Abstract:
A walking rehabilitation and exercise machine in the form of an elliptical style machine closely replicates the mechanical foot motions of walking, while incorporating hand motion to help a disabled or injured person retrain muscles in a proper walking gait and improve physical fitness. The device includes an electrically adjustable seat, independent left or right electrically adjustable stride and an electric flywheel drive to assist the operator.

Description:
This invention relates to a walking rehabilitation and exercise machine, and more particularly, to a walking rehabilitation and exercise machine, which can be adjusted to exercise legs of a person in a different fashion. 
     BACKGROUND OF THE INVENTION 
     Walking rehabilitation and exercise machines are commonly used for many purposes. In some cases, a walking rehabilitation and exercise machine is used for physical fitness. In other situations, a walking rehabilitation and exercise machine is used for physical rehabilitation for physical therapy purposes. 
     The very serious cases requiring physical therapy involve a person whose injury requires that person to relearn how to walk. In some cases, there is an exterior metal skeleton, known as an exoskeleton, which can be strapped to the person activated by an outside power source. These devices are expensive and complicated to use. These devices are typically too expensive for home use, or use by small therapy clinics. Thus, their availability is limited. 
     These exercise devices of the prior art also seem not intended to retrain a person for a proper walking gait. They also do not offer other desirable features. For example, they lack the support that person needs, while working to regain a good walking gait or carry out other functions. Furthermore, they prevent a slow warm-up, which a person needs for rehabilitation. Additionally, they cannot be adjusted relative to the skills for one side of the body or the other. 
     Adjustment between standing, partially standing, and sitting is also lacking in the machines of the prior art. Partially standing is a position necessary for a person to increase leg strength, which can lead to more efficient walking. To that end, those adjustments become critical. Yet they are absent from the standard exercise machine. 
     A standard fitness walking rehabilitation and exercise machine is not suitable for the serious aspects requiring extensive physical therapy. Such a device cannot be adjusted for a particular person. This is especially true when that person is adversely affected on one side of the body more than the other. To design a device and compensate for that defect is very difficult. Such devices generally have a requirement for substantially uniform motion from both sides of the body. 
     Yet, for certain injuries, such uniform motion is a physical impossibility. To that end, the advantages of having the walking rehabilitation and exercise machine be adjustable for the particular purpose can prove very useful. Not only can a person adjust the device according to their desires and needs, the appropriate parts of the body can receive the desired exercise. 
     Another desired feature for an exercise machine is the ability to move feet in a reverse motion in order to help loosen hamstrings. This movement is very important for a wheelchair-bound person to loosen those muscles and enable that person to fully benefit from this device. The prior art devices do not offer that option to a person substantially confined to wheelchair. 
     Thus, it may be seen that such adjustability applied to this device in a simple fashion offers great advantages for those people trying to recover from serious injuries. 
     SUMMARY OF THE INVENTION 
     Among the many objectives of this invention is the provision of an adjustable walking rehabilitation and exercise machine. 
     A further objective of this invention is the provision of a durable walking rehabilitation and exercise machine. 
     Yet a further objective of this invention is the provision of a walking rehabilitation and exercise machine to provide for treatment of a person with severe injuries. 
     A still further objective of this invention is the provision of a walking rehabilitation and exercise machine to replace an external skeleton. 
     Another objective of this invention is the provision of a walking rehabilitation and exercise machine to adjust a workout range for a person. 
     Yet another objective of this invention is the provision a walking rehabilitation and exercise machine, usable for a standing workout. 
     Still, another objective of this invention is the provision of a walking rehabilitation and exercise machine, usable for a sitting workout. 
     Also, an objective of this invention is the provision of a walking rehabilitation and exercise machine, usable for a partially sitting workout. 
     A further objective of this invention is the provision of a durable walking rehabilitation and exercise machine to loosen hamstrings of a person. 
