Apparatus to aid walking

An apparatus to aid walking, the apparatus including a base unit, housing a motor; and further including first and second horizontally orientated foot supports, mounted for back and forth parallel motion relative to the base unit; the foot supports each being operably connected to the motor; each foot support including a plurality of planar members, including a base plate, an intermediate plate and a foot plate having an upper surface to receive a user's foot, the intermediate plate being pivotally linked at a first end to the base plate and at a second end to the foot plate.

TECHNICAL FIELD

The present invention generally relates to a rehabilitation apparatus for aiding in learning or relearning to walk, particularly following a person having suffered a stroke or other traumatic loss of movement in the lower limbs.

BACKGROUND AND PRIOR ART

There are a number of causes for a loss of function or control of lower limbs, which can include serious brain events, injury, and illness. Where an individual suffers such a loss, this can severely impair their ability to walk. Relearning to walk is often a lengthy process requiring the aid of physiotherapists and other health professionals. Tools for aiding this relearning are becoming increasingly dated, and space consuming.

Current rehabilitation methods for relearning how to walk include a set of, rudimentary, parallel bars. These bars are set to the appropriate height for the user, who then supports himself in order to move their legs. This method, although simple, has been shown to aid in relearning. The method however, proves a problem for an individual where they reach the end of the bars, and have to turn 180 degrees to continue using the bars to support himself. Turning himself can prove an energy consuming task, which detracts from the narrower focus of relearning each stage of the leg movement in the walking process.

This project addresses the need for a cost-effective, user-friendly device to meet a priority rehabilitation need: the ability to walk independently after stroke. This innovation is expected to also meet the requirements of other patient groups. Existing devices for retraining walking: have limited evidence of benefit, are expensive, are difficult to use in rehabilitation settings particularly in peoples' homes, and/or are poorly designed. Current clinical practice, i.e. 2-3 therapists supporting legs/arms/trunk of the stroke survivor, cannot provide sufficient repetitive practice of the normal walking needed to drive brain recovery. Electromechanical walking training is recommended in national stroke guidelines but our market research indicates lack of a device: for practice of normal walking patterns; usable in rehabilitation settings; and commercially viable to manufacture and market.

Further current rehabilitation methods consist of the use of treadmills. The general nature of a treadmill provides a system having a moving belt which does not provide any guidance for appropriate placement of the foot, unless a therapist is present who actually lifts the foot for the patient-typically supported by a body harness—as the foot travels along the planar surface of the foot-engaging portion. This planar motion of foot travel does not rehabilitate a user to lift and plant their foot as they would when walking normally, rather this method produces a foot sliding action. Moreover, on a typical treadmill there is a serious risk of the user tripping.

It is to these problems amongst others, that the invention attempts to offer a solution.

SUMMARY OF THE INVENTION

According to a first aspect of the invention, there is provided an apparatus to aid walking, the apparatus comprising a base unit, housing a motor; and further comprising first and second horizontally orientated foot supports, mounted for back and forth parallel motion relative to the base unit;the foot supports each being operably connected to the motor;a foot support comprising a plurality of planar members, including a base plate, an intermediate plate and a foot plate having an upper surface to receive a user's foot, the intermediate plate being pivotally linked at a first end to the base plate and at a second end to the foot plate.

Optionally, the foot plate includes a retention means to retain the foot against an upper surface of the foot plate. Further optionally, the foot plate includes a heel support to provide stability to a user's foot.

Preferably, the foot supports are housed for motion within channels within the base unit and further preferably, the upper surfaces of the foot plates are below or level with the upper surface of the base unit to enable a user to step down onto or simply across from the base unit onto the foot supports.

Conveniently, the foot supports are independently moveable back and forth. Alternatively, the movement of the foot supports is linked by means of a coupling, forward motion of one of the foot supports causing rearward motion of the other foot support.

Preferably, back and forth motion of the foot supports is governed by a processor to enable a specified programme of movements to be undertaken by a user, which processor is further preferably an Arduino processor.

Advantageously, the apparatus includes a stop button, operation of which, disconnects power to the foot supports, which allows a support worker to aid a user more easily in the event of problems occurring.

Optionally, the apparatus comprises two independently operable motors, the first motor driving the first foot support and the second motor the second foot support.

