Patent Publication Number: US-2019183719-A1

Title: Medical Walker

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of the filing date of U.S. provisional patent application Ser. No. 62/599,057, attorney docket number 00106, filed on Dec. 15, 2017, entitled “Medical Walker,” of U.S. provisional patent application Ser. No. 62/662,392, attorney docket number 00106, filed on Apr. 25, 2018 entitled “Medical Walker,” and the disclosures of which is incorporated herein by reference 
    
    
     BACKGROUND 
     Physical therapy and rehabilitation are long and difficult processes for patients with compromised limbs or unilateral immobility. Following surgery, amputation patients frequently do not receive adequate healthcare resources to meet their rehabilitation needs. Patients who have had a portion of one of their legs amputated wait, at a minimum, six to eight weeks for a prosthetic limb to be fabricated, and often the time required for the limb to heal and the prosthetic to be fabricated is much longer than that. During this waiting period, the vast majority of patients rely exclusively on a wheelchair for mobility. Similarly, patients with full or partial paralysis of a lower limb, or other conditions that result in a compromised lower limb, may be confined to a wheelchair during recovery. For weeks, patients are wheelchair-bound and thus not experiencing proper biomechanics, typical pelvic walking motions, or muscle activation. 
     This wheelchair-bound immobility of the lower limbs can lead to irreversible physiological breakdowns with severe consequences, such as muscle atrophy, joint contractures, phantom limb syndrome, and acceleration of peripheral artery disease. Additionally, in cases where amputation was required because of a patient&#39;s vascular disease, the immobility can accelerate the vascular disease in the remaining, non-amputated limb leading to additional medical treatment. It is all too common for patient&#39;s that experience an illness or injury, such as a stroke or amputation, to undergo inpatient rehabilitation for a brief period, but then upon returning to their own home those patients experience a rapid decline because they do not have assistive technology for locomotor training. 
     Generally, amputation patients depend on wheelchairs, crutches, and walkers for ambulation and rehabilitation before a prosthetic device can be fabricated. Similarly, patients with monoplegia or stroke victims struggle with conventional wheelchairs, crutches, and walkers. These patients may never see full recovery. Additionally, these patients are generally confined to the time and location of their physical therapy sessions for rehabilitation exercise. These existing devices generally do not allow weight to be placed on the compromised limb, nor do they facilitate the biomechanics of a normal gait motion in either the recently amputated limb or the remaining healthy limb that is necessary to avoid irreversible physiological consequences and avoid further medical intervention. 
     BRIEF SUMMARY 
     The following presents a simplified summary in order to provide a basic understanding of some aspects of the claimed subject matter. This summary is not an extensive overview. It is not intended to either identify key or critical elements or to delineate the scope of the claimed subject matter. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later. 
     The described apparatuses and methods relate to medical devices and more particularly to medical walkers for those with unilaterally compromised mobility. While conventional walkers assist in stabilizing the patient while walking, they are not well-suited to amputee or monoplegic patients because they do not provide adequate support or muscle activation for the compromised limb. As a result, such patients may find it difficult or impossible to use a conventional walker for mobility. Other means for providing mobility to amputee patients either do not allow the compromised limb to be exercised though a natural walking motion, such as a wheelchair, or are prohibitively expensive, such an exoskeleton robot. 
     The medical walker described herein, in aspects, gives a patient mobility by providing a leg brace support for the compromised limb with a flexible connection to the walker that guides the compromised limb through a biomechanically proper walking motion, thus allowing the compromised limb to be exercised. In aspects, the described medical walker facilitates the biomechanics of a normal gait motion, including the muscle activations in the gait cycle. For an amputee patient or a patient with an otherwise compromised limb, embodiments of the walker allow the compromised limb to bear weight, activate muscles in the compromised limb, and allow the patient to walk a normal gait pattern with proper biomechanics. This prevents disease processes from accelerating, reduces pain, and strengthens the bones and muscles in the compromised limb. In addition, embodiments of the described walker can be portable, allowing the patient to practice walking outside of the time and location constraints of physical therapy sessions. The relatively streamlined design allows the walker to be used in a variety of settings, including but not limited to, physical therapy, hospitals, clinics, and the home. Further, the described walker can be used much earlier in the recovery period following surgery than a prosthetic limb can be fabricated or used. A return to walking as quickly as possible can benefit the patient&#39;s attitude toward recovery and physical therapy, as well as the strengthening muscles and bones of the patient. 
     In embodiments, a medical walker for use by a user with a compromised limb includes a wheeled frame adapted to move along a floor surface and support at least a portion of the user&#39;s weight; and a compromised limb gait system attached to the wheeled frame. The compromised limb gait system is configured to connect to the compromised limb of the user and guide the compromised limb through a simulated gait motion. The compromised limb gait system includes a yoke that connects a leg brace to a compromised limb gait system, where the brace is connected to the compromised limb of the user and at least one swing linkage, wherein the swing linkage permits movement in substantially a single plane and connects the yoke to the wheeled frame. The compromised limb gait system also includes a hard stop that limits the rearward motion of the swing linkage. 
