Weight unloading type 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 on January 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, neuropathy, 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 to partially support the weight of such patients, so that the patients can exercise to become healthier. Patients wear a harness attached to a mobile pulley that travels on a track installed on the ceiling. Such systems are complex, require assistance from physical therapists, 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 counterweight for the patient.

[0005] In some cases, it may be possible and actually easy to move, yet the individual still desires to reduce the risk of injury from such movement. For example, athletes often need to train for long hours at a fairly high intensity. Athletes balance the benefits of a large amount of training with an increased risk of injury. Competitive athletes may ultimately suffer serious physical and mental impairments even from minor injuries. There are various assistive devices for reducing the likelihood of injury during exercise. For example, a runner can use a buoyancy device and run in water. Alternatively, a runner can run on a treadmill by tightening the fastener of a pressurized bag that is slightly lifted from the treadmill deck, thereby reducing the impact of hitting the foot.

[0006] Physical therapists also often have devices that assist the user by suspending the user from above while the user is moving. For example, there are devices that can be placed on or above a treadmill and typically have a harness, hook, or special clothing that partially lifts a patient while walking or running on the treadmill. These devices apply an upward force to the patient to reduce the impact while the patient is moving.

[0007] Of course, all of these solutions lack freedom of movement. The user is limited to a predetermined path set on a pool, treadmill, or track installed on the ceiling. Such a person cannot use any of these, for example, to walk to the bathroom or the neighborhood.

[0008] Furthermore, and more seriously, each changes the normal movement patterns during walking and running. Harnesses suspended from tracks installed on the ceiling generally support the user at a single position, usually above the head or near the center of the back. They may also lift the user at both sides of the waist. In both arrangements, the harness restricts the normal movement of the upper body during walking motion. The user may experience the same upward lifting force on one side of the body as on the other side of the body. In other words, the left and right sides of the user are lifted equally and simultaneously. However, in normal walking and running, the forces along the left side of the body are different from and independent of the forces along the right side of the body. Such systems, without considering these differences, exercise different muscles than those used in normal walking and running, which can lead to inappropriate or long-term rehabilitation, treatment, or training.

[0009] Furthermore, these systems exercise different muscles than those used in normal walking and running, which can lead to inappropriate or long-term rehabilitation, treatment, or training. The use of these devices in rehabilitation, treatment, or training may not mimic real movements and can lead to inappropriate recovery. An improved solution is needed. SUMMARY OF THE INVENTION

[0010] Summary In one aspect, a weight-bearing walking exercise device includes a frame attached to wheels for the movement of the walking exercise. The frame has opposing left and right sides, and a harness supports the user between those left and right sides. The load-relieving assemblies are carried on each of the left and right sides, and each load-relieving assembly includes a spring-mounted arm having a fixed end fixed to each respective left and right side and an opposing free end. Each assembly further includes a cam assembly attached to the free end of the spring-mounted arm and passing through the cam assembly and wiredand a tether extending to the harness. Thereby, each of the unloading assemblies exerts an unloading force on the harness that is independent of the frame, promotes natural movement, and allows for independent unloading of the left and right sides of the body during such natural movement.

[0011] In another aspect, a weight unloading type walking exercise device includes a frame for supporting the movement of the walking exercise. The frame has opposing left and right sides, and the harness supports the user between those left and right sides. The unloading assemblies are carried on each of the left and right sides. Each unloading assembly includes: a spring having a first end fixed to each of the left and right sides and an opposing second end; a cam assembly; and a cable that passes through the cam assembly and wired and a tether extending to the harness. The cable passes through the cam assembly and wired and extends to one of an anchor on the frame and the second end of the spring. Each of the unloading assemblies exerts an unloading force on the harness that is independent of the frame.

