Patent Publication Number: US-7717824-B2

Title: Isokinetic exercise equipment

Description:
FIELD OF THE INVENTION 
     The present invention relates to rehabilitation apparatus generally and more particularly to isokinetic rehabilitation apparatus. 
     BACKGROUND OF THE INVENTION 
     The following U.S. patents are believed to represent the current state of the art: 
     U.S. Pat. Nos. 5,496,236; 5,016,870; 4,860,763; 4,550,908 and 4,402,502 
     SUMMARY OF THE INVENTION 
     The present invention seeks to provide improved rehabilitation apparatus. 
     There is thus provided in accordance with a preferred embodiment of the present invention isokinetic rehabilitation apparatus including a motor-driven pedal assembly having associated therewith a pair of foot pedals and at least one hand engagement element and a computerized motor controller operative to drive the motor-driven pedal assembly at a generally constant, selectable speed, generally irrespective of the extent to which forces are applied to the pedal assembly. 
     Preferably, the motor-driven pedal assembly, the pair of foot pedals and the at least one hand engagement element are mounted onto a chassis which is selectably pivotable with respect to a base. 
     Preferably, the motor-driven pedal assembly, the pair of foot pedals and the at least one hand engagement element are mounted onto a chassis which is mounted on a base and the apparatus also includes a seat which is selectably positionable with respect to the base and which is rotatable with respect to the base. Additionally, the chassis is selectably pivotable with respect to the base. Additionally, the chassis is selectably pivotable with respect to the base between a first operative orientation, wherein the at least one hand engagement element is located between the chassis and the seat, and a second operative orientation, wherein the at least one hand engagement element is located on an opposite side of the chassis from the seat. 
     Preferably, the motor-driven pedal assembly, the pair of foot pedals and the at least one hand engagement element are mounted onto a chassis which includes a lower portion and an upper portion, the upper portion being selectably tiltable with respect to the lower portion and the apparatus also includes pulleys mounted both on the lower portion and on the upper portion and at least one cable extending in engagement with the pulleys connecting the at least one hand engagement element with at least one of the pair of foot pedals, whereby rotational motion of the foot pedal assembly results in reciprocal motion of the at least one hand engagement element along a reciprocal motion axis, whereby selectable tilting of the upper portion changes an orientation of the reciprocal motion axis. 
     Preferably, the motor-driven pedal assembly includes a foot pedal assembly axle, which is fixed to a toothed gear, driven in motion by a motor, first and second foot pedal support shafts, mounted onto the foot pedal assembly axle and first and second foot pedal mounting assemblies which rotatably support foot pedals and which are mountable onto the first and second foot pedal support shafts in two possible orientations, which correspond to positions of the foot pedals at two different distances from the foot pedal assembly axle. 
     Preferably, the computerized motor controller is operative to provide an output indication of resistance to rotation of the motor-driven pedal assembly at a generally constant speed. Additionally, the output indication is a real time operator readable output indication. Alternatively or additionally, the output indication is a summary operator readable output indication. 
     Preferably, the motor-driven pedal assembly, the pair of foot pedals and the at least one hand engagement element are mounted onto a chassis having pulleys mounted thereon and at least one cable extending in engagement with the pulleys connecting the at least one hand engagement element with at least one of the pair of foot pedals, whereby rotational motion of the foot pedal assembly results in reciprocal motion of the at least one hand engagement element along a reciprocal motion axis, at least one of the pulleys, being closest to the at least one hand engagement element being rotatable relative to the chassis about at least first and second mutually orthogonal axes. 
     Preferably, the motor-driven pedal assembly, the pair of foot pedals and the at least one hand engagement element are mounted onto a chassis which includes a lower portion and an upper portion, and the apparatus also includes pulleys mounted both on the lower portion and on the upper portion and at least one cable extending in engagement with the pulleys connecting the at least one hand engagement element with at least one of the pair of foot pedals, whereby at least one of the pulleys is constructed to permit disengagement of the at least one cable with the pulley, thereby changing an effective length of the at least one cable. 
     There is also provided in accordance with another preferred embodiment of the present invention a method for isokinetic rehabilitation of a user including engaging, by the user, a motor-driven pedal assembly having associated therewith a pair of foot pedals and at least one hand engagement element and employing a computerized motor controller to drive the motor-driven pedal assembly at a generally constant, selectable speed, generally irrespective of the extent to which the user applies forces to the pedal assembly. 