     To the accomplishment of the foregoing and related ends, certain illustrative aspects of the claimed subject matter are described herein in connection with the following description and the annexed drawings. These aspects are indicative of various ways in which the subject matter may be practiced, all of which are intended to be within the scope of the claimed subject matter. Other advantages and novel features may become apparent from the following detailed description when considered in conjunction with the drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
       The apparatuses, devices, and methods may be better understood by referring to the following description in conjunction with the accompanying drawings, in which like numerals indicate like structural elements and features in various figures. The components in the figures are not necessarily to scale, and simply illustrate the principles of the apparatuses, devices and methods. The accompanying drawings illustrate only possible embodiments of the apparatuses, devices and methods and are therefore not to be considered limiting in scope. 
         FIG. 1  is a perspective view of an embodiment of a medical walker. 
         FIG. 2  is an alternate perspective view of the medical walker of  FIG. 1 . 
         FIG. 3  is a left side view of the medical walker of  FIG. 1 . 
         FIG. 4  is a front view of the medical walker of  FIG. 1 . 
         FIG. 5  is a top view of the medical walker of  FIG. 1 . 
         FIG. 6  is a perspective view of embodiments of a compromised limb gait system and a connected brace. 
         FIG. 7  is an alternate perspective view of the compromised limb gait system and brace of  FIG. 6 . 
         FIG. 8  is a left side view of the compromised limb gait system and brace of  FIG. 6 . 
         FIG. 9A  is a left side view of an embodiment of the medical walker, where the brace is in a heel strike position. 
         FIG. 9B  is a left side view of an embodiment of the medical walker, where the brace is in a mid-stride position. 
         FIG. 9C  is a left side view of an embodiment of the medical walker, where the brace is in a toe off position. 
         FIG. 10  is a perspective view of embodiments of the medical walker connected to a brace and an unweighting harness. 
         FIG. 11  is an alternate perspective view of the medical walker, brace, and unweighting harness of  FIG. 10 . 
         FIG. 12  is a left side view of the medical walker, brace, and unweighting harness of  FIG. 10 . 
         FIG. 13  is a rear view of the medical walker, brace, and unweighting harness of  FIG. 10 . 
         FIG. 14  is a top view of the medical walker, brace, and unweighting harness of  FIG. 10 . 
         FIG. 15  is a perspective view of an embodiment of a hydraulic unweighting system. 
         FIG. 16  is a front view of the hydraulic unweighting system of  FIG. 15 . 
         FIG. 17  is a right side view of the hydraulic unweighting system of  FIG. 15 . 
         FIG. 18  is a left side view of the hydraulic unweighting system of  FIG. 15 . 
         FIG. 19  is a perspective view of another embodiment of the medical walker. 
         FIG. 20  is an alternate perspective view the medical walker of  FIG. 19 . 
         FIG. 21  is a left side view of the medical walker of  FIG. 19 . 
         FIG. 22  is a front view of the medical walker of  FIG. 19 . 
         FIG. 23  is a top view of the medical walker of  FIG. 19 . 
         FIG. 24A  is a left side view of an embodiment of the medical walker where the brace is in a heel strike position. 
         FIG. 24B  is a left side view of an embodiment of the medical walker where the brace is in a mid-stride position. 
         FIG. 24C  is a left side view of an embodiment of the medical walker where the brace is in a toe off position. 
     
    
    
     DESCRIPTION 
     Aspects of the system and methods are described below with reference to illustrative embodiments. The references to illustrative embodiments below are not made to limit the scope of the claimed subject matter. Instead, illustrative embodiments are used to aid in the description of various aspects of the device. The description, made by way of example and reference to illustrative reference is not meant to be limiting as regards any aspect of the claimed subject matter. 
     The described apparatuses relate to medical devices and more particularly to medical walkers for those with unilaterally compromised mobility. The terms “medical walker” and “walker” are used interchangeably herein. In aspects, the described medical walker facilitates the biomechanics of a normal gait motion, including the muscle activations in the gait cycle. For an amputee patient or a patient with an otherwise compromised limb, embodiments of the walker allow the compromised limb to bear weight, activate muscles in the compromised limb, and allow the patient to walk a normal gait pattern with proper biomechanics. This prevents disease processes from accelerating, reduces pain, and strengthens the bones and muscles in the compromised limb. In addition, embodiments of the described walker can be portable, allowing the patient to practice walking outside of the time and location constraints of physical therapy sessions. The relatively streamlined design allows the walker to be used in a variety of settings, including but not limited to, physical therapy, hospitals, clinics, and the home. Further, the described walker can be used much earlier in the recovery period following surgery than a prosthetic limb can be fabricated or used. A return to walking as quickly as possible can benefit the patient&#39;s attitude toward recovery and physical therapy, as well as the strengthening muscles and bones of the patient. 
