position of the apparatus, in which the apparatus can be operated (e.g. by the user) as intended. Preferably, the guide rail(s) can be connected to said support structure (e.g. support frame or ceiling of a room, in which the apparatus is arranged). In case of a support frame, the guide rail(s) may be connected to said upper frame part. Preferably, the guide rails are arranged such that they run parallel with respect to each other. Particularly, in case of two guide rails, each guide rail may be tilted about its longitudinal axis, particularly by an angle of 30° or 45° with respect to the vertical.

(23) Preferably, the first and the third deflection device which guide a first rope are slidably connected to the first guide rail, so that they can slide along the first guide rail along the longitudinal axis of the first guide rail. In case of two ropes the first and the third deflection devices which guide a second rope are preferably slidably connected to the second guide rail, so that they can slide along the second guide rail along the longitudinal axis of the second guide rail.

(24) In detail, said deflection devices may comprise a base (preferably in the form of a cart) slidably connecting the respective each deflection device to its associated guide rail. An arm hinged to its base can be provided for each deflection device so that each respective arm can be pivoted with respect to its base about a pivoting axis running parallel to the longitudinal axis of the respective guide rail. Each deflection device may also comprise a deflection element connected to the respective arm, for deflecting the respective rope around said deflection element. Each respective deflection element may be formed by a roller, which is rotatably supported on the respective arm, therefore the respective roller can be rotated about a rotation axis that is orthogonal to the longitudinal axis of the respective guide rail. If desired, arresting means can be provided for each deflection device for arresting the respective deflection device with respect to the associated guide rail, for instance when using the apparatus with a treadmill.

(25) The first and third deflection devices guide the rope towards the second deflection devices. Differently from the above described first and third deflection devices, the second deflection devices are freely moving. Therefore, they are not connected to a guide rail but they can freely move in the workspace. They are connected to a user and preferably also interconnected with each other, e.g. by means of karabiners, and/or through one or more common coupling points to the user. In one embodiment, said second deflection devices are connected to a user through a single common point to which, for example, a harness is attached. In an alternative embodiment, said user is a human subject and second deflection devices are connected to the user by connecting each said second deflection device to one shoulder of the subject, such that rotation about the vertical axis can be induced and controlled.

(26) In an embodiment, the free ends of the rope(s) is(are) connected to one or more drive units applying forces to said free ends.

(27) In one embodiment, for each rope there are two drive units applying forces on the free ends of said rope. Preferably, the first drive unit of one rope and the second drive unit of the same rope face each other along the longitudinal axis of the first guide rail, wherein the first and the third deflection unit are arranged between said first and second drive units along the longitudinal axis of the guide rail.

(28) In a preferred embodiment, one free end of each rope is connected to a drive unit, whereas the other free end of the same rope is fixed to a fixed point in space.

(29) In a preferred embodiment, each drive unit A.sub.e, A.sub.te, A.sub.f, A.sub.tf comprises an actuator 2 (for example a servo motor) which is connected to a winch, around which the respective rope is wound. A flexible coupling can be conveniently used. In this embodiment, each actuator is designed to exert a torque on the respective winch via a drive axis of the respective winch so as to retract or release the respective rope, i.e. to adjust the length of the respective rope that is unwound from the winch. If desired, each drive unit may comprise a brake for arresting the respective winch. Further, the drive unit preferably comprises at least one pressing member, for example in the form of a pressure roller pressing the respective rope being wound around the associated winch with a pre-definable pressure against the winch in order to prevent the respective rope from jumping off the associated winch or over a thread. In an alternative embodiment, the drive units are manually operated.

(30) Optionally, a force is applied to each guided deflection device by means of further drive units.

(31) An exemplary embodiment of the apparatus according to the invention is depicted in FIG. 1.

(32) The apparatus (1) comprises a suitable support structure (e.g. ceiling of the room where the apparatus is placed or a support frame—this latter not shown in FIG. 1), such that said support structure confines a three-dimensional working space (3), in which the user (4) can move along the horizontal x-y-plane (as well as vertically in case corresponding objects, e.g. inclined surfaces, staircases etc., are provided in the working space (3)). Said working space (3) then extends below said ceiling or frame.

(33) Said support structure supports a first and a second guiding rail (102, 102′). The first guide rail 102 is designed to slidably support a two deflection devices D.sub.1, D.sub.2, and the second guide rail 102′ is designed to slidably support two further deflection devices D.sub.3, D.sub.4. Here, the pair D.sub.1, D.sub.2 as well as the pair D.sub.3, D.sub.4 are connected by a connecting means C.sub.1, C.sub.2 so that the two pairs of deflection devices D.sub.1-D.sub.2 and D.sub.3-D.sub.4 each form a deflection unit (trolley) which can slide along the respective guide rail (102, 102′).

