Patent Description:
<CIT> from the applicant discloses an apparatus for gait rehabilitation with a pelvis attachment fixed at the apparatus from behind and cuffs for the attachment of legs fixed at driven guide legs provided at the exterior of each leg of the user of the apparatus.

A gait rehabilitation apparatus using guide legs provided behind the legs of the user is disclosed in <CIT>. The guide leg is connected with cuffs at the legs via four attachment members provided at the guide hip joint, the guide knee joint, the guide ankle joint and the guide bottom foot.

<CIT> relates to a walking training apparatus with a harness for the upper body and a seat for the user extending in front between the legs as a bicycle riding saddle. The legs of the user are connected via cuffs to a leg actuation mechanism comprising a three-dimensional parallelogram construction.

<CIT> discloses an apparatus for limb assisting includes a body attachment, a link for an upper leg, and a knee joint unit, a link for a lower leg, a lower limb attachment, a drive unit and a knee joint actuator. The body attachment is attached to a trunk of a user. The link for an upper leg is placed alongside an upper leg of the user and coupled with the body attachment. The link for a lower leg is placed alongside a lower leg of the user and coupled with the link for the upper leg via the knee joint unit. The lower limb attachment is attached to one of the lower leg and a foot of the user, and coupled with the link for a lower leg. The knee joint actuator is placed in the body attachment so as to apply rotational torque to the knee joint unit via the drive unit.

<CIT> discloses a pelvis interface including a subject attachment module with a waist attachment and a back attachment. The interface further includes an arm assembly coupled to the subject attachment module, the arm assembly including a plurality of arms so coupled to one another and/or to the subject attachment module as to permit the subject attachment module at least one pelvis translation degree of freedom and at least one pelvis rotation degree of freedom. The interface further include motors so coupled to the arm assembly as to actuate at least one pelvis translation degree of freedom and at least one pelvis rotation degree of freedom.

<CIT> discloses a swinging joint device with a driving shaft member, a first swinging arm that is swingably supported about the driving shaft member; a driven shaft member that is arranged parallel to the driving shaft member; an interlocking swinging member that swings about the driven shaft member in an interlocking manner with swinging of the first swinging arm; an elastic body that is connected to the interlocking swinging member to generate an urging force in a direction opposite to an interlocking swinging direction of the interlocking swinging member; a rigidity variable portion that varies rigidity of the elastic body seen from the interlocking swinging member; a first angle detection portion that detects a swinging angle; and a control portion that controls the rigidity variable portion according to the swinging angle detected by the first angle detection portion to adjust the rigidity of the elastic body seen from the interlocking swinging member.

In order to use any gait rehabilitation apparatus, it is necessary to put the user in the position shown in the drawings of the prior art devices. Usually, the user is sitting in a wheelchair and the different gait rehabilitation apparatuses, especially when connected with a treadmill unit do not provide so much space for a convenient "loading" of the user into the gait rehabilitation apparatus. This is true, even if the user can stand for application of the gait rehabilitation apparatus. When the user is suspended from above, it is possible to equip the user with the harness and attach the harness with the cable of the lifting device. However, this approach is not possible for devices which have a pelvis attachment from behind.

It is an object of the present invention to provide an improvement of an attachment of a user independent from the application for gait and/or for balance rehabilitation.

A user attachment for an apparatus for gait and balance rehabilitation is disclosed providing a possibility for a user to receive support during walking in a walking direction. A harness is attachable to the body of the user. Upper body attachment is usually understood to be at the trunk or at the pelvis. A driven attachment arm is configured to be attached at a weight supporting device and these elements can be detachably connected with the harness having a harness attachment element. The driven attachment arm is connected via a linkage assembly, which comprises a linkage attachment arm, with the harness attachment element. A guiding attachment arm is configured to be attached at the weight supporting device and is rotatably connected with the harness attachment element or the linkage attachment arm for a rotative connection of the driven attachment arm with the guiding attachment arm.

The driven attachment arm can comprise a support arm and a linkage arm, wherein the support arm is rotatably attached on a first rotation axis at the weight supporting device at one end and provides a second rotation axis at its other end, wherein the linkage arm is rotatably connected at the second rotation axis with the support arm at one end and provides a third rotation axis at its other end, wherein the harness attachment element is rotatably connected at the third rotation axis.