     While conventional walkers assist in stabilizing the patient while walking and provide upper-body support, they are not well-suited to amputee or monoplegic patients because they do not provide adequate support or muscle activation for the compromised limb. Additionally, conventional walkers do not facilitate pelvic motion. Thus, users of conventional walkers are still vulnerable to physiological breakdowns. As a result of the short comings of conventional walkers, amputee or monoplegic patients may find it difficult or impossible to use a conventional walker for mobility. Other means for providing mobility to amputee patients either do not allow the compromised limb to be exercised though a natural walking motion, such as a wheelchair, or are prohibitively expensive, such an exoskeleton robot. The medical walker described herein, in aspects, gives an amputee patient mobility by providing a leg brace support for the compromised limb with a flexible connection to the walker that guides the compromised limb through a biomechanically proper walking motion, thus allowing the compromised limb to be exercised. 
     GENERAL OVERVIEW 
     Referring to  FIGS. 1-5 , in an embodiment, a medical walker  100  comprises a frame  102 , an upper body support  104 , a compromised limb gait system  106 , and an unweighting system  108 . The frame  102  provides the general support or structure for the medical walker  100  and can be implemented in a variety of ways. In general, it is formed from a lightweight, but durable material with sufficient strength to support most or all of the weight of a patient. The frame  102  is shaped to provide stability, while not interfering with movement of the patient&#39;s legs in a typical walking motion. In embodiments, the frame  102  includes a base  110  supported by a set of wheels  112  that allow the walker  100  to move with the patient as they walk. 
     In embodiments, the upper body support  104  is attached to the frame  102  and allows a patient to place or rest at least a portion of their upper body on the upper body support  104 , thereby reducing the amount of weight placed on the compromised limb. In aspects, the upper body support  104  can facilitate a patient&#39;s upright posture or position, beneficial to achieving a proper gait motion. It can provide the patient with an easy grip to steer or direct the walker  100 . In the illustrated embodiment, the upper body support  104  includes a forearm rest  114  and hand grips  116 . In an alternate embodiment, the upper body support  104  is an abdominal support  1900 , shown and described in greater detail below. 
     In embodiments, the unweighting system  108  reduces the amount of the patient&#39;s body weight that is placed on the patient&#39;s lower limbs. The unweighting system  108  can assist patients in regaining mobility as soon as possible by reducing the physical demands on their limbs while walking or standing. In an embodiment, the unweighting system  108  is adjustable with respect to the size of the patient and the amount of weight supported, allowing the weight supported by the patient&#39;s lower limbs to be gradually increased as the patient&#39;s strength increases. In an aspect, the unweighting system  108  includes a harness attached to and suspended from the frame  102  of the walker  100 , shown and described in further detail in  FIGS. 10-18  below. The patient can be seated in the harness or the harness can be attached to the patient to provide support. 
     In embodiments, the compromised limb gait system  106  guides the patient&#39;s compromised limb though a simulated walking motion. A customizable leg brace  600 , described below and shown in  FIGS. 6-8 , is fitted to the patient&#39;s compromised limb. The customizable leg brace  600  is then attached to the walker  100  through the compromised limb gait system  106 . The compromised limb gait system  106  can restrict or direct motion of the compromised limb to encourage movement of the limb in the proper, biomechanical gait. In embodiments, the compromised limb gait system  106  can provide at least partial support for the attached leg brace  600 , such that the frame  102  absorbs a portion of the weight of the patient. In addition, as described in more detail below, the leg brace  600  can provide support for the compromised limb and the patient. The walker  100  encourages the patient to shift some of their weight onto the compromised limb, gradually strengthening the limb, activating those muscles and facilitating mobility and rehabilitation. By unweighting the patient and/or encouraging proper gait motion, the illustrated walker can improve patient mobility more quickly than conventional walkers. 
     Frame 
     Referring once again to  FIGS. 1-5 , the frame  102  provides the general support or structure for the medical walker  100 . Naturally, this frame  102  can be implemented in a variety of ways to support the elements of the walker  100 . In embodiments, the frame  102  comprises a wheeled base  110  and a support structure  118  extending vertically from the base  110 . The frame can be made of a material such as aluminum or steel such that the frame is sufficiently strong to support the weight of the walker as well as the weight of the patient. In depicted embodiments, the base  110  consists of two generally horizontal bars  111  substantially parallel to the direction of motion of the patient when the patient is walking straight ahead. The horizontal bars  111  are on the left and right sides of the walker  100 , and when in use, the patient is positioned between the horizontal bars  111 . The base  110  is configured to allow the patient to take normal steps or strides without bumping or impacting the base  110 . As shown, a connecting bar or bars  113  located at or near the front of the base  110  connects the horizontal bars  111 . The connecting bar  113  is positioned such that it will not interfere with a normal stride of a patient. It is understood that the base  110  can be implemented with any configuration that is stable and avoids interference with the stride of the patient. 