Preferably, one or more supports extend upwardly from the base unit to act as hand support for a user or to provide a suitably elevated location point for other forms of support for the upper body, which varies according to different patients' needs. Further preferably, the height of the support on top of the base is adjustable. Yet further preferably, a support comprises two upright support elements extending from the base, one rearward of the base unit and one forward of the base unit, and connected by a cross-piece. Still yet further preferably, the vertical supports are pivotally mounted to the base unit, enabling the tubular supports to be pivoted to lie against the base unit for storage or transport. More preferably, the apparatus comprises two supports to either side of a user to aid a user in retaining upright whilst using the apparatus.

Preferably, a motor is connected to the foot supports by one or more drive belts, said belt being selected from a toothed belt, chain belt or the like.

Optionally, the intermediate plate is linked by means of a hinge to the base plate to allow the front end of the intermediate plate to pivot away from the base plate.

Further optionally, the foot plate is linked by means of a hinge to the front end of the intermediate plate. Yet further optionally, the intermediate plate is linked to the foot plate between the front and the back of the foot plate, and still further optionally to the front half of the foot plate.

DETAILED DESCRIPTION OF THE INVENTION

FIG.1displays the device1in accordance with an embodiment of the invention. The device1comprises a ground-engaging base3, a top platform2, and right8and left9supports. The device1in use, provides assistance to those undergoing rehabilitation in order to facilitate their re-learning, or learning how to walk.

The top platform2comprises a raised forward portion4and a user-engaging flat portion5. The flat portion5comprises a right runway16and a left runway17. The runways16,17are elongate apertures in which footplates6,7are slidably housed such that the footplates6,7can move in a back and forth motion along the respective runway16,17. The footplates6,7are also housed such that their upper surfaces are at the same height, where the top surface, or foot-receiving portion49, is level with the surface of the top platform2. This aids a user in stepping on and off the footplates. The height of a footplate6,7is optionally adjustable to take the account of any variations in effective length of a user's leg. In an alternative optional embodiment, not illustrated, the patient's leg length can be taken into account by altering the stroke of the platform's reciprocating motion. The footplates'6,7movement is driven by a motor located within the body of the device1.

Although the footplates6,7can be housed in the runways16,17, the footplates6,7do not have to be in contact fit with the vertical walls of the runways16,17. This allows an individual footplate6,7to rotate about an approximately vertical axis of the footplate6,7centre point. By allowing this rotation, the footplate6,7can be rotated to enable use by those users whose feet point inwards or outwards during walking. The rotation also allows a user who may swing their leg outward in order to take a step, to maintain their foot within the footplate6,7itself. The footplate6,7, can however, be fitted with a compliant or fixed-stop limiter, in order to reduce the rotational movement. This enables a user's movement to be limited or controlled, where the user displays an excessive foot or leg motion which needs to be corrected.

Extending from the flat portion5are four hinge mountings: two left hinge mountings18located toward the outer edge of the flat portion5, and two right hinge mountings19located to the edge of the parallel edge portion. Each pair of hinge mountings18and19, hingeably engages in-use lower end18a, b,19a, bof a left9and right8support. Each support extends, in use, upwardly perpendicular to the surface of the flat portion5. Each support8and9is constructed of two uprights and a connecting rail24. The uprights comprise a lower support portion22and an upper support portion23. The lower support portion22includes a support adjust pin14. The support adjust pin14extends through an aperture on each side of the lower support portion22, to lock the upper support portion23at a desired height. The upper support portion comprises a series of apertures21for receiving the support pin14in use. The particular aperture21allows the connecting rail24to be brought to a height to suit the user. The connecting rail24of the support8and9, comprises a handle15aand15bthat a user can hold onto. Each handle15aand15bcomprises a series of apertures20, to which attachments can be secured, as detailed in later embodiments.

