U.S. patent number 3,824,994 [Application Number 05/327,795] was granted by the patent office on 1974-07-23 for reciprocating walker.
This patent grant is currently assigned to R. S. Reciprocating Trainer Enterprises, Inc.. Invention is credited to Raymond Henry Soderberg, Sr..
United States Patent |
3,824,994 |
Soderberg, Sr. |
July 23, 1974 |
RECIPROCATING WALKER
Abstract
A walker in which an individual secured at the waist and having
both feet attached to movable footboards is caused to undergo a
complete reciprocating walking action in which the feet, angles,
legs, hips and arms all move in normal walking fashion. Each
footboard is centrally hinged to define a forward portion
supporting the ball of the foot and a rearward portion supporting
the heel of the foot and movable independent of the forward portion
to create the up-down heel motion experienced in walking. The
footboards which are coupled to endless chains so as to be
reciprocatingly driven through endless cyclic loops of motion also
include brackets secured to the rearward portions for bending and
straightening the knees during the walking motion. The frame of the
walker may be mounted on independently driven belts and control
apparatus added to make the walker drivable by the individual
across a surface at variable speeds and in variable directions.
Inventors: |
Soderberg, Sr.; Raymond Henry
(Panorama City, CA) |
Assignee: |
R. S. Reciprocating Trainer
Enterprises, Inc. (North Hollywood, CA)
|
Family
ID: |
23278096 |
Appl.
No.: |
05/327,795 |
Filed: |
January 29, 1973 |
Current U.S.
Class: |
601/29;
482/51 |
Current CPC
Class: |
A61H
1/0259 (20130101); A61H 1/0262 (20130101); A61H
2203/0406 (20130101) |
Current International
Class: |
A61H
1/02 (20060101); A61h 001/02 () |
Field of
Search: |
;128/25R,25B,33,24,48,49 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Trapp; Lawrence W.
Attorney, Agent or Firm: Fraser and Bogucki
Claims
What is claimed is:
1. A device for moving the foot of a person through at least part
of a walking motion, said device comprising a footboard for
receiving the foot of a person, said footboard having at least two
generally planar portions thereof joined together at their ends so
as to be pivotable with respect to each other, and means coupled to
drive the footboard through a cyclic motion in which the at least
two portions of the footboard undergo relative pivoting
movement.
2. The device set forth in claim 1, wherein the at least two
portions of the footboard are respectively positioned against the
ball and the heel of the foot of the person.
3. The device set forth in claim 1, further including means coupled
to one of the at least two portions of the footboard for varying
the bending of the knee of the person as the at least two portions
of the footboard undergo relative pivoting movement.
4. A device for moving the foot of an individual through a cyclic
motion comprising first and second generally planar, rigid elements
pivotably coupled to one another, the first and second elements
being adapted to receive the foot of an individual thereon and
capable of relative pivoting motion in the region of the arch of
the foot, and means coupled to the first and second elements for
driving said elements through a cyclic motion in which the first
and second elements are repetitively pivoted relative to one
another to alternately lift and drop the heel of the foot of the
individual relative to the ball of the foot as the first and second
elements are driven through the cyclic motion, the means for
driving the first and second elements including a pair of circular
elements mounted for rotation about generally parallel axes,
endless loop means extending around the pair of circular elements
and movable between and around the pair of circular elements in
response to rotation of the circular elements, means for rotatably
driving one of the pair of circular elements, and means coupling
one of said first and second elements to the endless loop
means.
5. The device set forth in claim 4, further including at least one
lever arm pivotably suspended from an upper end thereof and having
a lower end pivotably coupled to the other one of said first and
second elements.
6. A device for moving a person through a complete reciprocating
walking action comprising means coupled to a fixed reference for
securing the person above the hips of the person to hold the person
in a standing position, a first parir of driving means individually
in contact with the balls of the feet of the person for moving the
feet through separate paths of cyclic motion in reciprocating
fashion, and a second pair of driving means individually in contact
with the heels of the feet of the person and movable relative to
the first pair of driving means for cyclically raising and lowering
the heels relative to the balls of the feet in accordance with the
position of the feet within the paths of cyclic motion.
7. The device set forth in claim 6, further comprising a third pair
of driving means individually in contact with the person in the
region of the knees of the person for cylically bending the knees
of the person in accordance with the position of the feet within
the paths of cyclic motion.
8. The device set forth in claim 6, wherein the means for securing
the person above the hips includes a frame to which the first and
second pairs of driving means are mounted, and further including
means coupled to the frame for propelling the frame across a
surface in a variable direction and at a controlled speed.
9. The device set forth in claim 8, wherein the means for
propelling the frame includes first and second tracks mounted on
the frame and independently drivable at selected speeds and in
selected directions.
10. The device set forth in claim 6, wherein the moving of each
foot of the person through a separate path of cyclic motion
comprises an upward movement of the foot, followed by a forward
movement of the foot, followed by a downward movement of the foot,
followed by a rearward movement of the foot.
11. The device set forth in claim 10, wherein the cyclic raising
and lowering of each heel relative to the ball of a foot of the
person comprises a raising of the heel relative to the ball of the
foot during said upward movement of the foot, followed by a
lowering of the heel relative to the ball of the foot during said
forward movement of the foot.
12. The device set forth in claim 11, further comprising a third
pair of driving means individually in contact with the person in
the region of the knees of the person, each of the third pair of
driving means being operative to bend a knee of the person when the
foot of the person connected to the knee undergoes said upward
movement and a first portion of said forward movement and to
straighten the knee during the remainder of the path of cyclic
motion for the foot.
