CA3198494A1

CA3198494A1 - Fall control system and method of controlling a movement during fall event

Info

Publication number: CA3198494A1
Application number: CA3198494A
Authority: CA
Inventors: Bradley Burke
Original assignee: 2innovate LLC
Current assignee: 2innovate LLC
Priority date: 2020-11-19
Filing date: 2021-11-19
Publication date: 2022-05-27
Also published as: WO2022107051A8; WO2022107051A1

Abstract

A fall control system is described. The fall control system comprises an elongate guide rail extending along an axis, one or more than one trolley for moving along the elongate guide rail, a tether attached to the trolley at a first end, a second end of the tether for attaching to a user, and a speed control system for controlling a speed of the trolley along the elongate guide rail. The speed control system comprises one or more than one speed control track attached to the elongate guide rail and extending along the axis, a background speed controller coupled to the trolley and engaged with the one or more speed control track when the speed control system or the trolley is in a travelling orientation and controlling the speed of the trolley along the elongate guide rail to not exceeded a maximum walking speed. The speed control system also includes a speed controller coupled to the trolley and engageable with the one or more than one speed control track, the speed controller displaceable from a first position when the speed control system or the trolley is in the travelling orientation, and the speed controller is not engaged with the speed control track, to a second position when the speed control system or the trolley is in a falling orientation and the speed controller is engaged with the speed control track. The speed controller for controlling the speed of the trolley along the guide rail in the falling orientation to not exceed a maximum fall speed.

Description

FALL CONTROL SYSTEM AND METHOD OF CONTROLLING A MOVEMENT
DURING FALL EVENT
TECHNICAL FIELD:
[0001] The present disclosure relates to a fall control system and a method of controlling a movement during a fall event.
BACKGROUND:

[0002] Unintentional falls are a leading cause of non-fatal injuries treated in hospital emergency departments. The Centers for Disease Control and Prevention (USA), reported that unintentional falls in the elderly resulted in more non-fatal injuries in 2013 than the top 2 to top 10 leading causes of injuries in that age category (>- 65 years of age) combined.

[0003] Fall assist or fall arrest systems have been developed to lessen the frequency of injuries arising from unintentional falls, see for example EP 2,522,399, US 7,883,450, US
2007/0004567, WO 2014/116628 and US 10,864,393. In known fall assist systems, a person is attached to a harness that is coupled to a trolley that runs along a guiding track. During regular use, the person exerts a pulling force on the trolley, thereby moving the trolley along the guiding track. During a fall event, a braking system within the trolley is activated and the trolley comes to a complete stop thereby arresting the person from further movement and preventing the person from impacting the ground. Braking systems typically used in fall assist systems include friction engagement systems, for example as described in CA2,800,185, and W02002/074389, or ratchet-like engagement braking systems, for example as described in EP
2,870,982, US 2012/0031701 or US 2015/0217151.

[0004] Other mobility aiding systems have also been developed. For example, stairlift systems transport a person over a flight of stairs. Generally, such systems comprise a guide rail, an electrical motorized trolley for moving along the guide rail (with or without a backup battery), and a passenger seat or platform attached to the trolley. In use, a passenger sits on the seat, or stands on the platform, attaches a seat-belt like device, and is carried from a first point to a second point along the guide rail. No movement on the passenger's part, other than to board and alight the seat or platform, is required.
SUMMARY

[0005] The present disclosure relates to a fall control system and a method of controlling a movement during a fall event.

[0006] It is an object of the present disclosure to provide an improved fall control system.

[0007] As described herein there is provided a fall control system that allows a user to ascend and descend stairs, or travel along a level surface, on their own accord. The fall control system decreases the user's fall distance during a fall event and limits the vertical drop of the user towards the ground, and does not completely stop a user from impacting or contacting the ground during a fall event.

[0008] In a first set of embodiments, there is provided a fall control system comprising, an elongate guide rail extending along an axis comprising one or more than one raceway, the elongate guide rail for mounting to a wall, a trolley configured to move along the one or more than one raceway of the elongate guide rail, the trolley comprising a trolley body and a braking arm, the braking arm moveably coupled to the trolley body, the braking arm moveable from a first position to a second position, the braking arm comprising an attachment end and a braking end, the attachment end of the braking arm extending outwards from the trolley body in a direction substantially perpendicular to a longitudinal plane of the elongate guide rail; a tether attached at a first end of the attachment end of the braking arm, a second end of the tether for attaching to a user, and a speed control system for controlling a speed of the trolley along the elongate guide rail, the speed control system comprising: one or more than one speed control track extending along the axis of the elongate guide rail on an outer surface of the elongate guide rail, the one or more than one speed control track comprising a first surface; and a speed controller coupled to the trolley, the speed controller comprising a surface at the braking end of the braking arm for frictionally interacting with the first surface of the one or more than one speed control track, wherein the braking arm is movable from the first position when the trolley is in the travelling orientation and the speed controller does not reduce speed, or temporarily stop movement, of the trolley along the elongate guide rail, to the second position when the trolley is in a falling orientation, so that the surface of the braking arm frictionally interacts with the first surface of the one or more than one speed control track, and the speed controller reduces speed, or temporarily stops movement, of the trolley along the elongate guide rail, the speed controller for controlling the speed of the trolley along the elongate guide rail in the falling orientation, and the first surface of the speed control track is a sinusoidal wave surface and the surface of the braking arm is a flat surface or a sinusoidal wave surface, or the first surface of the speed control track is a flat surface and the surface of the braking arm is a sinusoidal wave surface or a flat surface.

[0009] In some embodiments, the one or more than one speed control track is on an outer upper surface of the elongate guide rail, an outer lower surface of the elongate guide rail, an outer side surface of the elongate guide rail, or a combination thereof.