     These and other objectives of the invention (which other objectives become clear by consideration of the specification, claims and drawings as a whole) are met by providing a walking rehabilitation and exercise machine, preferably in the form of an elliptical style machine, that closely replicates the mechanical foot motions of walking, while incorporating hand motion to help a disabled or injured person retrain muscles in a proper walking gait and improve physical fitness. The device includes an electrically adjustable seat, independent left or right electrically adjustable stride and an electric flywheel drive to assist the operator. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  depicts a perspective view of a walking rehabilitation and exercise machine  100  of this invention. 
         FIG. 2  depicts a perspective view of a walking rehabilitation and exercise machine  100  of this invention as in  FIG. 1  except the seat back is raised and seat bottom tilted down. 
         FIG. 3  depicts a partially exploded perspective view of a walking rehabilitation and exercise machine  100 . 
         FIG. 4  depicts a walking rehabilitation and exercise machine  100  of this invention showing the flywheel  124 . 
         FIG. 5  depicts a walking rehabilitation and exercise machine  100  of this invention showing the left radial track actuator  190  and right radial track actuator  204 . 
         FIG. 6  depicts a walking rehabilitation and exercise machine  100  of this invention showing the function of right foot plate  150  and left foot plate  154 . 
         FIG. 7  depicts a walking rehabilitation and exercise machine  100  of this invention focusing on the eight different electrical actuators which are shaded for clarity. 
         FIG. 8  depicts a typical commercially available electric track actuator such as left radial track actuator  190  for a walking rehabilitation and exercise machine  100  of this invention. 
         FIG. 9  depicts a typical commercially available electric linear actuator  222  for a walking rehabilitation and exercise machine  100  of this invention. 
         FIG. 10  depicts a commercially available pendant control  252  for electrical actuators for a walking rehabilitation and exercise machine  100  of this invention. 
         FIG. 11  depicts a detachable left hand rail  270  and right hand rail  272  to aid a handicapped user for a walking rehabilitation and exercise machine  100  of this invention. 
         FIG. 12  is a walking rehabilitation and exercise machine  100  of this invention. 
     
    
    
     Throughout the figures of the drawings, where the same part appears in more than one figure of the drawings, the same number is applied thereto. 
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Reference will now be made in detail to several embodiments of the invention that are illustrated in accompanying drawings. Whenever possible, the same or similar reference numerals are used in the drawings and the description to refer to the same or like parts or steps. The drawings are in simplified form and are not to precise scale. For purposes of convenience and clarity only, directional terms such as top, bottom, left, right, up, down, over, above, below, beneath, rear, and front, may be used with respect to the drawings. These and similar directional terms are not to be construed to limit the scope of the invention in any manner. The words attach, connect, couple, and similar terms with their inflectional morphemes do not necessarily denote direct or intermediate connections, but may also include connections through mediate elements or devices. 
     For the walking rehabilitation and exercise machine of this invention, the foot motions of proper walking gait are emphasized, while at the same time providing hand motion and electric drive to help people with physical disabilities or injuries retrain their muscles in a walking motion, while the same time providing exercises to the muscles. This walking rehabilitation and exercise machine has an electrically adjustable stride length, the ability to perform exercise from the seated, semi-seated, or standing position. It also has a power source with a variable speed control and clutch release, which can completely disengage the drive motor. Support features include harness straps whether for feet or body, or pads to enable a person with limited physical abilities to safely use the device. 
     Another feature of this machine is the ability to adjust, so that it is possible to move feet in a reverse motion. This action helps to loosen hamstrings, which is very important for a wheelchair-bound person. To loosen muscles and enable that person to fully benefit from this device is very desirable. 
     Referring now to  FIG. 1  and  FIG. 2 , a walking rehabilitation and exercise machine  100  has a machine frame  120  with an elliptical base assembly support  122 . Flywheel  124  is supported on elliptical base assembly support  122  by flywheel console  126 . Drive motor  128  has drive wheel  130  to operate flywheel  124 . Flywheel  124  may also be operated manually by disengaging drive motor  128 . 
     As the flywheel  124  turns, the left foot linkage  200  and the right foot linkage  202  ( FIG. 5 ) that are connected to the flywheel shaft  268  move a right foot plate  150  with right foot base  152  and a left foot plate  154  with left foot base  156  in a preferably slightly elliptical motion. At the same time or a different time, right handle  170  or left handle  172  can be moved in a back-and-forth motion at the same time or separately. 
