# US 7,544,172 B2 · Walking and balance exercise device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 7,544,172 B2 - Document ID: US7544172B2 - Status: Granted - Kind: B2 - Application number: 10/879,604 - Filed: 2004-06-29 - Published: 2005-12-29 - Granted: 2009-06-09 - Earliest claimed: 2004-06-29 - Assignees: Rehabilitation Institute of Chicago Enterprises - Inventors: Julio Santos-Munne; Alex Makhlin; Ela Lewis; Michael Peshkin; David A. Brown; J. Edward Colgate; James L. Patton; Benjamin L. Rush; Doug Schwandt - Web page: https://patentgrep.com/patent/US7544172B2 ## CPC - A61H 3/008: {using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses} - A61H 1/0292: {for the spinal column (A61H1/0218 takes precedence)} - A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) - A61H 3/04: Wheeled walking aids for patients or disabled persons - A61H 2003/043: {with a drive mechanism} - A61H 2003/046: {with braking means} - A61H 2201/0157: portable - A61H 2201/1215: Rotary drive - A61H 2201/149: rotation-linear or vice versa - A61H 2201/1614: Shoulder, e.g. for neck stretching - A61H 2201/1616: Holding means therefor - A61H 2201/1621: Holding means therefor - A61H 2201/1623: Back - A61H 2201/163: holding means therefor - A61H 2201/1642: Holding means therefor - A61H 2201/1664: linear - A61H 2201/1671: rotational - A61H 2201/5007: computer controlled - A61H 2201/5058: Sensors or detectors - A61H 2201/5061: Force sensors - A61H 2201/5064: Position sensors - A61H 2201/5069: Angle sensors - A61H 2201/5079: Velocity sensors - A61H 2230/62: Posture - A61H 2230/625: 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) ## Abstract A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s). Wheel modules are independently powered to both rotate and steer, and, responsive to the control unit, are capable of rolling the exercise device in a direction of travel intended by the patient. ## Claims ### Claim 1 A physical therapy walking exercise device, comprising: a movable base; at least two powered wheel modules mounted to the base and having independently actuable and powered steering and rolling actuators; a patient support unit supported by the base and articulable about at least a vertical axis, at least one sensor associated with the patient support unit sensing the spatial position of the patient support unit relative to the base; and a control unit coupled to said at least one sensor and the powered wheel modules, the control unit controlling the rotation and steering of the powered wheel modules responsive to signals from the patient support unit such that the device moves in a direction in conformance with a desired direction of travel of the patient. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the base is mobile relative to the ground or floor. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the base is operable to move relative to the ground or floor responsive to forces and motions exerted or made by the patient. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the base is operable to translate across the ground or floor as well as to change direction across the ground or floor. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the apparatus provides a body weight support function. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the patient support unit includes a torso support unit having an actuator operable to apply a selected amount of torque. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the torso support unit further includes at least one sensor for measuring said torque, and the control unit is coupled to the sensor for receiving a torque signal. ### Claim 8 (depends on 6) The apparatus of claim 6, wherein the torso support includes a telescoping column coupling the torso support unit to the base. ### Claim 9 (depends on 6) The apparatus of claim 6, wherein the patient support unit includes a pelvis support unit and the pelvis support unit articulates to allow motion transverse to the patient's direction of travel. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the pelvis support unit allows rotation of the pelvis. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the pelvis support unit further includes at least one sensor for measuring the rotation of the pelvis around at least one axis, the apparatus further including a control unit coupled to the sensor for receiving a signal encoding the rotation sensed by the sensor. ### Claim 12 (depends on 10) The apparatus of claim 10, wherein the pelvis support unit further includes at least one sensor for measuring a torque around an axis of rotation, the control unit is coupled to said sensor for receiving a signal encoding the torque sensed by the sensor. ### Claim 13 (depends on 6) The apparatus of claim 6, further comprising: at least one sensor of the torso support unit for sensing a torque or angular displacement, the control unit coupled to the sensor for receiving a signal encoding the last said torque or angular displacement; and at least one actuator of the torso support unit for applying a selected torque, the actuator coupled to the control unit for being actuated responsive to the signal, the control unit periodically monitoring said signal and comparing the encoded torque or angular displacement to a reference, the control unit actuating the actuator to exert a torque in opposition to the encoded torque or angular displacement in mitigation of the patient falling. ### Claim 14 (depends on 1) The apparatus of claim 1 further comprising: the patient support unit including a pelvis support unit for fitting to the pelvis of a patient, the pelvis support unit coupled to the base and having a first actuator for selectively applying force to the pelvis support unit in a vertical direction relative to the base; and a torso support unit for fitting to the torso of a patient at a position above the pelvis of the