Each support8,9comprises an emergency stop button13aand13b. A further emergency stop button12is located on the raised forward portion4. The emergency stop buttons13aand13bon the supports8,9are located to provide ease of access for a user or their aide to deactivate the device1motors immediately. The height at which the emergency stop buttons13aand13bare arranged also allows ease of access for a supporting health professional to stop the motors. The emergency stop button12of the forward portion4of the top platform2is located for ease of interaction by a foot. A supporting health professional can deactivate the device1motors by foot interaction with the emergency stop button12whilst maintaining interaction with the user. In a further embodiment, not illustrated, if power beyond a pre-set value is drawn, this can be taken as an indication that the machine is jammed, possibly by something being caught in the drive mechanism, and the power cut. In a yet further non-illustrated embodiment, an automatic kill switch style emergency stop is accommodated. Such a device consists, for example, of a fixed cord attached to the user on one end, and the device on the other end. If the patient or supervisor pulls or yanks the cord, or the user falls or moves outside the radius of the designed cord length, the switch automatically stops the machine safely

The top platform2comprises handle apertures10aand10b, and11aand11b. The ground engaging base3comprises recesses25aand25b, and26aand26bthat mirror the location and shape of the handle apertures10and11, allowing a user or users to carry and/or manoeuvre the device1. Ground-engaging wheels, which can be lockable against rotation, can be provided to aid in the movement of the device1between locations.

The left and right runways17and16are located in the flat portion5of the top platform2, situated parallel to one another. Each runway17and16comprises a footplate7and6which, in use, travels back and forth along the length of the runways17and16respectively, to aid in simulating the walking process.

FIGS.2and3display a footplate40at, respectively, two operational, in use, positions. Each figure shows a footplate40having a base41, a base hinge43that forms the join between the base41and the central plate44and allows the plate44to pivot relative to the base41. A top plate hinge46joins the central plate44to a top plate45, the hinge46enabling the central and top plates to pivot relative to each other about the hinge axis. The hinge46pivotally joins the central plate44and top plate45together, the end of the central plate44meeting the underside of the top plate45, part-way between the centre and front end of the top plate45. This enables the normal walking foot motion to be mimicked more readily than when the central and top plates44,45are joined along their respective front ends. The top plate45supports a foot receiving portion49which can be adjusted to accommodate different feet sizes. The arrangement of the footplate40is that of a Z-plate mechanism. The Z-plate mechanism comprises three plates, of which a central plate comprises a hinge at each end, with a second plate attached to one hinge, and a third plate attached to the second hinge. The use of a pivot link constrains the foot's forward/back and side-to-side motion, yet still allows the foot to be lifted vertically with minimal impediment.

The user's foot is maintained in position on the footplate40by the heel support48, and strap47which maintains the forward portion of a user's foot against the foot receiving portion49. This arrangement allows the foot to flex around the big toe joint. The foot receiving portion49is formed of a flexible material, for example a soft plastic, or thick rubber that allows the foot receiving portion49to flex with the user's foot in use. By providing a flexible material for the foot receiving portion49, the heel support48can move with the user's heel, and remain in contact throughout the multiple positions that result through a range of walking gait motions.

FIG.2displays the arrangement of the footplate40as a user's foot is approaching the heel strike point of a stride. In this embodiment, the base hinge43is opened, as the central plate44is removed from the base plate recess42. Throughout use, as the base hinge43closes, the angle between the central plate44and the base recess42decreases. The top plate hinge46is in its fully opened position, which maintains the top plate45in contact with the central plate44. The base of the foot-receiving portion49is in contact with the top surface of the central plate44, with the heel support portion48, maintaining the user's heel in position on the footplate40.

FIG.3displays the arrangement of the footplate40as a user's foot is lifting off the base41. The base hinge43is opened, and the angle between the central plate44and the recess42is increasing. When walking, an individual lifts their striding foot from the ground, and draws the heel upward as the leg begins its swing forward. This motion draws the heel support48away from the central plate44, pivoting the top plate45downwards, which decreases the angle of the top plate hinge46between the top plate45and the central plate44.

Pivoting about the top plate hinge46is assisted at this part of the stride by pressure from the front of the user's foot on the portion of the top plate45forward of the top plate hinge46, the force about the top plate hinge46thereby provided acting about the top plate hinge46in the same rotational manner as that produced by lifting the heel support48. As the user draws up on the footplate40, the base41slides forward in its respective runway. This sliding motion replicates the act of striding in walking. As the footplate40travels forward in a prescribed and controlled motion on its runway, the second footplate, attached to a user's second leg, slides rearward, also in a controlled motion. This replicates the action of a striding leg passing a stationary leg in walking.