     The walking rehabilitation and exercise machine  100  has a frame  120  with of an elliptical base assembly support  122  to serve as a housing. Seat bottom  160  and seat back  162 , with right seat track  184  and left seat track  186 , lead to a seat down position  226  or a seat up position  228 , as desired. The seat bottom  160  and seat back  162  may be connected by first seat hinge  164  and second seat hinge  166 . 
     The seat back  162  may also be connected to the right seat track  184  and the left seat track  186 . The seat bottom  160  and seat back  162 , with the supporting elements, form the seat assembly. The seat bottom  160  and seat back  162 , together with the other components, travel vertically with a seat raising actuator  222  and a seat tilting actuator  224 , which are explained in more detail in following figures. The right seat track  184  and left seat track  186  are mounted to a machine frame  120 . 
     In  FIG. 2  right seat track  184  and left seat track  186  have the seat back  162  raised and seat bottom  160  tilted downwardly, so that walking rehabilitation and exercise machine  100  can accommodate a standing user. The lifting motion of the seat back  162  is accomplished by an electric seat raising actuator  222  shown in following figures. The tilting of the seat bottom  160  is accomplished by an electric seat tilting actuator  224  illustrated more clearly and identified in following figures. 
     The elliptical base assembly support  122  is shaded to show the overall base that the elliptical machine rests upon. The elliptical base assembly support  122  rests on the machine frame  120  identified more clearly in  FIG. 3 . Elliptical base assembly support  122  slides forward and back by means of an electric elliptical base actuator  230  to best accommodate the size and position of the operator whether that person is large or small, sitting or standing. 
     Left radial track actuator  190  is an electrically powered track actuator mounted on the flywheel shaft, parallel to the flywheel  124 , and rotates with the flywheel  124 . This actuator  190  connects to the left foot linkage  200 , with a similar structure for the right foot linkage  202 . The rotation of the flywheel  124  and track actuator  190  causes the left foot plate  154  to move back-and-forth in a slightly elliptical motion. The foot plates  150  and  154  are connected to a left foot linkage  200  and a right foot linkage  202 , which are in turn connected to left horizontal linkage  236  and right horizontal linkage  238 . Left horizontal linkage  236  and right horizontal linkage  238  are connected respectively to left vertical linkage  232  and right vertical linkage  234 . 
     Left vertical linkage  232  and right vertical linkage  234  cause right handle  170  and left handle  172  to move back and forth. Reference to right and left means that the right side has a mirror image of all these linkages and mechanisms and works in the same way.  FIG. 4  explains the linkages and movements in more detail. 
       FIG. 3  identifies three major sub-assemblies. The first is identified as elliptical base assembly support  122  of the walking rehabilitation and exercise machine  100 . The second is the machine frame  120 . The third is the seat assembly formed from seat bottom  160 , seat back  162 , seat raising actuator  222 , and seat tilting actuator  224 . Elliptical base assembly support  122  attaches on top of the left horizontal track  114  and right horizontal track  116  of the machine frame  120 . The elliptical base assembly support  122  slides forward and back on the machine frame  120  by means of an electrical elliptical base actuator  230 . 
     The seat assembly attaches to the front of the vertical rails of the machine frame  120 . The seat back  162  attaches to the machine frame  120  and is lifted or lowered by means of an electrical seat raising actuator  222 , which connects to the seat assembly and machine frame  120 . The seat bottom  160  is tilted from or to a horizontal or seat up position  226  to a near vertical position or seat down position  228  by means of an electrical drive actuator  224  including seat raising actuator  222  and seat tilting actuator  224 . 
