User Attachment for Gait and Balance Rehabilitation Apparatus

Abstract

A user attachment for an apparatus for gait rehabilitation providing a possibility for a user to receive support during walking in a walking direction. A harness is attached to the body of the user and can be connected to a weight supporting device. This connection is a driven attachment arm attached at the weight supporting device which can be detachably connected with the harness. The driven attachment arm is connected via a double parallelogram unit with the harness attachment element. A guiding attachment arm can be connected with the weight supporting device and can be detachably connected with the harness attachment element for a rotative connection of the driven attachment arm with the guiding attachment arm.

Claims

1-13. (canceled)

14. A user attachment for an apparatus for gait and balance rehabilitation providing a possibility for a user to receive support during walking in a walking direction, comprising a harness attachable to the body of the user, a driven attachment arm configured to be attached at a weight supporting device and which can be detachably connected with the harness having a harness attachment, wherein the driven attachment arm is connected via a linkage assembly, which comprises a linkage attachment arm, with the harness attachment, and in that the user attachment further comprises a guiding attachment arm configured to be attached at the weight supporting device and which is rotatably connected with the harness attachment or the linkage attachment arm for a rotative connection of the driven attachment arm with the guiding attachment arm wherein the driven attachment arm comprises a support arm and a linkage arm, wherein the support arm is configured to be rotatably attached on a first rotation axis at the weight supporting device at one end and provides a second rotation axis at its other end, wherein the linkage arm is rotatably connected at the second rotation axis with the support arm at one end and provides a third rotation axis at its other end, wherein the harness attachment is rotatably connected at the third rotation axis.

15. The user attachment according to claim 14, wherein the driven attachment arm comprises a force transmitting parallelogram mechanism, wherein the force transmitting parallelogram mechanism is connected between the first rotation axis and the harness attachment for orienting the harness attachment and an attached harness.

16. The user attachment according to claim 15, wherein the force transmitting parallelogram mechanism has a parallelogram arm connected at the first rotation axis, wherein said parallelogram arm is fixed, passively rotating or actively driven.

17. The user attachment according to claim 15, wherein the guiding attachment arm comprises a support arm and a linkage guiding arm, wherein the support arm is configured to be rotatably attached on a fourth rotation axis at the weight supporting device at one end and provides a fifth rotation axis at its other end, wherein the linkage guiding arm is rotatably connected at the fifth rotation axis with the support arm at one end and provides a rotatable connection at its other end being connected with the harness attachment or with the linkage attachment arm for said rotative connection of the driven attachment arm with the guiding attachment arm.

18. The user attachment according to claim 17, wherein none, one or at least two of the first, second, fourth and fifth rotation axis are driven axes.

19. The user attachment according to claim 17, wherein the fourth rotation axis is parallel to the first rotation axis and wherein the two axes are essentially vertical.

20. The user attachment according to claim 17, wherein the first rotation axis of the driven attachment arm as well as the fourth rotation axis of the guiding attachment arm are concentric one to the other.

21. The user attachment according to claim 17, wherein one or two of the first rotation axis and the fourth rotation axis comprise torque sensors.

22. An apparatus for gait and balance rehabilitation comprising a main frame providing a possibility for a user to receive support during walking in a walking direction within this main frame, a harness attachable to the body of the user, a weight supporting device, a driven attachment arm attached at the weight supporting device and which can be detachably connected with the harness having a harness attachment, further comprising a user attachment, wherein the driven attachment arm is connected via a linkage assembly, which comprises a linkage attachment arm, with the harness attachment, and wherein the user attachment further comprises a guiding attachment arm configured to be attached at the weight supporting device and which is rotatably connected with the harness attachment or the linkage attachment arm for a rotative connection of the driven attachment arm with the guiding attachment arm, wherein the driven attachment arm comprises a support arm and a linkage arm, wherein the support arm is configured to be rotatably attached on a first rotation axis at the weight supporting device at one end and provides a second rotation axis at its other end, wherein the linkage arm is rotatably connected at the second rotation axis with the support arm at one end and provides a third rotation axis at its other end, wherein the harness attachment element is rotatably connected at the third rotation axis.

23. The apparatus according to claim 22, wherein the weight supporting device comprises a first weight supporting unit and a second weight supporting unit, wherein the driven attachment arm is attached at the first supporting unit and the guiding attachment arm is attached at the second weight supporting unit, wherein driven attachment arm with the guiding attachment arm are attached at the first weight supporting unit and the second weight supporting unit respectively in a distance one from the other in a transverse direction in view of the intended walking direction of a user.

24. The apparatus according to claim 23, wherein the connection between the guiding attachment arm and the driven attachment arm at either the harness attachment or the linkage attachment arm is detachable.