Each runway comprises a recess wherein the centre portion comprises an aperture, into which a toothed belt is positioned. The walls of the recess are constructed so as to comprise a low friction guiding surface that is in contact with the sides of a footplate. This allows the footplate to slide against these surface, in use. The base of the footplate has wheel or race bearing carriages or similar means to allow the footplates to have low rolling resistance

Each individual footplate40is attached to a toothed belt, chain or other suitable means within the runway recess. For example, linear actuation means such as pneumatic, hydraulic, electrical, ball and lead screw, chain, rack and pinion or cable mechanisms can be used. The toothed belt means is connected to a pulse width modulation (PWM) servo motor. Other methods of linear speed control to vary speed can be used (e.g. in the case of AC servos, frequency control), in the case of a CVT (constantly variable transmission) gearbox, dynamic change of gearbox ratio, can be used. The motor is variable speed, and can be controlled by either the user, an operator or a microcontroller such as an Arduino microcontroller, and piggyback10A ‘buffer’ shield. As an alternative a stepper motor can be used. Each runway, or carriage, is independent from the other. The mode of operation of the runway and footplate40function is to synthesize characteristic human foot positions throughout a range of walking gait motions. The device can be controlled by an operator to ensure that the speed of the footplates along their respective runways is adequate to allow a user to carry out their exercises. The operator can control the speed of the footplate movement within the runways manually, by way of software controlling the device. From the software, the operator can monitor all aspects of speed, and weight distribution between a user's feet. Moreover, the software can be utilised to replicate the front to back motion of a typical stride cycle, controlling aspects such as, and referring toFIG.9, stride length, acceleration and deceleration of the swing phase steady velocity of walk during the stance phase, the transition from forward to backward motion at heel and toe off etc.

This motion can be derived by reverse engineering via measured gait analyses from patients and healthy subjects. Alternatively, the motion can be synthesized and ‘profiled’ where this could provide therapeutic benefit. For example, asymmetrical left/right movement, exaggeration or reduction of the acceleration profile, progressive change of stride length during therapy, for example.

First, the foot of the user is attached to the top part of the Z-plate (which is a flexible element in this embodiment) so that the foot can be lifted (comparatively) easily off the ‘ground’.

This allows the foot to be raised under the user's own effort during the swing (return) phase of the walk. To achieve this important transition, the user must perform a weight shift onto their opposite leg. This is a neurologically significant element of walk and larger prior art, robotic devices ‘force’ this motion in a less natural fashion. Conversely, treadmill walking, known in the prior art, allows the free passage of the foot during the swing phase, though this is unsafe (trip hazard) and does not instil the acceleration/deceleration movement that the patient is trying to re-learn.

The gait width is constrained. This is fixed by the device, though in some embodiments, the width can be adjusted to suit varying patient needs as a production solution. In addition, adjustment can be made, and means provided to accommodate toe-in and toe-out conditions. This is only limited mechanically by potential interference between the left and right ‘plates’, though there may be angle limits imposed by user benefit; for example, if the foot was misaligned too far from straight ahead, this could create unfavourable joint loading. This would need to be determined by clinical evaluation.

The footplate used on the device is similar to those known in rowing machines found in a gym. However, effective means to hold the foot in position is important. This method may vary depending on different patient conditions. However, selective compliance (rather than a rigid Z-plate) can make the device more comfortable.

The footplate needs to accommodate a range of foot sizes as a user may or may not be wearing footwear. The heel should be maintained proximate to the rear hinge, such that during heel strike, there is good correlation between the user's heel and the point at which it strikes the ground.

During ‘toe off’, the foot flex is used to provide momentum to allow the weight shift to the opposite leg (described above). Where a user has difficulty initiating this lift (at the end of the pre-swing), a ‘cam’ or powered heel ‘pusher’ can be provided to assist. As a basic form of heel lift device, a switch can be incorporated that halts the walk cycle unless the user lifts the heel at the right moment. However, such a switch can be disruptive to normal walking. The lowest element of the Z-plate is, in effect, the floor ‘datum’.