[0012] [Invention 1001] as follows: A frame attached to a wheel to support the movement of walking exercise, having left and right opposing sides, the frame; A harness that supports a user between the left and right sides; A load-relieving assembly carried on each of the left and right sides, each load-relieving assembly comprising A spring-loaded arm having a fixed end fixed to each of the respective left and right sides and an opposing free end, A cam assembly attached to the free end of the spring-loaded arm, and A tether wired through the cam assembly and extending to the harness comprising a load-relieving assembly comprising each of the load-relieving assemblies exerts a load-relieving force on the harness independently of the frame, A body weight unloading type walking exercise device. [Invention 1002] The body weight unloading type walking exercise device according to Invention 1001, wherein the spring-loaded arm comprises a leaf spring. [Invention 1003] The body weight unloading type walking exercise device according to Invention 1001, wherein the cam assembly comprises first and second cams of different sizes. [Invention 1004] The tether is fixed to the first cam and extends to the harness, A cable is fixed to the second cam at one end and fixed to an anchor on the frame at the opposing end, The body weight unloading type walking exercise device according to Invention 1003. [Invention 1005] The body weight unloading type walking exercise device according to Invention 1003, wherein the first and second cams are fixed to each other to prevent relative rotational movement with respect to each other. [Invention 1006] The fixed end of the spring-loaded arm is held by an adjustment means, Adjustment of the adjustment means changes the load-relieving force exerted by each of the load-relieving assemblies, The body weight unloading type walking exercise device according to Invention 1001. [Invention 1007] The spring-loaded arm is attached to each of the left and right sides of the frame in a horizontal configuration where the free end of the spring-loaded arm is behind the fixed end, and the free end moves vertically between a first load-relieving position and a second loading position, The body weight unloading type walking exercise device according to Invention 1001. [Invention 1008] The spring-loaded arm is attached to each of the left and right sides of the frame in a vertical configuration where the free end of the spring-loaded arm is above the fixed end, and the free end moves horizontally between a first load-relieving position and a second loading position, The body weight unloading type walking exercise device according to Invention 1001. [Invention 1009] the unloading assembly the upper spring arm and cam assembly in the first position a second upper spring arm carried at a second position vertically displaced from the first position, the second upper spring arm having a free end connected to the cam assembly The weight unloading type walking exercise device 1001 of the present invention comprising [The present invention 1010] The weight unloading type walking exercise device 1001 of the present invention further comprising a pulley cassette for sending the tether upward, inward, and downward to the harness [The present invention 1011] The weight unloading type walking exercise device 1010 of the present invention, wherein the pulley cassette is attached for swinging movement within the frame [The present invention 1012] The following: A frame for supporting the movement of walking exercise, having opposing left and right sides, the frame; A harness for supporting a user between the left and right sides; An unloading assembly carried on each of the left and right sides, each unloading assembly comprising A spring having a first end fixed to each of the respective left and right sides and an opposing second end, A 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 one of the anchor on the frame and the second end of the spring An unloading assembly comprising Comprising Each of the unloading assemblies exerts an unloading force independent of the frame on the harness A weight unloading type walking exercise device [The present invention 1013] The weight unloading type walking exercise device 1012 of the present invention, wherein the spring is an upper spring arm [The present invention 1014] The first end of the spring is held by an adjusting means Adjustment of the adjusting means changes the unloading force exerted by each of the unloading assemblies The weight unloading type walking exercise device 1012 of the present invention [The present invention 1015] The weight unloading type walking exercise device 1012 of the present invention, wherein the spring is attached to each of the left and right sides of the frame in a horizontal configuration [The present invention 1016] The weight unloading type walking exercise device 1012 of the present invention, wherein the spring is attached to each of the left and right sides of the frame in a vertical configuration [The present invention 1017] The weight unloading type walking exercise device 1012 of the present invention further comprising a pulley cassette for sending the tether upward, inward, and downward to the harness [The present invention 1018] ​ ​ The weight unloading type walking exercise device of the present invention 1017, wherein the pulley set is attached for swinging movement within the frame. [The present invention 1019] The weight unloading type walking exercise device of the present invention 1012, wherein the cam assembly includes first and second cams of different sizes. [The present invention 1020] The weight unloading type walking exercise device of the present invention 1019, wherein the first and second cams are fixed to each other to prevent relative rotational movement therebetween. The above provides a very brief overview of some aspects described below. Simplifications and omissions have been made, and the overview is not intended to limit or define the present disclosure in any way. Rather, this brief overview merely introduces some readers to some aspects of some of the following detailed descriptions.

Brief Description of the Drawings

[0013] Refer to the following drawings: [Figure 1] Front perspective view and side view of a weight unloading type walking exercise device. [Figure 2] Refer to the description of FIG. 1. [Figure 3] FIG. 3A is an enlarged side view of a weight unloading type walking exercise device in which the panel is removed to expose the unloading assembly carried thereon. FIG. 3B is a cross-sectional view taken along line 3-3 of FIG. 1, in which the weight unloading type walking exercise device and the unloading assembly carried thereon are thinly cut. [Figure 4A] FIG. 4A is a cross-sectional view taken along line 4-4 of FIG. 2, showing a pulley set on a weight unloading type walking exercise device. [Figure 4B] It is an enlarged rear perspective view of one side of the pulley set. [Figure 4C] Refer to the description of FIG. 4B. [Figure 5] It is an enlarged schematic view showing an alternative embodiment of the load-relieving assembly. [Figure 6] Refer to the description of FIG. 5. [Figure 7] Refer to the description of FIG. 5.

