Quadra Walker

Abstract

A surface walker for human beings consisting of a chassis holding four articulated, movable limbs for walking. Each limb rests on foot, ski or float. Chassis is topped with cushioned seat whereon user lies prone on chest and belly with access to limbs, which are activated with arms and legs. Chassis height and limb length are adjustable. User regulates walking gait, limb stride and motion frequency of limbs. Walker advances on land and water and diverse landscapes. Design incorporates optional computer-controlled power assistance for walker motion and use of mechanical hand for enhanced traction and anchoring effects.

Claims

1. A four-limbed mechanism named Quadra Walker, operated by a human being with arms and legs for walking over diverse surfaces in a prone position characterized by a central chassis box containing a set of articulated joints for holding the upper end of walking limbs; a set of articulated walking limbs, each upper end thereof coupled to its corresponding joint at one upper end inside said chassis box and coupled to a ski, foot or float at its lower or distal end; a set of skis or feet connected to the said distal end of a corresponding set of limbs, designed for ground travel; an alternate set of skis having blades for skiing on ice or rollers for skating on a solid surface; a set of floats connected to the said lower or distal end of a corresponding set of limbs, designed for walking over water; a wheel unit in support of the chassis box using adequate suspension means; a set of stabilizers designed to share load with the limbs, each stabilizer consisting of a limb member having a ski or wheel at the ground end for providing support to user; a power plant in mechanical, electrical, pneumatic, hydraulic or combination thereof relationship with the limbs, designed to provide mechanical assistance for locomotion; a computer programmed to control power assistance to limbs, connected therewith and with user via related command pad; a mechanical hand operated by user to obtain support and traction on the field.

2. Quadra Walker as set forth in claim 1, characterized in that the chassis box is a strong structure having, in combination, a cover suitable for holding a cushion where the user can rest on chest and belly; side ports for accessing walking limbs; a reinforced internal framework designed to hold articulated joints firmly affixed thereto; each said joint facing at one end, its corresponding port or window, and at its other end connecting with an elevator mechanism; an elevator mechanism consisting of a threaded stud having an upper head with cavities in working relationship with the said joints, a bottom-placed handle adequate for turning said stud and thereby regulate height of Quadra Walker by tilting the disposition of said joints, said stud being positioned at or near the center of the said reinforced framework; means for holding stabilizer limbs and ports for accessing said limbs; means for enclosing a power source, a brain or computer and its associated control panel; adequate light fixtures; an adequate glove compartment; a mirror held by an extensible arm located at the front end of the chassis box for allowing the user facing down to see the ground ahead by reflection.

3. Quadra Walker as set forth in claim 1, characterized in that the walking limbs consist of at least two elongated portions adapted to extend and to contract by means of tubular members arranged in a telescopic assembly, variously using springs and shock absorbers to give way and to recover therefrom, or to extend and contract by means of grooved members slidably attached therebetween, variously using springs and shock absorbers to give way and to recover therefrom, to bend by the use of knuckle joints and mechanical elbows while selectably assisted by the use of attached springs, and wherein one end of each limb is adapted to engage with a ski or float and it other end is adapted to engage with a joint located inside the central chassis box.

4. Quadra Walker as set forth in claim 1, characterized in that the front skis are designed for hand and arm handling and the hind skis are designed for leg and foot usage, both front and hind skis consisting of a slat member having a lower surface adapted to provide both traction and sliding activity and having an optional talon or ratcheted spur to engage the ground to enhance traction, a forward section with an optional bumper wheel designed to roll over obstacles and an optional hinge and spring forward section designed to tilt slightly upward when meeting an obstacle and for rolling thereon; an upper section or deck adapted to engage with either arm or leg; safety straps to secure arm or leg to ski; the front ski deck surface having a grip for handling located in the forward section of the deck and a cushion member running from said grip to the back section of said deck; the back ski deck surface having a contoured cushion member running from front to back adapted to nestle the knee, and a foot rest located at the back end of the ski, consisting of a stiff upright pedal having a non-slip surface and designed to be pressed by the foot during use.

5. Quadra Walker as set forth in claim 1, characterized in that the front floats are designed for hand and arm handling and the hind floats for leg and foot usage; front and hind floats having an elongated body shape made of floating material, where multiple oars are held in a closed position for sliding forward, said oars opening downward or sideways by water action when said float pushes backward for providing traction to the float; an upper section or deck adapted to engage with either arm or leg; adequate straps to secure arm or leg to float; the front float having a grip for handling, a cushion member running from the grip to the back where a nestling section is provided for the elbow; the back float having a cushion member located at its front section and adapted to nestle the knee, and a foot rest located at the back end consisting of a stiff upright pedal having a non-slip surface designed to be pressed by the foot during use.