The guiding attachment arm can comprise a support arm and a linkage guiding arm, wherein the support arm is rotatably attached on a fourth rotation axis at the weight supporting device at one end and provides a fifth rotation axis at its other end, wherein the linkage guiding arm is rotatably connected at the fifth rotation axis with the support arm at one end and provides a rotatable connection at its other end being connected with the harness attachment element or with the linkage attachment arm for said rotative connection of the driven attachment arm with the guiding attachment arm.

Within this last mentioned user attachment, none, one or at least two of the first, second, fourth and fifth rotation axis can be chosen to be driven axes.

The above mentioned fourth rotation axis is preferably parallel to the first rotation axis and wherein these two axes are essentially vertical one to the other.

It is also possible that the first rotation axis of the driven attachment arm as well as the fourth rotation axis of the guiding attachment arm are concentric one to the other, which is shown in <FIG>.

In a preferred embodiment, the driven attachment arm comprises a force transmitting parallelogram mechanism wherein the force transmitting parallelogram mechanism is connected between the first rotation axis and the harness attachment element for orienting the harness attachment element and an attached harness.

The force transmitting parallelogram mechanism can have a parallelogram arm connected at the first rotation axis, wherein said parallelogram arm is fixed, passively rotating or actively driven.

The first rotation axis and/or the fourth rotation axis can comprise torque sensors to control the rotation with a horizontal force measurement. Such a configuration allows to control the planar forces on the body, which facilitates interactive support to the balance of the person during walking.

An apparatus for gait and balance rehabilitation comprises a main frame providing a possibility for a user to receive support during walking in a walking direction within this main frame and further comprises a weight supporting device and a user attachment as described above.

The weight supporting device in such an apparatus can be divided into a first weight supporting unit and a second weight supporting unit, wherein the driven attachment arm is attached at the first supporting unit and the guiding attachment arm is attached at the second weight supporting unit. Then the driven attachment arm is attached at the first weight supporting unit and the guiding attachment arm is attached at the second weight supporting unit, respectively, in a distance one from the other in a transverse direction in view of the intended walking direction of a user.

Preferably, for this last mentioned device, the connection between the guiding attachment arm and the driven attachment arm at either the harness attachment element or the linkage attachment arm is detachable. It is an advantage when the connection comprises a reception for a pin, which pin is oriented orthogonally in view of the linkage arms and thus parallel to each of the pivoting axes of the two linkage arms. The reception comprises closable jaws configured to be opened to allow introduction and accommodating the pin in the reception by simple relative pivoting movement between the two linkage arms and subsequent closure of the jaws securing the closed bearing for a movement of the axis of the pin in the plan through pivoting movement of the linkage arms.

The user attachment as mentioned above has the advantage that it provides a simple and convenient way to attach the user to any gait training device, especially having a treadmill and leg cuffs, usually provided already in position above the treadmill. Then a method, which is not part of the invention, may comprise the steps of:.

pivoting the driven attachment arm and the guiding attachment arm from the parking positions in a use position for attaching the harness attachment element with the harness of the user.

Said last mentioned step is followed, when the parking positions are separated on two sides, by a closing step connecting the driven attachment arm and the guiding attachment arm at a rotative connection point at the free ends of both the driven attachment arm and the guiding attachment arm, efficiently providing a two-sided support of the user.

Further embodiments of the invention are laid down in the dependent claims.

<FIG> shows a schematical side view of a user attachment for a gait rehabilitation apparatus behind a user <NUM>. Such an apparatus for gait rehabilitation comprises a main frame providing a possibility for a user <NUM> to receive support during walking in a walking direction <NUM> within this main frame.

A harness <NUM> is attached to the upper body of the user <NUM>. This can be done while the user <NUM> is standing or when the user <NUM> is sitting in a wheelchair.

A weight supporting device <NUM> is shown having two side parts, one side part on each side of the user <NUM> usually comprising a vertical post at which is connected a driven attachment arm <NUM>. The driven attachment arm <NUM> can be detachably connected with the harness <NUM>. In other embodiments as shown in <FIG>, all parts of the weight support device <NUM> may be placed behind the user while in other embodiments all parts may be placed on one side, which provides more access to the user for a third person helping the user.