Mode for Carrying Out the Invention

[0014] Detailed Description Referring now to the drawings, in the drawings, the same reference numerals are used throughout different drawings to indicate the same elements. Briefly, the embodiments presented in this specification are preferred exemplary embodiments and are not intended to limit the scope, applicability, or configuration of all possible embodiments. Rather, it is intended to provide possible descriptions of all possible embodiments within the scope and spirit of this specification. The description of these preferred embodiments is generally made with reference to the drawings in which the description is presented, and thus is made using verbs such as "is" and "are" rather than "may", "could", "includes", "comprises", etc. Those skilled in the art will understand that changes can be made to the structure, arrangement, number, and function of the elements and features without departing from the scope and spirit of this specification. Further, the description can omit certain information that is readily known to those skilled in the art in order to prevent confusion in the detailed description that is not necessary for implementation. In fact, the notations used in this specification are meant to be readable and informative rather than to depict and limit this specification. Therefore, the scope and spirit of this specification should not be limited by the following description and the choice of its language.

[0015] Figures 1 and 2 are a front perspective view and a right side view, respectively, of a weight - unloading walking exercise device 10 (hereinafter referred to as "device 10") for supporting a user during movement, regardless of different independent movements on both sides of the body. Device 10 provides independent left - and - right support close to the user's waist to assist the user's self - walking and walking exercise movements. Device 10 includes an assembled frame 11, four wheels 12, and weight - unloading assemblies 13 and 14 carried on the frame 11. Although the weight - unloading assemblies 13 and 14 are hidden in Figures 1 and 2 by a panel 15 carried on the frame 11, they are much more visible in Figures 3A and 3B. The weight - unloading assemblies 13 and 14 are connected to a harness worn by the user and serve to lift or unload a part of the user's body weight on the left and right sides of the user's body, as shown in Figure 1.

[0016] Device 10 generally has an upper portion 16, opposing bottom portions 17, a front portion 18, and opposing rear portions 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 in this specification may be made with respect to the relative directions or orientations of these terms: upper, bottom, front, and rear. The description can show the arrangement of multiple elements or features relative to each other in the context of up, down, front, rear, etc., and depends on the reader's understanding of the upper portion 16, bottom portions 17, front portion 18, and rear portions 19 for context reference.

[0017] Frame 11 includes identical left and right sides 20 and 21 that are rigidly connected to each other by a top tube 22 and a bottom tube 23. Since the left and right sides 20 and 21 of the frame 11 are identical, and with the understanding that the description applies equally to the other side, only one side will be described here. 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 context or wording of the relevant 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 17 and the rear 19 of the device 10 to the bottom tube 23 of the frame 11 near the front 18, approximately midway between the upper 16 and the bottom 17 of the device 10. The main tube 24 has a rectangular cross-section, is hollow, and is composed of a thin, strong, durable yet lightweight sidewall made 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 19 of the 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 diagonally downward on the opposite side of the main tube 24. The front tube 26 has an upper section that is approximately horizontal but not completely so, a long diagonal central section, and a lower section that is approximately vertical. The upper rear 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 of the main tube 24. The front tube 26, like the main tube 24, preferably has a rectangular cross-section, is hollow, and is composed of a thin, strong, durable yet lightweight sidewall made of a material or combination of materials having those properties, such as steel, aluminum, titanium, or carbon fiber, although it doesn't necessarily have to be so.

[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 swiveling movement so that the device 10 can be moved in a desired direction. A series of vertically spaced holes 31 are formed in the post 30, and an adjustment knob 32 is screwed through the bottom of the front tube 26 into one of the numerous holes 31. The knob 32 enables vertical adjustment of the post 30 and changes the height of the device 10 at the front portion 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 therethrough. These holes 33 receive the axles 34 of each wheel 12 at the rear portion 19 of the device 10. The height of the device 10 at the rear portion 19 can be adjusted by moving the axle 34 into any of the holes 33. The axle 34 is fixed by a pin 35, such as a cotter pin or other suitable engagement, disposed through the axle 34 on the opposite side of the main tube 24 from the wheel 12. The wheels 12 at the rear portion 19 are preferably attached for rotational movement, although this is not necessarily required, and are not attached for swiveling movement.