6. Quadra Walker as set forth in claim 1, characterized in that the wheel unit is comprised of a wheel or set of wheels mounted at the lower end of a retractable arm; the retractable arm being connected with the chassis box at its upper end; said retractable arm further comprising adequate shock absorbing means; said wheel or wheels being furnished with adequate breaking means wherein said breaking means being actuated by cables or hydraulic lines operated by user brake handle located away from the wheel.

7. Quadra Walker as set forth in claim 1, characterized in that the set of stabilizer skis is preferably located along a central line, fore and aft, of the QW and further characterized in that the skis may include wheels adapted to roll over ground.

8. A mechanical hand comprising a set of one or more phalanges consisting of one or more sections in pivoted connection therebetween and with a carpal box; a plurality of cables connected with the phalanges and running through the carpal box, through guides and through a carpal tunnel, on to a remote tensioning lever or to power assisted means activated by the user for performing a clasping action.

9. Mechanical hand as set forth in claim 8 characterized in that phalange sections are held together by pivots and have spring members flexibly pushing the phalanges into an extended position, each section comprising a guide through which the tensioning cable runs, the distal section comprising a lock for securing the end of the cable.

10. Mechanical hand as set forth in claim 8 characterized in that the phalange sections comprise claws for grasping firmly a given object.

11. Mechanical hand as set forth in claim 8, characterized in that the cables running through the phalanges are actuated by a selection of hydraulic, pneumatic or electric means.

12. A system for using and regulating the motion of the QW when operated in a power-assisted mode by a computer, comprising in combination, a set of limbs movably held at a central chassis box, a power source, a computer as command center or brain, and a set of electric motors or artificial muscles located on the limbs, characterized in that the electric motors or artificial muscles are driven in accordance with the motion program selected by the user which consists of a selection of walking gaits and asynchronous commands which operate in combination with a selection of limb lengths, stride lengths and stride frequencies.

13. A system according to claim 12 wherein walking gaits are selected from among a trot, a run, and a walk, each of which will be regulated in speed in a range of slow to fast; in length of limb ranging from short to extended; in stride selection ranging from short to long; in a power expenditure regulated from small to large; and wherein the saltatorial and crawling gaits are operated on command in a range going from standstill to single action, in a power expenditure range going from small to large; in a selection of limb lengths going from short to extended and stride lengths going from short to long.

Description

IN THE DRAWINGS

[0061] FIG. 1 is a side view perspective of the Quadra Walker in use.

[0062] FIG. 2 is a side view of the power-assisted Quadra Walker.

[0063] FIG. 3 is an artistic rendition of the Quadra Walker featuring front and back stabilizers.

[0064] FIG. 4 is a side view of a different modality of Quadra Walker featuring hand and leg supports located near the chassis box, away from the skis.

[0065] FIG. 5 is a side view of the Quadra Walker featuring a support wheel.

[0066] FIG. 6 is a diagram of a front ski.

[0067] FIG. 7 is a diagram of a back ski.

[0068] FIG. 8 is a diagram with cut-away view of a front ski-float.

[0069] FIG. 9 is a diagram with cut-away view of a back ski-float.

[0070] FIG. 10 is a diagram of a mechanical hand.

[0071] FIG. 11 is a composite perspective of a mechanical hand and its corresponding control lever and actuating cables.

[0072] FIG. 12 is a side cut-away view of a phalange.

[0073] FIG. 13 is a side cutaway view of two opposed joints connected by centrally-located elevator means

[0074] FIG. 14 is a side view of a Quadra Walker in use featuring the mechanical hand in use.

DETAILED DESCRIPTION OF THE INVENTION

[0075] The essential concept of the Quadra Walker (QW) is depicted in FIG. 1. It consists of one central chassis or box of joints 200 holding two front limbs, left 110a and right 110b, and holding two back limbs, left 130a and right 130b. Said front and back limbs connect with respective front skis 120a and 120b as well as with back skis 140a and 140b. Joint box 200 is topped with contoured cushion 210 where user 10 rests on chest and belly while operating front skis with arms and back skis with legs. User 10 holds front skis 120a,b by respective grips 150 and rests forearms on cushioned respective surfaces 160; said user rests legs on back skis which feature each cushioned knee-rest 162 and foot rest 164. Front and back skis are depicted each with optional bumper wheel 180 which lifts the front end of the ski, enabling it to slide over an obstacle whenever it is encountered.