25. A method for attaching a user to an apparatus for gait and balance rehabilitation comprising a main frame providing a possibility for the user to receive support during walking in a walking direction within this main frame, a harness attachable to the body of the user, a weight supporting device, a driven attachment arm attached at the weight supporting device and which can be detachably connected with the harness having a harness attachment, wherein the driven attachment arm is connected via a linkage assembly, which comprises a linkage attachment arm, with the harness attachment, wherein the user attachment further comprises a guiding attachment arm configured to be attached at the weight supporting device and which is rotatably connected with the harness attachment or the linkage attachment arm for a rotative connection of the driven attachment arm with the guiding attachment arm, comprising the steps of: pivoting the driven attachment arm and the guiding attachment arm to one side or to two opposing sides towards one or two parking positions in view of the walking direction into vicinity of the side weight supporting device(s), moving the user from behind the one or two side weight supporting device(s) in view of the walking direction until the user is with his back in front of the harness attachment, pivoting the driven attachment arm and the guiding attachment arm from the parking positions in a use position for attaching the harness attachment with the harness of the user and, when the parking positions are separated on two sides, connecting the driven attachment arm and the guiding attachment arm at a rotative connection point at the free ends of both the driven attachment arm and the guiding attachment arm.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Preferred embodiments of the invention are described in the following with reference to the drawings, which are for the purpose of illustrating the present preferred embodiments of the invention and not for the purpose of limiting the same. In the drawings,

[0030] FIG. 1 shows a schematical top view of a user attachment for a gait rehabilitation apparatus behind a user;

[0031] FIG. 2 shows a schematical top view of the gait rehabilitation apparatus of FIG. 1 when the user is attached in the middle of the device;

[0032] FIG. 3 shows the schematical top view of FIG. 2 when the user is moving forward and to the side to his or her walking direction;

[0033] FIG. 4 shows a schematical top view of a further user attachment for a gait rehabilitation apparatus behind a user in a centered position;

[0034] FIG. 5 shows a schematical top view of the gait rehabilitation apparatus of FIG. 4 when the user is in a forward left position in relation to the device;

[0035] FIG. 6 shows a schematical top view of the gait rehabilitation apparatus of FIG. 4 when the user is in a backward right position in relation to the device;

[0036] FIG. 7 shows a schematical top view of the gait rehabilitation apparatus of FIG. 4 when the user is in a left and rotated to the right position in relation to the device;

[0037] FIG. 8 shows a schematical top view of a further user attachment for a gait rehabilitation apparatus behind a user in a centered position; and

[0038] FIG. 9 shows a detail view of an embodiment of connection between the linkage arms for a gait rehabilitation apparatus of FIG. 1.

DESCRIPTION OF THE INVENTION

[0039] FIG. 1 shows a schematical side view of a user attachment for a gait rehabilitation apparatus behind a user 20. Such an apparatus for gait rehabilitation comprises a main frame providing a possibility for a user 20 to receive support during walking in a walking direction 70 within this main frame.

[0040] A harness 30 is attached to the upper body of the user 20. This can be done while the user 20 is standing or when the user 20 is sitting in a wheelchair.

[0041] A weight supporting device 40 is shown having two side parts, one side part on each side of the user 20 usually comprising a vertical post at which is connected a driven attachment arm 50. The driven attachment arm 50 can be detachably connected with the harness 30. In other embodiments as shown in FIGS. 4 to 7, all parts of the weight support device 40 may be placed behind the user while in other embodiments all parts may be placed on one side, which provides more access to the user for a third person helping the user.

[0042] When the user moves, he or she moves with the support, partial support or even without the support of the driven attachment arm 50 and further elements of the weight supporting device 40. The amount of support can be adjusted to the abilities and needs of the user. This of course also applies for the embodiment according to FIGS. 4 to 7.

[0043] The driven attachment arm 50 comprises a support arm 51, a linkage arm 52, a force transmitting parallelogram mechanism 81, 82, 83, 84 as well as 85, and a harness attachment element 55. The support arm 51 is rotatably attached on a first rotation axis 41 at the weight supporting device 40 at one end and provides a second rotation axis 53 at its other end. The linkage arm 52 is rotatably connected at the second rotation axis 53 with the support arm 51 at one end and provides a third rotation axis 54 at its other end. Finally, the harness attachment element 55 is rotatably connected at the third rotation axis 54.

[0044] The force transmitting parallelogram mechanism comprises a distal connector 81 rotatably connected at the first rotation axis 41, a first parallelogram rod 82 rotatably connected with other end of the connector 81 and a two-armed lever 83 rotatably connected at the other end of the first parallelogram rod 82. The two-armed lever 83 is rotatably connected with the support arm 51 and transmits the driven rotative movement of the connector 81 via the rotative joint between support arm 51 and linkage arm 52 onto the second parallelogram rod 84 which transmits the movement via the proximal connector 85 onto the harness attachment element 55. The proximal connector 85 is rotatably connected with the linkage arm 52 at the third rotation axis 54 and rotatably connected at the end of the second parallelogram rod 84.

