# US 12,599,809 B2 · Handle driving mechanism for locomotion rehabilitation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,599,809 B2 - Document ID: US12599809B2 - Status: Granted - Kind: B2 - Application number: 18/501,348 - Filed: 2023-11-03 - Published: 2024-05-09 - Granted: 2026-04-14 - Earliest claimed: 2022-11-03 - Assignees: Healing Innovations, Inc. - Applicants: Healing Innovations, Inc. - Inventors: Scott Douglas Benda; Benjamin Howland Taylor - Web page: https://patentgrep.com/patent/US12599809B2 ## CPC - A63B 22/0056: {the pivoting movement being in a vertical plane, e.g. steppers with a horizontal axis (platforms for rocking motion about a horizontal axis A63B22/16)} - A63B 22/0235: {driven by a motor} - A63B 21/00181: {comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising} - A63B 21/0058: {using motors} - A63B 21/154: {using special pulley-assemblies} - A63B 21/4034: {for operation by feet} - A63B 21/4035: {for operation by hand} - A63B 22/001: {by simultaneously exercising arms and legs, e.g. diagonally in anti-phase (A63B22/0076 takes precedence)} - A63B 22/0664: {performing an elliptic movement} - A63B 23/03575: {Apparatus used for exercising upper and lower limbs simultaneously} - A63B 23/0417: {with guided foot supports moving parallel to the body-symmetrical-plane by translation} - A63B 24/0087: {Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load} - A61H 1/0262: {Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence)} - A61H 2001/0211: {Walking coordination of arms and legs} - A61H 2201/164: Feet or leg, e.g. pedal - A61H 2201/5061: Force sensors - A63B 2022/0094: {for active rehabilitation, e.g. slow motion devices} - A63B 2071/025: {on rollers or wheels} - A63B 2209/08: magnetic - A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H) - 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) ## Abstract A system can comprise a driving link, a first footplate link, a footplate, a pulley system, a second footplate link, and a handle. The driving link can rotate, to thereby cause the first footplate link to translate in a first direction. The translation of the first footplate link footplate in the first direction can cause the footplate and the second footplate link to translate in the first direction when the first footplate link translates in the first direction. The translation of the second footplate link in the first direction can transmit force to the handle via the pulley system, thereby causing the handle to translate in a second direction that is substantially opposite the first direction when the first footplate link the footplate, and the second footplate link are translating in the first direction. ## Claims ### Claim 1 A system comprising: a driving link configured to rotate in a rotational direction; a first footplate link in mechanical communication with the driving link, the first footplate link being configured to translate in a first direction in response to rotation of the driving link in the rotational direction; a footplate in mechanical communication with the first footplate link such that the footplate is configured to translate in the first direction when the first footplate link translates in the first direction; a pulley system comprising: one or more pulleys; and a belt in mechanical communication with the one or more pulleys; a second footplate link in mechanical communication with the first footplate link and a first fixed belt position on the belt, wherein the second footplate link is configured to translate in the first direction when the first footplate link translates in the first direction, thereby causing the first fixed belt position to translate in the first direction and a second fixed belt position to translate in a second direction that is substantially opposite the first direction; and a handle in mechanical communication with the second fixed belt position of the belt when the handle is in an engaged state such that when the footplate translates in the first direction, the handle translates in the second direction. ### Claim 2 (depends on 1) The system of claim 1, wherein the second footplate link is in mechanical communication with the first footplate link via the footplate. ### Claim 3 (depends on 1) The system of claim 1, wherein: the rotational direction is a first rotational direction, and the belt is configured to rotate in a second rotational direction when the driving link rotates in the first rotational direction, the second rotational direction being opposite the first rotational direction. ### Claim 4 (depends on 1) The system of claim 1, wherein the handle is selectively detachable from the second fixed belt position, the handle being in a disengaged state when the handle is detached from the second fixed belt position. ### Claim 5 (depends on 4) The system of claim 4, wherein the system further comprises an engagement system configured to transition the handle between the engaged state and the disengaged state. ### Claim 6 (depends on 5) The system of claim 5, wherein the engagement system is configured to transition the handle between the engaged state and the disengaged state in response to receiving an instruction signal from a computing device. ### Claim 7 (depends on 5) The system of claim 5 further