In a further embodiment, the top plate hinge46is located at the foot-receiving portion49end of the central plate44. In this embodiment, the foot-receiving portion49is flexible along its entirety and joins directly to the top plate hinge46. This embodiment allows the user to pivot about the toe, further replicating the natural gait by allowing the user to extract the foot from the heel through to the toes. The toes, in use, are positioned about the toe-receiving end51of the foot-receiving portion49. This ensures that the foot-receiving portion49moves with the user's foot, and therefore ensures that no excess of the toe-receiving end51is present.

To accommodate for users with smaller feet, the heel support48can be adjusted to position the user's foot correctly on the foot-receiving portion49. There are a number of options for adjustment means. These include, a toe region adjustment means that the user adjusts by slotting retaining plugs into receiving apertures. Alternatively, the heel support48can be moved respective of the foot-receiving portion49by a strap adjustment means, this allows the user to position the heel support48so as to ensure that their feet engage the respective foot engaging portions correctly.

The further advantage of the footplate40design, which features hinged portions, allows the user to move their ankle. The ankle and feet, comprise proprioceptors, which provide the body's ability to sense movement within joints, and also determine joint positioning. By developing proprioceptors, an individual does not have to look at, for example, their foot in order to determine its positioning. The hinged footplate40enables the user to move their feet and ankle in a manner that is less restricted, and therefore develop their proprioception.

FIG.4is an aerial view of the device1, where the supports8and9have been folded into their storage position. The supports8and9are folded at hinges18and19so as not to extend beyond the edges of the top platform2. The hinges18and19are arranged so as to allow a larger handle to fold around the hinges of the smaller handle. In this embodiment, the hinges18of the left support9are further apart, to allow for the support8to be folded onto the top platform2surface and lie between the two left hinges18. The right-side hinges19are arranged to be closer together than those of the left-side hinges18. This arrangement allows for the left support9to lie outside of the hinges19. The left support9in this embodiment comprises a longer rail24than that of the right support8.

FIG.5displays the apparatus from the rear, the apparatus1having a user rear support52installed into its in-use position. The user rear support52comprises a user-engaging support portion58, fixed to a support bar53. The support bar53comprises an engaging hook54and55at each end. The engaging hooks54and55are constructed so as to lock onto the connecting rail24of the left and right supports9and8respectively. The hooks54and55each comprises a locking pin56and57for engaging the handle apertures20. The user rear support52can comprise belt supporting apertures on the support bar53. These allow the user to be maintained in position against the user-engaging support portion58by tightening or loosening of a belt or strapping means, worn by the user.

FIG.6is a rear view of the apparatus1where a side support attachment76is to be installed. The side support attachment76comprises a support portion77, with a lower portion comprising a support-engaging hook81. The support engaging hook81in use, is attached to a support8or9respectively. The support engaging hook is maintained in position by a locking pin78which engages one of the handle apertures20. An upper portion83of the side support attachment76supports a user-engaging portion80, adjustable by an angle adjustment knob79. The side support attachment76is installed to support a user who may have weak core muscles from prolonged time spent prone or sedentary, during which they have not walked or trained their core. The side support attachments76can be installed so as to maintain contact with the user throughout use, or allow a pre-determined spacing between the user's torso and the user-engaging portion80, so as to reduce the support and build the walking strength of the user.

FIG.7is a side view of the apparatus1in which three attachments are shown in their pre-installation arrangement, prior to being installed. The first attachment is a ramp30, comprising a bottom portion-engaging protrusion31which in use is positioned with a receiving aperture or recess on the ground-engaging base second end of the apparatus1. The protrusion31ensures that the ramp30is maintained in its in-use position relative to the apparatus1to prevent shifting of the ramp whilst it is in use. The ramp30further comprises handles32for aiding in manoeuvring of the ramp30. The ramp30allows for a user's wheelchair to be pushed onto the apparatus1, so as to allow them to be attached to a hoist33and lifted from their wheel chair and into an upright position.

The second attachment is a hoist33. The hoist33comprises left and right support base-frame extensions34aand34b. Each extension34comprises a wheel35aor35bat its end portion. Each wheel35aand35bis manoeuvrable about a 360-degree rotation through its attachment to the respective extension34. Each extension extends from a hoist frame centre unit67. The extensions34are so spaced as to allow the hoist to be positioned about the apparatus1, where the apparatus1is located between the extensions34. The centre unit67comprises two wheels35cand35d, each manoeuvrable about 360 degrees.

