US 6,666,831 B1 · METHOD, APPARATUS AND SYSTEM FOR AUTOMATION OF BODY WEIGHT SUPPORT TRAINING (BWST) OF BIPED LOCOMOTION OVER A TREADMILL USING A PROGRAMMABLE STEPPER DEVICE (PSD) OPERATING LIKE AN EXOSKELETON DRIVE SYSTEM FROM A FIXED BASE

Abstract

A robotic exoskeleton and a control system for driving the robotic exoskeleton, including a method for making and using the robotic exoskeleton and its control system. The robotic exoskeleton has sensors embedded in it which provide feedback to the control system. Feedback is used from the motion of the legs themselves, as they deviate from a normal gait, to provide corrective pressure and guidance. The position versus time is sensed and compared to a normal gait profile. Various normal profiles are obtained based on studies of the population for age, weight, height and other variables.

Claims27

Dependent claims

A system for assisting and easing the rehabilitation of spinal cord, stroke and traumatic brain injured people (as well as others with injury affecting locomotion) to regain walking capabilities comprising

(a) an individually adjustable automated body weight suspension training system;
(b) multiple sensors wherein said sensors provide feedback to adjust the automated body weight suspension training system.

An apparatus for rehabilitation of spinal cord, stroke and traumatic brain injured people (as well as others with injury affecting locomotion) to regain walking capabilities comprising:

(a) an individually adjustable automated body weight suspension training apparatus;
(b) multiple sensors wherein said sensors provide feedback to adjust the automated body weight suspension training apparatus;
(c) two pairs of motor-driven mechanical linkage units;
(d) each of said units with two mechanical degrees-of-freedom;
(e) said units connected with their drive elements to a fixed base of a treadmill;
(f) said linkages' free ends wherein said free ends are attachable to the patient's legs at two locations at each leg;
wherein one linkage pair serves one leg in the sagittal plane of bipedal locomotion;
and wherein the other linkage pair serves the other leg in the sagittal plane of bipedal locomotion.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application

09/643,134Filed 21 Aug 2000 · us provisional application

Priority

20 Aug 1999

Granted

23 Dec 2003

Term ends

Not estimatedThe source records don’t support an estimate.

Classification25 codes

A63B 69/0064
Training appliances or apparatus for special sports: attachments on the trainee preventing falling
A61H 1/0237
Stretching or bending or torsioning apparatus for exercising: for the lower limbs
A61H 1/0262
Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the…:…
A63B 22/0235
With movable endless bands , e.g. treadmills: driven by a motor

Method, apparatus and system for automation of body weight support training (bwst) of biped locomotion over a treadmill using a programmable stepper device (psd) operating like an exoskeleton drive system from a fixed base

Life of this patent

Method, apparatus and system for automation of body weight support training (bwst) of biped locomotion over a treadmill using a programmable stepper device (psd) operating like an exoskeleton drive system from a fixed base

Life of this patent

Abstract

Claims27