     Preferably, the method also includes pivoting the motor-driven pedal assembly, the pair of foot pedals and the at least one hand engagement element with respect to a base. Preferably, the method also includes selectably axially positioning a rotatable seat. 
     Preferably, the method also includes selectably tilting an upper portion of a chassis relative to a lower portion thereof in order to change an orientation of a reciprocal motion axis of a cable in engagement with pulleys mounted both on the lower portion and on the upper portion, which cable connects the at least one hand engagement element with at least one of the pair of foot pedals, whereby rotational motion of the foot pedal assembly results in reciprocal motion of the at least one hand engagement element along a reciprocal motion axis. 
     Preferably, the method also includes providing an output indication of resistance to rotation of the motor-driven pedal assembly at a generally constant speed. Preferably, the output indication is a real time operator readable output indication. Alternatively or additionally, the output indication is a summary operator readable output indication. 
     Preferably, the motor-driven pedal assembly, the a pair of foot pedals and the at least one hand engagement element are mounted onto a chassis having pulleys mounted thereon and at least one cable extending in engagement with the pulleys connecting the at least one hand engagement element with at least one of the pair of foot pedals, wherein reciprocal motion of the at least one hand engagement element along a reciprocal motion axis in engagement with at least one of the pulleys, being closest to the at least one hand engagement element producing rotation of the at least one of the pulleys relative to the chassis about at least first and second mutually orthogonal axes. 
     Preferably, the method also includes selectably axially positioning a rotatable seat and rotating the seat by the user during the reciprocal motion. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present invention will be understood and appreciated more fully from the following detailed description, taken in conjunction with the drawings in which: 
         FIGS. 1A ,  1 B &amp;  1 C are simplified exploded view, partially assembled and fully assembled pictorial illustrations of rehabilitation apparatus constructed and operative in accordance with a preferred embodiment of the present invention; 
         FIG. 2  is a simplified sectional illustration, taken along lines II-II in  FIG. 1C , showing an arrangement of a foot pedal assembly forming part of the apparatus of  FIGS. 1A-1C ; 
         FIG. 3  is a simplified sectional illustration, taken along lines III-III in  FIG. 2 , showing the driving assembly of the foot pedal assembly; 
         FIGS. 4A and 4B  are simplified, partially cut away sectional illustrations of part of the foot pedal assembly of  FIGS. 2 &amp; 3  in respective first and second assembled operative orientations; 
         FIGS. 5A &amp; 5B  are simplified, partially cut away sectional illustrations of part of the foot pedal assembly of  FIGS. 2 &amp; 3  corresponding to  FIGS. 4A &amp; 4B  but in a disassembled orientation; 
         FIGS. 6A ,  6 B and  6 C are simplified, partially cut away sectional illustrations, taken along lines VI-VI in  FIG. 1C , of part of the apparatus of  FIGS. 1A-1C  illustrating rotatability of a chassis about a vertical axis between two alternative operative orientations; 
         FIGS. 7A and 7B  are simplified plan views illustration of first and second control panels employed in the apparatus of  FIGS. 1A-1C ; 
         FIGS. 8A ,  8 B and  8 C are simplified pictorial illustrations of a pulley assembly preferably forming part of the apparatus of  FIGS. 1A-1C ; 
         FIGS. 9A and 9B  are simplified pictorial illustrations of a pivotable pulley assembly preferably forming part of the apparatus of  FIGS. 1A-1C ; 
         FIGS. 10A and 10B  are simplified sectional illustrations respectively taken along lines XA-XA and XB-XB in  FIGS. 9A and 9B ; 
         FIGS. 11A ,  11 B,  11 C &amp;  11 D are simplified side view illustrations of four different operative orientations of the apparatus of  FIGS. 1A-1C ; 
         FIG. 12  is a simplified illustration which shows pivotable positioning of the chassis relative to the base in the apparatus of  FIGS. 1A-1C ; 
         FIG. 13  illustrates operation of the apparatus of  FIGS. 1A-1C  in a first pivotable position of the chassis; 
         FIGS. 14A and 14B  illustrate operation of the apparatus of  FIGS. 1A-1C  in a second pivotable position of the chassis; 
         FIGS. 15A ,  15 B,  15 C and  15 D illustrate use of the pivotable pulley assembly of  FIGS. 9A &amp; 9B  and a rotatably-mounted seat in the apparatus of  FIGS. 1A-1C . 