comprising a handle restraining element configured to restrict translation of the handle when the handle is in the disengaged state. ### Claim 8 (depends on 7) The system of claim 7 further comprising a rib attached to the handle and disposed between the handle and a handle attachment point configured to selectively engage the second fixed belt position, wherein the handle restraining element comprises a magnet configured to magnetically attach to the rib to thereby restrict translation of the handle when the handle is in the disengaged state. ### Claim 9 (depends on 1) The system of claim 1, wherein the driving link is in mechanical communication with a motor. ### Claim 10 (depends on 1) The system of claim 1 further comprising a carriage configured to translate along a carriage rail extending parallel to the first direction and the second direction, the carriage being in mechanical communication with the second footplate link to thereby stabilize translation of the second footplate link. ### Claim 11 (depends on 1) The system of claim 1 further comprising: a stride length track; and a driving linkage connecting the driving link to the first footplate link, the driving linkage being configured to traverse along the stride length track, wherein a position of the driving linkage along the stride length track corresponds to a magnitude of translation for the first footplate link. ### Claim 12 (depends on 11) The system of claim 11 further comprising a stride length actuator configured to controllably adjust the position of the driving linkage along the stride length track. ### Claim 13 (depends on 12) The system of claim 12, wherein the stride length actuator is configured to adjust the position of the driving linkage along the stride length track in response to receiving an instruction signal from a computing device. ### Claim 14 (depends on 1) The system of claim 1 further comprising a controller configured to selectively operate the system according to any one of a plurality of gait speeds or any one of a plurality of power-assist levels. ### Claim 15 A system comprising: a sled; a first linkage system and a second linkage system, both the first and second linkage systems being attached to the sled and comprising: a driving link configured to rotate in a rotational direction; a first footplate link in mechanical communication with the driving link, the first footplate link being configured to translate in a first direction in response to rotation of the driving link in the rotational direction; a footplate in mechanical communication with the first footplate link such that the footplate is configured to translate in the first direction when the first footplate link translates in the first direction; a pulley system comprising: one or more pulleys; and a belt in mechanical communication with the one or more pulleys; a second footplate link in mechanical communication with the first footplate link and a first fixed belt position of the belt, wherein the second footplate link is configured to translate in the first direction when the first footplate link translates in the first direction, thereby causing the first fixed belt position to translate in the first direction and a second fixed belt position to translate in a second direction that is substantially opposite the first direction; and a handle in mechanical communication with the second fixed belt position of the belt when the handle is in an engaged state such that when the footplate translates in the first direction, the handle translates in the second direction, wherein the footplate of the first linkage system and the handle of the second linkage system are configured to translate in the second direction when the footplate of the second linkage system and the handle of the first linkage system translate in the first direction. ### Claim 16 (depends on 15) The system of claim 15, wherein for each of the first and second linkage systems, the second footplate link is in mechanical communication with the first footplate link via the footplate. ### Claim 17 (depends on 15) The system of claim 15, wherein for each of the first and second linkage systems, the handle is selectively detachable from the second fixed belt position, the handle being in a disengaged state when the handle is detached from the second fixed belt position. ### Claim 18 (depends on 17) The system of claim 17, wherein each of the first and second linkage systems further comprise an engagement system configured to transition the corresponding handle between the engaged state and the disengaged state. ### Claim 19 (depends on 15) The system of claim 15, wherein each of the first and second linkage systems further comprise: a stride length track; and a driving linkage connecting the driving link to the first footplate link, the driving linkage being configured to traverse along the stride length track, wherein a position of the driving linkage along the stride length track corresponds to a magnitude of translation for the first footplate link. ### Claim 20 (depends on 19) The system of claim 19, wherein each of the first and second linkage systems further comprise a stride length actuator configured to controllably adjust the position of the driving linkage along the stride length track.