[0045] A driven rotation of the distal connector 81 around the first rotation axis 41 rotates and drives the harness attachment element 55 for orienting the harness attachment element 55 and an attached harness 30.

[0046] Preferably, a first drive is provided rotating the support arm 51 around first rotation axis 41. A second drive is rotating support arm 61 around the fourth rotation axis 42. A third drive is rotating the distal connector 81 around the first vertical axis 41. The other axes with reference numerals 53, 54, 63, 64, as well as the connecting joints between 81-82, 82-83, 83-84, 84-85 can rotate freely.

[0047] It is the third drive providing the rotation of the harness attachment element 55 around the vertical axis via the parallelogram 81-85.

[0048] When the connection 64 is closed between the units 50 and 60, the first and the second drives synergistically move the location of the harness attachment element 55 in the horizontal plane. In a symbolic way, if the first and second drives are working in the same direction, the harness attachment element 55 is moved in movement direction, if they are turning in opposite direction, the movement is transversal.

[0049] Additional drives can be contained in the weight support units 40, e.g. one drive for changing the unloading force and a further drive for lifting the mechanism as such.

[0050] FIG. 2 shows a schematical top view of the gait rehabilitation apparatus of FIG. 1 when the user 20 is attached in the middle of the device; and FIG. 3 shows the schematical top view of FIG. 2 when the user 20 is moving sideways to his walking direction 70.

[0051] The fourth rotation axis 42 is parallel to the first rotation axis 41 and the two axes 41, 42 are essentially vertical in a distance allowing the user to enter between two parts of the weight supporting device 40. The two axes 41, 42 are provided in a distance one from the other in a transverse direction in view of the intended walking direction 70 of a user 20 that the user 20 can pass from behind in the walking direction 70 between the driven attachment arm 50 and the guiding attachment arm 60.

[0052] While all axes 41,42,53,54,63,64, as well as the connecting joints between 81-82, 82-83, 83-84, 84-85 are preferably vertical, some embodiments may have some or all of them inclined compared to the vertical, e.g. to compensate for a user leaning forward during walking, e.g. by 10°. The inclination can also be chosen only to divert a little bit from the vertical to allow some deviation from the vertical direction.

[0053] For embodiments in which a driven rotation of the harness attachment element is not desired, the third drive at rotation axis 54 can be replaced by a rigid attachment of the distal connector 81 with the weight supporting device 40 or by attaching the distal end of the first parallelogram connector to the weight supporting device in a rotatable manner.

[0054] FIG. 4 shows a schematical top view of a further user attachment for a gait rehabilitation apparatus behind a user in a centered position. Reference numerals are identical for identical or similar features. The main difference between an embodiment according to FIG. 1 and to FIG. 4 is that the two arms 50 and 60 are attached in FIG. 4 on one side of a weight supporting device 40, whereas for FIG. 1, the arms 50 and 60 are attached on two opposite sides.

[0055] It is possible to provide any embodiments of the apparatus without any driven axes. However, the preferred case is to have two driven arms, e.g. at the rotation axis 41 and at the rotation axis 42. But it is also possible to have both drives at one arm, e.g. at axes 41 and 53 so that the guiding arm 60 does not have any drives, or vice versa. It is also possible to have more than two drives, especially a third drive at the axis 54 to orient the harness attachment 55, which could also be realized with a concentric third drive for the arm 81 additionally to the drive at axis 41.

[0056] FIG. 5 shows a schematical top view of the gait rehabilitation apparatus of FIG. 4 when the user is in a forward left position in relation to the device and walking into the direction 70. FIG. 6 shows a schematical top view of the gait rehabilitation apparatus of FIG. 4 when the user is in a backward right position in relation to the device, and finally FIG. 7 shows a schematical top view of the gait rehabilitation apparatus of FIG. 4 when the user is in a left transverse and rotated to the right side position in relation to the apparatus.

[0057] FIG. 8 shows a schematical top view of a further user attachment for a gait rehabilitation apparatus behind a user in a centered position, whereas the first rotation axis 41 of the driven attachment arm 50 as well as the fourth rotation axis 42 of the guiding attachment arm 60 are concentric one to the other.

[0058] FIG. 9 shows a detail view of an embodiment of connection between the linkage arms 52 and 62 for a gait rehabilitation apparatus of FIG. 1. It is preferred that the two linkage arms 52 and 62 are only pivoted in the same, especially horizontal plane. Then the pin providing the third rotation axis 54 has to be encompassed in a pivotable manner by the rotatable connection 64. Said rotatable connection 64 comprises a reception to accommodate the pin of axis 54 and an opening 66 with opposing jaw surfaces 65. Then linkage arms 52 and 62 can be pivoted in the drawing plan so that pin 54 can enter the reception 64 via the opening 66 and either one or both jaw surfaces 65 can close together to provide the desired pivoting linkage connection.