Body weight support walking exercise device

Abstract

The body weight-supported walking exercise device (10) includes a frame (11) mounted on wheels (12) for walking exercise movement. The frame (11) has opposite left and right sides (20, 21) and a harness (91) for supporting a user (90) between the left and right sides (20, 21). Relief assemblies (13, 14) are carried on each of the left and right sides (20, 21), and each of the relief assemblies (13, 14) includes a sprung arm (50) having a fixed end (53) fixed to the respective left and right side (20, 21) and an opposing free end (54). Each of the assemblies (13, 14) further includes a cam assembly (51) attached to the free end (54) of the sprung arm (50), and a tether (52) routed through the cam assembly (51) and extending to the harness (91). The relief assemblies (13, 14) each exert an independent relief force on the harness (91) relative to the frame (11). TIFF2023511487000002.tif174134

Description

Technical Field

[0001] Cross-Reference to Related Applications This application claims the benefit of U.S. Provisional Application No. 62 / 967,011, filed Jan. 28, 2020, which is incorporated herein by reference.

[0002] Field This specification generally relates to walking exercise equipment, and more particularly to rehabilitation, treatment, and training equipment for walking exercise.

Background Art

[0003] Background Walking is a fundamental aspect of human life. However, there are also people for whom movement can be difficult, harmful, or impossible. There are various reasons why a person may experience partial or complete movement restrictions, such as orthopedic conditions, neurological disorders, reduced motor function, accidents, injuries, diseases, and physical disabilities. Continuing to move, or even attempting to move, can cause discomfort or injury.

[0004] Some people may be injured or overweight but need exercise to become healthier. Some rehabilitation facilities have sophisticated systems for partially supporting the weight of such patients, so that the patients can exercise to become healthier. The patient wears a harness attached to a mobile pulley that travels on a track installed on the ceiling. Such systems are complex, require assistance from a physical therapist, are very expensive, and thus have limited availability to patients. Some of these systems provide a spring-based lifting force that changes as the user moves and displaces the spring. Others have advanced sensing technologies that monitor the patient's movement and then adjust the lifting force to provide a certain weight relief for the patient.

[0005] In some cases, movement may be possible, and indeed easy, but nevertheless, individuals wish to reduce the risk of injury from such movements. For example, athletes often need to train for long periods at considerable intensity. Athletes must balance the benefits of high-intensity training with the increased risk of injury. Competitive athletes, after all, can suffer serious physical and mental impairment even from minor injuries. There are various assistive devices to reduce the likelihood of injury during exercise. For example, runners can use buoyancy devices and run in water. Alternatively, runners can run on a treadmill with the zippers fastened on a compression bag that is slightly elevated from the treadmill deck, thereby reducing the impact on their feet.

[0006] Physical therapists often have other devices that support users by suspending them from above while they are moving. For example, there are devices that can be placed above or on a treadmill and typically include a harness, hooks, or special clothing that partially lifts the patient while they are walking or running on the treadmill. These devices apply an upward force to the patient to reduce the impact while they are moving.

[0007] Naturally, all of these solutions lack freedom of movement. Users are limited to predetermined paths set on a pool, treadmill, or track installed in the ceiling. Such individuals cannot use any of these, for example, to walk to the bathroom or the neighborhood.

[0008] Furthermore, and more seriously, each alters the normal movement patterns during walking and running. Harnesses suspended from ceiling-mounted tracks generally support the user in a single position, usually above the head or near the center of the back. They may also lift the user on both sides of the waist. In both configurations, the harness restricts the normal movement of the upper body during walking. The user may experience the same upward lift on one side of the body as on the other side. In other words, the left and right sides of the user are lifted equally and simultaneously. However, in normal walking and running, the force along the left side of the body is independent of the force along the right side of the body. Such systems fail to take these differences into account and may exercise muscles different from those used in normal running and walking, thereby potentially leading to inappropriate or prolonged rehabilitation, treatment, or training.

[0009] Furthermore, these systems exercise muscles different from those used in normal walking and running, potentially leading to inadequate or prolonged rehabilitation, treatment, or training. The use of these devices in rehabilitation, treatment, or training may not mimic real movement and could lead to inadequate recovery. Improved solutions are needed. [Overview of the project]

[0010] overview In one embodiment, a weight-bearing-relieving walking exercise device includes a frame mounted on wheels for walking motion. The frame has opposing left and right sides, and a harness supports the user between these left and right sides. A weight-bearing-relieving assembly is carried on each of the left and right sides, and each weight-bearing-relieving assembly includes a sprung arm having a fixed end fixed to each left and right side and an opposing free end. Each assembly further includes a cam assembly attached to the free end of the sprung arm and a tether fed through the cam assembly and extending to the harness. Thus, each weight-bearing-relieving assembly exerts an independent weight-bearing-relieving force on the harness relative to the frame, promoting natural movement and allowing independent weight-bearing relief on the left and right sides of the body during such natural movement.