     A plurality of wheels  112  extends from the bottom of the horizontal bars  1906 . In the depicted embodiment, a wheel  112  is positioned at the anterior and posterior end of each horizontal bar  111 , for a total of four wheels  112 . The base  110  and wheels  112  enhance the stability of the walker  100 , and reduce the likelihood that the walker  100  can tip over during use, further injuring the patient. The wheels  112  also allow the walker  100  to move smoothly with the patient as they walk. In embodiments, one or more of the wheels  112  can include a braking mechanism that allows the patient to fix the position of the walker  100 . The patient can elect to engage the braking mechanism to hold the walker  100  in place when entering into the walker  100 , or when exiting it. 
     In the embodiments depicted in  FIGS. 1-5 and 9-18 , the frame  102  includes a support structure  118  shown as a stanchion extending upwards from the wheeled base  110  and connecting to the upper body support  104 . In an embodiment, the support structure  118  can be adjusted to lengthen or shorten to accommodate users of differing heights. For example, the support structure  118  can be implemented using telescopic rods, which can be fixed in position by tightening the perimeter of the external rod around an inner rod. In other embodiments, the telescopic rods can include a series of apertures such that the length of the support structure  118  can be fixed by aligning apertures in the external rod and internal rod and inserting a pin into the aperture, as can be seen in  FIG. 2 . In an embodiment, if the upper body support  104  includes a forearm rest  114 , the support structure  118  can be adjusted so that the attached forearm rest  114  is at approximately the patient&#39;s shoulder height. In an embodiment, if the upper body support  104  is an abdominal support  1900 , shown and described with respect to  FIGS. 19-23 , the support structure  118  can be adjusted so that the attached abdominal support  1900  is at approximately the height of the patient&#39;s abdomen. The support structure  118  can be strong enough to support the weight of the upper body support  104  as well as the weight of the patient. In an embodiment, the unweighting system  108  can be connected to a portion of the support structure  118  such that the support structure  118  bears the portion of the patient&#39;s weight supported by the unweighting system  108 . Thus, the support structure  118  therefore is, in one aspect, sufficiently sturdy to support the weight of the patient and the upper body support  104  attached to the support structure  118 . In other embodiments, configuration of the elements making up the support structure  118  may differ, while still allowing for the unweighting system  108  to be mounted at pelvic height and the upper body support  104  at the appropriate height to support the patient&#39;s upper body. 
     In the embodiment depicted in  FIGS. 1-5 , the upper body support  104  includes a forearm rest  114 . The illustrated forearm rest  114  is a generally flat surface comprising a left armrest, a right armrest, and a center, connecting portion. The left armrest and right armrest extend from the center portion at an angle, such that when in use, the patient&#39;s left and right forearm may comfortably rest on the left and right armrests, respectively. Two handles or handgrips  116  extend vertically from the center portion of the forearm rest  114 , which allow the patient to grip the walker  100 . The handgrips  116  may be any shape that allows the patient to grip the walker  100  comfortably, for example, the two vertical cylinders shown. The underside of the center portion of the forearm rest  114  is attached to the support structure  118 —in this embodiment, a stanchion. Thus, by adjusting the height of the support structure  118 , the height of the forearm rest  114  may be adjusted to ensure that when the walker  100  is in use, the patient&#39;s shoulders and pelvis are at the proper height for a natural gait motion and that the patient is in an erect, upright posture. 
     The forearm rest  114  can provide greater support than the bars of a conventional walker. By supporting a patient&#39;s forearms, the patient utilizes muscles in the shoulder and bicep to support their body weight instead of utilizing the muscles in the forearm and wrist, as in the case of a conventional walker. A walker  100  with a forearm rest  114  allows a patient to use a walker  100  earlier in the recovery process and when the patient would otherwise be unable to use a conventional walker due to the utilization of the larger muscle groups in the shoulder and bicep. In embodiments, the surface of the forearm rest  114  is cushioned to reduce the chance of the patient developing pressure sores and reduces the amount of weight on the patient&#39;s shoulders. 