     
    
    
     DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT 
     Reference is now made to  FIGS. 1A ,  1 B &amp;  1 C, which together illustrate rehabilitation apparatus constructed and operative in accordance with a preferred embodiment of the present invention. As seen in  FIGS. 1A ,  1 B &amp;  1 C, the rehabilitation apparatus of  FIGS. 1A ,  1 B and  1 C comprises a base  100 , preferably mounted on casters  102 . A patient chair  104  is selectably positionable on a mounting rail  106  fixed to base  100  by means of a mounting bracket  108  and is pivotable relative to mounting bracket  108  about a vertical axis  109 . 
     A computer-controlled appendage displacement assembly  110  is mounted on base  100  and is preferably arranged for selectable positioning about a vertical axis  112 , when released by depressing of a release pedal  113 , so as to be able to accommodate wheelchair-bound patients. Release pedal  113  preferably includes a locking spring  114  operative to lock computer-controlled appendage displacement assembly  110  in the selected position when pedal  113  is not depressed. Selectable positioning of computer-controlled appendage displacement assembly  110  about axis  112  and locking thereof is described further hereinbelow in greater detail with reference to  FIGS. 6A-6C . 
     The computer-controlled appendage displacement assembly  110  preferably comprises a chassis  115 , which defines a pedal rotation axis  116  about which a foot pedal assembly  118  is arranged to rotate. Foot pedal assembly  118  is arranged to be driven by an electric motor  120  via a gear assembly  122 , as described hereinbelow in greater detail with reference to  FIGS. 2-5B . 
     The operation of electric motor  120  is governed by a computerized control assembly  123 , which in turn interfaces with first and second operator control panels  124  and  126 , the structure and operation of which are described hereinbelow with reference to  FIGS. 7A &amp; 7B . 
     Chassis  115  preferably includes handlebars  128  and supports a superstructure  130 , including a generally vertical portion  132  and a selectably positionable top portion  134 . Generally vertical portion  132  includes first and second pulley supports  136  and  138 , onto which are mounted respective first and second pulleys  146  and  148 , third and fourth pulley supports  150  and  152 , onto which are mounted respective third and fourth pulleys  160  and  162 , and fifth and sixth pulley supports  164  and  166 , onto which are mounted respective fifth and sixth pulleys  174  and  176 . 
     Selectably positionable top portion  134  includes seventh and eighth pulley supports  178  and  180 , onto which are mounted respective seventh and eighth pulleys  188  and  190 . The structure and operation of the seventh and eighth pulley supports  178  and  180 , onto which are mounted respective seventh and eighth pulleys  188  and  190  and which together provide pivotable pulley assemblies, is described hereinbelow with reference to  FIGS. 9A-10B  and  15 A- 15 D. 
     A first cable  192  interconnects a rotatable ring  193  on a first foot pedal axle  194  on foot pedal assembly  118  to a first hand hold assembly  196 . Cable  192  preferably extends over and in engagement with pulley  148 , under and in engagement with pulley  162 , over and in engagement with pulley  176  and over and in engagement with pulley  190 . A first tension spring  198 , coupled at one end to cable  192  between axle  194  and pulley  148 , and at an opposite end to pulley support  138 , maintains tension in cable  192 . 
     A second cable  202  interconnects a rotatable ring  203  on a second foot pedal axle  204  on foot pedal assembly  118  to a second hand hold assembly  206 . Cable  202  preferably extends over and in engagement with pulley  146 , under and in engagement with pulley  152 , over and in engagement with pulley  174  and over and in engagement with pulley  188 . A second tension spring  208 , coupled at one end to cable  202  between axle  204  and pulley  146 , and at an opposite end to pulley support  136 , maintains tension in cable  202 . 
     An output indication of user resistance to rotation of pedal assembly  118  may be provided by an ancillary computer  210 , preferably in real-time, preferably in an operator readable form, such as a summary, for example a graph  212 . Separate graphs may be provided to indicate resistance of opposite sides of a user&#39;s body. 