13. A device for moving a person through a walking motion
comprising a pair of foot support members for individually
receiving the feet of a person, each of the foot support members
comprising first and second rigid, generally planar elements joined
for relative pivoting movement along an axis within the planes of
the elements, the first element including means for securing the
ball of the foot thereto and the second element including means for
securing the heel of the foot thereto, and a pair of driving means,
each coupled to the second element of a different one of the foot
support members for moving a portion of the second element through
an endless loop of motion, the second elements of the different
foot support members pivoting relative to the first elements and at
the same time moving the first elements in response to the pair of
driving means.
14. The device of claim 13, further including means coupled to the
first element of each of the foot support members for permitting
reciprocating movement of a portion of the first element.
15. The device of claim 13, wherein each of the foot support
members includes an elongated element rigidly mounted on a portion
of the second element opposite the first element so as to be
generally normal to the plane of the second element, and means
coupled to an end of the elongated element opposite the second
element for securing a knee of the person thereto.
16. The device of claim 13, further including a frame for mounting
the pair of foot support members, and means coupled to the frame
for supporting the upper part of the body of the person.
17. The device of claim 13, wherein the pair of driving means
comprise first and second circular elements mounted in spaced apart
relation for rotation about a first common axis, third and fourth
circular elements mounted in spaced apart relation for rotation
about a second common axis generally parallel to the first common
axis, first endless loop means encircling and extending between the
first and the third circular elements, and capable of movement in
response to rotation of the first and the third elements to define
one of the endless loops of motion, second endless loop means
encircling and extending between the second and the fourth circular
elements, and capable of movement in response to rotation of the
second and the fourth elements to define the other one of the
endless loops of motion, means coupling a portion of the second
element of one of the foot support members to a portion of the
length of the first endless loop means, and means coupling a
portion of the second element of the other one of the foot support
members to a portion of the length of the second endless loop
means.
18. The device of claim 17, wherein the first element of each foot
support member has at least one lever arm coupled to a portion
thereof with an opposite portion of the lever arm being pivotably
mounted to support the first element.
19. The device of claim 17, further including a frame having first
and second generally parallel side rails, the first and the third
circular elements being rotatably mounted on the first side rail
and the second and the fourth circular elements being rotatably
mounted on the second side rail, and means mounted on the frame and
coupled to rotatably drive the first and the second circular
elements.
20. A device for a non-ambulatory person comprising a frame, means
for supporting a non-ambulatory person within the frame, means
mounted on the frame and coupled to the person for moving the lower
extremities of the person through a walking motion, said means for
moving including a pair of foot plates mounted on the frame, the
foot plates supporting the feet of the person and undergoing a
reciprocating motion, and means coupled to the frame and including
at least one motor of variable speed and steering means for
enabling the non-ambulatory person to drive the frame over a
surface at a variable speed and in a variable direction.
21. The device set forth in claim 20, wherein each of the pair of
foot plates includes a first portion supporting the ball of the
foot and a second portion movable independent of the first portion
and supporting the heel of the foot.
22. The device set forth in claim 20, wherein the means for driving
the frame over a surface includes a pair of rotatable means mounted
on the frame in spaced apart relation, each of the rotatable means
being independently driven in either of opposite directions.
23. The device set forth in claim 22, wherein each of the rotatable
means comprises a pair of generally cylindrical members mounted on
the frame for rotation about generally parallel axes and having a
plurality of teeth on the outside thereof, and an endless belt
encircling and extending between the generally cylindrical members,
the inside surface of the endless belt having teeth which mesh with
the teeth on the outside of the cylindrical members.
24. The device set forth in claim 22, wherein the means for driving
the frame includes a pair of motor means coupled to drive different
ones of the rotatable means when energized, and control means
including a hand actuated member which is movable in various
directions to select a direction of drive for the device, the
control means including a plurality of switching means, selected
ones of which are activated in response to movement of the hand
actuated member in a selected direction to energize the motor means
in a manner which causes driving of the device in the selected
direction.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to physical training and exercising
machines or devices, and more particularly to walkers of the type
which move the feet or legs of a physically or mentally handicapped
individual through at least a partial walking motion for training
or exercise purposes.
2. History of the Prior Art
Certain physically or mentally handicapped persons may have a
greatly reduced ability to walk or may not be able to walk at all.
For some of these persons the situation is such that training or
exercising will have little or no benefit. For many, however, the
ability to walk may simply be a matter of teaching the individual
the proper motor coordination so as to overcome the initial
obstacle to partial or complete walking. For many other such
individuals the training or exercise value of moving the
individual's limbs through a walking motion may be extremely
beneficial.
Some handicapped individuals are unable to walk because of a
serious deterioration or lack of development of the muscles due to
inactivity. This is particularly true of young children, for
example, who have been handicapped since birth or from a very early
age and as a result have never been able to walk. In such
individuals the muscles in the legs and in other parts of the body
used in walking have never had a chance to develop along with the
individual and his growth and may become so seriously impaired due
to inactivity as to become irrepairably weakened without the
benefit of surgery. With other individuals muscles which were once
partially or fully developed by partial or complete walking may
become sufficiently weakened or may otherwise deteriorate to the
point where the individual may not be able to walk, even where
motor coordination and other necessary factors for walking are
present. For individuals who have lost the use of muscles used in
walking or who have never had the use of such muscles, a device or
machine capable of moving the various limbs of such individuals
through a walking motion would be of substantial benefit. By moving
the limbs of such individuals in walking fashion serious muscle
deterioration is prevented. Moreover in many such individuals the
muscles are forced to develop to a point where partial or complete
walking may be engaged in.
