Note: Descriptions are shown in the official language in which they were submitted.
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BODYWEIGHT UNLOADING LOCOMOTIVE DEVICE
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims priority to prior U.S. Patent Application No.
17/362,799, filed June 29, 2021, which is a continuation-in-part of and claims
the benefit of
prior U.S. Patent Application No. 17/160,221, filed January 27, 2021, which
claims the benefit
of U.S. Provisional Application No. 62/967,011, filed January 28, 2020, all of
which are hereby
incorporated by reference.
FIELD
[0002] The present specification relates generally to locomotive equipment,
and more
particularly to locomotive rehabilitation, therapy, and training equipment.
BACKGROUND
[0003] Locomotion is a basic facet of human life. Mobility can, however, be
difficult,
injurious, or impossible for some. There are a variety of reasons for why a
person may
experience partial or complete mobility limitations: orthopedic conditions,
neurological
disorders, motor deconditioning, accident, injury, disease, and disability,
for example.
Continuing to move ¨ or even attempting to move ¨ can cause discomfort or
injury.
[0004] Others may be injured or overweight but require exercise to become
healthier.
Some rehabilitation facilities have elaborate systems to partially support the
weight of such
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patients, so that they may exercise toward health. The patients wear harnesses
that are tethered
to trolleys which ride in tracks in the ceiling. Such systems are complex,
require assistance
from a physical therapist, and are very expensive and thus limited in
availability to the patient.
Some of these systems provide a lifting force by spring, which changes as the
user moves and
displaces the spring. Others have sophisticated sensing technology which
monitors movement
of the patient and then adjusts the lifting force so as to provide a constant
unweighting of the
patient.
[0005] In some cases, movement may be possible and, indeed, easy, but the
individual
nonetheless wishes to lower his risk of injury from such movement. Athletes,
for instance,
often have a need to train long hours with great intensity. They balance the
benefits of high-
volume training against the elevated risk of injury. A competitive athlete
can, after all, suffer
serious physical and mental setbacks from even a mild injury. There are a
variety of assistive
devices to reduce the likelihood of injury during exercise. For example,
runners may use
buoyancy devices and run in the water. Or they may run on treadmills while
zipped into a
pressurized bag that lifts them slightly off the treadmill deck, thereby
reducing foot-strike
impact.
[0006] Physical therapists often have other devices which suspend from above
to
support the user while he or she moves. For example, devices exist which can
be placed over
or above a treadmill, usually with harnesses, hooks, or special clothing that
partially lifts the
patient while walking or running on a treadmill. These devices apply an upward
force on a
patient to reduce his impact while moving.
[0007] Of course, all of these solutions lack freedom of movement. The user is
confined to a pool, a treadmill, or a pre-defined path set in ceiling tracks.
The person cannot
use any of these to walk to the bathroom or around the neighborhood, for
example.
[0008] Further, and more seriously, each alters the normal pattern of motion
during
walking and running. Harnesses that hang from the ceiling tracks generally
support the user at
a single location, usually above the head or near the center of the back.
Occasionally they lift
the user at opposed sides of the hips. In both arrangements, the harness
restricts the normal
movement of the upper body during locomotion. The user may experience upward
lift on one
side of his body that is the same as that on the other side of this body. In
other words, the user's
left and right sides are lifted equally and simultaneously. In normal walking
and running,
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however, the forces along the left side of the body are different than and
independent from
those along the right side of the body. Such systems do not account for these
differences, and
may exercise different muscles than those used in normal running and walking,
thereby leading
to improper or prolonged rehabilitation, therapy, or training.
[0009] Moreover, these systems may exercise different muscles than those used
in
normal walking and running, thereby leading to improper or prolonged
rehabilitation, therapy,
or training. The use of these devices in rehabilitation, therapy, or training
fails to mimic real-
life movement and may lead to improper recovery. An improved solution is
needed.
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SUMMARY
[0010] In an embodiment, a bodyweight unloading locomotive device includes a
frame
mounted on wheels for locomotive movement. The frame has opposed left and
right sides, and
a harness supports a user between those left and right sides. An unloading
assembly is carried
on each of the left and right sides, wherein the unloading assemblies each
includes a sprung
arm having a fixed end fixed to the respective left and right side, and an
opposed free end. The
assemblies further each include a cam assembly mounted on the free end of the
sprung arm and
a tether routed through the cam assembly and extending to the harness. Each of
the unloading
assemblies thereby exerts an independent unloading force on the harness with
respect to the
frame, encouraging natural movement and allowing independent unloading of the
left and right
sides of the body during such natural movement.
[0011] In another embodiment, a bodyweight unloading locomotive device
includes a
frame for supporting locomotive movement. The frame has opposed left and right
sides, and a
harness supports a user between those left and right sides. An unloading
assembly is carried
on each of the left and right sides. The unloading assemblies each include a
spring having a
first end fixed to the respective left and right side, and an opposed second
end, a cam assembly,
and a tether routed through the cam assembly and extending to the harness. A
cable is routed
through the cam assembly and extends to one of an anchor on the frame and the
second end of
the spring. Each of the unloading assemblies exerts an independent unloading
force on the
harness with respect to the frame.
[0012] In yet another embodiment, a bodyweight unloading locomotive device
includes
a frame configured to support locomotive movement, and an unloading assembly
carried by
the frame. The unloading assembly includes a spring having a fixed end coupled
to the frame
and an opposed free end, a cam assembly mounted to the frame for rotational
movement, a first
tether extending from the free end of the spring to the cam assembly, and a
second tether
extending from the cam assembly to a load. The unloading assembly exerts an
unloading force
on the load with respect to the frame.
[0013] The above provides the reader with a very brief summary of some
embodiments
described below. Simplifications and omissions are made, and the summary is
not intended to
limit or define in any way the disclosure. Rather, this brief summary merely
introduces the
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reader to some aspects of some embodiments in preparation for the detailed
description that
follows.
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BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Referring to the drawings:
FIGS. 1 and 2 are front perspective and side elevation views of a bodyweight
unloading
locomotive device, respectively;
FIG. 3A is an enlarged side elevation view of the bodyweight unloading
locomotive
device with a panel removed to expose an unloading assembly carried thereon;
FIG. 3B is a section view taken along the line 3-3 in FIG. 1, slightly
sectioning the
bodyweight unloading locomotive device and the unloading assembly carried
thereon;
FIG. 4A is a section view taken along the line 4-4 in FIG. 2, showing pulley
cassettes
on the bodyweight unloading locomotive device;
FIGS. 4B and 4C are enlarged rear perspective views of one of the pulley
cassettes;
FIGS. 5-7 are enlarged, generalized diagrams illustrating alternative
embodiments of
the unloading assembly;
FIGS. 8-10B are enlarged, generalized diagrams illustrating alternative
embodiments
of the unloading assembly; and
FIGS. 11A-11C are front, side, and perspective views of a harness, and
components
thereof, for use in the bodyweight unloading locomotive devices.
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DETAILED DESCRIPTION
[0015] Reference now is made to the drawings, in which the same reference
characters
are used throughout the different figures to designate the same elements.
Briefly, the
embodiments presented herein are preferred exemplary embodiments and are not
intended to
limit the scope, applicability, or configuration of all possible embodiments,
but rather to
provide an enabling description for all possible embodiments within the scope
and spirit of the
specification. Description of these preferred embodiments is generally made
with the use of
verbs such as "is" and "are" rather than "may," "could," "includes,"
"comprises," and the like,
because the description is made with reference to the drawings presented. One
having ordinary
skill in the art will understand that changes may be made in the structure,
arrangement, number,
and function of elements and features without departing from the scope and
spirit of the
specification. Further, the description may omit certain information which is
readily known to
one having ordinary skill in the art to prevent crowding the description with
detail which is not
necessary for enablement. Indeed, the diction used herein is meant to be
readable and
informational rather than to delineate and limit the specification; therefore,
the scope and spirit
of the specification should not be limited by the following description and
its language choices.
