# US 10,500,122 B2 · Apparatus for gait training > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,500,122 B2 - Document ID: US10500122B2 - Status: Granted - Kind: B2 - Application number: 15/324,476 - Filed: 2015-07-07 - Published: 2017-06-15 - Granted: 2019-12-10 - Earliest claimed: 2014-07-09 - Assignees: Hocoma AG - Applicants: Hocoma AG - Inventors: Lijin Aryananda; Rainer Bucher; Patrizia Hählen; Lucian Marius Cucu - Web page: https://patentgrep.com/patent/US10500122B2 ## CPC - A61H 3/008: {using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses} - A61G 7/1015: {Cables, chains or cords} - A61G 7/1046: {Mobile bases, e.g. having wheels} - A61G 7/1048: {having auxiliary drive means} - A61G 7/1051: {Flexible harnesses or slings} - A61G 7/1061: {Yokes} - A61G 7/1067: {for adjustable bases} - A61G 7/1086: {Upper body} - A61G 7/109: {Lower body, e.g. pelvis, buttocks} - A61H 1/0229: {by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it (suspension devices for supporting the patient in upright walking or standing position A61H3/008)} - A61H 3/04: Wheeled walking aids for patients or disabled persons - A63B 21/4027: {Specific exercise interfaces (chairs or stools with exercising means A47C9/002)} - A61G 2203/36: for motion - A61H 2003/043: {with a drive mechanism} - A61H 2201/0192: Specific means for adjusting dimensions - A61H 2201/1215: Rotary drive - A61H 2201/123: Linear drive - A61H 2201/1246: by piston-cylinder systems - A61H 2201/149: rotation-linear or vice versa - A61H 2201/1619: Thorax - A61H 2201/1628: Pelvis - A61H 2201/1652: Harness - A61H 2201/5058: Sensors or detectors - A61H 2201/5064: Position sensors - A61H 2201/5069: Angle sensors - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) - A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00) - A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H) ## Abstract An apparatus (100) for gait training has a movable base (200) comprising at least one drive unit (210) for moving the movable base, an arm arrangement (300) extending from the movable base, a weight support system (400) to enable a person to be at least partially suspended from above via said arm arrangement, a movement detector to detect a movement of the person and a control unit adapted to control said drive unit(s) in response to a movement of the person detected by the movement detector such that the movable base follows the person in a predetermined distance range and in a predetermined angular range with respect to a movement direction of the person. ## Claims ### Claim 1 An apparatus for gait training, the apparatus comprising: a movable base comprising a left movable base and a right movable base, a left drive unit for moving the left movable base, a right drive unit for moving the right movable base, an arm arrangement extending from the movable base, a harness connected to the arm arrangement with a first strap or rope, a weight support system provided at the movable base to enable a person to be at least partially suspended from above via said arm arrangement and the harness, a movement detector to detect a movement of the person in a movement direction, and a control unit adapted to control the left drive unit and the right drive unit in response to a movement of the person detected by the movement detector, wherein the control unit is adapted to control the left drive unit and the right drive unit such that the movable base follows the person in a predetermined distance range and in a predetermined angular range with respect to the movement direction of the person, wherein the arm arrangement comprises two side arms reaching into a plane extending from a common axis of the left drive unit and the right drive unit for providing the harness in a vicinity of said plane below the side arms, wherein said plane is essentially oriented uprightly, wherein the left drive unit and the right drive unit are arranged with the harness centrally provided in the plane of the left drive unit and the right drive unit, and wherein the control unit is adapted to control the left drive unit and the right drive unit to change the angular orientation of the movable base so that the person's body angle respective to said plane is zero. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein the first strap or rope configured to suspend the person is attached at the harness, and wherein the movement detector comprises a linear or angular sensor sensing the position or angle of the rope connected with the harness. ### Claim 3 (depends on 1) The apparatus according to claim 1, wherein the side arms are arranged at a height that the head of the person can be positioned between these side arms. ### Claim 4 (depends on 1) The apparatus according to claim 1, wherein the apparatus further comprises a second strap or rope, wherein the first strap or rope and the second strap or rope are attached at the harness at a pelvis harness part. ### Claim 5 (depends on 4) The apparatus according to claim 4, wherein the harness comprises crotch straps for a direct transmission of a turning movement of the person onto the first strap or rope and the second strap or rope. ### Claim 6 (depends on 4) The apparatus according to claim 4, wherein each of the first strap or rope and the second strap or rope are separated into a front and a back rope section separated by a distance rod above the shoulder of the person, wherein the front and the back rope sections are attached at the harness in front and in the back of the person. ### Claim 7 (depends on 1) The apparatus according to claim 1, wherein a left leg orthosis and a right leg orthosis are provided and attached to the left and right movable base of the apparatus, respectively, wherein the orthoses comprise cuffs which are configured to be moved in the direction of said plane. ### Claim 8 (depends on 7) The apparatus according to claim 7, wherein the cuffs are mounted on a telescopic element connected with the left leg orthosis and the right leg orthosis. ### Claim 9 (depends on 1) The apparatus according to claim 1, wherein the harness comprises an upper part and a lower part, wherein the upper part is connected to the lower part with at least one stretch sensor for a measurement of the pelvis orientation of the person in relation to the shoulder orientation of the person. ### Claim 10 (depends on 1) The apparatus according to claim 1, wherein the first strap or rope configured to suspend the person is attached at the harness, and wherein the movement detector comprises a linear or angular sensor sensing the position or angle of a further rope provided under tension for said angular deflection measurement. ### Claim 11 An apparatus for gait training, the apparatus comprising: a movable base comprising a left movable base and a right movable base, a left drive unit for moving the left movable base, a right drive unit for moving the right movable base, an arm arrangement extending from the movable base, a harness connected to the arm arrangement with a first strap