Many individuals are unable to walk due to a lack of motor
coordination. In such individuals solution of the problem may be a
matter of impressing upon the brain what proper motor coordination
is like so that the brain can thereafter command the various parts
of the body in appropriate fashion.
The big difficulty with prior art devices of the type disclosed in
the above-referred-to patents is their inability to effect a
complete reciprocating action of the type undergone in walking in
which the heels undergo relative motion with respect to the
remainder of the feet in the region of the arches to cause bending
of the ankles and knees and a consequent reciprocating action of
the hips and pelvic region accompanied by a swinging of the arms.
In order to achieve complete exercise of the muscles and motor
coordination used in walking it is very important that a complete
and not a partial walking motion be undergone. The prior art
devices referred to above effect some forward and backward movement
of the feet in reciprocating fashion. In addition some such devices
impart some relative vertical motion or rocking between the heel
and the remainder of the foot. However such devices do not move the
feet through cyclic paths closely approximating those of walking,
do not effect relative heel motion of the type experienced in
actual walking, do not insure that the knees and ankles bend in the
normal walking fashion, and otherwise do not force leg movement of
the type which results in hip and pelvic movement and arm swing of
the type experienced in walking. Despite the limitations on the
motion imparted by prior art devices, many such devices tend to be
extremely complex and involve many moving parts which are subject
to wear and other deterioration. Some of the prior art devices are
very large and cumbersome and consume an inordinate amount of space
so as to limit their usefulness for certain training
applications.
One desirable feature not present in walkers of the prior art is
the ability of the individual to be able to drive the walker about
as a means of transportation as well as exercise and therapy. Thus
it would be desirable to provide a walker which in addition to
exercising and training the patient in walking enables the patient
to drive the walker about at controlled speeds and in different
selected directions over the floor, sidewalk or other surface at
which the walker is located.
BRIEF DESCRIPTION OF THE INVENTION
The present invention provides a walker which causes an individual
placed therein to undergo a complete reciprocating walking action.
The individual is supported above the hips and preferably within
the region of the waist by a frame including a four legged portion
thereof in the form of a glider which rests upon the floor. The
feet of the individual are supported by a pair of foot support
members or footboards which undergo a reciprocating movement with
respect to one another along cyclic paths of motion. Each of the
footboards includes a rigid, generally planar forward portion
thereof disposed under the ball of the foot and supported by
pivotably mounted lever arms in the region of the toe of the foot.
The forward portion of the footboard is pivotably hinged to a
separate, rigid, relatively planar rearward portion of the
footboard in the region of the arch of the foot so that the
rearward portion which resides under the heel of the foot is
capable of undergoing independent motion relative to the forward
portion of the footboard. The rearward portion of the footboard is
coupled to an arrangement for imparting the desired cyclic motion
to the footboard such as to an endless chain which encircles and
extends between a pair of sprockets mounted for rotation about
generally parallel, spaced apart axes. With one of the sprockets
rotatably driven the chain moves through the cyclic path carrying
the footboard with it.
As the footboards of the walker move through the paths of cyclic
motion the feet of the individual are driven in a fashion similar
to walking in which each foot is lifted, then moved forward, then
dropped and then moved rearward relative to the torso of the
individual. The footboards which move through virtually identical
paths of cyclic or reciprocating motion are out-of-phase with each
other so as to always be at opposite positions within their
respective paths. As the footboards undergo cyclic motion the
rearward portions thereof pivot relative to the forward portions so
as to stretch the arch and raise the heel relative to the ball of
each foot as the foot is lifted and started forward. As the foot
continues to move forward relative to the torso of the individual
the rearward portion of the footboard is lowered relative to the
forward portion allowing the arch to contract and the heel to drop.
This action causes the ankle to bend and thereby the knee in normal
fashion as each leg takes a step. A bracket rigidly affixed at the
rear of the rearward portion of each footboard has the upper
extremity thereof coupled to the knee of the individual to insure
that the knee bends and straightens at the proper places within the
walking cycle.
By providing footboards which pivot under the foot along with
cycling in reciprocating fashion the feet including the heels and
the ankles and knees undergo the identical motion experienced
during actual walking. Moreover by supporting the individual above
the hips and causing the feet and legs to undergo such motion the
upper portions of the legs including the hips and the pelvis
undergo the same motion as in actual walking. Movement of the feet
and legs in such fashion while securing the individual in the
region of the waist further serves to force the arms through a
swinging motion typically experienced in walking. In this fashion
the complete reciprocating walking action or motion is duplicated
by walkers in accordance with the invention.
The sprockets and chains used to drive the footboards in a
preferred embodiment of a walker in accordance with the invention
are mounted on a lower portion of the frame and are driven by a
common motor and gear reduction unit through an arrangement of
shafts, sprockets and chains. The motor itself may be powered by a
battery or other appropriate source and may be made variable in
speed so as to vary the speed of the walking motion. Where desired
the walker may be equipped so that the individual can drive it over
a surface at a controlled speed and in variable directions so as to
function as a means of transportation as well as for training and
exercise. Where so equipped the walker is supported by a pair of
tracks in the form of endless bolts wound around opposite pairs of
cylindrical elements rotatably mounted on the frame of the walker.