100161 FIGS. 1 and 2 are front perspective and right side elevation views of a
bodyweight unloading locomotive device 10 (hereinafter, the "device 10") for
support during
movement, regardless of different and independent movements on both sides of
the body. The
device 10 provides independent, bilateral support proximate the hips of a
user, to assist the user
in self-propelled, locomotive motion. The device 10 includes an assembled
frame 11, four
wheels 12, and unloading assemblies 13 and 14 carried on the frame 11. The
unloading
assemblies 13 and 14 are hidden in FIGS. 1 and 2 by panels 15 carried on the
frame 11, but are
much more visible in FIGS. 3A and 3B. The unloading assemblies 13 and 14 are
coupled to a
harness worn by a user, as depicted in FIG. 1, and operate to lift or unload
some portion of the
user's bodyweight on the left and right sides of the user's body.
[0017] The device 10 generally has atop 16, an opposed bottom 17, a front 18,
and an
opposed back 19. The word -generally" is used here to indicate a general area
of the device
10, rather than a specific point, element, feature, or the like. Further,
description herein may
be made to relative directions or orientations with respect to these terms
top, bottom, front,
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back, and the description may indicate the arrangement of multiple elements or
features with
respect to each other in the context of above, below, in front of, behind, or
the like, relying on
the reader's understanding of the top 16, bottom 17, front 18, and back 19 for
contextual
reference.
[0018] The frame 11 includes identical left and right sides 20 and 21 rigidly
coupled to
each other with a top tube 22 and a bottom tube 23. Because the left and right
sides 20 and 21
of the frame 11 are identical, only one is described here, with the
understanding that the
description applies equally to the other. The same reference characters are
used for the
structural elements and features of both the left and right sides 20 and 21,
and the reader will
understand that the context or diction of the relevant description will convey
whether the
description is of the left or right side 20 or 21.
[0019] The right side 21 includes a main tube 24 extending generally
diagonally from
the bottom 17 and back 19 of the device 10 to the bottom tube 23 of the frame
11 proximate
the front 18, approximately midway between the top 16 and bottom 17 of the
device 10. The
main tube 24 has a rectangular cross-section, is hollow, and has a thin,
strong, durable, but
lightweight sidewall constructed out of a material or combination of materials
having those
properties, such as steel, aluminum, titanium, or carbon fiber. Other suitable
constructive
materials and cross-sections are included within the scope of this
description.
[0020] The main tube 24 is coupled to a vertical tube or housing 25 which
rises from
the main tube 24 near the back 19 of the device 10. Though the housing 25 is
cylindrical, it is
also hollow like the main tube 24. The housing 25 holds part of the unloading
assembly, as
described later.
[0021] A front tube 26 extends diagonally downward, opposite the main tube 24.
The
front tube 26 has an upper section which is nearly, but not quite, level, a
long middle section
which is diagonal, and a lower section which is nearly vertical. The top back
of the front tube
26 is coupled to the top of the housing 25, and the middle of the front tube
26 is coupled to the
front of the main tube 24. The front tube 26, like the main tube 24,
preferably but not
necessarily has a rectangular cross-section, is hollow, and has a thin,
strong, durable, but
lightweight sidevvall constructed out of a material or combination of
materials having those
properties, such as steel, aluminum, titanium, or carbon fiber.
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[0022] The bottoms of the main tube 24 and the front tube 26 are generally
vertical.
The bottom of the front tube 26 is open so as to receive a post 30. The wheels
12 are mounted
on the post 30 for rolling movement and for swiveling movement so that the
device 10 can be
pointed and moved in a desired direction. A series of vertically spaced-apart
holes 31 are
formed in the post 30, and an adjustment knob 32 is threaded through the
bottom of the front
tube 26 and into one of the many holes 31. The knob 32 allows vertical
adjustment of the post
30 to change the height of the device 10 at the front 18; the knob 32 may be
loosened or released
from front tube 26, the post 30 slid up or down, and the knob 32 then
tightened or re-engaged
with the front tube 26.
[0023] The bottom of the main tube 24 has a series of vertically spaced-apart
holes 33
formed therethrough; these holes 33 receive an axle 34 of each of the wheels
12 at the back 19
of the device 10. The axle 34 can be moved into any of the holes 33 to adjust
the height of the
device 10 at the back 19. The axle 34 is secured with a pin 35, such as a
cotter pin or other
suitable engagement, placed through the axle 34 on the opposite side of the
main tube 24 from
the wheel 12. The wheels 12 in the back 19 preferably, but not necessarily,
are mounted for
rolling movement but not for swiveling movement.
[0024] The left and right sides 20 and 21 of the frame 11 are coupled by the
top tube
22 and the bottom tube 23. The top tube 22 is a rigid tube bent into a U
shape, with a straight
front section and two side sections or legs oriented at roughly ninety degrees
to the front
section. These legs are screwed, bolted, welded, or otherwise securely engaged
to the top
sections of the front tubes 26 on both the left and right sides 20 and 21.
Similarly, the bottom
tube 23 is a rigid tube bent into a U shape, with a straight front section and
two side sections
or legs oriented at roughly ninety degrees to the front section. These legs
are screwed, bolted,
welded, or otherwise securely engaged to top sections of the main tubes 24 on
both the left and
right sides 20 and 21.
[0025] When the user uses the device 10, the user stands, walks, or runs
behind the top
and bottom tubes 22 and 23 and between the left and right sides 20 and 21, as
shown in FIG.
1. As such, the top tube 22, together with the left and right sides 20 and 21
and the bottom tube
23, defines a user-receiving area 36 accessible from the back 19 of the device
10.
[0026] A handlebar 40 extends forwardly at the top 16 of the device 10. A
cylindrical
sleeve 41 is mounted along the top section of the front tube 26; the sleeve 41
is hollow, its back
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is secured against the top of the housing 25, and its front is open. A series
of horizontally
spaced-apart holes 42 are formed through the outside of the sleeve 41; an
adjustment knob 43
is threaded through the holes 42 and allows horizontal adjustment of the
handlebar 40 to change
the reach of the user when using the device 10. The knob 43 may be loosened or
released from
sleeve 41, the handlebar 40 slid into or out of it, and the knob 43 then
tightened or re-engaged
with the sleeve 41.
100271 The handlebar 40 is curved in several different directions. The back of
the
handlebar 40 is straight so that it may fit in the sleeve 41. The handlebar 40
has a length, as
shown in FIG. 1, so that it extends forwardly beyond the top section of the
front tube 26. The
handlebar 40 then bends inwardly for a short section, and then bends upwardly
for a short
section. Other handlebar 40 configurations are suitable as well.
[0028] The handlebar 40 is hollow and has a thin, strong, durable, but
lightweight
sidewall constructed out of a material or combination of materials having
those properties, such
as steel, aluminum, titanium, or carbon fiber. When a user is disposed in the
user-receiving
area 36 and operating the device 10, the user can easily reach out and hold
the handlebar 40,
gripping any portion thereof as is comfortable to steady the device 10 and
assist in movement
and steering.
100291 FIGS. 3A and 3B show the right side 21 of the frame 11. In FIG. 3A, the
panel
15 is removed so that the unloading assembly 14 is visible; FIG. 3B is a
section view taken
along the line 3-3 of FIG. 1, just barely inside the frame 11, such that the
panel 15 is not visible
and the frame 11 is partially sectioned. The unloading assemblies 13 and 14
are carried on,
and partially within, the frame 11; the unloading assembly 13 is on the left
side 20, and the
unloading assembly 14 is on the right side 21. Again, as above with respect to
the left and right
sides 20 and 21, because the unloading assemblies 13 and 14 shown here are
identical, only the
unloading assembly 14 on the right side 21 will be described here with the
understanding that
the description applies equally to the other. The same reference characters
are applicable to
the unloading assembly 14 on the left side 20. However, it should be
understood that the
unloading assemblies 13 and 14 need not be identical, and this description
should not be limited
so. Indeed, in some embodiments, it may be desirable to actually have
different unloading
assemblies. For example, where a user suffers from an asymmetrical weakness,
the device 10
may be outfitted with intentionally different unloading assemblies 13 and 14
having different
bend, load, and other performance characteristics. For example, for a patient
recovering from
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a stroke, it may be advantageous to provide more unloading force to a side of
the patient's body
which has been more severely affected by the stroke, while providing less
unloading force to
the other side. Nevertheless, for the purposes of the description as it
relates to the drawings,
these particular unloading assemblies 13 and 14 are identical.