[0011] In another embodiment, a weight-bearing-relieving walking exercise device includes a frame for supporting the movement of walking. The frame has opposing left and right sides, and a harness supports the user between these left and right sides. A weight-bearing-relieving assembly is carried on each of the left and right sides. Each weight-bearing-relieving assembly includes: a spring having a first end fixed to each left and right side and an opposing second end; a cam assembly; and a tether, which is fed through the cam assembly and extends to the harness. The cable is fed through the cam assembly and extends to an anchor on the frame and to one of the second ends of the spring. Each weight-bearing-relieving assembly exerts a weight-bearing-relieving force on the harness that is independent of the frame.

[0012] The above provides the reader with a very brief overview of some of the embodiments described below. The overview is simplified and abbreviated, and is not intended to limit or define the disclosure in any way. Rather, this brief overview merely introduces the reader to some aspects of some of the embodiments in preparation for the detailed description below. [Brief explanation of the drawing]

[0013] Refer to the following drawing: [Figure 1] These are front perspective and side views of a weight-bearing-relieving walking exercise device. [Figure 2] Refer to the explanation in Figure 1. [Figure 3] Figure 3A is an enlarged side view of a weight-bearing gaiter with the panel removed, exposing the weight-bearing support assembly mounted on it. Figure 3B is a thin cross-sectional view of the weight-bearing gaiter and the weight-bearing support assembly mounted on it, along line 3-3 in Figure 1. [Figure 4A] Figure 4A is a cross-sectional view along line 4-4 in Figure 2, showing a pulley cassette on a weight-bearing-relieving walking exercise device. [Figure 4B] This is an enlarged rear perspective view of one side of the pulley cassette. [Figure 4C] See the explanation in Figure 4B. [Figure 5] This is an enlarged schematic diagram showing an alternative embodiment of the load-relieving assembly. [Figure 6] Refer to the explanation in Figure 5. [Figure 7] Refer to the explanation in Figure 5. [Modes for carrying out the invention]

[0014] Detailed explanation Drawings are referenced here, where the same reference numerals are used across different drawings to indicate the same elements. In short, the embodiments presented herein are preferred exemplary embodiments and are not intended to limit the scope, applicability, or configuration of all possible embodiments, but rather to provide a possible description of all possible embodiments within the scope and spirit of this specification. Descriptions of these preferred embodiments are generally made with reference to the drawings in which the description is made, and are made using verbs such as "is and are" rather than "may, could" or "includes, comprises." Those skilled in the art will understand that modifications can be made to the structure, arrangement, number, and function of elements and features without departing from the scope and spirit of this specification. Furthermore, the description may omit certain information readily known to those skilled in the art to avoid confusion in the description of details not necessary for enabling the specification. In fact, the notation used herein is meant to be readable and informative, rather than descriptive or limiting. Therefore, the scope and spirit of this specification should not be limited by the following description and its choice of language.

[0015] Figures 1 and 2 are a front perspective view and a right side view of a weight-bearing relief walking exercise device 10 (hereinafter referred to as "device 10") for support during movement, regardless of the different independent movements of both sides of the body. Device 10 provides independent left and right lateral support close to the user's waist to assist the user's self-propelled walking movements. Device 10 includes an assembled frame 11, four wheels 12, and weight-bearing assemblies 13 and 14 mounted on the frame 11. The weight-bearing assemblies 13 and 14 are hidden in Figures 1 and 2 by panels 15 mounted on the frame 11, but are much more visible in Figures 3A and 3B. As shown in Figure 1, the weight-bearing assemblies 13 and 14 are connected to a harness worn by the user and work to lift or relieve a portion of the user's weight on the left and right sides of the user's body.

[0016] Device 10 generally has an upper part 16, an opposing bottom part 17, a front part 18, and an opposing rear part 19. The word "generally" is used here to indicate the general area of device 10, rather than specific points, elements, features, etc. Further, the description herein may be made with respect to the relative directions or orientations regarding these terms of upper part, bottom part, front part, and rear part, and the description can show the arrangement of multiple elements or features relative to each other in contexts such as above, below, front, and rear, depending on the reader's understanding of upper part 16, bottom part 17, front part 18, and rear part 19 for context reference.

[0017] Frame 11 includes the same left and right sides 20 and 21 that are firmly connected to each other by a top tube 22 and a bottom tube 23. Since the left and right sides 20 and 21 of frame 11 are the same, the description will be made here for only one of them with the understanding that it equally applies to the other. The same reference numerals are used for the structural elements and features of both the left and right sides 20 and 21, and the reader will understand that the relevant context or wording of the description conveys whether the description is for the left side 20 or the right side 21.

[0018] The right side 21 includes a main tube 24 that extends substantially diagonally from the bottom part 17 and the rear part 19 of device 10 to the bottom tube 23 of frame 11 that is approximately midway between the upper part 16 and the bottom part 17 of device 10 and is close to the front part 18. The main tube 24 has a rectangular cross-section, is hollow, and has thin, strong, durable but lightweight sidewalls composed of a material or combination of materials having those properties such as steel, aluminum, titanium, or carbon fiber. Other suitable structural materials and cross-sections are included within the scope of this description.

[0019] The main tube 24 is connected to a vertical tube or housing 25 that rises from the main tube 24 near the rear part 19 of device 10. The housing 25 is cylindrical but hollow like the main tube 24. The housing 25 holds a part of the load-relieving assembly as will be described later.