       FIG. 4  shows a close-up view of the walking rehabilitation and exercise machine  100  mechanisms, as well as the electric drive motor  128 . Drive motor  128  operates drive wheel  130 , which drives the flywheel  124  at the flywheel console  126  and the flywheel shaft  268 , when the drive wheel  130  is in contact with the flywheel  124 . The motor  128  is mounted on a horizontal electrical track actuator  220  that can move the motor  128  with the drive wheel  130  toward and away from the flywheel  124 . This action causes contact and drive of the flywheel  124 . By disengaging the drive wheel  130 , the flywheel  124  can be rotated by manpower from the operator. This is also shown in  FIG. 5 . 
     The electric drive motor  128  may have a clutch  140  to limit the transmitted power to the flywheel  124  for safety. Also attached to the flywheel  124  is the left radial track actuator  190 , which is mounted to the flywheel shaft  268  and rotates with the flywheel  124 , which is more clearly shown in  FIG. 5 . 
     Left radial actuator saddle  192  connects to the left foot linkage  200 . The saddle  192  can be moved radially toward the middle of the track actuator  190  with the electric power of the actuator  190 . When the saddle  192  moves radially, it adjusts the foot stride since the circular path connected to the front of the left foot linkage  200  determines the stride of the left foot plate  154  and the left foot base  156 . Right foot plate  150  and right foot base  152  operate in a similar fashion. 
     The horizontal back and forth movement or stride of the left foot plate  154  and the left foot base  156 , and right foot plate  150  and right foot base  152  is equal to the diameter of the circular movement of the left radial actuator  190  and right radial actuator  204 . Cooperation between the left radial actuator  190  the right radial actuator  204  forms further cooperation between the left radial actuator saddle  192 , the left handle actuator  194 , the right radial actuator saddle  196  and the right handle actuator  198 . 
     When the saddles  192  or  196  travel all the way to the flywheel axis  276 , the foot stride and hence the movement of the right foot plate  150  or the left foot plate  154  becomes zero. The actuators  190  or  204  are positioned so that the saddles  192  and  196  can travel from an outer radius of approximately nine inches and travel all the way to the flywheel axis  276  but no further. Hence the stride can be adjusted to 18 inches maximum (nine inches radius or 18 inches diameter) and it can be stopped anywhere in between zero and 18 inches. 
     The same can be done with the left side radial track actuator  190  and foot linkages  200  or right radial track actuator  204  and linkage  202  shown in following figures. This feature gives an operator the ability to work the left and right sides differently depending upon their abilities and needs. The left handle actuator  194  and right handle actuator  198  serve as linear electrical actuators to adjust the left handle  172  and right handle  170  positions to best suit the position and size of the operator. 
     These handle actuators  194  and  198  pivot back and forth with the movement of the left vertical linkage  232  and the right vertical linkage  234  and left horizontal linkage  236  and right horizontal linkage  238  for horizontal foot linkages  200  or  202 . Hence, if the saddles  192  or  196  are positioned on the left radial track actuator  190  at the flywheel  124  axis, the left handle  172  movement also becomes zero. Likewise, left handle  172  motion increases as the saddle  192  moves away from the flywheel  124  axis. The same applies to the right side movements. 
       FIG. 5  shows a slightly different forward view of the flywheel  124  and components. Arrow  276  points to the horizontal flywheel axis about which the flywheel  124  rotates. The flywheel axle  268  which is fixed to the right axle bracket  274  and goes through the flywheel console  126  to the left axle bracket that cannot be seen in this view, but is a mirror image of that shown on the right side. 
     The electrical track actuator  204  is attached to the axle bracket  274  which is shaded in this view for clarity. As the flywheel  124 , right axle bracket  274 , and right electrical track actuator  204  spin, the forward end of the right foot linkage  202  moves in a circle. The circle diameter is directly determined by the position of the right radial actuator saddle  196  on the actuator track  204  and the distance from the flywheel axis  276 . As the saddle  196  spins in a circle with the flywheel  124  the right foot linkage  202  moves with it and causes the right foot plate  150  to move forward and back. 
     The right footplate  150  is connected to the right foot carriage  246  which slides on the right foot rail  244 . Right foot rail  244  and right foot carriage  246  are a rail and carriage combination for smooth linear motion. Right foot carriage  246  is secured to the right foot rail  244  so it can only travel linearly, so that the right foot plate  150  cannot be inadvertently pulled off by an operator if he or she has a muscle spasm. 