[0030] The unloading assembly 14 includes a flat spring 50, a stacked cam
assembly
51 on the flat spring 50, a cable or tether 52 routed through the stacked cam
assembly 51 and
a series of pulleys mounted on the frame 11.
[0031] The flat spring 50 is a sprung arm: a lightweight, compact, resilient
and elongate
flat spring member having a first, fixed end 53 and a second, a free end 54.
The fixed end 53
is secured in a sleeve mounted on a block 55 having an angled surface 56. An
adjustment knob
57 passes through a hole in the fixed end and into a threaded bore 58 in the
block 55. The
adjustment knob 57 is thus threadably engaged to the block 55 and can be
tightened and
loosened to change the spring force of the flat spring 50. For less spring
force, the adjustment
knob 57 is loosened and backed out of the bore 58, which allows the fixed end
53 to rise slightly
away from the angled surface 56 of the block 55. For more spring force, the
adjustment knob
57 is tightened into the bore 58, which holds the fixed end 53 closer to the
angled surface 56
of the block 55. The adjustment knob 57 is a means for adjusting the spring
force of the flat
spring 50; in other embodiments, the adjustment knob 57 may be an electric,
electromechanical
or electromagnetic adjustment, or an adjustable bolt, or some other means for
changing the
spring force.
[0032] Indeed, the flat spring 50 operates as a spring. It is mounted in a
horizontal
configuration. In this horizontal configuration, the free end 54 is above and
behind the fixed
end 53, and it moves between a first, "unloaded- position as shown in FIG. 3A,
in which the
free end 54 is in a high position above the fixed end 53, and second, loaded
position as shown
in FIG. 3B, in which the free end 54 is in a low position closer to the main
tube 24. This
movement is indicated by the arcuate double-arrowed line A in FIG. 3B. It
moves toward the
loaded position in response to a weight being placed on the harness on the
right side 21, such
as by the user walking, and pulling the flat spring 50 down via the tether 52.
In response, the
flat spring 50 exerts a biasing force in a direction opposite the pull of
gravity and vertical
translation of the body downward during locomotion; the flat spring 50 acts to
pull the tether
52 back. Other horizontal configurations are possible and may be suitable,
including
configurations which are vertically or horizontally flipped with respect to
the above-described
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configuration. Generally, however, the horizontal configuration is defined as
one in which the
spring (the spring arm 50, in this case) extends horizontally.
[0033] In this way, the flat spring 50 is just a spring which exerts a biasing
force in
opposition to displacement: extension or compression of a spring. And, in this
sense, other
springs may be suitable, such as coil springs, pneumatic springs, torsion
springs, etc. The flat
spring 50 has a non-linear force-displacement curve, such that the force
required to displace
the flat spring 50 increases as the displacement increases; at larger
displacements, a larger force
is necessary to displace the free end 54 by the same amount. The flat spring
50 produces a
biasing force against its curve, toward the front 18 of the device 10. As
such, when the user is
moving forward, this forward bias assists in moving the device 10 forward as
well.
100341 The stacked cam assembly 51 is mounted for rotation on the free end 54.
The
stacked cam assembly 51 includes outer and inner cams 60 and 61, placed side-
by-side on the
free end 54. Both cams 60 and 61 are mounted for rotation with respect to each
other about
the same axis of rotation, however, the cams 60 and 61 are fixed to each other
to prevent relative
rotation.
[0035] The outer cam 60 is larger, and the inner cam 61 is smaller. Both cams
60 and
61 are eccentrics with different profiles or shapes; their axes of rotation
are offset from their
respective geometric centers, such that as they rotate, their lever arms
change and the ratio of
their respective lever arms change. In this way, with the tether 52 wrapped
around the outer
cam 61 and the tether 62 wrapped around the inner cam 60, in grooves formed
therein, the flat
spring 50 and cam assembly 51 together form a constant-force displacement
system. In other
words, beyond a pre-determined pre-loaded displacement, additional
displacement does not
significantly change the force required for continued displacement. This is
described in greater
detail below. Further, in other embodiments of the device 10, different cam
combinations are
used, including assemblies with three or more cams, cams of different sizes
than presented
here, similarly-sized cams, etc. It is noted here that the word -cam- includes
a rotating wheel
and an eccentrically-mounted wheel or eccentric wheel. A cam is a mechanical
element that
converts rotational and translational movement. In the scope of this
description, a cam is a
wheel, pulley, or other rotating element which is preferably but not
necessarily mounted
eccentrically. Eccentric rotation is rotation of an element about an axis
which is offset from
the geometric center of the element. Thus, the shape or profile of the outer
perimeter of the
element may define it as a cam, or the location of the axis of rotation may
define the element
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as a cam. All of these definitions are considered within the scope of this
disclosure, without
exclusion, for all embodiments described herein.
[0036] Another tether, an inelastic anchor cable 62, is tied between the inner
cam 61
and a tie-down 63. This anchor cable 62 is part of the unloading assembly 14.
The tie-down
63 is an anchor preventing the end of the anchor cable 62 attached thereto
from moving; the
other end of the anchor cable 62 is fixed to the inner cam 61. Mounted on top
of the main tube
24 is a pulley assembly including three pulleys 64, 65, and 66. One end of the
anchor cable 62
is fixed to the top of the front of the inner cam 61 and lays in a groove
therein before extending
down to the pulley 64. With rotation of the inner cam 61, the anchor cable 62
wraps around
the circumference of the inner cam 61 and effectively shortens the anchor
cable 62, bending
the flat spring 50 toward the loaded position. The length of the anchor cable
62 can be adjusted
at the tie-down 63 to increase or decrease the pre-load on the flat spring 50.
[0037] The tether 52 has an opposite orientation on the larger outer cam 60.
It has two
ends. One end of the tether 52 is fixed to front side of the cam 60; this end
is wrapped over the
top of the cam 60 but in a different direction from the anchor cable 62, such
that it is fixed to
the front side of the cam 60 and then extends over and around the
circumference of the cam 60.
From there, the tether 52 extends downward to the pulleys 65 and 66. The
pulley 66 is partially
mounted inside the housing 25. As the tether 52 routes under the pulley 65, it
is redirected
from a roughly vertical direction to a roughly horizontal one, and as the
tether 52 routes under
the pulley 66, it is redirected from that roughly horizontal direction to a
roughly vertical one
inside the hollow housing 25.
[0038] The three pulleys 64, 65, and 66 have parallel axes; each spins in the
same
direction. All three pulleys 64, 65, and 66 are mounted proximate each other,
along the main
tube 24, and in the same plane, such that they only act to redirect the anchor
cable 62 or tether
52 in a new direction along that plane. However, the tether 52 rises up from
the pulley 66
inside the housing 25 to a different set of pulleys which orient the tether 52
for attachment to
the harness.
[0039] FIGS. 4A-4C illustrate a pulley cassette 70 containing these other
pulleys 71,
72, and 73 which redirect the tether 52. The pulley cassette 70 is part of the
unloading assembly
13 (or 14) and is mounted for swinging movement in the housing 25 of the frame
11 and
includes an outer housing 74 with an inner side 75 and an opposed outer side
76. The outer
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side 76 is directed away from the frame 11, inward into the user receiving
area 36. The inner
side 75 is partially carried within the housing 25. Proximate the top 16, the
housing 25 has a
large open window 80. The pulley cassette 70 swings forward and backward in
this window
80. Two discs 81 and 82 are secured within the housing 25; the disc 81 is
proximate the top
16, and the disc 82 is just slightly lower. Extending coaxially between the
discs 81 and 82 is a
pin 83. Fixed to the inner side 75 of the pulley cassette 70 is a leaf with a
knuckle 84. The
knuckle 84 has a vertical bore which is loosely mounted over the pin 83. Thus,
the knuckle 84
pivots on the pin 83, and the pulley cassette 70 swings with the knuckle
between a forward
position (shown in broken line in FIG. 4C) and a rearward position (shown in
solid line) along
the double-arrowed arcuate line B in FIG. 4C. FIG. 4C shows a wide range of
angular
movement, but preferably the pulley cassette is limited in swinging more than
thirty degrees in
front of or behind a neutral position, which is shown in FIGS. 4A and 4B.