[0020] The front tube 26 extends obliquely downward on the opposite side of the main tube 24. The front tube 26 has an upper section that is substantially horizontal but not perfectly so, an oblique long central section, and a lower section that is substantially vertical. The upper rear part of the front tube 26 is connected to the upper part of the housing 25, and the center of the front tube 26 is connected to the front part of the main tube 24. Similar to the main tube 24, the front tube 26 preferably has a rectangular cross-section, is hollow, and is composed of a material or combination of materials having those properties such as steel, aluminum, titanium, or carbon fiber, and has thin, strong, durable but lightweight side walls.

[0021] The bottoms of the main tube 24 and the front tube 26 are substantially vertical. The bottom of the front tube 26 is open to receive the post 30. The wheel 12 is attached to the post 30 for rotational and swivel movement so that the device 10 can be moved in a desired direction. A series of holes 31 spaced vertically are formed in the post 30, and an adjustment knob 32 is screwed into one of the multiple holes 31 through the bottom of the front tube 26. The knob 32 enables vertical adjustment of the post 30 and changes the height of the device 10 at the front 18. The knob 32 can be loosened or released from the front tube 26, the post 30 can be slid up and down, and then the knob 32 can be tightened or re-engaged with the front tube 26.

[0022] The bottom of the main tube 24 has a series of vertically spaced holes 33 formed through it. These holes 33 receive the axles 34 of each wheel 12 at the rear 19 of the device 10. The height of the device 10 at the rear 19 can be adjusted by moving the axles 34 into one of the holes 33. The axles 34 are secured from the wheel 12 by pins 35, such as cotter pins or other suitable engages, which are positioned through the axles 34 on the opposite side of the main tube 24. The wheels 12 at the rear 19 are preferably mounted for rotational motion but not for slewing motion.

[0023] The left and right sides 20 and 21 of the frame 11 are connected by the top tube 22 and the bottom tube 23. The top tube 22 is a U-shaped bent rigid tube having a straight front section and two side sections or legs angled approximately 90 degrees to the front section. These legs are securely engaged with the upper sections of the front tube 26 on both the left and right sides 20 and 21 by screwing, bolting, welding, or other means. Similarly, the bottom tube 23 is a U-shaped bent rigid tube having a straight front section and two side sections or legs angled approximately 90 degrees to the front section. These legs are securely engaged with the upper sections of the main tube 24 on both the left and right sides 20 and 21 by screwing, bolting, welding, or other means.

[0024] When a user uses the device 10, the user stands, walks, or runs between the top tube and bottom tubes 22 and 23, and the left and right sides 20 and 21, as shown in Figure 1. Thus, the top tube 22, together with the left and right sides 20 and 21 and the bottom tube 23, defines a user-receiving area 36 accessible from the rear 19 of the device 10.

[0025] The handlebar 40 extends forward from the upper part 16 of the device 10. A cylindrical sleeve 41 is mounted along the upper section of the front tube 26. The sleeve 41 is hollow, with its rear end fixed to the upper part of the housing 25 and its front end open. A series of horizontally spaced holes 42 are formed on the outside of the sleeve 41. An adjustment knob 43 is screwed into the holes 42, allowing for horizontal adjustment of the handlebar 40 and changing the user's reach when using the device 10. The knob 43 may be loosened or released from the sleeve 41, allowing the handlebar 40 to slide in or out of the sleeve, and then the knob 43 is tightened or re-engaged in the sleeve 41.

[0026] The handlebar 40 is curved in several different directions. The rear of the handlebar 40 is straight so that it can be fitted into the sleeve 41. The handlebar 40 has a length such that it extends forward beyond the upper section of the front tube 26, as shown in Figure 1. The handlebar 40 then bends inward over a short section, and then bends upward over a short section. Other configurations of the handlebar 40 are also appropriate.

[0027] The handlebar 40 is hollow and has thin, strong, durable, yet lightweight side walls made of a material or combination of materials having the properties of steel, aluminum, titanium, or carbon fiber. When the user is positioned in the user receiving area 36 and operating the device 10, the user can easily reach out and hold the handlebar 40 and grip any part of it so as not to strain in order to stabilize the device 10 and assist in its movement and steering.

[0028] Figures 3A and 3B show the right side 21 of the frame 11. In Figure 3A, panel 15 has been removed so that the load-relieving assembly 14 is visible. Figure 3B is a cross-sectional view along line 3-3 in Figure 1, slightly inside the frame 11, so that panel 15 is not visible and the frame 11 is partially cut. Load-relieving assemblies 13 and 14 are supported on the frame 11 and are partially inside the frame 11. Load-relieving assembly 13 is on the left side 20 and load-relieving assembly 14 is on the right side 21. Again, as described above with respect to the left and right sides 20 and 21, since the load-relieving assemblies 13 and 14 shown here are identical, we will describe only the load-relieving assembly 14 on the right side 21 here, with the understanding that the description applies equally to the other side. The same reference numerals are also applicable to the load-relieving assembly 14 on the left side 20. However, it should be understood that load-relieving assemblies 13 and 14 do not need to be identical, and this description should not be limited in that way. In fact, in some embodiments, it may be desirable to have different load-relieving assemblies. For example, if a user is suffering from asymmetrical weakness, the device 10 may be equipped with intentionally different load-bearing assemblies 13 and 14 having different bending, loading, and other performance characteristics. For example, in the case of a patient recovering from a stroke, it may be advantageous to provide more load-bearing force to the side of the patient's body that is more severely affected by the stroke, and less load-bearing force to the other side. Nevertheless, for the purpose of explanation relating to the drawings, these particular load-bearing assemblies 13 and 14 are identical.