     Reference is now made to  FIGS. 2-5B , which illustrate foot pedal assembly  118  forming part of the apparatus of  FIGS. 1A-1C . It is seen that foot pedal assembly  118  includes a foot pedal assembly axle  220 , which is fixed to a toothed gear  222 , forming part of gear assembly  122  ( FIGS. 1A-1C ). First and second foot pedal support shafts  224  and  226  are mounted onto axle  220 , and are fixed thereto for rotation therewith as by respective pins  228  and  230 . 
     As seen particularly in  FIGS. 4A ,  4 B,  5 A and  5 B, each of shafts  224  and  226  is preferably formed with a pair of thoroughgoing bores  232  and  234  and with a retaining pin socket  236 . Bores  232  and  234  and retaining pin socket  236  are arranged to receive a foot pedal mounting assembly  240  in one of two possible orientations, illustrated in  FIGS. 5A and 5B  respectively, which allow for positioning of foot pedals at two different distances from axle  220 . 
     Each foot pedal mounting assembly  240  comprises a base portion  242  having a pair of mutually spaced pins  244  and  246 , arranged for removable mounting in respective bores  232  and  234 , extending perpendicularly outward therefrom. A retaining pin  248  is removably retained in a socket  250  formed in base portion  242  and is configured for removable engagement with retaining pin socket  236 . 
     First and second foot pedal axles  194  and  204  ( FIGS. 1A-1C ) are rotatably mounted onto respective ones of foot pedal mounting assemblies  240  and each supports thereon a foot pedal  260  including a base portion  262 , a heel portion  264 , a foot strap portion  266 , an ankle strap portion  268  and a side guard plate  270 , which prevents inadvertent engagement of a user&#39;s clothing with cables  192  or  202  during operation. 
     Reference is now made to  FIGS. 6A ,  6 B and  6 C, which are simplified, partially cut away sectional illustrations illustrating rotatability of chassis  115  about a vertical axis between two alternative operative orientations, so as to be able to accommodate wheelchair-bound patients. 
     As seen in  FIGS. 6A ,  6 B and  6 C, chassis  115  preferably includes two locking apertures  272  and  274  on a bottom surface  276  thereof, providing two respective locked positions for chassis  115 . In the orientation shown in  FIG. 6A , locking pin portion  278  of release pedal  113  engages locking aperture  272  and chassis  115  is locked in a first orientation allowing a user seated in chair  104  ( FIG. 1A ) to utilize the rehabilitation apparatus. As seen in  FIG. 6B , when release pedal  113  is depressed, locking pin portion  278  is removed from locking engagement with locking aperture  272  and chassis  115  is rotated, as indicated by arrow  279 , about axis  112 , to a second operating orientation allowing a user seated in a wheelchair to utilize the rehabilitation apparatus.  FIG. 6C  shows the subsequent locking of chassis  115  in the second operating orientation by engagement of locking pin portion  278  with locking aperture  274  under pressure from spring  114  upon release of release pedal  113 . 
     Reference is now made to  FIGS. 7A and 7B , which are simplified plan views illustration of respective control panels  124  and  126 , employed in the apparatus of  FIGS. 1A-1C . Control panel  126  of  FIG. 7A  preferably is arranged on chassis  115  to face the user during operation and control panel  124  of  FIG. 7B  is arranged on chassis  115  to face away from the user and be viewable by an operator. 
     As seen in  FIG. 7A , control panel  126  preferably includes some or all of a main switch  280 , an emergency stop button  282  and a pedal assembly rotation velocity selection dial  284 , which is preferably calibrated in units of % of maximum velocity. The control panel  126  preferably also includes forward and backward lights  286 , for indicating the direction of rotation of the pedal assembly, and a change direction button  288  for changing the direction of rotation of the pedal assembly. One or more of the following displays may also be provided: a display  290  indicating the time remaining until termination of operation, which may be set by operator, a display  291  which indicates pedal assembly rotation velocity, which is preferably calibrated in units of % of maximum velocity and a display  292 , which indicates resistance to rotation of the pedal assembly, preferably as derived by monitoring the current drawn by the motor  120  and processed by computerized control assembly  123  ( FIGS. 1A-1C ). Control panel  126  may also provide a feedback analysis display  293  providing an instantaneous indication of resistance to motor driven rotation of the pedal assembly. Lights  294  on opposite sides of display  293  illuminate to indicate whether the resistance relates to the left or right parts of a user&#39;s body. 