[0040] Within the housing 74 are three axles on which the pulleys 71, 72, and
73 are
mounted for rolling movement. When the pulley cassette 70 is in the neutral
position of FIGS.
4A and 4B, these pulleys 71, 72, and 73 are mounted in a perpendicular offset
fashion to the
pulleys 64, 65, and 66. The tether 52 extends up from the pulley 66, inside
the housing 25, and
routes over the first pulley 71, then under the second pulley 72, and then
again over the third
pulley 73. A hole 85 is formed through the outer side 76 of the housing 74,
and a strong bracket
mounted outside the hole 85 has a hole corresponding thereto. A stop 87 is
secured on the
tether 52 to prevent the tether 52 from being pulled into the pulley cassette
70 farther than
desired.
[0041] In operation, a user uses the device 10 to assist in locomotive
movement. The
device 10 is useful for physical therapy, rehabilitation, and athletic
training. Returning to FIG.
1, a user 90 is illustrated in the user-receiving area 36 using the device 10.
The user is wearing
a harness 91. Any suitable harness 91 may be used; this harness 91 includes an
adjustable
waist belt 92, adjustable thigh straps 93, adjustable above-the-knee straps
94, and outer or
lateral straps 95 on each side of the harness 91 inelastically connecting the
waist belt 92, thigh
strap 93, and above-the-knee strap 94. In FIG. 1, the tethers 52 from both
unloading assemblies
13 and 14 are shown directly attached to the waist belt 92. Attachment of the
tethers 52 to a
point at the level of the region between the hip joint and the waist is
preferred. In other
embodiments, the tethers 52 may terminate with clips such as carabiners for
coupling to loops
on the waist belt 92. The tethers 52 are attached to opposing sides of the
waist belt 92, just
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above the hip joints. In this way, each tether 52 independently acts on one
respective side of
the body.
[0042] The harness 91 couples the user 90 to the device 10. When the user 90
walks,
his hips move up and down. In normal locomotion, when the left leg is moved
forward, his
left hip rises slightly and his right hip drops slightly, and his pelvis
rotates to a small degree.
When it does, on the left side 20, the cassette pulley 70 swings forward
slightly, the tether 52
retracts (until limited by the stop 87 encountering the bracket 86), and the
flat spring 50 bends
to a lesser degree toward its unloaded position. The force exerted by the flat
spring 50 is in the
forward direction, which assists in moving the device 10 forward slightly. At
the same time,
on the right side 21, the cassette pulley 70 swings backward slightly, and the
tether 52 extends
to accommodate the dropping of the right hip and rotation of the pelvis. This
pulls the tether
52 through the pulley cassette 70 and through the pulleys 64, 65, and 66,
thereby causing the
cam assembly 51 to rotate and the flat spring 50 to bend to a greater degree.
The left and right
side 20 and 21 flat springs 50 independently exert a bias on the tethers 52 on
their respective
sides; in response, the user 90 feels his weight on both the right and left
sides of this body at
least partially unloaded. Further, because the unloading assemblies 13 and 14
each
independently are a constant-force displacement system, rather than a simple
spring force or
exponential force displacement system, the user 90 experiences a constant or
consistent
unloading despite the extent of the displacement on either side. In other
words, whether the
user 90 raises his right hip or drops his right hip a little or a lot, the
unloading force he
experiences is constant. In yet other words, if the user drops his right hip a
significant distance,
he does not experience a proportionally greater unloading. For example, the
device 10 can be
set up to provide a constant fifty pounds of unloading force. If the user
drops his hip a little,
he will feel that fifty pounds of unloading; if the user drops his hip a lot,
he will still feel that
same fifty pounds of unloading.
[0043] Moreover, the sides of his body move independently ¨ and are allowed to
move
independently ¨ because the unloading assemblies 13 and 14 are independent of
each other. In
more detailed operation, when the hip of the user 90 moves a distance, the
tether 52 moves this
distance as well, and unwinds from the cam 60. The anchor cable 62 spools onto
the cam 61,
shortening its effective length and causing the flat spring 50 to flex. The
cam assembly 51
unreels and the flat spring 50 bends to a greater degree. Because the flat
spring 50 and cam
assembly 51 combine to form a constant-force displacement, however, the
patient feels a
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constant upward unloading force on that side of the harness 91. The
displacement of the tether
52 ¨ whether it is one inch or six inches ¨ does not cause a proportional
change in the upward
force. Rather, the displacement causes essentially no change in unloading
force. In this way,
the device 10 provides a constant unloading of each side of the user's body,
independently of
each other.
[0044] In other embodiments, a sensor 100 proximate one of the wheels 12
measures
rolled distance. A sensor 101 in the stop 87, or in the pulley cassette 70, or
somewhere along
the tether 52, measures acceleration and thus force, and possibly also angle
of incline. The
sensors 100 and 101 each may include a microprocessor, gyroscope,
accelerometer, memory
chip, PCB, and like electronic components. The readings from these two sensors
100 and 101
are correlated for later analytics; doctors and physical therapists can use
this information to
determine stride length, stance and swing phase duration, speed, work energy,
and other
kinematic and kinetic parameters of locomotion, and this information can be
compared for each
side of the body as well as over time to evaluate rehabilitation. Moreover, in
some
embodiments, these sensors 100 and 101 are coupled in wired or wireless data
communication
to a display head unit, such as a smartphone or other electronic device,
preferably mounted on
the top tube 22, which displays such information to the user 90. The user 90
can toggle through
this and other information by depressing a physical button or touching the
display of the head
unit.
[0045] In some instances, the wheels of the device 10 may be removed. This
removes
the mobility of the device 10, but it can instead now be placed on or around a
treadmill. The
bottom 17 of the frame may be bolted onto or otherwise secured to the
treadmill using the holes
31 and 33. Alternatively, pads or cushions applied to the bottom 17 of the
frame 11 can support
the device 10 around the treadmill. The user can then walk or run on the
treadmill with his
weight supported as described above.
[0046] FIG. 5 shows an alternate embodiment of the unloading assembly 13 of
the
device 10. The below description applies equally to an alternate embodiment of
the unloading
assembly 14. In this embodiment, two flat springs are used in combination.
FIG. 5 is stylized
in the form of a free body diagram, but a reader understanding the description
hereto will
nonetheless readily appreciate and understand FIG. 5.
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[0047] The flat spring 50 is mounted as in FIG. 3A: the fixed end 53 is fixed
to the
main tube 24 and the free end 54 is free. The cam assembly 51 is mounted for
rotation to the
free end 54, and the anchor cable 62 is fixed while the tether 52 routes
around the pulley 65 to
extend to the harness. However, in this embodiment, a second flat spring 110
is used. The flat
spring 110 is also a sprung arm preferably, but not necessarily, identical in
structure, features,
and construction to the flat spring 50; it also includes a fixed end 111 and a
free end 112. The
flat spring 110 is mounted in a parallel fashion to the flat spring 50. As the
term is used here,
-parallel" is analogous to two elements in an electrical circuit and does not
necessarily refer to
a geometric relationship or alignment between the two flat springs 50 and 110.
Specifically,
the flat spring 50 and cam assembly 51 are in a first position, and the second
flat spring 110 is
carried in a second position; the first and second positions are different but
are registered with
each other in a vertically offset fashion. The flat springs 50 and 110 in this
embodiment are
coextensive, but they need not be.
[0048] The second flat spring 110 is stacked above the flat spring 50. A
rigid, inelastic
cable 113 ties or couples the free end 112 of the flat spring 110 to the free
end 54 of the flat
spring 50, such that movement of the free end 54 immediately and directly
imparts movement
to the free end 112. This coupled arrangement increases the spring force of
the flat spring 50.
The tether 52 remains wrapped around the cam assembly 51 on the flat spring
50. Stacking
flat springs on the frame 11 in this way allows the device 10 to unload more
weight from the
user during operation. In other embodiments, three or more flat springs could
be stacked,
though this would not likely be necessary for all but the most demanding of
weight needs.