[0029] The load-relieving assembly 14 includes a leaf spring 50, a stacked cam assembly 51 on the leaf spring 50, a cable or tether 52 that runs through the stacked cam assembly 51, and a series of pulleys attached to the frame 11.

[0030] The leaf spring 50 is a sprung arm, a lightweight, compact, elastic, elongated leaf spring member having a first fixed end 53 and a second free end 54. The fixed end 53 is fixed within a sleeve attached to a block 55 having an inclined surface 56. An adjustment knob 57 enters a threaded hole 58 in the block 55 through a hole in the fixed end. This allows the adjustment knob 57 to be screwed into the block 55 and tightened and loosened to change the spring force of the leaf spring 50. For a smaller spring force, the adjustment knob 57 is loosened, retracting from the bore 58 and allowing the fixed end 53 to rise slightly away from the inclined surface 56 of the block 55. For a larger spring force, the adjustment knob 57 is tightened into the bore 58, holding the fixed end 53 close to the inclined surface 56 of the block 55. The adjustment knob 57 is a means for adjusting the spring force of the leaf spring 50. In other embodiments, the adjustment knob 57 may be an electrical, electromechanical, or electromagnetic adjustment device, or an adjustable bolt, or any other means for changing the spring force.

[0031] In fact, the leaf spring 50 acts as a spring. It is mounted in a horizontal configuration. In this horizontal configuration, the free end 54 is above and behind the fixed end 53, and moves between a first “unloaded” position, as shown in Figure 3A, where the free end 54 is in a high position above the fixed end 53, and a second loaded position, as shown in Figure 3B, where the free end 54 is in a low position closer to the main tube 24. This movement is indicated by the curved double arrow line A in Figure 3B. This moves towards the loaded position as weight is applied to the harness on the right side 21, for example, by the user walking and pulling the leaf spring 50 downward via the tether 52. In response, the leaf spring 50 exerts a biasing force in the opposite direction to the pull of gravity, translating the body vertically downward during walking motion. The leaf spring 50 acts to pull the tether 52 back. Other horizontal configurations are also possible and may be appropriate, including configurations that are inverted vertically or horizontally from the configuration described above. However, a horizontal configuration is generally defined as one in which the spring (in this case, the spring arm 50) extends horizontally.

[0032] Thus, the leaf spring 50 is simply a spring that exerts a biasing force that counteracts displacement, such as extension or compression of the spring. In this sense, other springs such as coil springs, air springs, and torsion springs may also be suitable. The leaf spring 50 has a nonlinear force-displacement curve such that the force required to displace the leaf spring 50 increases as the displacement increases. For larger displacements, a greater force is required to displace the free end 54 by the same amount. The leaf spring 50 generates a biasing force toward the front 18 of the device 10 against its curvature. Therefore, when the user is moving forward, this forward bias also helps to move the device 10 forward.

[0033] The stacked cam assembly 51 is mounted to the free end 54 for rotation. The stacked cam assembly 51 includes outer and inner cams 60 and 61 arranged side by side on the free end 54. Both cams 60 and 61 are mounted to rotate relative to each other about the same axis of rotation, but the cams 60 and 61 are fixed to each other to prevent relative rotation.

[0034] The outer cam 60 is larger, and the inner cam 61 is smaller. Both cams 60 and 61 are eccentric bodies with different contours or shapes. The axes of rotation of both cams are offset from the respective geometric centers of both cams so that when both cams rotate, the lever arms of both cams change, and the ratio of their respective lever arms changes. In this way, with the tether 52 wrapped around the outer cam 61 and the tether 62 wrapped around the inner cam 60 in grooves formed therein, the leaf spring 50 and the cam assembly 51 together form a constant force displacement system. In other words, beyond a predetermined pre-loaded displacement, additional displacement does not significantly change the force required for continuous displacement. This will be explained in more detail below. Furthermore, other embodiments of the device 10 use different combinations of cams, including assemblies with three or more cams, cams of different sizes than those presented herein, and cams of similar sizes.

[0035] Another tether, an inelastic anchor cable 62, connects the inner cam 61 and the tie-down 63. This anchor cable 62 is part of the load-relieving assembly 14. The tie-down 63 is an anchor that prevents the end of the anchor cable 62 attached to it from moving. The other end of the anchor cable 62 is fixed to the inner cam 61. A pulley assembly, including three pulleys 64, 65, and 66, is mounted on the upper part of the main tube 24. One end of the anchor cable 62 is fixed to the upper front part of the inner cam 61 and is in a groove within it before extending downward to the pulley 64. As the inner cam 61 rotates, the anchor cable 62 wraps around the inner cam 61, effectively shortening the anchor cable 62 and causing the leaf spring 50 to flex toward the load position. The length of the anchor cable 62 can be adjusted with the tie-down 63 to increase or decrease the preload on the leaf spring 50.