       FIG. 5  also shows another view of the electric drive motor  128 , drive wheel  130  and drive actuator  220 . The drive actuator  220  moves the electric drive motor  128  and drive wheel  130  forward and back to engage or disengage the drive from the flywheel  124  enabling the walking rehabilitation and exercise machine  100  to be used in a fully manual or fully electrically driven mode. 
       FIG. 6  shows a close-up of the right foot plate  150  with right foot base  152  and left foot plate  154  with left foot base  156 , which are similar mirror images. Left foot hinge  206  permits left foot plate  154  to move. Right foot hinge  208  permits right plate  150  to move. Left foot pad  210  swings on top of a left foot to be temporarily secured by left foot pad lever  212 . Right foot pad  214  receives a right foot to be temporarily secured by right foot pad lever  212 . Left leg support  216  extends from left foot plate  154 . Right leg support  218  extends from right foot plate  150 . 
     More particularly, left strap  278  and right leg strap  280  support the appropriate leg on left and right foot plates  154  and  150 . The left foot of the user rests on the left foot plate  154  and the left foot pad  210  swings over the foot and locks in place with the left foot pad lever  212 . The left leg strap  278  wraps around the user&#39;s left leg at the calf and has a securing device. A standard hook and loop assembly is a suitable securing device for holding the strap  278  and is available under the registered trademark VELCRO, owned by Velcro Industries B.V. LIMITED LIABILITY COMPANY NETHERLANDS Castorweg 22-24 Curacao NETHERLANDS ANTILLES. 
     A left foot hinge  206  and a right foot hinge  208  connect the left foot plate  154  and right foot plate  150  to their corresponding left foot base  156  and right foot base  152 . When the operator uses this walking rehabilitation and exercise machine  100 , the left foot moves in a natural walking gait where the person&#39;s heel raises as the foot moves forward and pivots down when the foot moved back. This pivoting action is accommodated by means of the left foot hinge  206  between the left foot plate  154  and left foot base  154 . The same is true of the right foot and leg of a user of the walking rehabilitation and exercise machine  100 . 
       FIG. 7  identifies and describes the eight electrical actuators used on this machine. These actuators are typical commercially available and consist of two styles; linear actuators and track actuators. Five of the actuators are linear electric actuators and are identified as left handle actuator  194 , right handle actuator  198 , seat raising actuator  222 , seat tilting actuator  224  and elliptical base actuator  230 . All of these commercially available linear electric actuators have an electric motor that extends and retracts a shaft, thereby moving two connected pieces at each end. 
     Left handle actuator  194  and right handle actuator  198  extend and retract to reposition the right handle  170  and left handle  172  to best suit the size and location of the user. The user may be seated or standing or somewhere in between. 
     Seat raising actuator  222  is connected to the machine frame  120  at the top thereof and the seat lifting bar seat lifting bar  290 . As this seat raising actuator  222  extends and retracts it causes the seat back  162  to lower and rise. Seat tilting actuator  224  is connected to the seat bottom  160  and the seat tilting bar  292 . As seat tilting actuator  224  extends, the seat tilts up to a horizontal position or seat down position  226 . As this actuator retracts, the seat bottom  160  tilts down into seat down position  226 . 
     The elliptical base actuator  230  is connected to the machine frame  120  and the elliptical base assembly support  122 . As this actuator  230  extends, it slides the elliptical base  122  forward. As this actuator  230  retracts, it slides the elliptical base  122  back. This enables the person to be best positioned to use the walking rehabilitation and exercise machine  100  in a seated or standing position or anywhere in-between. These actuators  230  and the like are standard commercially available products that consist of an electric motor moving a shaft in an extending and contracting fashion to move two connected parts. 