[0049] FIG. 6 shows another alternate embodiment of the device 10. While the
unloading assembly 14 in FIGS. 3A and 3B is mounted in a horizontal
configuration in which
the flat spring 50 extends rearwardly in a general direction and its free end
54 is behind its
fixed end 53, here in FIG. 6, the unloading assembly 14 is mounted in a
vertical configuration.
This unloading assembly 14 is mounted on the vertical housing 25 rather than
the horizontal
top of the main tube 24. The flat spring 50 is still mounted to the block 55,
but the block 55 is
fixed vertically on the housing 25, such that the flat spring 50 extends
upward, rather than
rearward. The free end 54 of the flat spring 50 is above the fixed end 53, and
when the flat
spring 50 flexes, the free end 54 is displaced rearwardly toward the housing
25. The flat spring
50 produces a biasing force against its curve, toward the front 18 of the
device 10. As such,
when the user is moving forward, this forward bias assists in moving the
device 10 forward as
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well. FIG. 6 shows in solid line the unloading assembly 14 in an unloaded
position, and the
unloading assembly 14 moves along the double-arrowed arcuate line C toward the
housing to
a loaded position, similar in displacement to the loaded position shown for
the horizonal
configuration of FIG. 3B. Other vertical configurations are possible and may
be suitable,
including configurations which are vertically or horizontally flipped with
respect to the above-
described configuration. Generally, however, the vertical configuration is
defined as one in
which the spring (the spring arm 50, in this case) extends vertically. The
pulleys 64, 65, and
66 are also moved to a vertical arrangement, but the anchor cable 62 still
routes through the
pulley 64 and is secured to the tie-down 63, which is on the housing 25. The
tether 52 also still
routes through the pulleys 65 and 66 but now also extends through an
additional pulley 120
which redirects the tether 52 upwardly through the housing to the pulley
cassette 70.
[0050] FIG. 7 shows yet another alternate embodiment of the unloading assembly
13
of the device 10, somewhat similar to that shown in FIG. 5. The below
description applies
equally to an alternate embodiment of the unloading assembly 14. In this
embodiment, two
flat springs are used in combination. FIG. 7 is stylized in the form of a free
body diagram, but
a reader understanding the description hereto will readily appreciate and
understand FIG. 7.
[0051] The flat spring 50 is mounted as in FIG. 3A: the fixed end 53 is fixed
to the
main tube 24 and the free end 54 is free. The cam assembly 51 is mounted for
rotation to the
free end 54, and the anchor cable 62 is fixed while the tether 52 routes
around the pulley 65 to
extend to the harness. However, in this embodiment, a second flat spring 130
is used. The flat
spring 130 is also a sprung arm and is preferably, but not necessarily,
identical in structure,
features, and construction to the flat spring 50; it also includes a fixed end
131 and a free end
132. The flat spring 130 is mounted in a parallel fashion to the flat spring
50, however, it is
mounted below the main tube 24, or opposite the flat spring 50. As the term is
used here,
"parallel" is analogous to two elements in an electrical circuit and does not
refer to a geometric
relationship or alignment between the two flat springs 50 and 130.
Specifically, the flat spring
50 and cam assembly 51 are in a first position, and the second flat spring 130
is carried in a
second position; the first and second positions are different but are
registered with each other
in a vertically offset fashion. The flat springs 50 and 130 in this embodiment
are coextensive,
but they need not be.
[0052] The second flat spring 130 is stacked below the flat spring 50 and has
an
inverted position: while the flat spring 50 flexes downwardly under a load,
the second flat
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spring 130 flexes upwardly. An inelastic cable 133 couples the free end 132 of
the flat spring
130 to the inner cam 61 at the free end 54 of the flat spring 50, such that
rotation of the inner
cam 61 directly imparts upward movement of the free end 132 of the flat spring
130 as well as
downward movement of the free end 54 of the flat spring 50. The cable 133
passes through a
bore 134 in the main tube 24. This coupled arrangement increases the spring
force of the
unloading assembly beyond that of the unloading assembly 13 or 14. The tether
52 remains
wrapped around the outer cam 60 of the cam assembly 51 on the flat spring 50.
Coupling flat
springs on the frame 11 in this way allows the device 10 to unload more weight
from the user
during operation. In other embodiments, three or more flat springs could be
stacked on either
side of the main tube 24 and coupled together, though this would not likely be
necessary in all
but the most demanding of weight needs.
[0053] In some embodiments, the cam assembly 51 need not be mounted directly
onto
the flat spring 50, or, in other words, the cam assembly 51 can be separate
from the spring. For
example, the flat spring 50 of FIG. 7 could be modified to be a rigid,
inflexible, unyielding arm
50. In this embodiment, the cam assembly 51 is simply mounted to an arm 50,
similar to a
rigid post, above the main tube 24. The arm 50 is thus simply considered part
of the frame 11,
or a rigid extension thereof. The cam assembly 51 is thus coupled to the
second or free end
132 of the bendable flat spring 130 with the inelastic cable 133, and to the
harness with the
tether 52. The flat spring 130 is the only arm that moves in this arrangement;
when the harness
drops, the tether 52 pulls on and rotates the cam assembly 51, and the cable
between the cam
assembly 51 and the flat spring 130 pulls on and bends the flat spring 130.
This embodiment
is exemplary of unloading assemblies in which the cam assembly and the flat
spring are
separate, illustrating that the cam assembly need not be carried on or mounted
to the flat spring.
Indeed, the unloading assembly still operates effectively as a constant-force
displacement
system when the cable 133 (or anchor cable 62) couples the cam assembly in one
direction to
a spring (such as the flat spring 130) and the tether 52 couples the cam
assembly in an opposing
direction to the harness, regardless of the mounting of the cam assembly on or
off the spring.
This alternate version of FIG. 7 describes such an arrangement in an exemplary
fashion. In
other embodiments, the spring arm and cam assembly may be separated and not
mounted to
each other, and the arrangement of the cam assembly and spring arm are
actually reversed: the
cam assembly 51 is mounted on the main tube 24, the spring arm 50 is mounted
on the main
tube 24 apart from the cam assembly 51 extends away, an anchor cable 62
coupled to a tie-
down 63 extends to the cam assembly 51, and then a tether 52 extends from the
cam assembly
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51 to over the free end 54 of the flat spring 50 and then toward the harness
(likely through a
pulley assembly).
[0054] FIGS. 8-10B illustrate other alternate embodiments of unloading
assemblies
suitable for use with the device 10. The below descriptions apply equally to
an unloading
assembly used on the left or right sides 20 of the frame 21 or in an alternate
location to support
the user within the device 10. FIG. 8 illustrates a stylized, free-body
diagram of an unloading
assembly 140 but nevertheless shows the structural elements and features of
the assembly 140.
The unloading assembly 140 is positioned within the frame 11 proximate the
main tube 24 and
the vertical tube or housing 25.
[0055] The unloading assembly 140 includes a flat spring 141, a cam assembly
142, a
first tether 143 extending from the flat spring 141 to the cam assembly 142,
and a second tether
144 extending from the cam assembly 142 and running up (or in some cases,
inside) the housing
25 to the pulley cassette 70 described above. As described, the unloading
assembly 140 exerts
an unloading force on the harness 91 and a load carried therein with respect
to the frame 11, in
response to the load being applied at the harness 91.
[0056] The flat spring 141 is a sprung arm: a lightweight, compact, resilient
and
elongate flat spring member having a first, fixed end 150 and a second, free
end 151. The fixed
end 150 is secured in a sleeve mounted on a block 152. An adjustment knob 153
passes through
a hole in the fixed end 150 and into a threaded bore in the block 152. The
adjustment knob
153 is thus threadably engaged to the block 152 and can be tightened and
loosened to change
the spring force of the flat spring 141. For less spring force, the adjustment
knob 153 is
loosened and backed out of the bore, which allows the fixed end 150 to rise
slightly away from
the block 152. For more spring force, the adjustment knob 153 is tightened
into the bore, which
holds the fixed end 150 closer to the block 152. The adjustment knob 153 is a
means for
adjusting the spring force of the flat spring 141; in other embodiments, the
adjustment knob
153 may be an electric, electromechanical or electromagnetic adjustment, or an
adjustable bolt,
or some other means for changing the spring force.