A support frame36extends upwards from the centre unit67to from a curved ‘c’ profile that extends, in use, over the top of the apparatus1. A reinforcement piston37extends between a lower portion and upper portion of the support frame36, so as to provide support where flexion in the frame36occurs whilst supporting the weight of a user. Alternatively, in place of the reinforcement piston, a linear actuator or locking gas strut can be used to provide the support. The frame comprises a harness attachment means38for attaching a user's harness, to support the weight of the user in use. The frame36further comprises a manoeuvring handle39, the handle39including controls60and emergency stop button61for a healthcare worker aiding the user to operate the apparatus for the user. The hoist controls60allow for the healthcare worker to raise and lower the user where necessary. The controls in connection with the apparatus are actuated either via an external network through wireless means, or via direct contact through a wire. The centre unit67comprises an apparatus-engaging protrusion62. This protrusion62fits into a receiving aperture or recess on the first end of the apparatus1. This fit, maintains the hoist33in its in-use position, by preventing sidewards movement of the hoist33relative to the apparatus1. The hoist33can also comprise brakes on an individual or each wheel35to prevent shifting of the hoist33in use.

The third attachment is a knee rest63. The knee rest63comprises a knee-engaging portion64, connected to a knee rest support frame65comprising a top portion-engaging means66at its lowest portion. The knee rest63in use acts to support the front of a user's knees, or top of their shins. The knee rest is used to lock the user's lower limbs in position whilst they the hoist is used to lift them into a standing position. A carry handle50is located at the top of the knee rest frame65so as to allow the knee rest to be removed and installed quickly.

FIG.8is a top view of the ground-engaging base3of the apparatus1, with the top portion removed. The ground-engaging base3comprises two motors70and71, each in contact with a toothed belt72and73. The motors70and71are located at the first end68of the ground-engaging base3. In use, the top portion of the apparatus (not illustrated) comprises a raised first end, which allows for the top portion to be fitted over the top of the motors70and71, allowing for the motors to be concealed within the apparatus. At the second end69of the ground-engaging base3, the toothed belts72and73engage their own independent, left and right receivers74and75. Each receiver74,75allows the toothed belt72and73with which it is in contact to travel away from, or towards its respective motor70or71. The toothed belt72and73in use moves the respective foot plate along the length of the top portion aperture to which it is connected.

FIG.9is a diagram of the gait cycle of a walking human. This diagram clearly displays the leg movements of the user when walking. The footplate40design is constructed accommodate for the alterations in foot angles throughout the stride. At the heel strike, a user's toes are pointed upward of the ground reducing the angle between the top of the user's foot and the shin. At the midway point of a stride, the angle between the top of the user's foot and shin can be said to be about 90 degrees, which as the user continues their stride, this angle is continuing to increase as the last remaining portion of the foot on the ground is the toes. Throughout the swing forward of the user's leg, the angle between the top of the user's foot and their shin decreases, in preparation for the heel strike where once again the user's toes are pointing substantially upward of the ground. The footplate40construction allows the user's foot to move through each phase of the gait, as a result of the hinged portion's structure. This feature is advantageous over the likes of a treadmill, as a treadmill moves a user's foot without requiring that they lift and swing their leg. This further restricts ankle flexion, and subsequently has little benefit to proprioceptor development which in turn is essential for ensuring a user develops their gait. If desired, sensors can be included to detect heel strike and heel off and halt reciprocating movement of moving platforms until such movement is detected, thereby explicitly training or encouraging these aspects of walking—functionality not available on a treadmill.

FIG.10is a side view of the footplate40and user's foot in the heel strike position. The foot receiving portion49is in contact along its entirety with the central plate44with the base hinge43in the open position. The base41is in direct contact with the toothed belt59, which is moving in the direction of the arrow beneath the toothed belt, as the user plants their foot.

FIG.11is a side view of the footplate40and user's foot in the mid stride position. in this embodiment the central plate44and foot receiving portion49are positioned on top of one another as the toothed belt travels in the direction of the movement arrow.