[0076] FIG. 2 is a side view of a power-assisted QW. Linear motor 300 straddles the two telescopic members of limb 110 to assist the operator in extending and contracting said limb, actions which take place during walking. Battery 320 is shown tucked just beneath joint box 200, beside brain 330 just for illustration purposes. Control panel 335 is located in front where operator can see status of operations and issue orders by touch or voice. Said control panel may be slid forward and tilted as necessary by the user. Mirror 20 is at the very front for this illustration and is position-adjustable, providing the user with a forward view while moving. Ski grip 150a doubles as a joystick; it is connected to brain 330 and provides user 10 with the alternative of overriding programmed instructions to motor 300. Joystick 150a located in front left ski can be programmed to control both front and back left skis. Likewise, the joystick located in the right front ski may control both front and back right skis.

[0077] Brain 330 is a computer programmed to control the operation of all the powered assistance means used with the QW. Brain 330, in combination with the control panel 335 and battery 320, is programmed to issue operational orders to said linear motors in accordance and in simultaneous combination with variable particulars selected by the user. These are, among others: (i) length of limbs; (ii) length of stride; (iii) frequency of stride; (iii) gait selection; (iv) selection of motor speed. The combination of length of stride and frequency of stride help determine speed, independently of the speed selected for the powered assistance.

[0078] Brain 330 is programmed to mix applications as freely as the user may select to combine them. Combining length of limbs with gait, speed and stride length provides all the versatility needed to adapt to changing landscapes. For example, a soldier in combat may first advance with extended limbs at a quick trot followed by a change of height with shorter limbs but greater frequency of stride to maintain same velocity and then slow down adopting a crawling gait, receiving power assistance on cue followed by a jump or two in saltatorial gait, avoiding exposure while trying to reach a new hiding spot.

[0079] During a sportive cross-country competition, a quick trot may be the only gait allowed while, in a different setting, a climber will need a combination of different styles of locomotion, including the use of the mechanical hand 400 described further ahead and illustrated in FIGS. 8-10. In cases where speed or frequency are of lesser importance, or when the user is trying to conserve stored battery power, power assistance may supplied on cue. In other trials, yet to be defined, limb length and shape may figure prominently in the selection of locomotion style which will respond to a specific set of computer instructions.

[0080] FIG. 3 is a QW variant, shown with central stabilizers front limb and ski 112 and back limb and ski 132 in addition to standard limbs discussed above, becoming an hexapod. Stabilizers are designed to share the load with front limbs 110 and back limbs 130, enabling the user to lift one or another ski with greater ease. Stabilizer limbs are not used for pushing or pulling, only for support.

[0081] Stabilizer skis may incorporate wheels for some applications, such as the race track. The addition of a set of wheels in direct support of the chassis or joint box 200 as shown in FIG. 5, in combination with moving limbs and stabilizers, is also contemplated for some uses.

[0082] FIG. 4 illustrates an alternative construction of the QW. In this design, the user does not operate directly on the skis but rather on equivalent support members 114 for the arms and 134 for the legslocated on the limbs but away from the skis. This construction allows the use of longer limbs, similar to walking on stilts, which may be valuable for traversing shallow rivers and bayous and a number of other grounds. Moreover, a long-limbed configuration may give way to other activities such as frog-like jumps, propelling the user farther albeit with a greater expense of energy which, however, the power-assisted version may actually compensate.

[0083] FIG. 5 illustrates the use of a support wheel 460 located below chassis box 200. Wheel 460 is connected to said chassis box with retractable arm 462 having adequate shock absorption means 464 such as springs and the like. Wheel brakes, not shown, are actuated with lever 466 located at the front end of the skis, connecting with the wheel with cables or hydraulic means. Similar in function and purpose to the stabilizers of FIG. 3 described above, the support wheel provides direct support to user who continues to use four limbs for propelling, stopping and balancing actions. Balance on the wheel may be attained with practice for coasting down suitable tracks.

[0084] FIGS. 6 and 7 illustrate basic features of front and back skis. FIG. 6 is a side view of front left ski 120a connected at mid-length to front limb 110a. The ski consists of slat 125 as the main body part topped with cushion 160 on deck 128 and hand grip 150.

[0085] Optional ski features will be added or discarded in accordance with ground characteristics. For irregular ground, bumper wheel 180 located at the front end of the ski, is employed to roll over obstacles. Pliable front slat section 185 comprises spring and hinge 188 which, combined with bumper wheel 180, provide instant adjustment to bumps along a track.