     In the embodiment depicted in  FIGS. 19-23 , the walker  100  includes an abdominal support  1900  as an upper body support  104  in addition to or in place of a forearm rest  114 . The abdominal support  1900  is shaped to receive and support the patient&#39;s abdomen while the patient is using the walker  100 . The abdominal support  1900  curves such that it can snugly hold the patient&#39;s sides, and has an opening in the rear which allows the patient to enter the abdominal support  1900 . The abdominal support  1900  is capable of supporting more weight than a conventional walker. When in use, the abdominal support  1900  encourages the patient to stand and walk with a natural, upright posture while allowing the patient&#39;s arms to swing freely. 
     Compromised Limb Gait System 
     Referring now to  FIGS. 6-8 , an embodiment of the compromised limb gait system  106  is shown with an attached leg brace  600 . In the illustrated embodiment, the compromised limb gait system  106  includes a connector  602  that attaches the compromised limb gait system  106  to the frame  102 , at least one swing linkage  604 , a yoke  606 , and a hard stop  608 . As shown, the connector  602  can be implemented as a clamp that slides vertically with respect to the support structure  118  and can be fixed at a desired position. This permits the height of the compromised limb gait system  106  to be raised or lowered relative to the support structure  118  and customized for the height of the patient. In other embodiments, any suitable connector  602  can be used to attach the compromised limb gait system  106  to the frame  102  either at an adjustable or fixed height. The illustrated connector  602  provides an offset from the support structure  118 . Where the support structure  118  is generally centered in the frame  102  the offset aligns the compromised limb gait system  106  with the compromised limb. While the illustrated embodiments are shown with a leg brace  600  for a compromised left leg, the connector  602  and compromised limb gait system  106  can be reoriented to connect to and support a leg brace  600  and compromised right leg. 
     The swing linkage  604  permits movement of the brace  600  and compromised limb in a single plane and connects the yoke  606  to the wheeled frame  102 . In the illustrated embodiment, the swing linkage  604  includes one or more arms  610  connected via one or more hinge joints  612 . The hinge joints  612  permit substantially planar movement of the arms  610 , but restrict lateral movement. The yoke  606  connects the brace  600  to a compromised limb gait system  106 . Frequently, patients with compromised limbs adapt their stride to make up for the weakness in the compromised limb. But this change in gait mechanics can injure or stress other muscles or joints. The compromised limb gait system  106  directs the brace  600  and compromised limb in the typical, generally longitudinal progress of the limb during walking. The swing linkages  604  and yoke  606  move with both the rotational and longitudinal movement of the limb, but restrict lateral movement, approximating the natural gait of the limb. 
     As shown, the yoke  606  connects to each side of the leg brace  600  with a pin joint or revolute joint. This allows the leg brace  600  to rotate freely with respect to the yoke  606 , and restricts lateral movement. In embodiments, the leg brace  600  is detachable so that it can be fitted to the compromised limb of the patient. Once the leg brace  600  is fitted to the limb, the brace  600  can be attached to the compromised limb gait system  106  via the pin joints and moves in a natural manner. The yoke  606  and swing linkages  604  control movement of the brace  600  and compromised limb facilitating normal gait mechanics and encouraging proper walking motion. 
     The hard stop  608  on the swing linkage  604  limits the rearward motion of the swing linkage  604 , which prevents the swing linkage  604  from extending too far to the rear of the walker  100 . This encourages the patient to stride with the compromised limb, and discourages dragging of the limb. As shown in  FIGS. 6-8 , the hard stop  608  can be implemented as a simple bar that limits the rotation of the hinge joint  612 , thereby limiting the movement of the arms  610 . By stopping the rearward motion of the swing linkage  604 , the hard stop  608  communicates to the patient when the simulated gait motion has been completed for a particular step and when it is time to begin another step and continue the simulate gait motion. 
     Referring now to  FIGS. 9A-9C , the swing linkage  604 , connected to the customizable leg brace  600  via the yoke  606 , guides the movement of the compromised limb in a normal walking motion during use. When the patient takes a step using the compromised limb the patient rotates the limb forward, kicking out the brace  600  in the same manner as a patient would if wearing a prosthetic limb, as illustrated in  FIG. 9A . The swing linkages  604  of the compromised limb gait system  106  form an acute angle and the brace  600  rotates relative to the yoke  606 . When the patient steps forward and places weight on the limb, the compromised limb in the brace  600  is nearly vertical, as illustrated in  FIG. 9B . The swing linkages  604  of the compromised limb gait system  106  form a less acute angle and the brace rotates until it is approximately perpendicular to the yoke  606 . As the patient transfers weight off the compromised limb, raising the limb, the swing linkages  604  of the compromised limb gait system  106  form nearly a right angle and the upper swing linkage  604  comes into contact with the hard stop  608 , as illustrated in  FIG. 9C . This indicates to the patient that it is time to begin the next step in the simulated gait motion. As the patient continues to walk, the patient kicks the brace  600  and compromised limb out again, as illustrated in  FIG. 9A , and repeats the cycle. This guides the compromised limb to move in a manner that approximates a normal walking motion and that achieves the angle mechanics of a healthy gait cycle. The swing linkages  604  and yoke  606  prevent lateral motion, encouraging compromised limb to move in a natural manner. 
