# US 11,992,741 B2 · Gait trainer for training of neuromuscular functions > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,741 B2 - Document ID: US11992741B2 - Status: Granted - Kind: B2 - Application number: 17/618,278 - Filed: 2020-06-15 - Published: 2022-09-29 - Granted: 2024-05-28 - Earliest claimed: 2019-06-13 - Assignees: V. Guldmann A/S - Applicants: V. Guldmann A/S - Inventors: Laurynas Ubys; Jens K. Andersen; Stine H. Stensgaard; Morten Rathke - Web page: https://patentgrep.com/patent/US11992741B2 ## CPC - A61H 3/008: {using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses} - A63B 69/0064: {Attachments on the trainee preventing falling} - A63B 71/0054: {Features for injury prevention on an apparatus, e.g. shock absorbers (mats or the like for absorbing shocks for jumping A63B6/00)} - A61H 2201/0176: By stopping operation - A61H 2201/1215: Rotary drive - A61H 2201/1652: Harness - A61H 2201/5007: computer controlled - A61H 2201/5061: Force sensors - A61H 2203/0406: Standing on the feet - A61H 2230/805: used as a control parameter for the apparatus - A63B 2024/0093: {the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed} - A63B 2071/0072: {Limiting the applied force, torque, movement or speed} - A63B 2071/0081: {Stopping the operation of the apparatus} - A63B 2220/52: Weight, e.g. weight distribution - A63B 2230/015: used as a control parameter for the apparatus - 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) - A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H) ## Abstract The present invention relates to a method for training of neuromuscular functions using a gait trainer comprising an electrical motor, a weight sensor and a cable and a gait trainer therefore. The method may comprise an act of determining a counterbalance weight to be applied to the cable by the electrical motor and an act of measuring with the weight sensor an actual applied weight to the cable by the patient, wherein a drive direction of the electrical motor is determined based on comparing the counterbalance weight with the measuring of the actual applied weight to the cable by the patient. The gait trainer may comprise a hoist system with a rotatable cable drum and a cable to wind or rewind the cable around a rotatable cable drum in accordance with the drive direction set, based on the compared counterbalance weight with the measuring of the actual applied weight to the cable by the patient. The gait trainer may further comprise an electrical motor adapted for axial engagement with the rotatable cable drum and adapted to drive the rotatable cable drum in a drive direction. The gait trainer may further comprise a weight sensor, a control unit, a processor and a motor controller. The hoist system may be freely suspended by the weight sensor. ## Claims ### Claim 1 A gait trainer for training of neuromuscular functions comprising: a hoist system including a rotatable cable drum, a cable sized to wind around the rotatable cable drum including a cable end adapted for interaction with a patient; an electrical motor adapted for axial engagement with the rotatable cable drum and adapted to drive said rotatable cable drum in a forward and in a reverse drive direction for unwinding or winding the cable on the cable drum; one or more weight sensors configured to output a qualitative weight sensor signal; a control unit; a processor configured to receive the qualitative weight sensor signal, said processor also being configured to calculate and output a motor drive control signal, a motor controller configured to receive the motor drive control signal wherein the processor is adapted for establishing the calculated drive direction in the motor based on the received qualitative weight sensor signal and base on the result of comparing the actual qualitative weight signal with a counterbalance weight determined prior to beginning the training, and wherein said motor controller is adapted to establish the calculated drive direction in the motor such that the determined counterbalance weight applied to the cable by the electrical motor is maintained at a constant value, and wherein the hoist system is freely suspended by the weight sensors as the gait trainer comprises two weight sensors wherein the weight sensors are arranged side-mounted on the hoist system, such that the built-in height dimension of the gait trainer is reduced. ### Claim 2 (depends on 1) A gait trainer according to claim 1 further comprising a fixed suspension with force balancing means wherein the one or more weight sensors and the fixed suspension are arranged side-mounted on the hoist system, such that the built-in height dimension of the gait trainer is reduced. ### Claim 3 (depends on 1) A gait trainer according claim 1 wherein the one or more weight sensors comprise a load cell configured as a transducer of an applied force to an electrical signal being the qualitative weight sensor signal, wherein said load cell is a strain gauge load cell. ### Claim 4 (depends on 1) A gait trainer according to claim 1 further comprising a rail mount adapted to interact with a ceiling rail and the one or more weight sensors, said weight sensor connected to the rail mount at one end and to the hoist system at the other end, such that the hoist system is freely suspended by the one or more weight sensors. ### Claim 5 (depends on 1) A gait trainer according to claim 1, wherein the cable comprises visible indications of the travel length of the cable for use during training sessions. ### Claim 6 (depends on 1) A gait trainer according to claim 1 further comprising a handheld controller for adjusting a length of the cable being unwind and/or rewind. ### Claim 7 (depends on 1) A gait trainer according to claim 1 further comprising a graphic user interface adapted to display and/or receive an input of one or more values corresponding to values selected from the group consisting of counterbalance weigh, weight of a patient, training load, actual applied weight. ### Claim 8 (depends on 1) A gait trainer according to claim 1 a breaking arrangement, which braking arrangement is adapted to break with an adjustable braking force. ### Claim 9 (depends on 1) A computer programme product comprising instruction to cause the gait trainer according to claim 1 to execute the steps of a method for training of neuromuscular functions using a gait trainer comprising an electrical motor, a weight sensor and a cable, said method comprises acts of: Determining a counterbalance weight to be applied to the cable by the electrical motor; Continuously performing the acts of: Measuring with the weight sensor an actual applied weight to the cable by the patient; Comparing the actual applied weight with the determined counterbalance weight, and Instructing a motor controller of a drive direction by giving a motor drive control signal for establishing the calculated drive direction in the motor based on the result of comparing the actual applied weight with the determined counterbalancing weight determined prior to beginning the training, such that the determined counterbalance weight applied to the cable by the electrical motor is maintained at a constant value. ### Claim 10 (depends on 9) A computer programme product according to claim 9 where the method further comprises the acts of: Providing a weight of a patient; Determining the counterbalance weight as a percentage of the provided weight of the patient, such that the difference between the provided weight of the patient and the counterbalance weight is a training load to be exerted by the patient. ### Claim 11 (depends on 10) A computer programme product according to claim 10, wherein the weight of the patient is provided as a measured weight by the weight sensor. ### Claim 12 (depends on 9) A computer programme product according to claim 9 wherein the electrical motor is limited to a maximum speed for unwinding the cable to prevent fall accidents. ### Claim 13 (depends on 9) A computer-readable medium having stored thereon the computer programme product of claim 9. ### Claim 14 A method for using a gait trainer comprising an electrical motor, a weight sensor and a cable, said method comprises acts of: Determining a counterbalance weight to be applied to the cable by the electrical motor; Continuously performing the acts of: Measuring with the weight sensor an actual applied weight to the cable; Comparing the actual applied weight with the determined counterbalance weight, and Instructing a motor controller of a drive direction by giving a motor drive control signal to the motor for establishing the calculated drive direction in the motor based on the result of comparing the actual applied weight with the determined counterbalancing weight determined prior to beginning the training, such that the determined counterbalance weight applied to the cable by the electrical motor is maintained at a constant value.