     The track actuators are used in two applications on this walking rehabilitation and exercise machine  100 . One is the electric drive actuator  220  that slides the electric motor and drive wheel forward and back, engaging and disengaging contact with the flywheel  124 . The left radial actuator  190  and right radial actuator  204  are electric track actuators connected to the flywheel  124  that adjust the foot stride of the walking rehabilitation and exercise machine  100 . All of the electric actuators can be started and stopped anywhere within their stroke and are controlled by means of push button controls. 
       FIG. 8  shows a typical commercially available track actuator such as drive actuator  220  for the walking rehabilitation and exercise machine  100 . This style of actuator  220  is used in three locations as described in  FIG. 7 . Actuator track  248  is connected to the left radial actuator saddle  192  and electric motor actuator  300 . The electric motor  300  moves the saddle  192  along the track  248  in a back-and-forth motion. The left radial actuator  190  and the right radial actuator  204  are connected on opposing sides of flywheel  124 . 
       FIG. 9  shows a typical commercially available electric linear actuator as elliptical base actuator  230  for the walking rehabilitation and exercise machine  100 . This style of electric actuator is used in 5 locations on the walking rehabilitation and exercise machine  100  as described in  FIG. 7 . The linear actuator  230  extends and retracts, sliding the shaft or actuator rod  250  back and forth, extending and contracting the actuator  230 . It is controlled with push buttons in a standard control represented as shown in  FIG. 10 . 
       FIG. 10  shows a typical commercially available actuator control or pendant control  252  for the walking rehabilitation and exercise machine  100 . This style controls one actuator using one pushbutton or extend button  254  to activate the actuator motion in one direction and the other button or retract button  256  to control actuation in the opposite direction. Hence one similar control can be used for each actuator but more desirably, several controls will be combined into one or two consoles. Standard commercially available control housings are available to control four or more actuators in one module, that is to say one control will have one pair of buttons for each actuator. Hence four actuators in one control would have eight buttons. 
       FIG. 11  shows optional left hand rail  270  and right hand rail  272  for the walking rehabilitation and exercise machine  100 . These rails  270  and  272  can be quickly attached and detached for ease of entering and leaving the seat bottom  160 . This is important for a person transferring from a wheelchair. Not all users will need these rails  270  and  272 , and it will depend upon their level of ability. However these rails  270  and  272  will provide assistance and support for a handicapped individual to stay in the proper position when using the device from a seated or standing position. Also, an overhead support bracket  258  can be used with numerous commercially available harnesses to assist handicapped persons and provide additional safety. 
     Turning now to  FIG. 12 , the walking rehabilitation and exercise machine  100  has machine frame  120  connected to elliptical base assembly support  122 . The right foot plate  150  and the left foot plate  154  are connected to the machine frame  120 . Right foot plate  150  has a right stroke adjustment unit  310  connected thereto. Left foot plate  154  has a as a left stroke adjustment  312  connected thereto. Both adjustment  312  and  310  are displayed in more specific embodiments in the above figures. On the elliptical base assembly support  122  is the flywheel  124 . The drive motor  128  can operate the flywheel  124  if desired. Clutch  140  can separate drive motor  128  from the flywheel  124  if desired. 
     Right-hand adjustment  330  can optionally be connected to right-hand bar  320  for stroke adjustment if desired. Likewise, left hand adjustment  332  can optionally be connected to left-hand bar  322  for stroke adjustment if desired. 
     Thus, walking rehabilitation and exercise machine  100  provides a wide variety of exercises and positions for a person. This person can obtain exercise whether recovering from an injury were trying to maintain fitness. For recovery from an injury, the walking rehabilitation and exercise machine  100  can be adjusted provide a workout different for each side of the body. For fitness, such a differentiation is not needed. The walking rehabilitation and exercise machine  100  works well in either case. 
     This application—taken as a whole with the abstract, specification, claims, and drawings being combined—provides sufficient information for a person having ordinary skill in the art to practice the invention as disclosed and claimed herein. Any measures necessary to practice this invention are well within the skill of a person having ordinary skill in this art after that person has made a careful study of this disclosure. 
     Because of this disclosure and solely because of this disclosure, modification of this method and device can become clear to a person having ordinary skill in this particular art. Such modifications are clearly covered by this disclosure.