[0057] The flat spring 141 operates as a spring. It is mounted in a horizontal
configuration. In this horizontal configuration, the free end 151 is level
with the fixed end 150
and moves between a first, "unloaded- position as shown in solid line in FIG.
8, and a second,
-loaded" position as shown in broken line in FIG. 8, in which the free end 151
is in a high
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position away from the main tube 24 and above the fixed end 150. This movement
is indicated
by the arcuate double-arrowed line 154.
[0058] The flat spring 141 moves toward the loaded position in response to a
load being
placed in the harness 91, such as by the user 90 walking, and pulling the flat
spring 141 up via
the second tether 144. Throughout this description, "load" is used to describe
any weight or
other downward force exerted on the harness 91, and it should be understood as
such. A load
is preferably a live load, such as a user 90 in the harness, or it may be some
other weight or
downward force acting on the unloading assembly 140. In response to
application of the load,
the flat spring 141 exerts a biasing force in a direction opposite the pull of
gravity and vertical
translation of the user 90 downward during locomotion or elongation of the
second tether 144
with lateral translation of the pelvis; the flat spring 141 acts to pull the
second tether 144 back.
Other horizontal configurations are possible and may be suitable, including
configurations
which are vertically or horizontally flipped with respect to the above-
described configuration.
Generally, however, the horizontal configuration is defined as one in which
the spring (the
spring arm 141, in this case) extends horizontally.
[0059] In this way, the flat spring 141 is just a spring which exerts a
biasing force in
opposition to displacement, whether that is through deflection, extension, or
compression of a
spring. And, in this sense, other springs may be suitable, such as coil
springs, pneumatic
springs, torsion springs, etc. The flat spring 141 has a non-constant force-
displacement curve,
such that the force produced by the flat spring 141 increases as the
displacement of the three
end 151 increases; at larger displacements, the spring force is larger. The
flat spring 141 is
directed horizontally toward the housing 25, and the free end 151 terminates
below the cam
assembly, such that deflection of the flat spring 141 causes the spring 141 to
yield and deflect
upward toward the cam assembly 142.
[0060] The cam assembly 142 is mounted for rotation on an axle 160 carried on
a
bracket 161. The bracket 161 is secured to the housing 25 and extends
forwardly. The cam
assembly 142 includes outer and inner cams 162 and 163. The stacked cam
assembly 142
includes outer and inner cams 162 and 163, mounted coaxially side-by-side on
the bracket 161.
Both cams 162 and 163 are mounted for rotation with respect to each other
about the same axis
of rotation, but the cams 162 and 163 are fixed to each other to prevent
relative rotation to each
other.
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[0061] The outer cam 162 is larger, and the inner cam 163 is smaller. Both
cams 162
and 163 are circular wheels in this drawing. They are concentric to each other
but the axle 160
about which they are mounted is not concentric, and therefore the cams 162 and
163 are
mounted for eccentric rotation. In other words, their axes of rotation are
offset from their
respective geometric centers, such that as they rotate, their lever arms
change and the ratio of
their respective lever arms change. In other embodiments, the axle 160 is
mounted
concentrically to the cams 162 and 163, and in other embodiments, the cams 162
and 163 have
shapes other than circles.
[0062] The first tether 143 is an inelastic cable, band, cord, or other
tether. One end of
the first tether 143 is coupled to the free end 151 of the flat spring 141,
and the other end of the
first tether 143 is coupled to the inner cam 163. The inner cam 163 has at
least a single groove
formed into its perimeter, and as the inner cam 163 rotates, the first tether
143 rolls and unrolls
from this groove.
[0063] Similarly, the second tether 144 is an inelastic cable, band, cord, or
other tether.
One end of the second tether 144 is coupled to the outer cam 162. From there,
the second tether
144 extends over to and then up the housing 25 and to the pulley cassette 70
and then eventually
to the harness 91. Though the pulley cassette 90 and harness 91 are not shown
in FIG. 8, the
reader will understand their location and arrangement from the description
above. The outer
cam 162 has at least a single groove formed into its perimeter, and as the
outer cam 162 rotates,
the second tether 144 rolls and unrolls from this groove.
[0064] The first and second tethers 143 and 144 are arranged oppositely to
each other
on the cam assembly 142. The first tether 143 is secured at an attachment
point 164 on the
inner cam 163 and extends downward to the flat spring 141. The second tether
144 is secured
at an attachment point 165 on the outer cam 162 and extends upward to the
pulley cassette.
The attachment points 164 and 165 are diametrically opposed to each other. In
other
embodiments, the attachment points 164 and 165 may be in different locations,
but the tethers
extend outward in opposite directions. Because of this opposite arrangement,
when the load is
applied to the harness, the second tether unrolls from the outer cam 162,
rotating the second
162 in a clockwise direction (as shown on the page), and the first tether
rolls onto the inner
cam 163.
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[0065] The second tether 144 extends generally upward in FIG. 8 because it is
redirected by a pulley 166. A small pulley 166, mounted to the bracket 161 for
rotation near
the top of the bracket 161, redirects the second tether 144 from its
horizontal tangent coming
off the outer cam 162 into an upward orientation just along the outside of the
housing 25 up to
the pulley cassette 70. In some embodiments, the pulley 166 directs the second
tether 144
inside the housing 25.
[0066] With the first tether 143 wrapped around the inner cam 163 and the
second
tether 144 wrapped around the outer cam 162, in the grooves formed therein,
the flat spring
141 and cam assembly 142 together form a constant-force displacement system.
In other
words, beyond a pre-determined displacement, additional displacement does not
significantly
change the tension in or force on the second tether 144 required for continued
displacement.
Further, in other embodiments of the device 10, different cam combinations are
used, including
assemblies with three or more cams, cams of different sizes and shapes than
presented here,
similarly-sized cams, etc.
100671 FIG. 9 illustrates a stylized, free-body diagram of an unloading
assembly 170
but nevertheless shows the structural elements and features of the assembly
170. The unloading
assembly 170 is positioned within the frame 11 between the front tube 26, the
main tube 24,
and the vertical tube or housing 25.
[0068] The unloading assembly 170 includes a flat spring 171, a cam assembly
172, a
first tether 173 extending from the flat spring 171 to the cam assembly 172,
and a second tether
174 extending from the cam assembly 172 and running inside the housing 25 to
the pulley
cassette 70 described above. As described, the unloading assembly 170 exerts
an unloading
force on the harness 91 and a load carried in the harness with respect to the
frame 11.
[0069] The flat spring 171 is a sprung arm: a lightweight, compact, resilient
and
elongate flat spring member having a first, fixed end 180 and a second, free
end 181. The fixed
end 180 is secured in a sleeve mounted on a block 182. Unlike the unloading
assembly 140,
no adjustment knob is used on the flat spring 171, but the reader will readily
appreciate that it
could be incorporated, and it should nonetheless be considered part of the
scope of the
disclosure. Further, in other embodiments, the spring force of the flat spring
171 may be
adjusted by an electric, electromechanical or electromagnetic adjustment, or
an adjustable bolt,
or some other means for changing the spring force.
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[0070] The flat spring 171 operates as a spring. It is mounted in a diagonal
configuration. The block 182 in which the fixed end 180 is secured is fixed to
the front tube
26 near its top. The flat spring 171 then extends along the diagonal length of
the front tube 26
toward the main tube 24. The free end 181 is below and in front of the fixed
end 180 and
moves between a first, "unloaded- position as shown in solid line in FIG. 9,
and a second,
"loaded" position as shown in broken line in FIG. 9, in which the free end 181
is drawn back
away from the front tube 26 and toward the housing 25. This movement is
indicated by the
arcuate double-arrowed line 183.
[0071] As with the other unloading assemblies, the flat spring 171 moves
toward the
loaded position in response to a load being placed in the harness 91, such as
by the user 90
walking, and pulling the flat spring 171 down via the second tether 174. In
response, the flat
spring 171 exerts a biasing force in a direction opposite the pull of gravity
and vertical
translation of the user 90 downward during locomotion or elongation of the
second tether 174
with lateral translation of the pelvis; the flat spring 171 acts to pull the
second tether 174 back.