patient, the torso support unit coupled to the base and having a powered articulation actuable about at least one axis relative to the base, the articulation being independent of the first actuator of the pelvis support unit; sensors associated with the pelvis support unit and the torso support unit to sense the spatial position of the pelvis support unit and the torso support unit; and the control unit being coupled to the sensors and to the first actuator of the pelvis support unit and the powered articulation of the torso support unit to selectively apply a force or torque to the pelvis support unit and the torso support unit. ### Claim 15 (depends on 14) The apparatus of claim 14, wherein the first actuator of the pelvis support unit is also coupled to the torso support unit to selectively apply force to the torso support unit in a vertical direction relative to the base. ### Claim 16 (depends on 14) The apparatus of claim 14, wherein the base includes an upstanding support arm, a lateral unit extending horizontally from the upstanding support arm and attached to the pelvis support unit, the first actuator coupling the lateral unit to the support arm so as to apply vertical force to the pelvis support unit and the lateral unit relative to the support arm. ### Claim 17 (depends on 14) The apparatus of claim 14, wherein the first actuator of the pelvis Support unit is operable by the control unit to apply a selected amount of vertical force in opposition to the force of gravity. ### Claim 18 (depends on 14) The apparatus of claim 14, wherein the powered articulation of the torso support unit is operable by the control unit to apply a selected amount of torque around an axis of articulation in a selected angular direction. ### Claim 19 (depends on 14) The apparatus of claim 14, wherein the pelvis support unit includes a flexible pelvis harness affixable around the pelvis of the patient. ### Claim 20 (depends on 14) The apparatus of claim 14, wherein the torso support unit includes a flexible torso harness affixable to an upper portion of the torso of a patient. ### Claim 21 (depends on 20) The apparatus of claim 20, wherein the pelvis support unit includes a flexible pelvis harness separated from the torso harness, the pelvis harness affixable to the patient around the pelvis. ### Claim 22 (depends on 1) The apparatus of claim 1 further comprising: the patient support unit including a pelvis support unit fittable to the pelvis of a patient for supporting a selected portion of the patient's weight in a vertical direction; and a parallelogram linkage coupling the pelvis support unit to the base, the Parallelogram linkage permitting rotation of the patient's pelvis in a plane orthogonal to the vertical direction. ### Claim 23 (depends on 22) The apparatus of claim 22 further comprising: a support arm upstanding from the base; and a lateral unit displaceable in a vertical direction relative to the support arm, the pelvis support unit being support by the lateral unit; and a torso support unit fittable to the torso of a patient at a position above the pelvis support unit, the torso support unit supported by the lateral unit, wherein the parallelogram linkage permits movement of the pelvis support unit and the torso support unit in a transverse direction. ### Claim 24 (depends on 22) The apparatus of claim 22 further comprising: at least one sensor for sensing a torque or angular displacement in the torso support unit, the control unit coupled to the sensor for receiving a signal encoding the last said torque or angular displacement; and at least one actuator of the torso support unit for applying a selected torque, the actuator coupled to the control unit for being actuated responsive to the signal, the control unit periodically monitoring the signal and comparing the encoded torque or angular displacement to a reference, the control unit actuating the actuator to exert a torque in opposition to the encoded torque or angular displacement in mitigation of the patient falling. ### Claim 25 A physical therapy walking exercise device, comprising: a movable base; at least two powered wheel modules mounted to the base and having independently actuable and powered steering and rolling actuators; a patient support unit supported by the base and articulable about at least a vertical axis, the patient support unit including a torso support unit having an actuator operable to apply a selected amount of torque, and at least one sensor associated with the patient support unit sensing the spatial position of the patient support unit relative to the base; and a control unit coupled to said at least one sensor and the powered wheel modules, the control unit controlling the rotation and steering of the powered wheel modules responsive to signals from the patient support unit such that the device moves in a direction in conformance with a desired direction of travel of the patient. ### Claim 26 (depends on 25) The apparatus of claim 25 further comprising: the torso support unit being coupled to the base hand having a powered articulation actuable about at least one axis relative to the base, the articulation being independent of the first actuator of the pelvis support unit; the patient support unit including a pelvis support unit for fitting to the pelvis of a patient, the pelvis support unit coupled to the base and having an actuator for selectively applying force to the pelvis support unit in a vertical direction relative to the base; and sensors associated with the pelvis support unit and the torso support unit to sense the spatial position of the pelvis support unit and the torso support unit; and the control unit being coupled to the sensors and to the actuator of the pelvis support unit and the powered articulation of the torso support unit to selectively apply a force or torque to the pelvis support unit and the torso support unit.