     As seen in  FIG. 7B , control panel  124  may include some or all of the elements which are incorporated in  FIG. 7A . Alternatively, control panel  124  may include some of the elements listed in the preceding paragraph, which may or may not be included in control panel  126 . An upper/lower control switch  295  enables an operator to select which of control panels  124  and  126  governs operation of the system. 
     Reference is now made to  FIGS. 8A ,  8 B and  8 C, which illustrate the structure and operation of pulleys  174  and  176  and show pulley  176 . As seen in  FIGS. 8A ,  8 B and  8 C, a pulley guard assembly  296  is associated with pulley  176  and fixed to pulley support  166  ( FIGS. 1A-1C ). Pulley guard assembly  296  preferably includes a first guard ring  297 , which overlies an interior edge of pulley  176  and a partially open second guard ring  298  having an opening  299  which overlies an exterior edge of pulley  176 . As seen in  FIGS. 8A ,  8 B and  8 C, cable  192  ( FIGS. 1A-1C ) can be selectably removed from engagement with pulley  176  via opening  299 . This structure enables selectable disengagement of cables  192  and  202  from respective pulleys  176  and  174 . 
     Reference is now made to  FIGS. 9A-10B , which are simplified illustrations of pivotable pulley assembly  300 , preferably forming part of the apparatus of  FIGS. 1A-1C . As seen in  FIGS. 9A-9B , the pivotable pulley assembly  300  preferably includes a pulley support  178  ( FIGS. 1A-1C ), onto which is pivotably mounted a pulley mount  302 . Preferably a layer  304  of a low friction material, such as a layer of TEFLON® or DELRAN®, is interposed between an outer, cylindrical surface  306  of pulley mount  302  and an inner, cylindrical surface  308  of a mounting cylinder portion  310  of pulley mount  302 . 
     Mounting cylinder portion  310  is preferably integrally formed with a pulley mount chassis  312  which includes a pulley mounting axle  314 . A pulley  188  ( FIGS. 1A-1C ) is rotatably mounted onto pulley mounting axle  314 , preferably on a low friction bearing  318 , such as a cylinder formed of TEFLON®, OKOLON® or DELRAN®. 
     Reference is now made to  FIGS. 11A ,  11 B,  11 C &amp;  11 D, which are simplified side view illustrations of four different operative orientations of the apparatus of  FIGS. 1A-1C .  FIGS. 11A and 11B  illustrate two alternative operative orientations of chassis  115 , while  FIGS. 11C and 11D  illustrate two alternative orientations of top portion  134  relative to vertical portion  132  of the superstructure  130 . 
       FIG. 12  is a simplified illustration which shows pivotable positioning of the chassis  115  relative to the base in the apparatus of  FIGS. 1A-1C  between the orientations shown in  FIGS. 11A and 11B , which is preferably achieved by an operator using his foot to depress pivot release lever  113  ( FIGS. 1A-1C ). 
       FIG. 13  illustrates operation of the apparatus of  FIGS. 1A-1C  in its  FIG. 11B  orientation.  FIGS. 14A &amp; 14B  illustrates operation of the apparatus of  FIGS. 1A-1C  in its  FIG. 11A  orientation and show rotation of chair  104  about vertical axis  109  during operation to accommodate the natural motion of the user&#39;s body. 
       FIGS. 15A and 15B  illustrate use of the pivotable pulley assembly of  FIGS. 9A &amp; 9B  in the apparatus of  FIGS. 1A-1C . The pivotable pulley assembly enables users having various appendage orientations to be readily accommodated. 
       FIGS. 15C and 15D  illustrate the use of the combined features of a pivotable seat, as illustrated in  FIGS. 14A &amp; 14B  and the pivotable pulley assembly of  FIGS. 9A &amp; 9B . The provision of both of these features provides a synergistic benefit to many disabled users. 
     It will be appreciated by persons skilled in the art that the present invention is not limited by what has been particularly shown and described hereinabove. Rather the scope of the present invention includes both combinations and subcombinations of various features described hereinabove as well as modifications and variations thereof which would occur to persons skilled in the art upon reading the foregoing description and which are not in the prior art.