Other configurations are possible and may be suitable, including
configurations which are
vertically or horizontally flipped with respect to the above-described
configuration. Generally,
however, the diagonal configuration is defined as one in which the spring (the
spring arm 171,
in this case) extends diagonally, especially but not necessarily along the
front tube 26.
100721 The flat spring 171 is a spring which exerts a biasing force in
opposition to
displacement, whether that is through deflection, extension, or compression.
In this sense,
other springs may be suitable, such as coil springs, pneumatic springs,
torsion springs, etc. The
flat spring 171 has a non-constant force-displacement curve, such that the
force produced by
the flat spring 171 increases as the displacement of the free end 181
increases; at larger
displacements, the spring force is larger.
[0073] The cam assembly 172 is mounted for rotation on an axle 190 carried on
a
bracket 191. The bracket 191 is secured to the housing 25 and extends
forwardly. The cam
assembly 172 includes outer and inner cams 192 and 193. The stacked cam
assembly 172
includes outer and inner cams 192 and 193, mounted coaxially side-by-side on
the bracket 191.
Both cams 192 and 193 are mounted for rotation with respect to each other
about the same axis
of rotation, however, the cams 192 and 193 are fixed to each other to prevent
relative rotation.
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[0074] The outer cam 192 is larger, and the inner cam 193 is smaller. Both
cams 192
and 193 are circular wheels in this embodiment. They are concentric to each
other but the axle
190 about which they are mounted is not concentric, and therefore the cams 192
and 193 are
eccentrically mounted for rotation. In other words, their axes of rotation are
offset from their
respective geometric centers, such that as they rotate, their lever arms
change and the ratio of
their respective lever arms change. In other embodiments, the axle 190 is
mounted
concentrically to the cams 192 and 193, and in other embodiments, the cams 192
and 193 have
shapes other than circles.
[0075] The first tether 173 is an inelastic cable, band, cord, or other
tether. One end of
the first tether 173 is coupled to the free end 181 of the flat spring 171,
and the other end of the
first tether 173 is coupled to the inner cam 193. The inner cam 193 has at
least a single groove
formed into its perimeter, and as the inner cam 193 rotates, the first tether
173 rolls and unrolls
from this groove.
[0076] Similarly, the second tether 174 is an inelastic cable, band, cord, or
other tether.
One end of the second tether 174 is coupled to the outer cam 192. From there,
the second tether
174 extends up through the housing 25 and to the pulley cassette 70 and then
eventually to the
harness 91. Though the pulley cassette 90 and harness 91 are not shown in FIG.
9, the reader
will understand their location and arrangement from the description above. The
outer cam 192
has at least a single groove formed into its perimeter, and as the outer cam
192 rotates, the
second tether 174 rolls and unrolls from this groove.
[0077] The first and second tethers 173 and 174 are arranged oppositely to
each other
on the cam assembly 172. The first tether 173 is secured at an attachment
point 194 on the
inner cam 193 and extends downward to the flat spring 171. The second tether
174 is secured
at an attachment point 195 on the outer cam 194 and then extends generally
upward to the
pulley cassette. The attachment points 194 and 195 are diametrically opposed
to each other on
the cam assembly 172. In other embodiments, the attachment points 194 and 195
may be in
different locations, but the tethers extend outward in opposite directions.
[0078] Two pulleys 196 and 197 redirect the orientations of the first and
second tethers
173 and 174. A first pulley 196 is mounted to the main tube 24 for rotation
and redirects the
first tether 173. The first tether 173 extends diagonally downward from the
free end 181, wraps
under and around the first pulley 196, and then extends diagonally upward to
the attachment
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point 194 on the inner cam 193. A second pulley 197 is mounted to the bracket
191 for rotation
near the top of the bracket 191. A small cutout is made in the housing 25 to
allow the pulley
197 to be partially disposed within housing 25. The pulley 197 redirects the
second tether 174
from its horizontal tangent coming off the outer cam 192 into an upward
orientation just inside
the housing 25 up to the pulley cassette 70. In some embodiments, the pulley
197 directs the
second tether 174 along the outside of the housing 25.
100791 With the first tether 173 wrapped around the inner cam 193 and the
second
tether 174 wrapped around the outer cam 192, in the grooves formed therein,
the flat spring
171 and cam assembly 172 together form a constant-force displacement system.
In other
words, beyond a pre-determined displacement, additional displacement does not
significantly
change the tension in or force on the second tether 174 required for continued
displacement.
Further, in other embodiments of the device 10, different cam combinations are
used, including
assemblies with three or more cams, cams of different sizes and shapes than
presented here,
similarly-sized cams, etc.
100801 FIGS. 10A and 10B illustrate unloaded and loaded positions of another
embodiment of an unloading assembly 210. The drawings are stylized, free-body
diagrams but
nevertheless show the structural elements and features of the assembly 210.
The unloading
assembly 210 is positioned within the frame 11 between the front tube 26 (here
shown as
vertical), the main tube 24, and the vertical tube or housing 25.
[0081] The unloading assembly 210 includes a spring 211, a cam assembly 212, a
first
tether 213 extending from the spring 211 to the cam assembly 212, and a second
tether 214
extending from the cam assembly 212 and running inside the housing 25 to the
pulley cassette
70 described above. The unloading assembly 210 exerts an unloading force on
the harness 91,
and a load carried therein, with respect to the frame 11.
[0082] The spring 211 is a coiled extension spring. The spring 211 has a
first, fixed
end 220 and a second, free end 221. The fixed end 220 is coupled to a bolt
222, such as an eye
bolt, which is threaded into or otherwise secured in the front tube 26. The
spring 211 is
mounted in a horizontal configuration, oriented along the horizonal length of
the main tube 24.
The free end 221 of the spring 211 is disposed toward the housing 24. FIG. 10A
shows a first,
unloaded- position, and FIG. 10B shows a second, "loaded- position. In the
unloaded
position, the spring 211 is compressed and has a shorter length. In the loaded
position, the
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spring 211 is extended and has a longer length. The spring 211 stretches along
the length of
the main tube 24 when placed under load.
[0083] As with the other unloading assemblies, the spring 211 moves toward the
loaded
position in response to a load being placed in the harness 91, such as by the
user 90 walking,
and pulling the spring 211 into extension via the second tether 214. In
response, the spring 211
exerts a biasing force in a direction opposite the pull of gravity and
vertical translation of the
user 90 downward during locomotion or elongation of the second tether 214 with
lateral
translation of the pelvis; the spring 211 acts to pull the second tether 214
back. Other
configurations are possible and may be suitable with the spring 211, including
configurations
which are vertically or horizontally flipped with respect to the above-
described configuration.
Generally, however, the horizontal configuration is defined as one in which
the spring 211
extends horizontally, especially but not necessarily along the main tube 24.
[0084] The cam assembly 212 is mounted for rotation on an axle 230 carried on
a
bracket 231. The bracket 231 is secured to the housing 25 and extends
forwardly. The cam
assembly 212 includes outer and inner cams 232 and 233. The stacked cam
assembly 212
includes outer and inner cams 232 and 233, mounted coaxially side-by-side on
the bracket 231.
Both cams 232 and 233 are mounted for rotation with respect to each other
about the same axis
of rotation, however, the cams 232 and 233 are fixed to each other to prevent
relative rotation.
[0085] The outer cam 232 is larger, and the inner cam 233 is smaller. Both
cams 232
and 233 are circular wheels in this embodiment. They are concentric to each
other but the axle
230 about which they are mounted is not concentric, and therefore the cams 232
and 233 are
eccentrically mounted. In other words, their axes of rotation are offset from
their respective
geometric centers, such that as they rotate, their lever arms change and the
ratio of their
respective lever arms change. In other embodiments, the axle 230 is mounted
concentrically
to the cams 232 and 233, and in other embodiments, the cams 232 and 233 have
shapes other
than circles.