     Brace 
     In embodiments depicted in  FIGS. 6-14 , the leg brace  600  can be customized to snugly receive the patient&#39;s compromised limb. When the walker  100  is in use, the upper end of the leg brace  600  is attached the patient&#39;s upper thigh, and in the case of an amputee, the lower end of the leg brace  600  extends beyond the end of the compromised limb to approximate the limb with a fitted prosthetic. Attaching the brace  600  above the amputation protects the wound caused by the amputation from experiencing pressure. In the depicted embodiment, the brace  600  shown is for a patient with an amputation above the knee. However, in an alternative embodiment, the customizable leg brace  600  could attach lower on the compromised limb or extend over a greater surface area of the limb. For example, in the case of a patient with a below the knee amputation, the customized brace  600  could be designed the support the compromised limb below the knee, attaching either above or below the knee joint. In an embodiment, the leg brace  600  is made from a sturdy yet flexible material to minimize the chance of pressure sores on the compromised limb. In the case of a patient that is monoplegic or has reduced function in their compromised limb, but is not an amputee, embodiments of the leg brace  600  can be attached to the compromised limb and can extend from the thigh to the foot of the patient or any portion thereof In this embodiment, the leg brace  600  can either support and direct movement of the knee or ankle joints, or fix those joints in place. The customizable leg brace  600  may be removed from the walker  100  to allow the patient to attach the customizable leg brace  600  on his or her compromised limb before entering the walker  100 . 
     The embodiments of the leg brace  600  depicted in  FIGS. 6-14, 19-24  also illustrate a pseudo-foot  614  attached to the bottom of the customizable leg brace  600 . In embodiments, the pseudo-foot  614  is an extension suspended at the bottom of the leg brace  600 , and capable of mimicking the movement of the eventual prosthetic limb and/or supporting the brace  600  and compromised limb. The pseudo-foot  614  moves in the same manner as a prosthetic limb, allowing the patient to practice placement of the foot while using the walker  100 . In embodiments, the leg brace  600  includes a passive knee joint having a hinge that allows the pseudo-foot  614  to swing freely from the bottom of the leg brace  600 . When using the device, the patient&#39;s muscles will exert force so that the pseudo-foot  614  will make contact with the ground at times corresponding with a natural walking motion, thus allowing the patient to train to simulate a natural gait motion and activate the muscles utilized during a natural gait motion. 
     Unweighting System 
     Referring to  FIGS. 10-14 , in embodiments, the unweighting system  108  comprises a harness  1000 , a series of pulleys and cables  1002 , and an adjustable fastener  1004  that attaches a cable to the wheeled frame  102 . As shown, the harness  1000  is suspended by the pulleys and cables  1002  from the upper body support  104 . The harness  1000  allows the patient to move in a full range of proper walking motion and facilitates proper positioning of the pelvis for a natural gait motion. In the illustrated embodiments, the harness  1000  is similar to a conventional climber&#39;s harness, fastening around the waist and legs of the patient while leaving free range of motion. The series of pulleys and cables  1002  allows for the harness  1000  to move vertically and horizontally throughout the simulated gait motion without interfering with the movement of the patients lower limbs. The fastener, connecting a cable to the frame  102 , can be implemented in several different ways. For example, in an aspect, the fastener  1004  can be a simple hook or fixed attachment that suspends the harness  1000  at a fixed position, or the fastener  1004  can be adjustable to control the height of the harness  1000 . In other aspects, the fastener  1004  can be spring-biased and provide flexible support for the patient. 
     Turning now to  FIGS. 15-18 , a hydraulic system  1500  capable of controlling the tension on and displacement of the cables suspending the harness  1000  is shown. In an aspect, the cables suspending the harness  1000  can be attached to a piston cylinder  1502  controlled by a hydraulic system  1500 . In embodiments, the hydraulic system  1500  comprises an electric motor  1504 , a hydraulic pump  1506 , a piston cylinder  1502 , and a bladder accumulator  1508 . The electric motor  1504  powers the hydraulic pump  1506 , where the hydraulic pump  1506  directs hydraulic fluid into the bladder accumulator  1508  and into the piston cylinder  1502 . The flow of hydraulic fluid into the piston cylinder  1502  changes the pressure in the piston cylinder  1502  therefore controlling the pulling force of the piston cylinder  1502  and allows the unweighting system  108  to be adjustable and to react to changes in the force exerted on the harness  1000  by the patient during the simulated gait motion. The hydraulic fluid directed into the bladder accumulator  1508  supplies a constant pressure to both the piston cylinder  1502  and the hydraulic pump  1506  thus maintaining a constant pressure throughout the hydraulic system  1500 . 