[0086] In FIG. 7, back ski 140 resembles the front ski in most features, but is specifically adapted to be operated by the leg and foot. Knee rest 160 on deck, foot rest 164 at the back of the ski, and strap 30, help secure the leg in place during use.

[0087] FIG. 8 depicts left front float 122a in a cut-away view. The main body mass of the float (or ski-float), depicted with hatchings, is provided for flotation. Floats used with the QW enable the user to walk on water. The ski-float features cushioned deck 129, grip 150, oars 123 and front limb 110a connected at or near the center, lengthwise, of the ski-float. Oars 123 are shown eight in number and in a closed or sliding position. Number and size of oars may vary according to new designs and said oars may be placed differently, all falling within the scope of this invention. Oars depicted in this illustration are placed below deck, lengthwise, in-between two elongated portions of body mass, portions which define a central channel in the shape of an inverted U designed to allow the float to slide ahead while slowing down sideward motion.

[0088] In use, the float sinks to a predetermined level which places oars 123 just below water level. When the float is pushed backward, oars 123 are pushed open by the water entering the open space defined between oar and body mass. Oar 123 is kept in a closed position by an associated spring (not shown), turning on pivot 131 when pushed open (downward) by the flow of water. Open oars provide traction, as shown in FIG. 9, allowing the user to move ahead by pushing backward. When the float is no longer pushing backward, and when it travels forward, oars 123 close (folding upward) providing a smooth surface which allows the ski to slide easily.

[0089] FIG. 9 is an illustration of the back float. Oars 123 are shown in the open position between sidewalls. In this illustration right-side sidewall 124 is shown to be a continuation of the body mass which includes deck 128 on which knee rest 160 is attached. Foot rest 164 is located at the back end of the ski-float and is a continuous part of the body mass. Back limb 130 connects with float deck at approximately mid-way between fore and aft.

[0090] FIG. 10 is an upper view of mechanical hand 400 having four long phalanges 405 of about the same length fanning out frontally and two smaller side phalanges 404, one at each side and all held together at carpal box 415. Optional bridge 433 joins and reinforces the phalanges. Phalanges 405 may be more or less in number as well as longer, shorter or more robust for heavy duty.

[0091] Phalange sections as shown in FIGS. 10 and 12 turn on pivot junctions 410 where integral springs 412 push sections back into an extended position. Cables 420 running along tunnel 425, through carpal guides 428 and then through section guides 429 inside the phalange, pull phalanges 405 into a closed, clasping position when activated with lever 430, shown in FIG. 11.

[0092] FIG. 11 is a depiction of mechanical hand 400 in a perspective view as connected to remote lever 430 by way of cables 420. Lever 430 is mechanically connected to pulleys 432 on which cables 420 coil.

[0093] Field experience will tell whether it is better to have all phalanges 404 and 405 closing simultaneously when clasping an object or whether another sequence is preferable. For some uses it may be better to have the central phalanges set to initiate the clasping action, closely followed by the remaining phalanges. In the electrical and hydraulic versions of hand 400 disclosed farther ahead, power applied to each phalange may be calibrated and rate of clasping action customized as well. Simultaneous closing of all phalanges could have the negative effect of putting side phalanges in the way of larger phalanges when closing on the object being grasped.

[0094] In this illustration, there is one cable per phalange. The rate at which each cable is pulled is the rate at which each phalange closes, rate which is ultimately determined by the diameter of its corresponding pulley. In FIG. 11, for the purpose of illustrating a convenient modality, the two central pulleys are shown to be of a larger diameter than the four side pulleys. When lever 430 is tilted backward, all cables leading to the hand are stretched tight; since all pulleys 432 are held together as a single unit, they all rotate simultaneously but larger pulleys pull more cable than smaller ones. In this way, phalanges connected to bigger pulleys will clasp faster and farther than phalanges connected to smaller pulleys. Clasping action may be regulated differently when using electric, hydraulic or pneumatic means.

[0095] FIG. 12 is a cutaway view of a single long phalange 405 consisting of distal section 406, intermediate section 407, proximal section 408 and metacarpal section 409 joining with carpal box 415. Sections are held together, and turn on, pivot junctions 410, providing articulation to the phalange. Cable 420 runs through section guides 429 located at each phalange section, beginning with distal section 406 where lock 413 secures the end of said cable. Spring 412 located at each said junction pushes sections back into extended position when cable 420 eases tension.