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

[0024] When the user uses the device 10, the user stands, walks, or runs behind the top and bottom tubes 22 and 23 and between the left and right sides 20 and 21 as shown in FIG. 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 portion 19 of the device 10.

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

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

[0027] The handlebar 40 is hollow and has thin, strong, durable yet lightweight sidewalls made of a material or combination of materials having those properties, such as steel, aluminum, titanium, or carbon fiber. When the user is positioned in the user acceptance region 36 and operates the device 10, the user can easily reach out and hold the handlebar 40 and grip any part of it such that it is not difficult to steady the device 10 and assist with movement and steering.

[0028] Figures 3A and 3B show the right side 21 of the frame 11. In Figure 3A, the panel 15 is removed so that the load-relieving assembly 14 can be seen. Figure 3B is a cross-sectional view along line 3-3 of Figure 1, slightly inside the frame 11, where the panel 15 is not visible and the frame 11 is partially cut away. The load-relieving assemblies 13 and 14 are carried on the frame 11 and are partially within the frame 11. The load-relieving assembly 13 is on the left side 20 and the 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, only the load-relieving assembly 14 on the right side 21 will be described here, with the understanding that the description is equally applicable to the other. The same reference numerals are applicable to the load-relieving assembly 14 on the left side 20. However, it should be understood that the load-relieving assemblies 13 and 14 need not be identical and this description should not be so limited. In fact, in some embodiments, it may be desirable to actually have different load-relieving assemblies. For example, if a user is suffering from an asymmetric sense of weakness, the device 10 can be equipped with intentionally different load-relieving 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-relieving force to the side of the patient's body more severely affected by the stroke and less load-relieving force to the other side. Nevertheless, for the purposes of the description related to the drawings, these particular load-relieving 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 passing through the stacked cam assembly 51, and a series of pulleys attached to the frame 11. and wired

[0030] The leaf spring 50 is a spring upper arm, a lightweight and 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. The adjustment knob 57 passes through a hole at the fixed end and into a threaded hole 58 of the block 55. Thereby, the adjustment knob 57 can 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, retracts from the bore 58, and allows the fixed end 53 to rise so as to be slightly separated from the inclined surface 56 of the block 55. For a larger spring force, the adjustment knob 57 is tightened within the bore 58 to hold the fixed end 53 near 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 operates as a spring. It is attached in a horizontal configuration. In this horizontal configuration, the free end 54 is above and behind the fixed end 53, moving between a first "unloaded" position as shown in FIG. 3A where the free end 54 is at a high position above the fixed end 53 and a second loaded position as shown in FIG. 3B where the free end 54 is at a low position close to the main tube 24. This movement is indicated by the double arrow lines A in the bow shape of FIG. 3B. This occurs as the user walks and a weight is applied to the harness on the right side 21, such as by pulling the leaf spring 50 downward via the tether 52, causing it to move towards the loaded position. In response, the leaf spring 50 exerts a biasing force in a direction opposite to the pull of gravity, vertically translating the body downward during the walking motion. The leaf spring 50 acts to pull back the tether 52. Other horizontal configurations are possible and may be appropriate, including configurations inverted vertically or horizontally with respect to the above-described configuration. However, generally, a horizontal configuration is 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 against displacement such as elongation or compression of the spring. And in this sense, other springs such as coil springs, air springs, torsion springs, etc. may be appropriate. The leaf spring 50 has a non-linear force-displacement curve such that as the displacement increases, the force required to displace the leaf spring 50 increases. At 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 portion 18 of the device 10 against its curvature. Thus, when the user is moving forward, this forward biasing also helps to move the device 10 forward.

[0033] The stacked cam assembly 51 is attached 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 attached 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 having different contours or shapes. When both cams rotate, the lever arms of both cams change, and the axes of rotation of both cams are offset from the respective geometric centers of both cams such that the ratio of their respective lever arms changes. In this way, with the tether 52 wound around the outer cam 61 and the tether 62 wound around the inner cam 60 in the 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 continued displacement. This will be explained in more detail below. Further, in other aspects of the device 10, different combinations of cams are used, including assemblies having three or more cams, cams of sizes different from those presented herein, cams of the same size, etc.