or rope, a weight support system provided at the movable base to enable a person to be at least partially suspended from above via said arm arrangement and the harness, a movement detector to detect a movement of the person in a movement direction, and a control unit adapted to control the left drive unit and the right drive unit in response to a movement of the person detected by the movement detector, wherein the control unit is adapted to control the left drive unit and the right drive unit such that the movable base follows the person in a predetermined distance range and in a predetermined angular range with respect to the movement direction of the person, wherein the arm arrangement comprises two side arms reaching into a plane extending from a common axis of the left drive unit and the right drive unit for providing the harness in a vicinity of said plane below the side arms, wherein said plane is essentially oriented uprightly, wherein the connection between the movable base and the arm arrangement comprises a telescoping arrangement for at least one extension selected from the group consisting of a vertical extension and a horizontal extension. ### Claim 12 (depends on 11) The apparatus according to claim 11, wherein the two side arms comprises a left side arm and a right side arm, wherein the telescoping arrangement comprises a first telescoping connection provided between the left movable base and the left side arm and a second telescoping connection is provided between the right movable base and the right side arm to arrange the left movable base as well as the right movable base in a predetermined horizontal distance from one another. ### Claim 13 An apparatus for gait training, the apparatus comprising: a movable base comprising a left movable base and a right movable base, a left drive unit for moving the left movable base, a right drive unit for moving the right movable base, an arm arrangement extending from the movable base, a harness connected to the arm arrangement with a first strap or rope, a weight support system provided at the movable base to enable a person to be at least partially suspended from above via said arm arrangement and the harness, a movement detector to detect a movement of the person in a movement direction, and a control unit adapted to control the left drive unit and the right drive unit in response to a movement of the person detected by the movement detector, wherein the control unit is adapted to control the left drive unit and the right drive unit such that the movable base follows the person in a predetermined distance range and in a predetermined angular range with respect to the movement direction of the person, wherein the arm arrangement comprises two side arms reaching into a plane extending from a common axis of the left drive unit and the right drive unit for providing the harness in a vicinity of said plane below the side arms, wherein said plane is essentially oriented uprightly, wherein the apparatus further comprises a second strap or rope, wherein the first strap or rope and the second strap or rope are arranged between pulleys at the side arms and two points at the sides of the harness above shoulder parts of the harness, and wherein the pulleys are configured to freely move in the direction of the sidearms for detection of a turning movement of the person. ### Claim 14 An apparatus for gait training, the apparatus comprising: a movable base comprising a left movable base and a right movable base, a left drive unit for moving the left movable base, a right drive unit for moving the right movable base, an arm arrangement extending from the movable base, a harness connected to the arm arrangement with a first strap or rope, a weight support system provided at the movable base to enable a person to be at least partially suspended from above via said arm arrangement and the harness, a movement detector to detect a movement of the person in a movement direction, and a control unit adapted to control the left drive unit and the right drive unit in response to a movement of the person detected by the movement detector, wherein the control unit is adapted to control the left drive unit and the right drive unit such that the movable base follows the person in a predetermined distance range and in a predetermined angular range with respect to the movement direction of the person, wherein the arm arrangement comprises two side arms reaching into a plane extending from a common axis of the left drive unit and the right drive unit for providing the harness in a vicinity of said plane below the side arms, wherein said plane is essentially oriented uprightly, wherein the apparatus further comprises a second strap or rope, wherein the first strap or rope and the second strap or rope are arranged between pulleys at the side arms and two points at the sides of the harness above shoulder parts of the harness, and wherein the side arms are configured to either pivot freely around a vertical axis or rotate freely around a horizontal axis and independently relative to the arm arrangement for detection of a turning movement of the person. ### Claim 15 An apparatus for gait training, the apparatus comprising: a movable base comprising a left movable base and a right movable base, a left drive unit for moving the left movable base, a right drive unit for moving the right movable base, an arm arrangement extending from the movable base, a harness connected to the arm arrangement with a first strap or rope, a weight support system provided at the movable base to enable a person to be at least partially suspended from above via said arm arrangement and the harness, a movement detector to detect a movement of the person in a movement direction, and a control unit adapted to control the left drive unit and the right drive unit in response to a movement of the person detected by the movement detector, wherein the control unit is adapted to control the left drive unit and the right drive unit such that the movable base follows the person in a predetermined distance range and in a predetermined angular range with respect to the movement direction of the person, wherein the arm arrangement comprises two side arms reaching into a plane extending from a common axis of the left drive unit and the right drive unit for providing the harness in a vicinity of said plane below the side arms, wherein said plane is essentially oriented uprightly, wherein the apparatus further comprises a second strap or rope, wherein the first strap or rope and the second strap or rope are attached directly or via longitudinally displaceable guiding rails at the side arms, whereas at least the attachment points of the first strap or rope and the second strap or rope are mounted displaceably in the vertical direction for a predetermined amount relative to the weight support system, being a vertical spring attachment of the side arms with the crossbeam or a pivotable attachment of the side arms around a transverse horizontal axis.