[0096] In FIG. 10 small phalange 404 is depicted with only two sections, skipping the proximal section of the long phalanges. As with the long phalanges, this depiction is meant only for illustration purposes. Phalanges may be longer or shorter and each may have more or less sections, all within scope of this invention.

[0097] The sections of phalange 405 show a particular distribution of claws which may vary in other designs, according to intended use and to field experience developed therewith. Phalanges may be made without claws and with any type of material and in any given shape that will provide the type of grip desired.

[0098] In FIG. 12, distal section 406 has one big foremost claw followed by a smaller one. The same pattern of claws is followed with the intermediate 407, proximal 408 and metacarpal 409 sections. In this particular construction, secondary claws are made smaller to keep them from obstructing the clasping action of the closing phalange. Carpal box 415 shows a serrated lower surface designed to engage and hold, preventing slippage, on a hard surface.

[0099] Mechanical hand 400 of FIGS. 10, 11 and 12 is essentially the illustration of the manual version which is wholly powered and operated by the strength and actions of the user. The torque resulting from the power applied by lever 430 to pulleys 432 provides all the power needed to operate phalanges 404 and 405. Mechanical hand operation, however, may be power assisted with electrical power means and may employ hydraulic or pneumatic means for delivering said power assistance, which are also contemplated in this invention.

[0100] Using battery 320 as an electrical power source, it is possible to provide powered assistance to the operation of hand 400. In one instance, power may be supplied on cue directly to lever 430 and pulleys 432 unit by an electric motor, not shown, to supplement the physical effort of the user. Power is regulated to any desired degree of assistance, from low to full force. In another embodiment using battery 320 or similar as a power source, solenoids or linear actuators may be employed to power every cable 420 under conditions controlled by the user. A desirable location for the solenoids is the carpal section between guides 428 and tunnel 425, with the provision of proper spacing.

[0101] Hand 400 may be operated with hydraulic means as well. The hydraulic model consists of a master cylinder, operated with lever 430, connected to slave cylinders located in the carpal section of the hand. Each slave cylinder is connected to its corresponding phalange 405 by means of its corresponding cable 420. Carpal box 415 may be made longer and/or wider to accommodate all the slave cylinders needed for the operation of the phalanges, especially in the case where every phalange is connected to its own calibrated slave cylinder. When two or more phalanges share the same timing, distance and velocity of clasping, it is possible to combine the use of one cylinder for several phalanges by varying the force and displacement applied to said individual slave cylinder.

[0102] FIG. 13 is a cutaway side view of joint assembly 220, of which two opposing units are illustrated with elevator 232 in-between both. Each said assembly consists of turntable 223 and base 222. Turntable 223 has a cavity for securing limb 110 tightly in place and a lower shaft portion 221 for rotation inside base 222 movably supported with thrust bearing 224 and bushing 226. Lock ring 228 keeps shaft in place. At one end, base 222 rests on hinge 230 and at its other end engages with the cavity of elevator 232.

[0103] During the motions of walking, limb 110 held in turntable 223 oscillates back and forth within an angle of about 60 degrees, which may vary in accordance with the length of the stride. Turntable 223 may oscillate more than 60 degrees if necessary and the range may be reduced or checked as well with the addition of fixable stops (not shown).

[0104] Elevator 232 of FIG. 13 engages with the base 222 of each one of four joint assemblies located inside joint box 200. Elevator 232 has four side cavities, each one set for engaging a corresponding end of base 222. Elevator 232 goes up or down by turning integral threaded stud 233 held at the base of the chassis box by an appropriately fixed nut.

[0105] When joint assembly 220 is pushed up or down by elevator 232, it turns on its hinge 230, changing the angle at which it is held. This action changes the angle of limb 110 as well, which changes the height of the entire joint box 200, and therefore, the height of the QW as well. Height of the QW, then, reaches its top operating height when joint 220 tilts on hinge 230 at an approximate angle of 45 degrees or so, and its lowest height when joint hinge 230 is closed, at 0 degrees of inclination, as shown in this illustration. Joint characteristics may vary according to design and so QW height adjustment means will reflect these variations as well, all within scope of this invention.

[0106] FIG. 14 illustrates the QW model used for climbing rocky slopes. User 10 rests on cushion 160 atop joint box 200, holds front ski 120 and is strapped to back ski 140. User holds on to lever or joystick 430 which doubles as a grip for activating mechanical hand 400 located at the front end of ski 120, obtaining a firm hold on the rock ahead. Talons 190 located at back end of front and back skis dig into ground or hold onto rock, anchoring user 10 to the slope.