When the user moves, he or she moves with the support, partial support or even without the support of the driven attachment arm <NUM> and further elements of the weight supporting device <NUM>. The amount of support can be adjusted to the abilities and needs of the user. This of course also applies for the embodiment according to <FIG>.

The driven attachment arm <NUM> comprises a support arm <NUM>, a linkage arm <NUM>, a force transmitting parallelogram mechanism <NUM>, <NUM>, <NUM>, <NUM> as well as <NUM>, and a harness attachment element <NUM>. The support arm <NUM> is rotatably attached on a first rotation axis <NUM> at the weight supporting device <NUM> at one end and provides a second rotation axis <NUM> at its other end. The linkage arm <NUM> is rotatably connected at the second rotation axis <NUM> with the support arm <NUM> at one end and provides a third rotation axis <NUM> at its other end. Finally, the harness attachment element <NUM> is rotatably connected at the third rotation axis <NUM>.

The force transmitting parallelogram mechanism comprises a distal connector <NUM> rotatably connected at the first rotation axis <NUM>, a first parallelogram rod <NUM> rotatably connected with other end of the connector <NUM> and a two-armed lever <NUM> rotatably connected at the other end of the first parallelogram rod <NUM>. The two-armed lever <NUM> is rotatably connected with the support arm <NUM> and transmits the driven rotative movement of the connector <NUM> via the rotative joint between support arm <NUM> and linkage arm <NUM> onto the second parallelogram rod <NUM> which transmits the movement via the proximal connector <NUM> onto the harness attachment element <NUM>. The proximal connector <NUM> is rotatably connected with the linkage arm <NUM> at the third rotation axis <NUM> and rotatably connected at the end of the second parallelogram rod <NUM>.

A driven rotation of t0 he distal connector <NUM> around the first rotation axis <NUM> rotates and drives the harness attachment element <NUM> for orienting the harness attachment element <NUM> and an attached harness <NUM>.

Preferably, a first drive is provided rotating the support arm <NUM> around first rotation axis <NUM>. A second drive is rotating support arm <NUM> around the fourth rotation axis <NUM>. A third drive is rotating the distal connector <NUM> around the first vertical axis <NUM>. The other axes with reference numerals <NUM>, <NUM>, <NUM>, <NUM>, as well as the connecting joints between <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> can rotate freely.

It is the third drive providing the rotation of the harness attachment element <NUM> around the vertical axis via the parallelogram <NUM>-<NUM>.

When the connection <NUM> is closed between the arms <NUM> and <NUM>, the first and the second drives synergistically move the location of the harness attachment element <NUM> in the horizontal plane. In a symbolic way, if the first and second drives are working in the same direction, the harness attachment element <NUM> is moved in movement direction, if they are turning in opposite direction, the movement is transversal.

Additional drives can be contained in the weight support units <NUM>, e.g. one drive for changing the unloading force and a further drive for lifting the mechanism as such.

<FIG> shows a schematical top view of the gait rehabilitation apparatus of <FIG> when the user <NUM> is attached in the middle of the device; and <FIG> shows the schematical top view of <FIG> when the user <NUM> is moving sideways to his walking direction <NUM>.

The fourth rotation axis <NUM> is parallel to the first rotation axis <NUM> and the two axes <NUM>, <NUM> are essentially vertical in a distance allowing the user to enter between two parts of the weight supporting device <NUM>. The two axes <NUM>, <NUM> are provided in a distance one from the other in a transverse direction in view of the intended walking direction <NUM> of a user <NUM> that the user <NUM> can pass from behind in the walking direction <NUM> between the driven attachment arm <NUM> and the guiding attachment arm <NUM>.

While all axes <NUM>,<NUM>,<NUM>,<NUM>,<NUM>,<NUM>, as well as the connecting joints between <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> are preferably vertical, some embodiments may have some or all of them inclined compared to the vertical, e.g. to compensate for a user leaning forward during walking, e.g. by <NUM>°. The inclination can also be chosen only to divert a little bit from the vertical to allow some deviation from the vertical direction.