Slippage of the belts relative to the cylindrical elements or
wheels is prevented by a plurality of lugs on the inside surface of
the belt which engage with lugs mounted on the outside surfaces of
the wheels. The tracks are independently driven by a pair of motors
individually associated therewith. One wheel of each track
arrangement is driven by the associated motor through an
arrangement including a gear reduction mechanism, a shaft, a chain
and a pair of sprockets. The speed of travel of the walker is
varied by varying the speed of the motors. The direction of travel
of the walker is varied by energizing one motor to the exclusion of
the other or to a greater extent than the other motor.
Energization of the motors to effect speed and direction control is
accomplished by an arrangement which includes a control handle
mounted for movement in various different directions. A rheostat
operated by a thumb actuated mechanism in the grip of the control
handle varies the speed of operation of the motors. As the control
handle is moved into a position corresponding to a desired
direction of travel for the walker, one or more of a plurality of
microswitches mounted adjacent the base of the control handle are
actuated by mating contacts secured to the control handle so as to
energize the motors in selected directions to effect travel of the
walker in the desired direction. When the direction of the walker
is to be changed the control handle is moved to a new position
corresponding to a new direction of travel, whereupon an
appropriate one or more of the microswitches are actuated so as to
energize the motors in appropriate fashion.
DESCRIPTION OF THE DRAWINGS
The foregoing and other objects, features and advantages of the
invention will be apparent from the following more particular
description of preferred embodiments of the invention, as
illustrated in the accompanying drawings, in which:
FIG. 1 is a perspective view of a preferred embodiment of a
reciprocating walker in accordance with the invention showing the
manner in which an individual is placed within the walker when in
use;
FIG. 2 is a different perspective view of a portion of the walker
of FIG. 1;
FIGS. 3A-3D comprise four schematic representations of the manner
in which the footboards of the walker of FIG. 1 move to effect a
complete reciprocating walking motion in accordance with the
invention;
FIG. 4 is a perspective view of a portion of the lower frame of a
walker in accordance with FIG. 1 which is equipped so as to be
drivable over a surface;
FIG. 5 is a perspective view of a control handle and associated
apparatus for use in the arrangement of FIG. 4;
FIG. 6A is a perspective view of a portion of a walker having an
alternative arrangement in accordance with the invention; and
FIG. 6B is a side view of a portion of the arrangement of FIG.
6A.
DETAILED DESCRIPTION
A preferred embodiment of a walker 10 in accordance with the
invention is shown in FIG. 1 as comprising a frame 12 which
includes a glider 14 and a lower frame 16. The glider 14 assumes
the configuration of certain conventional walking gliders including
a pair of front legs 18 and 20 having lower and upper members 22
and 24 respectively extending therebetween and a pair of rear legs
26 and 28 respectively disposed behind the front legs 18 and 20.
Lower and upper side rails 30 and 32 respectively extend between
and couple the legs 18 and 26 together. Similarly lower and upper
side rails 34 and 36 respectively extend between and couple the
legs 20 and 28.
The upper side rails 32 and 36 are respectively equipped with short
lengths of substantially vertically disposed railings 38 and 40.
The facing surfaces of the railings 38 and 40 have hooks for
securing the chains of a leather harness assembly 42 which is
secured above the hips and preferably in the region of the waist of
an individual using the walker 10. A pair of short frame elements
44 and 46 extend downwardly from the lower side rail 30 adjacent
the front and rear legs 18 and 26 respectively to receive and
support a pair of angled frame members 48 and 50 respectively,
comprising a portion of the lower frame 16. Similarly a pair of
elements 52 and 54 extend downwardly from the lower side rail 34 in
the region of the front and rear legs 20 and 28 respectively so as
to receive and support angled frame members 56 and 58 respectively,
comprising part of the lower frame 16. The angled frame members 48
and 50 are secured to the forward and rearward portions of and
support a side rail 60 as best shown in FIG. 2. Similarly the
angled frame members 56 and 58 are secured to the forward and
rearward portions of and support a side rail 62. The side rails 60
and 62 which are disposed in generally parallel relation to one
another as well as with respect to the side rails 30, 32, 34 and 36
are joined by a plurality of transverse frame members including a
member 64 as shown in FIG. 2.
In the arrangement of FIG. 1 the frame elements 44, 46, 52 and 54
are adjustably secured within the angled frame members 48, 50, 56
and 58 respectively so as to suspend the lower frame 16 at a
selected height above the floor or other surface upon which the
legs 18, 20, 26 and 28 rest. However in the arrangement of FIGS. 4
and 5 described hereafter in which the walker is equipped so as to
be drivable over its supporting surface the lower frame 16 is
equipped with the driving means which engages the surface. In such
arrangement the angled frame members 48, 50, 56 and 58 serve to
support the glider 14 and to hold the legs 18, 20, 26 and 28 above
the surface.
As best seen in FIG. 2 the walker 10 includes a pair of footboards
comprising a right footboard 66 and a left footboard 68, both of
which are driven using a single power source in the form of a motor
70. The motor 70 which is mounted to the forward portion of the
lower frame 16 is coupled via a belt 72 to drive a gear reduction
unit 74 which is also mounted on the forward portion of the lower
frame 16 and which has a sprocket 76 at its output. A chain 78
couples the sprocket 76 to a sprocket 80 on a shaft 82 which is
rotatably mounted on the side rails 60 and 62. In this fashion the
shaft 82 is rotated at a reduced speed in response to operation of
the motor 70.