[0086] The first tether 213 is an inelastic cable, band, cord, or other
tether. One end of
the first tether 213 is coupled to the free end 221 of the spring 211, and the
other end of the
first tether 213 is coupled to the inner cam 233. The inner cam 233 has at
least a single groove
formed into its perimeter, and as the inner cam 233 rotates, the first tether
213 rolls and unrolls
from this groove.
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[0087] Similarly, the second tether 214 is an inelastic cable, band, cord, or
other tether.
One end of the second tether 214 is coupled to the outer cam 232. From there,
the second tether
214 extends up through the housing 25 and to the pulley cassette 70 and then
eventually to the
harness 91. Though the pulley cassette 90 and harness 91 are not shown in
FIGS. 10A and
10B, the reader will understand their location and arrangement from the
description above.
The outer cam 232 has at least a single groove formed into its perimeter, and
as the outer cam
232 rotates, the second tether 214 rolls and unrolls from this groove.
[0088] The first and second tethers 213 and 214 are arranged oppositely to
each other
on the cam assembly 212. The first tether 213 is secured at an attachment
point 234 on the
inner cam 233 and extends generally downward to the spring 211. The second
tether 214 is
secured at an attachment point 235 on the outer cam 234 and then extends
generally upward to
the pulley cassette. The attachment points 234 and 235 are diametrically
opposed to each other
on the cam assembly 212. In other embodiments, the attachment points 234 and
235 may be
in different locations, but the tethers extend outward in opposite directions.
100891 Two pulleys 236 and 237 redirect the orientations of the first and
second tethers
213 and 214. A first pulley 236 is mounted to the main tube 24 for rotation
and redirects the
first tether 213. The first tether 213 extends horizontally from the free end
221 of the spring
211, wraps around the first pulley 236, and then extends vertically upward to
the attachment
point 234 on the inner cam 233. A second pulley 237 is mounted to the bracket
231 for rotation
near the top of the bracket 231 and slightly within the housing 25. It
redirects the second tether
214 from its horizontal tangent coming off the outer cam 232 into an upward
orientation just
inside the housing 25 up to the pulley cassette 70. In some embodiments, the
pulley 237 directs
the second tether 214 along the outside of the housing 25.
[0090] With the first tether 213 wrapped around the inner cam 233 and the
second
tether 214 wrapped around the outer cam 232, in the grooves formed therein,
the spring 211
and cam assembly 212 together form a constant-force displacement system. In
other words,
beyond a pre-determined displacement, additional displacement does not
significantly change
the tension in or force on the second tether 214 required for continued
displacement. Further,
in other embodiments of the device 10, different cam combinations are used,
including
assemblies with three or more cams, cams of different sizes and shapes than
presented here,
similarly-sized cams, etc.
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[0091] FIGS. 11A-11C illustrate a harness 240 and components thereof. The
harness
240 is preferably used instead of the harness 91 described above. This harness
240 includes an
adjustable waist belt 241, adjustable thigh straps 242, a cross-piece 243
connecting the thigh
straps 242, and outer or lateral straps 244 on each side of the harness 240
inelastically
connecting the waist belt 241 to each of the thigh straps 242.
[0092] The waist belt 241 is a length of webbing or other suitable strong and
durable
material, fastened into a loop with a buckle 245 at the front of the harness
240. Similarly, the
thigh straps 242 are each lengths of webbing or other suitable strong and
durable material,
fastened into loops with buckles 246. The length of webbing may be pulled
through the buckles
245 and 246 to adjust each of the waist belt 241 and thigh straps 242 so that
they fit the user
snugly.
[0093] The lateral straps 244 couple the thigh straps 242 to the waist belt
241. The
lateral straps 244 are identical and only one is described herein, with the
understanding that the
description applies equally to both. The lateral strap 244, shown in both
FIGS. 11A and 11B,
includes an inner strap 250 and an outer strap 251. The inner strap 250 is a
length of webbing
or other suitably strong and durable material and is sewn directly to the
waist belt 241 and the
thigh strap 242. The outer strap 251 is also a length of webbing or other
suitably strong and
durable material. The outer strap 251 is sewn to the inner strap 250 along
approximately the
top half of the inner strap 250. The outer strap 251 then separates from the
inner strap 250. A
ring strap 252 is disposed between the inner and outer straps 250 and 251
along the bottom half
thereof.
[0094] The ring strap 252 holds the ring 253 shown in FIG. 11C. The ring strap
252 is
a length of webbing or other suitably strong and durable material, folded over
itself to define
an inner portion 254, an outer portion 255, and a bend 256 at the top between
the inner and
outer portions 254 and 255. During manufacture of the harness 240, the ring
253 is fit between
the inner and outer portions 254 and 255 and disposed in and against the bend
256. Then, the
inner and outer portions 254 and 255 are sewn to each other to close the ring
strap 252 and
secure the ring 253 therein. The outer strap 251 is further sewn onto the
outer portion 255 of
the ring strap 252, and in some cases also sewn to the inner portion 254
and/or the inner strap
250 to secure the lateral strap 244.
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[0095] The ring 253 is secured in the lateral strap 244 to hold one of the
tethers. In
FIG. 11C, the tether identified with reference character 144 is used,
corresponding to the
unloading assembly 140 of FIG. 8, but the reader should understand that the
second tether 144
could be one of the other various tethers (or first or second tethers)
described in this
specification which leads from an unloading assembly. The second tether 144
terminates in a
disc-shaped puck 260 shown in broken line in FIG. 11C. The puck 260 is hard,
durable, and
permanently fixed to the end of the second tether 144. It slips into and is
secured in the ring
253 to couple and engage the harness 240 to the unloading assembly 140.
[0096] The ring 253 includes a backer plate 261, a front plate 262, and a
sidewall 263
formed therebetween. The backer plate 261 is flat and triangular, having a
bottom 264 through
which a longitudinal slot 265 is formed entirely. The slot 265 is shown in
broken line in FIG.
11C. The front plate 262 is flat and generally triangular. The front plate 262
has a bottom 270
through which a longitudinal slot 271 is formed entirely. The slots 265 and
271 are coextensive
and registered with each other. The bend 256 of the ring strap 252 is passed
through both of
the slots 265 and 271 to secure the ring 253 to the lateral strap 244.
[0097] The front plate 262 also has an open top 272. A slit 273 is formed
medially
through the front plate 262, between the open top 272 and a circular hole 274.
The top 272,
slit 273, and hole 274 cooperate to define a passage for the end of the second
tether 144. The
second tether 144 and puck 260 are applied through that passage and then moved
upward,
thereby becoming captured within the ring 253. The sidewall 263 prevents the
puck 260 from
coming loose from the ring 253. The sidewall 263 extends between the back and
front plates
261 and 262 and includes an opening 280 registered with and below the open top
272 of the
front plate 262. From the opening 280, the sidewall 263 is registered along
the outside of the
ring 253 to just above the slots 265 and 271. The sidewall has a large
internal cavity 281,
shown in broken line in FIG. 11C. The internal cavity 281 is preferably but
not necessarily
circular. The internal cavity 281 is offset from the circular hole 274,
proximate the top of the
ring 253. In this way, when the puck 260 is applied through the circular hole
274, it moves
into the internal cavity 281. When a user wears the harness 240 and applies a
load to the
unloading assembly 140, the puck 260 will slide upward within the internal
cavity 281 toward
the top of the ring 253, into a captured position where it cannot
inadvertently come loose. The
puck 260 cannot be withdrawn from the ring 253 without unloading the tether
144 and pulling
the puck 260 down and out of the circular hole 274.
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[0098] The embodiments of the unloading assemblies 140, 170, and 210 are used
in the
device 10 similarly to the unloading assemblies 13 and 14. The harness 240 is
used similarly
in the device 10 to the harness 91. Based on the foregoing descriptions, the
reader will
understand the operation of the device with substitution of any of the
unloading assemblies
140, 170, or 210 or with the harness 240.
[0099] A preferred embodiment is fully and clearly described above so as to
enable one
having skill in the art to understand, make, and use the same. Those skilled
in the art will
recognize that modifications may be made to the description above without
departing from the
spirit of the specification, and that some embodiments include only those
elements and features
described, or a subset thereof To the extent that modifications do not depart
from the spirit of
the specification, they are intended to be included within the scope thereof
101001 What is claimed is:
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