[0036] The tether 52 has an opposite orientation on the larger outer cam 60. The tether 52 has two ends. One end of the tether 52 is fixed to the front side of the cam 60. This end is wrapped around the top of the cam 60 in a different direction from the anchor cable 62, thereby fixing it to the front side of the cam 60, and then extending on and around the cam 60. From there, the tether 52 extends downward to the pulleys 65 and 66. The pulley 66 is partially mounted inside the housing 25. When the tether 52 passes under the pulley 65, the tether is reoriented from nearly vertical to nearly horizontal, and when the tether 52 passes under the pulley 66, the tether is reoriented from nearly horizontal to nearly vertical inside the hollow housing 25.

[0037] The three pulleys 64, 65, and 66 have parallel axes and each spins in the same direction. All three pulleys 64, 65, and 66 are mounted close to each other in the same plane along the main tube 24, thereby acting only to reorient the anchor cable 62 or tether 52 in a new direction along that plane. However, the tether 52 rises from pulley 66 inside the housing 25 to a different set of pulleys that orient the tether 52 for attachment to the harness.

[0038] Figures 4A–4C show the pulley cassette 70, including these other pulleys 71, 72, and 73 that reorient the tether 52. The pulley cassette 70 is part of the load-relieving assembly 13 (or 14) and is mounted for oscillating motion within the housing 25 of the frame 11, and includes an outer housing 74 having an inner 75 and an opposing outer 76. The outer 76 is oriented inward into the user-receiving area 36, ​​away from the frame 11. The inner 75 is partially supported within the housing 25. Close to the top 16, the housing 25 has a large open window 80. Within this window 80, the pulley cassette 70 oscillates back and forth. Two discs 81 and 82 are fixed within the housing 25. Disc 81 is close to the top 16, and disc 82 is slightly below. A pin 83 extends coaxially between discs 81 and 82. A leaf bearing a knuckle 84 is fixed to the inside 75 of the pulley cassette 70. The knuckle 84 has a vertical bore loosely attached to a pin 83. This causes the knuckle 84 to pivot around the pin 83, and the pulley cassette 70 to oscillate with the knuckle between a forward position (shown as a dashed line in Figure 4C) and a backward position (shown as a solid line) along the double-arrow arc line B in Figure 4C. Although Figure 4C shows a wide range of angular motion, preferably the pulley cassette is limited to oscillating more than 30 degrees forward or backward from the neutral position shown in Figures 4A and 4B.

[0039] Within the housing 74 are three axles on which pulleys 71, 72, and 73 are mounted for rotational motion. When the pulley cassette 70 is in the neutral position shown in Figures 4A and 4B, these pulleys 71, 72, and 73 are mounted perpendicularly offset from pulleys 64, 65, and 66. The tether 52 extends upward from pulley 66 through the inside of the housing 25, passing over the first pulley 71, then under the second pulley 72, and then again over the third pulley 73. A hole 85 is formed through the outside 76 of the housing 74, and a reinforcing bracket mounted outside the hole 85 has a corresponding hole. A fastener 87 is secured to the tether 52 to prevent it from being pulled further into the pulley cassette 70 than desired.

[0040] During operation, the user uses the device 10 to assist with walking movements. The device 10 is useful for physiotherapy, rehabilitation, and exercise training. Returning to Figure 1, a user 90 using the device 10 is shown in the user receiving area 36. The user is wearing a harness 91. Any suitable harness 91 can be used, and this harness 91 includes: an adjustable waist belt 92; adjustable thigh straps 93; adjustable knee straps 94; and outer or lateral straps 95 on both sides of the harness 91 that non-elastically connect the waist belt 92, thigh straps 93, and knee straps 94. In Figure 1, tethers 52 from both the weight-bearing assemblies 13 and 14 are shown attached directly to the waist belt 92. The tethers 52 are preferably attached at a point of height in the area between the hip and waist. In other embodiments, the tethers 52 can be terminated with a clip such as a carabiner for attaching to a loop on the waist belt 92. The tethers 52 are attached to both sides of the waist belt 92 directly above the hip joint. In this way, each tether 52 acts independently on each side of the body.

[0041] The harness 91 connects the user 90 to the device 10. When the user 90 walks, the hip joints move up and down. In normal walking motion, when the left leg is moved forward, the left hip joint rises slightly, the right hip joint descends slightly, and the pelvis rotates slightly. When this happens, on the left side 20, the cassette pulley 70 swings slightly forward, the tether 52 retracts (until it is restricted by the fastener 87 encountering the bracket 86), and the leaf spring 50 flexes slightly toward its load-bearing position. The force exerted by the leaf spring 50 is forward, which helps to move the device 10 slightly forward. At the same time, on the right side 21, the cassette pulley 70 swings slightly backward, and the tether 52 extends to correspond to the descent of the right hip joint and the rotation of the pelvis. This causes the tether 52 to be pulled through the pulley cassette 70 and through the pulleys 64, 65, and 66, thereby rotating the cam assembly 51 and causing the leaf spring 50 to deflect more. The leaf springs 50 on the left and right sides 20 and 21 independently bias the tether 52 on each side. Accordingly, the user 90 feels at least partially weight-bearing relief on both the left and right sides of their body. Furthermore, since the weight-bearing relief assemblies 13 and 14 are each independently constant-force displacement systems rather than simple spring force or exponential force displacement systems, the user 90 experiences constant or consistent weight-bearing relief regardless of the degree of displacement on either side. In other words, the weight-bearing relief experienced is constant whether the user 90 raises their right hip or lowers their right hip a little or a lot. In other words, if the user lowers their right hip a considerable distance, the user does not experience proportionally large weight-bearing relief. For example, the device 10 can be set to provide a constant weight-bearing relief of 50 pounds. When the user lowers their hip joint slightly, they will feel a 50-pound weight-bearing relief. Even when the user lowers their hip joint significantly, they will still feel the same 50-pound weight-bearing relief.