     Additional Embodiments of the Walker 
     Turning now to  FIGS. 19-23 , another embodiment of the walker  100  is depicted. In this embodiment, the illustrated frame  102  comprises a pair of hand bars  1902  connected to vertical poles  1904 . A pair of horizontal bars  1906  connect the vertical poles  1904 , and one or more crossbars provide stability. The resulting frame  102  is roughly U-shaped. The hand bars  1902  are on the left and right sides of the walker  100 , and when in use, the patient is positioned in between the hand bars  1902 . The hand bars  1902  are attached to the vertical poles  1904  and extend parallel to the direction of motion of the walker  100 . The hand bars  1902  are positioned at approximately at the height of the patient&#39;s hips. The patient may use the hand bars  1902  for assistance in standing up from a seated position to a standing position for using walker  100 . The hand bars  1902  therefore are, in one aspect, sufficiently strong to support the weight of the patient. At both ends, the hand bars  1902  attach to the vertical poles  1904 . In other embodiments, configuration of the elements making up the support structure  118  may differ, while still allowing for the unweighting system  108  (shown in this embodiment as a seat  1922 ) to be mounted at pelvic height and the upper body support  104  (shown in this embodiment as an abdominal support  1900 ) at upper body height. 
     In the embodiment depicted in  FIGS. 19-23 , the horizontal bars  1906  and vertical poles  1904  are connected though a plurality of crossbars, including a lower crossbar  1908  and two middle crossbars  1910 . The lower crossbar  1908  attaches to the horizontal bars  1906  at the anterior end of the horizontal bars  1906 , increasing stability without interfering with the stride of a patient using the walker  100 . In the depicted embodiment, the lower crossbar  1908  is positioned slightly above the horizontal bars  1906  and is connected to the horizontal bars  1906  by two small vertical segments. This reduces the likelihood that the patient&#39;s leg or the leg brace will come into contact with the lower crossbar  1908  when the walker  100  is in use. In the depicted embodiment, part of the compromised limb gait system  106  is attached to and supported by the lower crossbar  1908 . For this reason, the lower crossbar  1908  is, in one aspect, sufficiently strong to support the weight of the compromised limb, the customizable leg brace  600 , and the compromised limb gait system  106 . In other embodiments, configuration of the crossbars may differ, or an alternative to crossbars, such a solid front, may be present while still allowing for the unweighting system  108  to be mounted at pelvic height and the upper body support  104  at upper body height. 
     As shown, the vertical poles  1904  can be connected by the one or more middle crossbars  1910  at the upper end of the vertical poles  1904 . Here, the two middle crossbars  1910  run horizontally between the upper ends of the vertical poles  1904  and support the unweighting system  108  approximately at the height of the patient&#39;s hips. In embodiments, the middle crossbars  1910  may be adjusted so that they are positioned lower or higher on the vertical poles  1904 , which allows the unweighting system  108  to be raised or lowered. Raising or lowering the unweighting system can adjust the amount of weight placed on the patient&#39;s legs as well as allowing for customization based upon the patient&#39;s height. In other embodiments, the unweighting system  108  may be connected to the middle crossbars  1910  with a mechanism that allows the unweighting system  108  to be positioned higher or lower with respect to the middle crossbars  1910 , adjusting the height and the amount of weight placed on the patient&#39;s legs. The middle crossbars  1910  are, in one aspect, sufficiently strong to support the weight the patient places on the unweighting system  108  and weight of the unweighting system  108  itself. 
     In the depicted embodiment, an upper crossbar  1912  connects to one of middle crossbars  1910  and attaches to the upper body support  104 —in this embodiment, an abdominal support  1900 . In embodiments, the height of the upper crossbar  1912  and/or position of upper body support  104  is adjustable. This allows the upper body support  104  to be positioned at the correct height to support a patient&#39;s upper body, allowing the patient to have a natural, upright posture when using the walker  100 . The vertical poles  1904  and upper crossbar  1912  are, in one aspect, of sufficient strength to support the weight the patient places on the upper body support  104  and the weight of the upper body support  104  itself. 
     In an embodiment, the abdominal support  1900  is connected to the frame  102  of the walker  100  by the upper crossbar  1912 . In other embodiments, the abdominal support  1900  may be connected to the frame  102  in different ways, while still allowing for the abdominal support  1900  to be mounted at the patient&#39;s abdominal height. In embodiments, the height of the frame  102  can be adjusted so that the abdominal support  1900  is raised or lowered based upon the height of the patient&#39;s abdomen, allowing the patients of different heights each to have a natural, upright posture when using the device. 