[0035] Another tether, the inelastic anchor cable 62, is connected between the inner cam 61 and the tie-down 63. This anchor cable 62 is part of the unloaded assembly 14. The tie-down 63 is an anchor that prevents the end of the anchor cable 62 attached thereto from moving. The other end of the anchor cable 62 is fixed to the inner cam 61. At the upper part of the main tube 24, a pulley assembly including three pulleys 64, 65, and 66 is attached. One end of the anchor cable 62 is fixed to the upper part of the front of the inner cam 61 and is in the groove therein until it extends downward to the pulley 64. As the inner cam 61 rotates, the anchor cable 62 winds around the inner cam 61, effectively shortening the anchor cable 62 and deflecting the leaf spring 50 toward the loading 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 wound around the upper part of the cam 60 in a direction different from that of the anchor cable 62, whereby it is fixed to the front side of the cam 60 and then extends over and around the cam 60. From there, the tether 52 extends downward to the pulleys 65 and 66. The pulley 66 is partially attached inside the housing 25. As the tether 52 passes under the pulley 65, the tether is redirected from a substantially vertical direction to a substantially horizontal direction, and as the tether 52 passes under the pulley 66, the tether is redirected from a substantially horizontal direction to a substantially vertical direction inside the hollow housing 25.

[0037] The three pulleys 64, 65, and 66 have parallel axes and each spin in the same direction. The three pulleys 64, 65, and 66 are all mounted along the main tube 24 and close to each other in the same plane, thereby acting only to redirect the anchor cable 62 or the tether 52 in a new direction along that plane. However, the tether 52 rises from the 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 a pulley cassette 70 that includes these other pulleys 71, 72, and 73 for redirecting the tether 52. The pulley cassette 70 is part of the load relief assembly 13 (or 14) and is mounted in the housing 25 of the frame 11 for rocking motion, and includes an outer housing 74 having an inner side 75 and an opposing outer side 76. The outer side 76 is directed inwardly of the user acceptance region 36 so as to be away from the frame 11. The inner side 75 is partially carried within the housing 25. Proximate to the upper portion 16, the housing 25 has a large open window 80. Within this window 80, the pulley cassette 70 rocks back and forth. Two disks 81 and 82 are fixed within the housing 25. Disk 81 is proximate to the upper portion 16 and disk 82 is slightly below. A pin 83 extends coaxially between disks 81 and 82. A leaf having a knuckle 84 is fixed to the inner side 75 of the pulley cassette 70. The knuckle 84 has a vertical bore that is loosely attached to the pin 83. Thereby, the knuckle 84 pivots about the pin 83 and the pulley cassette 70 rocks with the knuckle between a forward position (shown in dashed lines in Figure 4C.) and a rearward position (shown in solid lines) along the double arrow arc line B of Figure 4C. Although Figure 4C shows a wide range of angular motion, preferably the pulley cassette is limited from rocking more than 30 degrees forward or rearward of the neutral position shown in Figures 4A and 4B.

[0039] Inside the housing 74, there are three axles to which pulleys 71, 72, and 73 are attached for rotational movement. When the pulley cassette 70 is in the neutral position of FIGS. 4A and 4B, these pulleys 71, 72, and 73 are attached in a pattern shifted vertically with respect to pulleys 64, 65, and 66. The tether 52 extends upward inside the housing 25 from the pulley 66, 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 outer side 76 of the housing 74, and a strong bracket attached to the outside of the hole 85 has a corresponding hole. A stopper 87 is fixed to the tether 52 to prevent the tether 52 from being further drawn into the pulley cassette 70 than desired.

[0040] During operation, the user uses the device 10 to assist the movement of walking motion. The device 10 is useful for physical therapy, rehabilitation, and exercise training. Returning to FIG. 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; an adjustable thigh strap 93; an adjustable supra-knee strap 94; and outer or lateral straps 95 on both sides of the harness 91 that non-elastically connect the waist belt 92, the thigh strap 93, and the supra-knee strap 94. In FIG. 1, the tethers 52 from both the unloading assemblies 13 and 14 are shown attached directly to the waist belt 92. The tether 52 is preferably attached at a height point in the region between the hip joint and the waist. In other embodiments, the tether 52 can terminate with a clip such as a carabiner for attaching to a loop on the waist belt 92. The tether 52 is attached to both sides of the waist belt 92 directly above the hip joints. 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. As the user 90 walks, the hip joint moves up and down. In normal walking motion, when the left foot is moved forward, the left hip joint rises slightly, the right hip joint drops slightly, and the pelvis rotates slightly. When this occurs, on the left side 20, the cassette pulley 70 swings slightly forward, the tether 52 retracts (until restricted by the stopper 87 that encounters the bracket 86), and the leaf spring 50 flexes slightly towards its unloaded position. The force exerted by the leaf spring 50 is in the forward direction, 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, the tether 52 extends, corresponding to the drop of the right hip joint and the rotation of the pelvis. Thereby, the tether 52 is 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 flex more. The leaf springs 50 on the left and right sides 20 and 21 exert independent biasing forces on the tether 52 on their respective sides. Accordingly, the user 90 feels that at least partially his own weight is unloaded on both the left and right sides of the body. Further, the unloading assemblies 13 and 14 are each independently a constant displacement system rather than a simple spring force or exponential force-displacement system, so the user 90 experiences a constant or consistent unloading regardless of the degree of displacement on either side. In other words, whether the user 90 raises the right hip joint, or drops the right hip joint slightly or a lot, the unloading force experienced is constant. Further in other words, when the user drops the right hip joint by a significant distance, the user does not experience a proportionally greater unloading. For example, the device 10 can be set to provide a constant 50-pound unloading force. When the user drops the hip joint slightly, the user will feel a 50-pound unloading. Even when the user drops the hip joint a lot, the user will still feel the same 50-pound unloading.