[0042] Furthermore, because the load-bearing assemblies 13 and 14 are independent of each other, both sides of the user's body move independently and are allowed to move independently. In more detail, when the user 90's hip joint moves a certain distance, the tether 52 also moves this distance and unwinds from the cam 60. The anchor cable 62 is wound onto the cam 61, shortening its effective length and bending the leaf spring 50. The cam assembly 51 unwinds, and the leaf spring 50 bends more. However, because the leaf spring 50 and the cam assembly 51 work together to form a constant force displacement, the patient feels a constant upward load-bearing force on that side of the harness 91. The displacement of the tether 52, whether it is 1 inch or 6 inches, does not cause a proportional change in the upward force. Rather, the displacement does not cause an inherent change in the load-bearing force. In this way, the device 10 provides constant load-bearing relief on each side of the user's body, independently of each other.

[0043] In other embodiments, a sensor 100 located near one of the wheels 12 measures the rolling distance. A sensor 101 located somewhere along the stopper 87, or pulley cassette 70, or tether 52 also measures acceleration, and therefore force, and optionally tilt angle. Sensors 100 and 101 may each include electronic components such as a microprocessor, gyroscope, accelerometer, memory chip, and PCB. The readings from these two sensors 100 and 101 are correlated for later analysis. Physicians and physiotherapists can use this information to determine stride length, foot position and swing phase duration, velocity, work energy, and other kinematic and motor parameters of gait, and this information can be compared for each side of the body and over time to assess rehabilitation. Furthermore, in some embodiments, these sensors 100 and 101 are connected by wired or wireless data communication to a display head unit, such as a smartphone or other electronic device preferably mounted on the top tube 22, to display such information to the user 90. User 90 can switch between this information and other information by pressing a physical button or by touching the display on the head unit.

[0044] In some cases, the wheels of the device 10 can be removed. This eliminates the mobility of the device 10, but it can instead be positioned on or around the treadmill. The bottom 17 of the frame can be bolted to the treadmill using holes 31 and 33 or otherwise secured. Alternatively, a pad or cushion attached to the bottom 17 of the frame 11 can support the device 10 around the treadmill, allowing the user to walk or run on the treadmill with their weight supported as described above.

[0045] Figure 5 shows an alternative embodiment of the load-relieving assembly 13 of the device 10. The following description also applies equally to an alternative embodiment of the load-relieving assembly 14. In this embodiment, two leaf springs are used in combination. Although Figure 5 is stylized in the form of a free-body diagram, nevertheless, readers who understand the description herein will readily recognize and understand Figure 5.

[0046] The leaf spring 50 is mounted as shown in Figure 3A, with a fixed end 53 fixed to the main tube 24 and a free end 54 free. The cam assembly 51 is mounted to the free end 54 for rotation, and the anchor cable 62 is fixed to it as the tether 52 extends around the pulley 65 to the harness. However, in this embodiment, a second leaf spring 110 is used. The leaf spring 110 is also a sprung arm, which is preferably, but not necessarily, identical to the leaf spring 50 in structure, features and construction, and also includes a fixed end 111 and a free end 112. The leaf spring 110 is mounted parallel to the leaf spring 50. When the term is used herein, “parallel” is analogous to two elements in an electrical circuit and does not necessarily refer to a geometric relationship or alignment between the two leaf springs 50 and 110. Specifically, the leaf spring 50 and the cam assembly 51 are in a first position, and the second leaf spring 110 is supported in a second position. The first and second positions are different, but they are aligned with each other in a manner that is vertically offset. In this embodiment, the leaf springs 50 and 110 have the same spread, but do not necessarily have to.

[0047] The second leaf spring 110 is stacked on top of the leaf spring 50. A rigid, inelastic cable 113 restrains or connects the free end 112 of the leaf spring 110 to the free end 54 of the leaf spring 50, so that the movement of the free end 54 is immediately and directly transmitted to the free end 112. This connected arrangement increases the spring force of the leaf spring 50. The tether 52 remains wrapped around the cam assembly 51 on the leaf spring 50. By stacking the leaf springs on the frame 11 in this manner, the device 10 can relieve more of the user's weight during operation. In other embodiments, three or more leaf springs can be stacked, but this is not considered necessary except in the most demanding weight requirements.