     In another embodiment, the compromised limb gait system  106  comprises two, parallel arms  1914 , each including a lower portion  1916  and an upper portion  1918 , as shown in  FIGS. 19-24C . The lower portion  1916  connects to the lower crossbar  1908  with an adjustable joint that allows the lower portion  1916  to rotate forward or backward parallel to the direction of movement of the walker  100 . The upper portion  1918  connects to the lower portion  1916  with an adjustable joint that allows the upper portion  1918  to bend with respect to the lower portion  1916  within the same plane that the lower portion  1916  rotates. The upper end of the upper portion  1918  connects to the customizable leg brace  600 . The adjustable joints allow the customizable leg brace  600  to be raised or lowered to the height of the patient&#39;s compromised limb while keeping the customizable leg brace  600  aligned properly in the horizontal plane. While being adjusted, the adjustable joints are loose so that the arms  1914  may move freely. When in use, the adjustable joints can be tightened so that the arms  1914  are fixed in place. 
     In the embodiment depicted in  FIGS. 19-24C , the arms  1914  are connected to the leg brace  600  via a set of tracks  1920 , one track  1920  on each side of the customizable leg brace  600 , such that the tracks  1920  guide the movement of leg brace  600 , and therefore the compromised limb, in a normal walking motion during use. When the patient places weight on the limb, the compromised limb gait system  106  connects to the top of the track, as illustrated in  FIG. 24B . As the patient transfers weight off the compromised limb, raising the limb, the connection between the compromised limb gait system  106  slides along the track  1920  towards the bottom of the track  1920 , as illustrated in  FIG. 24C . As the patient continues to walk, weight returns to the compromised limb, and the connection between the compromised limb gait system  106  slides back along the track  1920  to the top of the track  1920 , as in  FIG. 24A . In addition to movement of the end of the arms  1914  along the track  1920 , the tracks  1920  rotate with respect to the end of the arms  1914 . This guides the compromised limb to move in a normal walking motion that achieves the angle mechanics of a healthy gait cycle. 
     In the embodiment depicted in  FIGS. 19-23 , the unweighting system  108  is attached to the middle crossbars and extends towards the posterior of the walker  100 . In this embodiment, the unweighting system  108  comprises a seat  1922  and a seat link  1924  attaching the seat  1922  to the frame  102  of the walker  100 . During use of the walker  100 , the patient sits upon the seat  1922 , which can be ergonomic, but still allows the patient to move in the full range of a proper walking motion. For example, in the illustrated embodiment, the seat  1922  is a bicycle-style seat. 
     The underside of the seat  1922  is fixed to the seat link  1924 , connecting the seat  1922  to the frame  102 . 
     In embodiments, the seat link  1924  is attached to the middle crossbars  1910  through a mechanism that allows the unweighting system  108  to be positioned higher or lower with respect to the crossbars, having the effect of allowing the unweighting system  108  to be raised or lowered, and adjusting the amount of weight placed on the patient&#39;s legs. In an embodiment, the attachment mechanism is vertically spring loaded, which allows the patient to remain seated on the unweighting system  108  during the natural vertical motion of a proper gait. In an embodiment, the attachment mechanism is also free to slide laterally along the middle crossbars, allowing unweighting system  108  to move along with the natural horizontal motion of a proper gait. 
     Methods of Use 
     In an embodiment, to use the walker  100 , the patient first places the customizable leg brace  600  on the compromised limb while seated, for example, in a wheelchair. The patient then enters the walker  100  through the open, posterior end. The patient can use the support structure  118  or the upper body support  104  for assistance in moving into a standing position. Next, the patient transfers his or her weight onto the unweighting system  108 . In embodiments that include an abdominal support  1900 , the patient will at this point move in through the opening in the rear of the abdominal support  1900 , so that the abdominal support  1900  may support the patient&#39;s sides. If the forearm rest  114  is present, the patient then places his or her arms on the forearm rest  114 . Once the patient feels stable, he or she attaches the customizable leg brace  600  to the compromised limb gait system  106 . Beginning his first stride, the patient will begin the kicking motion on the side of the compromised limb and progress forward through the force on the solid limb. While the patient activates his or her own muscles, the compromised limb gait system  106  will permit the compromised limb to move in an approximation of their normal gait motion. This enables the leg to move through the proper biomechanics of walking and allows the force of the compromised limb to be absorbed through the thigh and hip. The movement of the unweighting system  108  enables the pelvis to ambulate in the proper motion. 
     What has been described above includes examples of aspects of the claimed subject matter. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the claimed subject matter, but one of ordinary skill in the art may recognize that many further combinations and permutations of the disclosed subject matter are possible. Accordingly, the disclosed subject matter is intended to embrace all such alterations, modifications and variations that fall within the spirit and scope of the appended claims. Furthermore, to the extent that the terms “includes,” “has” or “having” or variations in form thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term “comprising” as “comprising” is interpreted when employed as a transitional word in a claim.