The motor 70 is powered by an appropriate power source such as a
battery 84 mounted on the forward portion of the lower frame 16 as
shown in FIG. 2. During use of the walker 10 the motor 70, the belt
72, the gear reduction unit 74, the chain 78 and the battery 84 are
covered, for reasons of safety and appearance, by a cover 86 of
generally rectangular configuration as seen in FIG. 1. The cover 86
may include a rheostat 88 or other appropriate device for
controlling the speed of the motor where desired.
As the shaft 82 is rotatably driven in response to operation of the
motor 70 a first pair of sprockets 90 and 92 mounted on the shaft
82 on the inside of and adjacent the side rails 60 and 62
respectively rotate so as to drive a pair of associated chains 94
and 96 respectively. The chains 94 and 96 rotate respective ones of
a second pair of sprockets 98 and 100 rotatably mounted on the
insides of the side rails 60 and 62 respectively. The sprockets 98
and 100 are coupled to rotate respective ones of a third pair of
sprockets 102 and 104. A fourth pair of sprockets 106 and 108 are
rotatably mounted on the inside of the side rails 60 and 62
respectively to the rear of the sprockets 102 and 104 along the
lower frame 16. The sprockets 102 and 104 are mounted for rotation
about a first common axis which is generally parallel to a second
common axis about which the sprockets 106 and 108 are mounted for
rotation. A chain 110 is mounted so as to encircle and extend
between the sprockets 102 and 106 and define a path of reciprocal,
cyclic motion for the right footboard 66. Similarly a chain 112 is
mounted so as to encircle and extend between the sprockets 104 and
108 to define a path of reciprocal, cyclic motion for the left
footboard 68.
Accordingly as the motor 70 is operated so as to drive the shaft 82
and included sprockets 90 and 92, the chains 94 and 96 rotatably
drive the sprockets 98 and 100. Driving of the sprockets 98 and 100
results in rotatable driving of the sprockets 102 and 104 so as to
drive the chains 110 and 112, about the sprockets 102, 106, 104 and
108.
The right footboard 66 includes a relatively rigid, generally
planar forward portion 114 thereof pivotably hinged along a joint
116 to a relatively rigid, generally planar rearward portion 118
thereof. In like fashion the left footboard 68 includes a rigid,
planar forward portion 120 thereof hinged at a joint 122 to a
rearward portion 124 thereof. As described in detail hereafter the
forward portions 114 and 120 are adapted to be disposed under and
to support the balls of the feet of the individual. The rearward
portions 118 and 124 are disposed under and support the heels of
the individual's feet. The hinging joints 116 and 122 which extend
transversely across the bottom of the feet in the region of the
arches permit independent hinging movement of the rearward portions
118 and 124 with respect to the forward portions 114 and 120 to
effect a desired heel and leg motion. The end of the forward
portion 114 of the right footboard 66 opposite the joint 116 is
supported for movement by a pair of lever arms 126 and 128. In
similar fashion the forward portion 120 of the left footboard 68 is
supported by a pair of lever arms 130 and 132. Each of the lever
arms 126, 128, 130 and 132 has its lower end pivotably coupled to
one of the forward portions 114 and 120 and its upper end pivotably
suspended from a crossbar member 134 of the lower frame 16. The
opposite ends of the crossbar member 134 are supported by opposite
vertical frame members 136 and 138 respectively mounted on the side
rails 60 and 62. The rear corners of the rearward portions 118 and
124 are respectively coupled to the chains 110 and 112 for movement
therewith.
The forward portions 114 and 120 are equipped with rigid straps 140
and 142 respectively for respectively receiving and securing the
balls of the right and left feet. The rearward portions 118 and 124
respectively include straps 144 and 146 for respectively securing
the right and left heels thereto. Brackets 148 and 150 are
respectively rigidly mounted to the rearward portions 118 and 124
opposite the joints 116 and 122 for pivoting movement with the
rearward portions. The top of the bracket 148 is equipped with a
strap 152 for encircling the right knee of the user. In similar
fashion the bracket 150 is equipped with a strap 154 at the top end
thereof for encircling the left knee of the user.
The lever arms 126, 128, 130 and 132 allow the forward ends of the
footboards 66 and 68 to swing through arcs of motions as the
footboards are driven by the chains 110 and 112. As the chain 110
rotates the right footboard 66 is caused to undergo a cyclic motion
closely approximating that of actual walking with the rearward
portion 118 pivoting relative to the forward portion 114 to effect
the up-down heel motion experienced in walking. The left footboard
68 operates in similar fashion but is out of phase with the right
footboard 66 in terms of its position within the path of cyclic
movement defined by the associated chain. Pivoting or hinging
movement of the rearward portions 118 and 124 relative to the
forward portions 114 and 120 bends the ankles and tends to cause
the knees to alternately straighten and bend at different portions
of the cyclic motion. The brackets 148 and 150 with their included
straps 152 and 154 pivot with the rearward portions 118 and 124 to
insure that the knees bend and straighten at the proper times.
The operation of the footboards 66 and 68 may be better understood
by referring to the illustrations of FIGS. 3A-3D which depict four
different positions of the right footboard 66 within its cycle of
reciprocal motion. In the example of FIG. 3A the footboard 66 has
moved along the lower portion of the cycle of motion to a point
where the coupling of the rearward portion 118 to the chain 110 is
about to rotate up and over the sprocket 106. This represents the
position in walking in which the right leg is behind the left leg,
the right foot being flat on the ground and the left foot which has
just taken a step being about to strike the ground, heel first. The
position of the right foot within the straps 140 and 144 holds the
portions 114 and 118 so that there is little or no flex at the
joint 116. The bracket 148 is positioned to insure that the knee of
the right or trailing leg in this position is straightened. The
lever arm 126 is pulled to the rear of the crossbar member 134.