[0048] Figure 6 shows another alternative configuration of the device 10. In Figures 3A and 3B, the load-relieving assembly 14 has a leaf spring 50 that extends rearward in the general direction and is mounted in a horizontal configuration with its free end 54 behind its fixed end 53, whereas in Figure 6, the load-relieving assembly 14 is mounted in a vertical configuration. This load-relieving assembly 14 is mounted to a vertical housing 25 rather than the horizontal upper part of the main tube 24. The leaf spring 50 is still mounted to a block 55, but the block 55 is fixed perpendicularly to the housing 25 so that the leaf spring 50 extends upward rather than rearward. The free end 54 of the leaf spring 50 is above the fixed end 53, and when the leaf spring 50 flexes, the free end 54 is displaced rearward toward the housing 25. The leaf spring 50 generates a biasing force toward the front 18 of the device 10 against its curvature. Thus, when the user is moving forward, this forward bias also helps to move the device 10 forward. Figure 6 shows the unloaded assembly 14 in the unloaded position as a solid line, and the unloaded assembly 14 moves toward the loaded position toward the housing along the double-arrow arc line C, similar to the displacement toward the loaded position shown for the horizontal configuration in Figure 3B. Other vertical configurations are also possible and may be appropriate, including configurations that are inverted vertically or horizontally from the configuration described above. However, generally, a vertical configuration is defined as one in which the spring (in this case, the spring arm 50) extends vertically. The pulleys 64, 65, and 66 are also moved to the vertical configuration, but the anchor cable 62 still passes through pulley 64 and is secured to the tie-down 63 in the housing 25. The tether 52 also passes through pulleys 65 and 66, but here it also extends through an additional pulley 120 that redirects the tether 52 upward toward the pulley cassette 70 through the housing.

[0049] Figure 7 shows yet another alternative embodiment of the load-relieving assembly 13 of the device 10, which is somewhat similar to that shown in Figure 5. The following description also applies equally to the alternative embodiment of the load-relieving assembly 14. In this embodiment, two leaf springs are used in combination. Although Figure 7 is stylized in the form of a free-body diagram, readers who understand the description herein will readily recognize and understand Figure 7.

[0050] The leaf spring 50 is mounted as shown in Figure 3A, with a fixed end 53 fixed to the main tube 24 and a free end 54 free. The cam assembly 51 is mounted to the free end 54 for rotation, and the anchor cable 62 is fixed to it as the tether 52 extends around the pulley 65 to the harness. However, in this embodiment, a second leaf spring 130 is used. The leaf spring 130 is also a sprung arm, which is preferably, but not necessarily, identical to the leaf spring 50 in structure, features and construction, and also includes a fixed end 131 and a free end 132. The leaf spring 130 is mounted parallel to the leaf spring 50, but below the main tube 24 or on the opposite side of the leaf spring 50. When the term is used herein, “parallel” is analogous to two elements in an electrical circuit and does not refer to a geometric relationship or alignment between the two leaf springs 50 and 130. Specifically, the leaf spring 50 and the cam assembly 51 are in a first position, and the second leaf spring 130 is supported in a second position. The first and second positions are different, but they are aligned with each other in a manner that is vertically offset. In this embodiment, the leaf springs 50 and 130 have the same spread, but do not necessarily have to.

[0051] The second leaf spring 130 is stacked below the leaf spring 50 and has an inverted position, so that while the leaf spring 50 is subjected to a load and bends downward, the second leaf spring 130 bends upward. An inelastic cable 133 connects the free end 132 of the leaf spring 130 to the inner cam 61 at the free end 54 of the leaf spring 50, thereby directly transmitting the rotation of the inner cam 61 to the upward movement of the free end 132 of the leaf spring 130 and the downward movement of the free end 54 of the leaf spring 50. The cable 133 passes through the bore 134 of the main tube 24. This connected arrangement increases the spring force of the load-relieving assembly beyond the spring force of the load-relieving assembly 13 or 14. The tether 52 remains wrapped around the outer cam 60 of the cam assembly 51 on the leaf spring 50. By connecting the leaf springs on the frame 11 in this way, the device 10 can relieve more weight from the user during operation. In other embodiments, three or more leaf springs can be stacked on either side of the main tube 24 and connected to one another, but this is not considered necessary except for the most demanding weight requirements.

[0052] In some embodiments, the cam assembly 51 does not need to be directly attached to the leaf spring 50, or in other words, the cam assembly 51 may be separated from the spring. For example, the leaf spring 50 in Figure 7 can be modified to be a rigid, inflexible arm 50. In this embodiment, the cam assembly 51 is simply attached to an arm 50 similar to a rigid post above the main tube 24. Thus, the arm 50 can be considered simply as part of the frame 11 or a rigid extension thereof. The cam assembly 51 is then connected to a second or free end 132 of a bendable leaf spring 130 using an inelastic cable 133, and to a harness using a tether 52. The leaf spring 130 is the only arm that moves in this configuration. As the harness descends, the tether 52 pulls and rotates the cam assembly 51, and the cable between the cam assembly 51 and the leaf spring 130 pulls and bends the leaf spring 130. This embodiment illustrates an example of a load-relieving assembly in which the cam assembly and leaf spring are separate, and the cam assembly does not need to be supported or mounted on the leaf spring. In fact, the load-relieving assembly still functions effectively as a constant-force displacement system when the cable 133 (or anchor cable 62) connects the cam assembly to the spring (such as the leaf spring 130) in one direction, and the tether 52 connects the cam assembly to the harness in the opposite direction, regardless of whether the cam assembly is attached to or detached from the spring. This alternative version in Figure 7 illustrates such a configuration. In other embodiments, the spring arm and cam assembly may be separated and not attached to each other, and the arrangement of the cam assembly and spring arm may actually be reversed, with the cam assembly 51 attached to the main tube 24 and the spring arm 50 extending away from the cam assembly 51 and attached to the main tube 24, and the anchor cable 62 connected to the tie-down 63 extending to the cam assembly 51, and then the tether 52 extending from the cam assembly 51 over the free end 54 of the leaf spring 50 and then toward the harness (possibly via the pulley assembly).