(34) A first rope R.sub.1 extends from a first associated drive unit A.sub.c to a first associate deflection device D.sub.3 and is deflected by D.sub.3 and guided toward a second associated deflection device P.sub.1. The rope R.sub.1 is then deflected by said second deflection device P.sub.1 toward a third deflection device D.sub.4, which is connected to said first deflection device D.sub.3 through a connecting element C.sub.1, and then extends to a second associated drive unit A.sub.d.

(35) Said drive units A.sub.d, A.sub.c apply forces F.sub.d, F.sub.c to the rope R.sub.1 retracting and releasing it.

(36) A second rope R.sub.1′ extends from a first associated drive unit A.sub.a to a first associate deflection device D.sub.1 and is deflected by D.sub.2 and guided toward a second associated deflection device P.sub.1′. The rope R.sub.1′ is deflected by said second deflection device P.sub.1′ toward a third deflection device D.sub.2, which is connected to said first deflection device D.sub.1 through a connecting element C.sub.2, and then extends to a second associated drive unit A.sub.b.

(37) Said drive units A.sub.a, A.sub.b apply forces F.sub.a, F.sub.b to the rope R.sub.1′ retracting and releasing it. Preferably, said connecting elements C.sub.1, C.sub.2 are elastic or viscoelastic. A damper can also be used.

(38) Said second deflection devices P.sub.1, P.sub.1′ are coupled to a user and preferably also interconnected one with each other.

(39) A resulting force F.sub.n is generated which is exerted on the user via deflection devices P.sub.1, P.sub.1′. In such a way the user is partially unloaded of its weight and a force is applied on the user.

(40) Furthermore, a force is applied to each first and third deflection device D.sub.1, D.sub.2, D.sub.3, D.sub.4 by means of further drive units A.sub.ta, A.sub.tb, A.sub.tc, A.sub.td. In particular, drive unit A.sub.ta exerts on deflection device D.sub.1 a force F.sub.ta through rope X′. Drive unit A.sub.tb exerts on deflection device D.sub.2 a force F.sub.tb through rope X″. Drive unit A.sub.tc exerts on deflection device D.sub.3 a force F.sub.tc through rope X′″. Drive unit A.sub.td exerts on deflection device D.sub.4 a force F.sub.td through rope X″″.

(41) Forces F.sub.ta, F.sub.tb, F.sub.tc, F.sub.td are applied in parallel directions with respect to the guide rails.

(42) Their combined action results in additional horizontal and/or vertical force components which modify the resulting force F.sub.n exerted on the user.

(43) An embodiment of the invention is represented in FIG. 2.

(44) In said embodiment, the free ends of each rope (R.sub.1, R.sub.1′) are interconnected so that only one rope is present.

(45) One free end extends from a first actuated winch (drive unit) W.sub.1 to a second actuated winch (drive unit) W.sub.2 and then back to said first actuated winch W.sub.1, wherein both free ends are wound up. Each winch W.sub.1, W.sub.2 is preferably placed between the ends of the guiding rails, one facing the other.

(46) In this embodiment, R.sub.1 and R.sub.1′ refer to each rope part extending from a first drive unit (or winch) to a second drive unit (or winch).

(47) Preferably, the winch W.sub.1, W.sub.2 is a torque- or position-controlled winch. A torque-controlled winch provides an actuator torque that aims to decrease the difference between a given reference torque and the currently measured torque, particularly as measured from the force ensors in the ropes or calculated from current measurement of the actuator unit. A position-controlled winch provides an actuator torque that aims to decrease the difference between a reference length for the rope that is released and the actual length of rope released, particularly as measured by an encoder on the drive unit. The reference force or position is provided by a control algorithm, particularly as the one described earlier.

(48) Typically, one of the two winches, for example W.sub.1, acts by changing the overall length of the rope while the other, for example W.sub.2, has the role of manipulating the relative lengths of the rope parts R.sub.1 and R.sub.1′.

(49) Optionally, only one of the two winches is present, for example W.sub.1.

(50) Similar to the previous exemplary embodiment, winch W.sub.1 apply forces F.sub.b, F.sub.d to the rope retracting and releasing it, while winch W.sub.2 apply forces F.sub.a, F.sub.c to the rope retracting and releasing it.

(51) A 2D configuration of this same embodiment is represented in FIG. 3, wherein both ends of the rope are connected to winches W.sub.1, W.sub.2 so that forces F.sub.a, F.sub.b are respectively generated on the rope by said winches W.sub.1 and W.sub.2. A resulting force F.sub.n is exerted on the user.