FIG.12is a side view of the footplate40and user's foot in the heel off position. The flexibility of the foot receiving portion49is clearly displayed, as it curves with the natural shape of the base of the user's foot, and allows the foot to roll forward onto the toes. The central plate44remains in contact with the base41and the base hinge43closed. In this embodiment, the foot receiving portion49is joined to the central plate44at their respective ends. This allows for the user to lift the heel support48upward of the central plate44, and continue elevation without requiring that the central plate44prematurely elevate from the base plate41.

FIG.13is a side view of the footplate40and user's foot as it travels past mid swing. The tendency in this action is for an individual to elevate their toes upward, so as to round the foot in preparation for heel striking. In this embodiment, we can see that the foot-receiving portion49is curved with the user's toes, as the heel support48is located away from the central plate44.

FIG.14is an elevational view of two footplates40in use. The right footplate6is rotated about the axis of the toothed belt59. This rotation allows a user's leg to follow its natural swing route. A number of individuals do not swing their feet in one planar motion throughout their walking, and so providing a footplate40that merely moves along one plane would not allow them to reacquaint their natural stride and proprioceptive familiarity, subsequently this would be restrictive to the user. The current invention therefore is constructed to allow rotation of the footplate40with the user's foot as it travels through the stride, and along the toothed belt59.

The apparatus1can be powered by a number of suitable means. Preferably the apparatus comprises a power cable which can be plugged into a mains electricity source. The power cable extends preferably from the first end of the apparatus1so as to reduce the likelihood of the user tripping when mounting the apparatus1from the second end. Alternatively, the apparatus can be powered by a suitable battery or other power source known in the art. The battery can, for example, be charged in line when using the apparatus powered from a mains supply. The use of a battery power source enables the apparatus1to be more mobile and therefore taken into an area where the power supply is limited.

The apparatus1can be provided in varying sizes. The apparatus1can be sized to accommodate individuals of different frame sizes, and to accommodate smaller spaces for use, should the user have reduced surface area into which the device can be set up.

Turning toFIG.15, these illustrate an embodiment of apparatus suitable for use by a person in a wheelchair or who has little strength in one or both of their legs. The apparatus150has a seat arrangement151supported on a stand152. The height of the seat arrangement151can be adjusted by release or engagement of the knob153. The seat154of the seat arrangement151as illustrated is in the form of a saddle. The sides of the seat154can however be raised if required to form a more conventional seat surface for the user. In order to assist a user and also to improve the safety of the apparatus150, support arms155are provided on which a user can support themselves using their arms. To aid a user in gaining access to and getting down from the apparatus150, the support arms155are pivotally mounted to the main body156of the apparatus150. A user-interface enables a supervisor to adjust the parameters of the apparatus to suit the user. The apparatus ofFIG.16is similar to that shown inFIG.15, but with the seat164being mounted, for support, to the main body156rather than to a support stand.

With regard toFIG.17, the apparatus170shown herein has a support sling171to provide support to a user during use.

InFIG.18, are illustrated embodiments of a support vest which provides assistance to a user of the apparatus as disclosed herein. The support vest fits around the torso of a user, such that it contacts the user across a broad surface or at parts of a user's body which can hold a user's weight without causing discomfort. Additionally, the support vest also includes means to allow the vest to be attached to the apparatus, which then acts to support the weight of the user, both in moving a user from a seated position, and also in supporting a user in an upright, walking orientation during use. This obviates the need for the user to be supported on a chair or the like, and so aids in the user being able to relearn a natural walking gait.

FIGS.19a-19dillustrate the operation of a support vest of the type shown inFIG.18with a support arm190. In the illustrated embodiment, the support arm190has a central member191, from the end of which extend attachment fingers192. The ends of the attachment fingers192include means of attachment, known in the art, which allow the ends to be releasably pivotally secured to a support vest. InFIG.19a, the support arm190is attached to a support panel193of the support vest194. A foam waistband195incorporated into the support vest194, minimises discomfort to a user. Additionally, the support vest194includes an inflatable under-arm section196, again to minimise discomfort under the arms, where a large portion of the weight would be borne.

InFIGS.19b-19c, the fingers attach to a receiver in the support vest200. The support vest210ofFIG.19dincludes a seat211on which the user can stabilise and support themselves whilst using the apparatus.

InFIG.20, an alternative means of supporting a support vest and user, relative to the apparatus is disclosed. In this embodiment, the support vest is mounted to a support bracket220, located on the arms221.