In the position of FIG. 3B the point of connection of the rearward
portion 118 to the chain 110 has moved to the top of the sprocket
106, thereby raising the footboard 66 so as to begin a step by the
right foot. At the same time the rearward portion 118 pivots
upwardly at the joint 116 with respect to the forward portion 114
so as to lift the heel and throw the ankle and lower portion of the
right leg forward. At the same time the bracket 148 angles forward
to insure a gradually increasing bending of the right knee. The
lever arm 126 is still behind the crossbar member 134.
As the right foot continues to move forward from the position shown
in FIG. 3B to continue the step being made by the right foot, the
heel drops relative to the ball of the right foot and the knee
straightens slightly. In FIG. 3C the right footboard 66 has moved
through a substantial portion of the upper part of the cycle of
motion. This corresponds to the position in walking where the right
foot has been advanced forward of the left foot and is about to be
set upon the ground to complete the step. At this point the heel of
the right foot lowers with respect to the ball of the right foot so
that the rearward portion 118 forms a very small angle with respect
to the forward portion 114. At the same time the bracket 148 has
moved back to insure that some straightening of the right knee has
been effected. With the right footboard 66 in such a forward
portion of the cycle of motion, the lever arm 126 has pivoted under
the crossbar member 134 and is forward of the member 134.
As the right footboard 66 continues to move forward, the right heel
continues to drop with respect to the ball of the right foot and
the right knee continues to straighten. As the point of connection
of the rearward portion 118 to the chain 110 reaches the sprocket
102 and begins to encircle the sprocket 102 the footboard 66 begins
to drop downwardly, heel first, as shown in FIG. 3D. This
corresponds to the dropping of the right foot onto the ground to
complete the steo by the right foot. The rearward portion 118 is
virtually coplanar with respect to the forward portion 114. However
since the lever arm 126 has swung to an extreme forward position
the toe of the foot is raised somewhat, and as the rearward portion
118 is lowered over the sprocket 102 the heel is dropped in a lower
position than the ball of the foot. The bracket 148 is angled
toward the rear insuring that the right knee is nearly straight as
the step is completed.
As the point of connection between the rearward portion 118 and the
chain 110 drops to the lower portion of the cycle of motion and
advances rearwardly to the position shown in FIG. 3A, the rearward
portion 118 continues to be generally coplanar with the forward
portion 114. At the same time the lever arm 126 swings under the
crossbar member 134 so as to lower the toe slightly and maintain
the footboard 66 and thereby the right foot in a generally
horizontal position as the footboard 66 moves rearwardly. This
corresponds to the portion of the walking cycle in which the right
foot which has just taken a step is placed flat on the ground and
is maintained there while the left foot takes a step. As the left
foot takes a step so as to advance past the right foot, the right
knee continues to remain virtually straight and the entire right
leg is pivoted at the hip so as to swing rearwardly relative to the
torso. This action is insured by the bracket 148 which maintains
the right knee straight while allowing the right leg to move
rearward along the lower portion of the cycle of motion.
The left footboard 68 undergoes the same motion as the right
footboard 66, but is always in an opposite portion of its cycle of
motion with respect to the right footboard 66. This reciprocating
action duplicates the action of the feet and legs during actual
walking. Moreover, since the individual is secured above the hips
and in the region of the waist by the harness assembly 42 the hips
and pelvic region are free to move in a fashion identical to that
engaged in during normal walking. Such movement has the further
effect of tending to cause the arms to swing naturally at the
individual's side, although in certain instances it may be
desirable to extend the lever arms 126, 128, 130 and 132 upwardly
beyond the crossbar member 134 and couple them to the hands of the
individual. This insures proper hand movement in walking wherein
each hand swings forward as the leg on that side of the body moves
backward and swings rearward as the leg moves forward to aid in
balance.
In this fashion walkers in accordance with the invention provide a
complete reciprocating walking action in which the feet, ankles,
knees, hips and arms all move in conventional walking fashion. The
benefits achieved from such a complete action are substantial. From
an exercise or therapy standpoint such a complete walking motion or
action puts into use all of the muscles and joints used in normal
walking, thereby strengthening the muscles in preparation for
walking or at the minimum maintaining such muscles from
deterioration. From a training standpoint it has been found that
the complete walking motion undergone by walkers in accordance with
the invention provide greatly improved results in terms of teaching
handicapped individuals to walk. This is attributed to the complete
walking motion which is thought to be impressed upon the brain and
bodily motor control system in such a way that actual walking is
much more readily learned.
While many factors contribute to the success of the complete
walking motion successfully taught by walkers in accordance with
the invention, it is thought that a key aspect of such process is
the use of hinged footboards to achieve some arch movement
resulting in vertical heel movement relative to the ball of the
foot. When such heel motion is achieved in conjunction with the
paths of cyclic motion for the footboards, a very important aspect
of walking is impressed upon the person. This simple heel movement
causes the ankle to bend and results in proper bending and
straightening of the knee. However proper knee action is insured by
a further feature in the form of the brackets which are attached to
the rearward portions of the footboards and which are secured about
the knees. A still further aspect of the invention which plays an
important role in achieving a complete walking motion is the
securing of the individual above the hips and in the region of the
waist. Thus the harness assembly 42 functions to secure the
individual in an upright position and insure that the individual
does not fall over. Of equal importance, however, is the function
performed by the harness assembly 42 in allowing the hips and
pelvic region of the individual to undergo those motions
experienced in actual walking in response to the driving of the
feet and legs by the footboards 66 and 68.