[0053] Preferred embodiments are described above in full and clearly so as to enable a person skilled in the art to understand, manufacture, and use them. A person skilled in the art will recognize that modifications to the above description can be made without departing from the spirit of this specification, and that some embodiments may include only or a subset thereof of the elements and features described. Modifications are intended to be within the scope of this specification, to the extent that they do not departing from the spirit of this specification.

Claims

1. below: a frame attached to the wheels for supporting locomotion movement, the frame having opposed left and right sides; a harness for supporting a user between the left and right sides; a relief assembly carried on each of the left and right sides, each relief assembly comprising: a sprung arm having a fixed end fixed to each of the left and right sides and an opposing free end; a cam assembly attached to the free end of the sprung arm; and A tether routed through the cam assembly and extending to the harness a load-relieving assembly comprising: Equipped with the relief assemblies each exert an independent relief force on the harness relative to the frame; A weight-bearing walking exercise device.

2. 2. The body weight support walking exercise device of claim 1, wherein the sprung arm comprises a leaf spring.

3. 2. The body weight support walking exercise device of claim 1, wherein the cam assembly comprises first and second cams of different sizes.

4. the tether is secured to the first cam and extends to the harness; a cable is secured at one end to the second cam and at an opposite end to an anchor on the frame; 4. The body weight support walking exercise device according to claim 3.

5. 4. The body weight support walking apparatus of claim 3, wherein the first and second cams are fixed to one another to prevent relative rotational movement with respect to one another.

6. The fixed end of the sprung arm is held by an adjustment means; Adjustment of the adjustment means varies the relief force exerted by each relief assembly.

2. The body weight support walking exercise device according to claim 1.

7. the sprung arms are attached to the respective left and right sides of the frame in a horizontal configuration with the free ends of the sprung arms behind the fixed ends, the free ends moving vertically between a first unloaded position and a second loaded position.

2. The body weight support walking exercise device according to claim 1.

8. the sprung arms are attached to the respective left and right sides of the frame in a vertical configuration with the free ends of the sprung arms above the fixed ends, the free ends moving horizontally between a first unloaded position and a second loaded position.

2. The body weight support walking exercise device according to claim 1.

9. The relief assembly comprises: the sprung arm and cam assembly in a first position; a second sprung arm carried at a second position vertically offset from the first position, the second sprung arm having a free end connected to the cam assembly; 2. The body weight support walking exercise device of claim 1, comprising:

10. A pulley cassette that feeds the tether from above inward and downward to the harness.

2. The body weight support walking exercise device of claim 1, further comprising:

11. 11. The body weight support walking apparatus of claim 10, wherein the pulley cassette is mounted for swinging movement within the frame.

12. below: a frame for supporting locomotion movement, the frame having opposed left and right sides; a harness for supporting a user between the left and right sides; a relief assembly carried on each of the left and right sides, each relief assembly comprising: a spring having a first end fixed to each of the left and right sides and an opposing second end; Cam Assembly, a tether routed through the cam assembly and extending to the harness; and a cable routed through the cam assembly and extending to an anchor on the frame and to one of the second ends of the springs; a load-relieving assembly comprising: Equipped with the relief assemblies each exert an independent relief force on the harness relative to the frame; A weight-bearing walking exercise device.

13. 13. The body weight support walking exercise device of claim 12, wherein the spring is a sprung arm.

14. the first end of the spring is held by an adjustment means; Adjustment of the adjustment means varies the relief force exerted by each relief assembly.

13. The body weight support walking exercise apparatus according to claim 12.

15. 13. The body weight support walking exercise device of claim 12, wherein the springs are mounted in a horizontal configuration on the respective left and right sides of the frame.

16. 13. The body weight support walking exercise device of claim 12, wherein the springs are mounted in a vertical configuration on the respective left and right sides of the frame.

17. A pulley cassette that feeds the tether from above inward and downward to the harness.

13. The body weight support walking exercise device of claim 12, further comprising:

18. 18. The body weight support walking apparatus of claim 17, wherein the pulley cassette is mounted for swinging movement within the frame.

19. 13. The body weight support walking exercise device of claim 12, wherein the cam assembly comprises first and second cams of different sizes.

20. 20. The body weight support walking apparatus of claim 19, wherein the first and second cams are fixed to one another to prevent relative rotational movement with respect to one another.

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