(52) As for the exemplary embodiment above described, forces F.sub.ta, F.sub.tb, F.sub.tc, F.sub.td are applied on the deflection devices in parallel directions with respect to the guide rails by drive units not shown in the picture.

(53) All embodiments of the apparatus of the invention that are depicted as 2D configurations are preferably intended to be deployed in a 3D configuration as depicted in FIG. 1 or 2 by means of duplicating the mechanisms and interconnecting the second deflection devices P.sub.1 and P.sub.1′ directly or through connection to a common user. Since the focus is on the connection of the deflection devices, the various configurations are only shown in 2D.

(54) A further embodiment of the invention is represented in FIG. 4.

(55) As explained above, this embodiment is intended to be realized in a three-dimensional configuration but is herein depicted on a two-dimensional configuration for ease of representation.

(56) In this embodiment, both free ends of the rope R.sub.1 after being deflected by deflection devices D.sub.1, P.sub.1 and D.sub.2 are guided backwards, with a deflection angle >90°, over the guided deflection devices D.sub.1, D.sub.2 and then connected to motorized winches W.sub.1, W.sub.2.

(57) Forces F.sub.a, F.sub.b are respectively generated on the rope by said winches W.sub.1 and W.sub.2.

(58) The configuration is represented only for one rope or part of the rope R.sub.1 but it is intended to be the same for the other rope or part of the rope R.sub.1′.

(59) Preferably, an elastic connecting element is also present between deflection devices D.sub.1, D.sub.2 so that said deflection devices D.sub.1, D.sub.2 are pushed apart instead of being pulled towards each other.

(60) The advantage of this configuration is that when the force on the rope or part of the rope R.sub.1 increases, the deflection devices D.sub.1 and D.sub.2 on the same rail will move towards each other, and vice versa. That in turn reduces the difference in forces between rope or part of the rope R.sub.1 and rope or part of the rope R.sub.1′.

(61) This is particularly advantageous, for example, when the user moves in y direction with a desired constant force F.sub.n pointing in z direction.

(62) For appropriately dimensioned elastic element, this can even lead to zero torque to be applied by winch W.sub.1 over a certain range of y positions, said range being between −1 m and +1 m of lateral movement. In these cases the rope parts R.sub.1, R.sub.1′ can be connected directly to each other, without using winch W.sub.1.

(63) Preferably, in this embodiment deflection devices D.sub.1 and D.sub.2 are not fully aligned with respect to the guiding rail.

(64) A further embodiment of the invention is represented in a 2D configuration in FIG. 5.

(65) This embodiment is intended to be realized in a three-dimensional configuration but is herein depicted on a two-dimensional configuration for ease of representation.

(66) The configuration is represented only for one part of the rope R.sub.1 but it is intended to be the same for the other part of the rope R.sub.1′.

(67) In this embodiment, all deflection devices D.sub.1, D.sub.2, P.sub.1 are replaced by double deflection devices and the rope R.sub.1 is guided twice over each pair of deflection device.

(68) In particular, the rope R.sub.1 extends from a first winch W.sub.1 and is guided over one pair of guided deflection devices D.sub.1, then guided towards a pair of freely moving deflection device P.sub.1 and via this one guided to the third pair of deflection devices D.sub.2 guided by the same rail, then deflected by them back to D.sub.1, then again to P.sub.1, from these again to D.sub.2, and finally to the second winch W2.

(69) One advantage of this configuration is that in a 3D configuration there are in total eight rope parts that support the load F.sub.n thus reducing the necessary load of W.sub.2.

(70) Further advantages are that it is easier to guide the ropes and that D.sub.1 and D.sub.2 may stay aligned, differently from the embodiment depicted in FIG. 4.

(71) Preferably, an elastic connecting element is present between deflection devices D.sub.1, D.sub.2 so that said deflection devices D.sub.1, D.sub.2 are pushed apart instead of being pulled towards each other.

(72) As for the exemplary embodiment above described, forces F.sub.ta, F.sub.tb are applied on the deflection devices in parallel directions with respect to the guide rails by drive units not shown in the picture.

(73) A further embodiment of the invention is represented in a 2D configuration in FIG. 6.

(74) In this embodiment, one free end of each rope R.sub.1 is fixed at one end of each respective guiding rail.

(75) The remaining free end is connected to a respective motorized winch W.sub.1 on the opposite end of the guiding rail, or all the free ends of each rope are connected to a joint winch W.sub.2 on the opposite end of the guiding rail.

(76) In all the above embodiments, one drive unit (or winch) can be replaced by the fixation of one free end of the rope R.sub.1, R.sub.1′ to a fixed point (for example a wall or the end of the guiding rail).