In many instances it may be desirable to be able to use the walker
10 as a means of transportation as well as for exercise and therapy
for a handicapped or otherwise non-ambulatory person. An
arrangement for accomplishing this is illustrated in FIGS. 4 and 5.
FIG. 4 shows the lower frame 16 as in the case of FIG. 2, but with
the walking mechanism removed for simplicity of illustration. As
shown in FIG. 4 the lower frame 16 has a pair of opposite tracks
160 and 162 mounted thereon. The track 160 includes a pair of
circular members in the form of cylinders 164 and 166 rotatably
mounted on the lower frame 16. The cylinder 164 is mounted on an
axle 168 which is in turn rotatably received within a spaced-apart
pair of pillow blocks 170 and 172 mounted on the lower frame 16. A
sprocket 174 mounted on the shaft 168 between the pillow blocks 170
and 172 engages a chain 176 which is also coupled to a gear
reduction unit 178. The gear reduction unit 178 is driven by a
motor 180 so as to turn the chain 176 and the sprocket 174 and
rotate the cylinder 164 via the shaft 168. The cylinder 166 is
mounted on a shaft 182 which is rotatably received within a
spaced-apart pair of pillow blocks 184 and 186 mounted on the lower
frame 16. Driving of the cylinder 164 in response to operation of
the motor 180 causes an endless belt 188 which extends around and
between the cylinders 164 and 166 to move around the cylinders. The
outer surfaces of the cylinders 164 and 166 are equipped with
series of spaced-apart lugs 190 and 192 respectively. The lugs 190
and 192 engage a series of lugs 194 on the inner surface of the
endless belt 188 to insure slip free operation.
The track 162 includes an endless belt 196 having a series of lugs
198 on the inner surface thereof for engagement with series of lugs
200 and 202 respectively mounted in spaced apart relation on the
outer surfaces of a pair of rotatable cylinders 204 and 206. The
cylinder 204 is coupled to a shaft 208 rotatably received within a
spaced-apart pair of pillow blocks 210 and 212 mounted on the lower
frame 16. A sprocket 214 mounted on the shaft 208 engages a chain
216 so as to be driven by a motor 218 via a gear reduction unit
220. The cylinder 206 is mounted on a shaft 222 which in turn is
rotatably received within a spaced-apart pair of pillow blocks 224
and 226 mounted on the lower frame 16. As in the case of the right
hand track 160 the left hand track 162 is driven in response to the
motor 218 via the gear reduction unit 220, the chain 216, the
sprocket 214, the shaft 208 and the cylinder 204.
It will be seen that the tracks 160 and 162 are independently
driven by the separate motors 180 and 218. Accordingly the speed
and direction of drive of the walker may be varied by varying the
speed of one or both motors or the relative speed therebetween.
This is accomplished by a control unit 228 having a hand operated
stick 230 mounted therein. Details of the control unit 228 and
included stick 230 are shown in FIG. 5. The stick 230 includes a
hand grip 232 at the upper end thereof. Mounted within the hand
grip 232 is a rheostat (not shown) which is adjusted by a thumb
operated plunger 234 protruding from the upper end of the grip 232.
The lower end of the stick 230 includes a mechanism 236 for
mounting the stick to permit movement of the stick about the
mechanism 236 in various different directions. A contact board 238
is mounted on the stick 230 above the mechanism 236 and includes a
plurality of contacts 240 disposed above mating ones of a plurality
of microswitches 242 mounted on a base member 244. As the stick 230
is moved by hand relative to the base member 244 the control board
238 is moved so that one or more of the contacts 240 touch and
close the mating microswitches 242. The particular microswitch or
switches closed by the contacts 240 depends on the angular position
of the stick 230 and determines the direction of travel of the
walker. Thus when a microswitch 246 is closed the walker is driven
straight ahead by energizing the motors 180 and 218 in equal
amounts. Closure of either of a pair of microswitches 248 and 250
causes the walker to move to the right or to the left respectively
by greater energization of the motor 180 or the motor 218. Closure
of one of three different microswitches 252, 254 or 256 produces
the same results but in an opposite direction. The rheostat in the
grip 232 of the stick 230 is coupled in circuit with the motors 180
and 218 to control the speed thereof and thereby the speed of
movement of the walker.
Although not shown in FIG. 4 the lower frame 16 includes all of the
walking apparatus and the glider 14 of FIGS. 1 and 2 as well as the
apparatus for driving the walker. The tracks 160 and 162 which are
mounted on and supported by the lower frame 16 reside inside the
confines of the glider 14 so as not to make the walker unduly large
or cumbersome. The motors 180 and 218 and their associated gear
reduction units 178 and 220 reside within the cover 86 shown in
FIG. 1. The control unit 228 is mounted in a convenient location on
top of the glider 14 where it is readily accessible to an
individual using the walker 10.
A walker equipped in the manner of FIGS. 4 and 5 enables an
individual using it to exercise or receive therapy in the manner
described in connection with FIGS. 1-3. Without the necessity for
being removed from the walker, such individual can use the walker
to move about from one place to another. Use of the footboards 66
and 68 can be continued or terminated as desired as the walker is
driven about by the individual. The lugged tracks 160 and 162
provide an effective and positive way in which to drive the walker.