[0042] Furthermore, since the unloading 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 detailed operation, when the hip joint of the user 90 moves a certain distance, the tether 52 also moves this distance and is released 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, since the leaf spring 50 and the cam assembly 51 cooperate to form a constant force displacement, the patient feels a constant upward unloading force on that side of the harness 91. The displacement of the tether 52 does not cause a proportional change in the upward force, whether it is 1 inch or 6 inches. Rather, the displacement essentially does not cause a change in the unloading force. In this way, the device 10 provides a constant unloading on each side of the user's body independently of each other.

[0043] In other aspects, a sensor 100 proximate to one of the wheels 12 measures the rolling distance. A sensor 101 located somewhere along the stopper 87, or the pulley set 70, or the tether 52 measures acceleration and thus force, and possibly the tilt angle as well. The sensors 100 and 101 can each include electronic components such as a microprocessor, gyroscope, accelerometer, memory chip, PCB, etc. The readings from these two sensors 100 and 101 are correlated for later analysis. Physicians and physical therapists can use this information to determine stride length, foot position and swing phase duration, speed, work energy, and other kinematic and kinetic parameters of the walking motion, and can compare this information for each side of the body and over time to evaluate rehabilitation. Further, in some aspects, these sensors 100 and 101 are preferably connected by wired or wireless data communication to a display head unit such as a smartphone or other electronic device attached to the top tube 22 to display such information to the user 90. The user 90 can switch between this information and other information by pressing a physical button or touching the display of 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 instead it can be placed on or around the treadmill. The bottom 17 of the frame can be bolted or otherwise fixed onto the treadmill using holes 31 and 33. Alternatively, pads or cushions attached to the bottom 17 of the frame 11 can support the device 10 around the treadmill. And the user can walk or run on the treadmill while bearing their weight as described above.

[0045] FIG. 5 shows an alternative embodiment of the unloading assembly 13 of the device 10. The following description is equally applicable to an alternative embodiment of the unloading assembly 14. In this embodiment, two leaf springs are used in combination. Although FIG. 5 is stylized in the form of a free-body diagram, nevertheless, the reader who understands the description in this specification will be able to easily recognize and understand FIG. 5.

[0046] The leaf spring 50 is attached as shown in FIG. 3A, with the fixed end 53 fixed to the main tube 24 and the free end 54 being free. The cam assembly 51 is attached to the free end 54 for rotation, and the tether 52 extends through the pulley 65 to the harness while the anchor cable 62 is fixed. However, in this embodiment, a second leaf spring 110 is used. The leaf spring 110 is also, preferably but not necessarily, a spring-on arm that is identical to the leaf spring 50 in structure, features, and construction, and includes a fixed end 111 and a free end 112. The leaf spring 110 is attached parallel to the leaf spring 50. "Parallel", as used in this context, is similar to two elements in an electrical circuit and does not necessarily refer to the 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 carried in a second position. The first and second positions are different but are aligned with each other in a vertically offset manner. The leaf springs 50 and 110 in this embodiment have the same spread, but do not necessarily have to have the same spread.

[0047] The second leaf spring 110 is stacked above the leaf spring 50. The 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, such that the movement of the free end 54 immediately directly transfers movement 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 in this way on the frame 11, the device 10 can unload more body weight from the user during operation. In other embodiments, more than two leaf springs can be stacked, although this does not seem necessary except for the most demanding weight needs.