(77) In further embodiments of the invention a one- or bi-directional force is applied to each guided deflection device D.sub.1, D.sub.2, D.sub.3, D.sub.4 by means of further drive units A.sub.ta, A.sub.tb, A.sub.tc, A.sub.ta.

(78) By means of these drive units, forces in parallel direction with respect to the rails are applied to the deflection devices D.sub.1, D.sub.2, D.sub.3, D.sub.4 and, therefore, to the user.

(79) In this respect, an embodiment of the invention is represented in a 2D configuration in FIG. 7, wherein two motorized winches W.sub.1, W.sub.2 pull on respectively ropes X′, X″ connected directly via springs (depicted) to the deflection devices D.sub.1, D.sub.2 thus applying on said deflection devices a force F.sub.ta and a force F.sub.tb, respectively.

(80) An alternative embodiment is depicted in FIG. 8.

(81) Here, a single motorized winch W pulls on one rope R.sub.1 whose free ends are connected to the deflection devices D.sub.1, D.sub.2. Forces F.sub.ta, F.sub.tb are thus applied on the deflection devices D.sub.1, D.sub.2.

(82) The advantage of this configuration is that only one motor is needed instead of two to apply forces to the two guided deflection devices D.sub.1, D.sub.2.

(83) The disadvantage is that no opposed forces can be generated on the two guided deflection devices D.sub.1, D.sub.2.

(84) A further alternative embodiment is depicted in FIG. 9.

(85) Here, the deflection devices D.sub.1, D.sub.2 are directly actuated, e.g. by actuators directly attached to the carts of the deflection devices via additional ropes (not depicted in the figure). Therefore, forces F.sub.ta, F.sub.tb are applied to the deflection devices D.sub.1, D.sub.2.

(86) The advantage is that no winches are needed to wind up the rope attached to the deflection devices. The disadvantage is the increased mechanical complexity (guidance of actuator cables and guidance system) and the potentially increased inertia.

(87) A further embodiment of the apparatus according to the present invention is represented in FIG. 10.

(88) In this embodiment, the guided deflection devices D.sub.1, D.sub.2 are connected by means of an elastic element C.sub.2.

(89) In such a way, when opposed forces are applied on said deflection devices by the drive units, the distance between said devices changes.

(90) For example, if four motorized winches Wi-W4 are present (only two are depicted in FIG. 10 for ease of representation) and they all pull with the same force on the ropes X′, X″ connected to the deflection devices D.sub.1, D.sub.2, the vertical force on the user is released with an increase of forces F.sub.ta, F.sub.tb, F.sub.tc, F.sub.td.

(91) If only the motorized winches on one guiding rail W.sub.1, W.sub.2 pull with about the same force, then the user is pulled towards the opposite guiding rail.

(92) If unilateral forces with equal direction are applied to both pairs of guided deflection units D.sub.1-D.sub.2 and D.sub.3-D.sub.4, a force in x-direction is generated on the user.

(93) If unilateral forces with opposed direction are applied to both pairs of guided deflection units D.sub.1-D.sub.2 and D.sub.3-D.sub.4, the vertical force is increased.

(94) In an embodiment, deflection devices P.sub.1, P.sub.1′ are connected to the user through two different coupling points. In this case, if unilateral forces with opposed direction are applied to both pairs of guided deflection units D.sub.1-D.sub.2 and D.sub.3-D.sub.4, a rotation of the user about the vertical axis is induced.

(95) In a preferred embodiment, this configuration is used together with the configuration depicted in FIG. 4, i.e. with both free ends of the ropes or rope parts R.sub.1 and R.sub.1′ guided backwards over the guided deflection devices.

(96) In this case, the influence of actuation on the deflection devices is inverted, and required actuator forces for y-actuation and z-actuation are generally reduced.

(97) In an alternative embodiment, this configuration is used together with the configuration depicted in FIG. 5, i.e. with all deflection devices replaced by double deflection devices.

(98) Also in this case, the influence of actuation on the deflection devices is inverted, and required actuator forces for y-actuation and z-actuation are generally reduced.

(99) The apparatus herein disclosed is also for use and in a method in restoring voluntary control of locomotion in a subject suffering from a neuromotor impairment.

(100) Generally, the apparatus according to the present invention is for use and in a method for locomotor rehabilitation of a subject, in particular a human, suffering from locomotor impairment, as detailed in the specification.

(101) In the unitary concept of the present invention, the apparatus of the present invention, is for the above mentioned uses, optionally in combination with a device for epidural and/or subdural electrical stimulation, and further optionally in combination with a cocktail comprising a combination of agonists to monoaminergic receptors, as disclosed for example in WO2013179230, WO2015000800.