For embodiments in which a driven rotation of the harness attachment element is not desired, the third drive at rotation axis <NUM> can be replaced by a rigid attachment of the distal connector <NUM> with the weight supporting device <NUM> or by attaching the distal end of the first parallelogram connector to the weight supporting device in a rotatable manner.

<FIG> shows a schematical top view of a further user attachment for a gait rehabilitation apparatus behind a user in a centered position. Reference numerals are identical for identical or similar features. The main difference between an embodiment according to <FIG> and to <FIG> is that the two arms <NUM> and <NUM> are attached in <FIG> on one side of a weight supporting device <NUM>, whereas for <FIG>, the arms <NUM> and <NUM> are attached on two opposite sides.

It is possible to provide any embodiments of the apparatus without any driven axes. However, the preferred case is to have two driven arms, e.g. at the rotation axis <NUM> and at the rotation axis <NUM>. But it is also possible to have both drives at one arm, e.g. at axes <NUM> and <NUM> so that the guiding arm <NUM> does not have any drives, or vice versa. It is also possible to have more than two drives, especially a third drive at the axis <NUM> to orient the harness attachment <NUM>, which could also be realized with a concentric third drive for the arm <NUM> additionally to the drive at axis <NUM>.

<FIG> shows a schematical top view of the gait rehabilitation apparatus of <FIG> when the user is in a forward left position in relation to the device and walking into the direction <NUM>. <FIG> shows a schematical top view of the gait rehabilitation apparatus of <FIG> when the user is in a backward right position in relation to the device, and finally <FIG> shows a schematical top view of the gait rehabilitation apparatus of <FIG> when the user is in a left transverse and rotated to the right side position in relation to the apparatus.

<FIG> shows a schematical top view of a further user attachment for a gait rehabilitation apparatus behind a user in a centered position, whereas the first rotation axis <NUM> of the driven attachment arm <NUM> as well as the fourth rotation axis <NUM> of the guiding attachment arm <NUM> are concentric one to the other.

<FIG> shows a detail view of an embodiment of connection between the linkage arms <NUM> and <NUM> for a gait rehabilitation apparatus of <FIG>. It is preferred that the two linkage arms <NUM> and <NUM> are only pivoted in the same, especially horizontal plane. Then the pin providing the third rotation axis <NUM> has to be encompassed in a pivotable manner by the rotatable connection <NUM>. Said rotatable connection <NUM> comprises a reception to accommodate the pin of axis <NUM> and an opening <NUM> with opposing jaw surfaces <NUM>. Then linkage arms <NUM> and <NUM> can be pivoted in the drawing plan so that pin <NUM> can enter the reception <NUM> via the opening <NUM> and either one or both jaw surfaces <NUM> can close together to provide the desired pivoting linkage connection.

Claim 1:
A user attachment for an apparatus for gait and balance rehabilitation providing a possibility for a user (<NUM>) to receive support during walking in a walking direction (<NUM>), comprising a harness (<NUM>) attachable to the body of the user (<NUM>), a horizontally driven attachment arm (<NUM>) configured to be attached at a weight supporting device (<NUM>) and which can be detachably connected with the harness (<NUM>) having a harness attachment element (<NUM>), characterized in that the horizontally driven attachment arm (<NUM>) comprises a support arm (<NUM>) and a linkage attachment arm (<NUM>), wherein the support arm (<NUM>) is configured to be rotatably attached on a first rotation axis (<NUM>) at the weight supporting device (<NUM>) at one end and provides a second rotation axis (<NUM>) at its other end, wherein the linkage arm (<NUM>) is rotatably connected at the second rotation axis (<NUM>) with the support arm (<NUM>) at one end and provides a third rotation axis (<NUM>) at its other end, wherein the harness attachment element (<NUM>) is rotatably connected at the third rotation axis (<NUM>), and in that the user attachment further comprises a guiding attachment arm (<NUM>) configured to be attached at the weight supporting device (<NUM>) and which is rotatably connected with the harness attachment element (<NUM>) or the linkage attachment arm (<NUM>) for a rotative connection of the driven attachment arm (<NUM>) with the guiding attachment arm (<NUM>).