[0048] Figure 6 shows another alternative embodiment of the apparatus 10. In the unloading assemblies 14 of FIGS. 3A and 3B, the leaf spring 50 is attached in a horizontal configuration where it extends rearward in a general direction and its free end 54 is behind its fixed end 53. Here, in FIG. 6, the unloading assembly 14 is attached in a vertical configuration. This unloading assembly 14 is attached to the vertical housing 25 rather than the horizontal upper portion of the main tube 24. The leaf spring 50 is still attached to the block 55, but the block 55 is fixedly attached vertically to the housing 25 such 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 deflects, the free end 54 is displaced rearward toward the housing 25. The leaf spring 50 generates a biasing force toward the front portion 18 of the apparatus 10 against its curvature. Thus, this forward biasing also helps move the apparatus 10 forward when the user is moving forward. FIG. 6 shows the unloading assembly 14 in the unloaded position in solid lines, and the unloading assembly 14 moves to the loaded position toward the housing along the double-arrowed arc line C, similar to the displacement to the loaded position shown for the horizontal configuration of FIG. 3B. Other vertical configurations are possible and may be appropriate, including configurations that are inverted vertically or horizontally with respect to the above-described configuration. 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 a vertical arrangement, but the anchor cable 62 still passes through the pulley 64 and is fixed to the tie-down 63 in the housing 25. The tether 52 also passes through the pulleys 65 and 66, and here it also extends through an additional pulley 120 that redirects the tether 52 upward through the housing to the pulley cassette 70.

[0049] Figure 7 shows yet another alternative embodiment of the unloading assembly 13 of the apparatus 10, which is somewhat similar to that shown in FIG. 5. The following description applies equally to alternative embodiments of the unloading assembly 14. In this embodiment, two leaf springs are used in combination. FIG. 7 is stylized in the form of a free-body diagram, but a reader understanding the description herein will readily recognize and understand FIG. 7.

[0050] The leaf spring 50 is attached as shown in FIG. 3A, with the fixed end 53 fixed to the main tube 24 and the free end 54 being free. The cam assembly 51 is attached to the free end 54 for rotation, and the tether 52 extends through the pulley 65 and into the harness while the anchor cable 62 is fixed. However, in this embodiment, a second leaf spring 130 is used. The leaf spring 130 is also, preferably but not necessarily, a spring-on arm that is 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 attached parallel to the leaf spring 50, but below the main tube 24 or on the opposite side of the leaf spring 50. "Parallel", as used herein, is similar to two elements in an electrical circuit and does not refer to the 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 carried in a second position. The first and second positions are different but are aligned with each other in a vertically offset manner. The leaf springs 50 and 130 in this embodiment have the same spread, but not necessarily the same spread.

[0051] The second leaf spring 130 is stacked below the leaf spring 50 and has an inverted position. While the leaf spring 50 receives a load and deflects downward, the second leaf spring 130 deflects upward. The 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 relief assembly beyond that of the load relief assembly 13 or 14. The tether 52 remains wound around the outer cam 60 of the cam assembly 51 on the leaf spring 50. By connecting the leaf springs to the frame 11 in this way, the device 10 can relieve more body weight from the user during operation. In other embodiments, three or more leaf springs can be stacked and connected to each other on both sides of the main tube 24, although this does not appear to be necessary except for the most demanding weight needs.

[0052] In some embodiments, the cam assembly 51 need not 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 of FIG. 7 can be modified to be a rigid, non-bending, non-flexible arm 50. In this embodiment, the cam assembly 51 is simply attached to an arm 50 similar to the rigid post above the main tube 24. Thus, the arm 50 can be considered simply a part of the frame 11 or its rigid extension. Thus, the cam assembly 51 is connected to the second or free end 132 of the bendable leaf spring 130 using the inelastic cable 133 and to the harness using the 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 is an example of a decoupled assembly where the cam assembly and the leaf spring are separate, indicating that the cam assembly need not be carried or attached on the leaf spring. In fact, the decoupled assembly still operates effectively as a constant force displacement system when the cable 133 (or anchor cable 62) connects the cam assembly to the spring (such as 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 of FIG. 7 illustratively demonstrates such a configuration. In other embodiments, the spring arm and the cam assembly are separated and may not be attached to each other, and the arrangement of the cam assembly and the spring arm is actually reversed, with the cam assembly 51 attached to the main tube 24 and the spring arm 50 extending away from the cam assembly 51, attached to the main tube 24, and the anchor cable 62 connected to the tie-down 63 extends to the cam assembly 51, and then the tether 52 extends from the cam assembly 51 beyond the free end 54 of the leaf spring 50 and then towards the harness (possibly through a pulley assembly).