The tracks enable the walker to be driven over varying terrain
including slopes and certain bumps including curbs and flights of
steps.
Of course, still other uses can be made of the basic walker shown
in FIG. 1, in accordance with the invention For example a walker
essentially in the form of that shown in FIG. 1 but made waterproof
and shockproof can be immersed in water to provide for walking or
exercising within the confines of a therapeutic bath. Moreover, the
walker can be equipped with elaborate speed controls and safety
devices, as well as bells, horns or other attention-getting devices
where small children are involved, and can include sensor-operated
automatic shut-off devices and the like in the motorized version of
FIGS. 4 and 5. The arrangement for driving the footboards 66 and 68
can be modified within the scope of the invention so long as the
complete reciprocating walking motion is maintained. Thus the dual
chains 110 and 112 can be replaced by a single chain mounted on a
pair of sprockets between the footboards 66 and 68 with the
footboards being coupled to opposite portions of the single chain.
In such an arrangement a single chain replaces the chains 94 and
96, and the outside edges of the footboards 66 and 68 can be
coupled to guides mounted on the respective side rails 60 and 62
and shaped to guide the footboards 66 and 68 through their cyclic
paths of motion.
An alternative arrangement of a walker in accordance with the
invention is shown in FIGS. 6A and 6B. The arrangement of FIGS. 6A
and 6B is the same as that of FIGS. 1-3 except for the footboards
66 and 68 and the specific means of supporting them. In the
arrangement of FIGS. 1-3 the footboards 66 and 68 are supported
entirely by the couplings to the chains 110 and 112 and by the
lever arms 126, 128, 130 and 132. In some instances positioning of
the user's feet within the straps 140, 142, 144 and 146 is
sufficient to prevent unwanted downward flexing of the footboards
66 and 68 at the respective joints 116 and 122. In still other
situations the bottoms of the footboards 66 and 68 may actually
slide upon a floor or other surface on which the walker 10 is
placed to provide necessary support for the footboards.
In the alternative arrangement of FIGS. 6A and 6B the footboards 66
and 68 are respectively supported by longitudinally running rails
270 and 272 which form a part of the lower frame 16 and which
extend in directions generally parallel to the side rails 60 and
62. The rails 270 and 272 are mounted at their forward ends to the
member 64 and at their trailing ends to a transverse frame member
274 extending across the lower frame 16 and forming the angled
frame members 50 and 58 at the opposite ends thereof. A separate,
generally U-shaped element is mounted on the underside of each of
the forward portions 114 and 120 so as to partially encompass and
slide along the rails 270 and 272. Such a U-shaped element 276
associated with the right footboard 66 is shown in FIG. 6B as it is
positioned for sliding movement along the rail 270.
In operation each of the U-shaped elements slides along the top of
the associated rail 270 and 272 to insure travel of the trailing
edges of the forward portions 114 and 120 in bidirectional fashion
along generally horizontal paths of motion. The footboards may
still pivot at the joints 116 and 122, allowing the forward edges
of the forward portions 114 and 120 to be slightly raised and
lowered as they swing through the arcs defined by the levers 126,
128, 130, and 132. At the same time the rearward portions 118 and
124 of the footboards 66 and 68 are free to experience up and down
movement while pivoting at the joints 116 and 122 in response to
movement of the chains 110 and 112.
With the footboards 66 and 68 partially supported by the rails 270
and 272, the straps 140 and 142 in the arrangement of FIGS. 1-3 may
be replaced by pairs of generally L-shaped brackets 278, 280 and
282, 284 respectively mounted on the forward portions 114 and 120.
The pairs of brackets 278, 280 and 282, 284 are adjustably mounted
in spaced apart relation from one another to accommodate the balls
of the user's feet and prevent lateral movement of the feet. As in
the arrangement of FIGS. 1-3 the straps 144 and 146 are placed so
as to surround the user's ankles. In addition a pair of heel cups
286 and 288 are respectively mounted on the rearward portions 118
and 124 so as to secure and properly position the heels of the user
throughout the paths of motion of the footboards 66 and 68.
The brackets 148 and 150 in the arrangement of FIGS. 6A and 6B
differ somewhat from the arrangement of FIGS. 1-3 in that each
comprises a generally L-shaped rod, one end of which is received
within and tightened in a hole in the rearward portion of the
respective footboard. Tightening of the rods comprising the
brackets 148 and 150 is accomplished by hand adjustable bolts 290
and 292. By loosening the bolts 290 and 292, the rods 148 and 150
may be pivoted so as to permit easier access to the footboards 66
and 68 when the user is entering or exiting the walker 10.
Thereafter the rods 148 and 150 are pivoted back into place and the
bolts 290 and 292 are tightened. Each of the straps 152 and 154 in
this instance comprises opposite lengths of strap like material
which are joined together after being wrapped around the knee to
form a loop.
For purposes of safety as well as appearance the opposite chains
94, 96, 110 and 112 are partially covered by a pair of chain guards
294 and 296 respectively mounted on the side rails 60 and 62. The
chain guards 294 and 296 are also preferably used in the
arrangements of FIGS. 1-3 but have been omitted therefrom to
facilitate illustration and explanation of the chain and sprocket
drives.
While the invention has been particularly shown and described with
reference to preferred embodiments thereof, it will be understood
by those skilled in the art that the foregoing and other changes in
form and details may be made therein without departing from the
spirit and scope of the invention.
* * * * *