[0053] The preferred embodiments are described fully and clearly above so as to enable a person skilled in the art to understand, make, and use them. A person skilled in the art can make modifications to the above description without departing from the spirit of this specification, and will recognize that some embodiments include only the elements and features described, or a subset thereof. To the extent that the modifications do not depart from the spirit of this specification, they are intended to be included within its scope.

Claims

1. as follows: A frame attached to a wheel to support the movement of walking exercise, the frame having opposing left and right sides; A harness for supporting a user between the left and right sides; A load-relieving assembly carried on each of the left and right sides, each load-relieving assembly having a spring-loaded arm having a fixed end fixed to each of the respective left and right sides and an opposing free end, a cam assembly attached to the free end of the spring-loaded arm, the cam assembly for rotation, comprising two or more eccentric cams fixed to each other, and a tether routed through the cam assembly and extending to the harness and a load-relieving assembly; comprising each of the load-relieving assemblies exerting a load-relieving force on the harness independent of the frame, a weight-bearing walking exercise device.

2. The weight-bearing walking exercise device according to claim 1, wherein the spring-loaded arm comprises a leaf spring.

3. The weight-bearing walking exercise device according to claim 1, wherein the two or more eccentric cams include first and second eccentric cams of different sizes.

4. The tether is fixed to the first eccentric cam and extends to the harness, a cable is fixed to the second eccentric cam at one end and to an anchor on the frame at the opposing end, The weight-bearing walking exercise device according to claim 3.

5. The weight-bearing walking exercise device according to claim 3, wherein the first and second eccentric cams are fixed to each other to prevent relative rotational movement therebetween.

6. The fixed end of the spring-loaded arm is held by an adjusting means, The adjustment by the adjustment means changes the unloading force exerted by each of the unloading assemblies. The body weight unloading type walking exercise device according to claim 1.

7. The upper spring arm is in a horizontal configuration where the free end of the upper spring arm is behind the fixed end, and is attached to each of the left and right sides of the frame, and the free end moves vertically between a first unloading position and a second loading position. The body weight unloading type walking exercise device according to claim 1.

8. The upper spring arm is in a vertical configuration where the free end of the upper spring arm is above the fixed end, and is attached to each of the left and right sides of the frame, and the free end moves horizontally between a first unloading position and a second loading position. The body weight unloading type walking exercise device according to claim 1.

9. The unloading assembly includes The upper spring arm and the cam assembly in a first position, and A second upper spring arm carried in a second position vertically displaced from the first position, the second upper spring arm having a free end connected to the cam assembly. The body weight unloading type walking exercise device according to claim 1, comprising.

10. A pulley cassette for sending the tether inward and downward from above to the harness The body weight unloading type walking exercise device according to claim 1, further comprising.

11. The body weight unloading type walking exercise device according to claim 10, wherein the pulley cassette is attached for rocking movement within the frame.

12. The following: A frame for supporting the movement of walking exercise, having opposing left and right sides, the frame; A harness that supports a user between the left and right sides; A load-relieving assembly carried on each of the left and right sides, each load-relieving assembly comprising: A spring having a first end fixed to each of the respective left and right sides and an opposing second end; A cam assembly for rotation, comprising two or more eccentric cams fixed to each other; A tether routed through the cam assembly and extending to the harness, and A cable routed through the cam assembly and extending to one of the anchor on the frame and the second end of the spring A load-relieving assembly comprising Comprising Each of the load-relieving assemblies exerts a load-relieving force on the harness independent of the frame; A weight-relieving walking exercise device.

13. The weight-relieving walking exercise device according to claim 12, wherein the spring is a spring upper arm.

14. The first end of the spring is held by an adjusting means, Adjustment of the adjusting means changes the load-relieving force exerted by each of the load-relieving assemblies; The weight-relieving walking exercise device according to claim 12.

15. The weight-relieving walking exercise device according to claim 12, wherein the spring is attached to each of the left and right sides of the frame in a horizontal configuration.

16. The weight-relieving walking exercise device according to claim 12, wherein the spring is attached to each of the left and right sides of the frame in a vertical configuration.

17. The weight-relieving walking exercise device according to claim 12, further comprising a pulley set for sending the tether into the harness from above, inward, and downward. The weight-relieving walking exercise device according to claim 12.

18. The weight unloading type walking exercise device according to claim 17, wherein the pulley set is mounted for rocking motion within the frame.

19. The weight unloading type walking exercise device according to claim 12, wherein the two or more eccentric cams include first and second eccentric cams of different sizes.

20. The weight unloading type walking exercise device according to claim 19, wherein the first and second eccentric cams are fixed to each other to prevent relative rotational movement therebetween.

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