[0010] In some embodiments, the braking arm is pivotally coupled to the trolley body. For example, the braking arm may comprise a circular shaft extending substantially parallel to the elongate guide rail for pivotally displacing the braking arm between the first position and the second position, the braking arm biased to the first position, the first surface of the speed control track is on the outer lower surface of the elongate guide rail and the surface of the trolley is on a lower end of the braking arm and positioned to face the first surface of the speed control track, and wherein in the first position, the surface of the trolley does not frictionally interact with the first speed control track, and wherein in the second position, the surface of the trolley frictionally interacts with the first surface of the speed control track. Alternatively, the braking arm may be pivotally coupled to the trolley via a ball and socket type configuration.
For example, the braking arm may comprise a ball that is coupled to a socket on the trolley body allowing for the braking arm to move or pivot in multiple planes relative to the trolley and the elongate guide rail, the braking arm biased to the first position.

[0011] In some embodiments, the braking arm is slidably coupled to the trolley body. For example, the braking arm is slidable in a plane parallel to the plane of the elongate guide rail from the first position to the second position, the braking arm biased to the first position, the first surface of the speed control track is on the outer upper surface of the elongate guide rail and the surface of the trolley is on an upper end of the braking arm and positioned to face the first surface of the speed control track, and wherein in the first position, the surface of the trolley does not frictionally interact with the first speed control track, and wherein in the second position, the surface of the trolley frictionally interacts with the first surface of the speed control track. Some embodiments may comprise a braking plate moveable in a compartment formed by the body of the trolley and a guide plate, the braking plate slidable in a plane parallel to the elongate guide rail when the braking arm moves from the first position to the second position.

[0012] In some embodiments, a pad may be attached to the trolley and configured to be positioned between the user and the wall when the trolley is mounted on the guide rail and the guide rail is mounted on the wall, the pad moveable with the trolley along the elongate guide rail. The pad may be positioned to cover the trolley, a portion of the guide rail, or a combination thereof. The pad may be removably attached to the trolley, the pad is foldable, the pad comprises one or more than one pad wheel at a lower edge of the pad, the pad comprises one or more than one attachment point to a gait assist device, or a combination thereof.

[0013] The pad may be a fitness pad, crash pad, inflatable pad, or any other suitable pad to prevent or reduce injury to the user should they fall against the wall or handrail. The pad may be attached to the trolley so that it rides away from the wall while the trolley is moving. The attachment of the pad to the trolley may comprise a hinge and the pad may comprise one or more folds or creases so that the pad can readily be folded away when not in use. The attachment of the pad to the trolley may be permanent, or the pad may be removable so that the pad can be removed for storage purposes or to prevent the pad from tearing in the event of significant downward forces. The pad may have a low friction and/or durable backing to reduce resistance and reduce wear and tear from repetitive gliding over the wall and/or handrail. If use of the handrail is required, the pad may comprise one or more holes or cut-outs to allow the user to hold the handrail. The holes or cut-outs may comprise hinged flaps to avoid or reduce injury to the user should they fall on the part of the pad with the hole or cut-out. Alternatively, the pad may comprise a built-in handrail or ledge at standard height from the floor, constructed, for example, of a dense contoured foam connected to, or part of, the pad that the user grasps while walking. Alternatively, the pad and/or handrail may be constructed of an inflatable material. The pad may extend to, or higher than, the elongate guide rail to cover (glide over) part of the guide rail adjacent to the side end(s) of the trolley, and/or cover most of the trolley facing the user (except for an opening for the tether attachment) to protect the user from directly striking the trolley or guide rail in the event of a fall towards the wall. A
padded flap may overhang the trolley's tether attachment site to also reduce the chance of injury. For added stability, the pad may also be attached to the elongate guide rail via one or more smaller "mini trollies- that passively glide along the same guide rail as the trolley, with the "mini trollies"
travelling at a distance from one or both ends of the trolley. The pad may contain one or more attachment points for connection to a walker or similar gait assist device to help move the pad and hence also the trolley in the same direction, position, and speed as the user holding onto the walker. A projection arm from the gait assist device may connect to the pad's attachment point, and the projection arm may extend from both sides of the walker so that when the user changes direction (turns around) the gait assist device being pushed by the user can easily reconnect with the moving pad.

[0014] In some embodiments, the speed control system further comprises a background speed controller coupled to the trolley and engaged with the elongate guide rail, the background speed controller for controlling the speed of the trolley along the elongate guide rail in a travelling orientation while the user is walking, ascending stairs, or descending stairs.
The background speed controller may comprise one or more than one magnet on the trolley and the elongate guide rail comprising a conductive portion extending along a portion of the elongate guide rail.
The conductive portion of the elongate guide rail may extend along a shoulder of the elongate guide rail and may be located between a wall mounting portion and the shaft of the elongate guide rail, a side of the elongate guide rail adjacent a wall mounting portion, or a combination thereof. The conductive portion of the elongate guide rail may be made of a ferromagnetic material such as aluminum. In some embodiments, the conductive portion may be made of a material selected from a group consisting of aluminum, anodized aluminum, steel, stainless steel, a metal alloy, a ceramic coated aluminum, a ceramic coated anodized aluminum, a ceramic coated steel, a ceramic coated stainless steel, a ceramic coated metal alloy.

[0015] In some embodiments, the first surface of the speed control track and the surface of the braking arm of the speed controller are both flat surfaces; or the first surface of the speed control track and the surface of the braking arm of the speed controller are both sinusoidal wave surfaces. In other embodiments, the first surface of the speed control track is a sinusoidal wave surface and the surface of the braking arm of the speed control track is a flat surface; or the first surface of the speed control track is a flat surface and the surface of the braking arm of the speed control track is a sinusoidal wave surface.

[0016] The first surface of the speed control track, the surface of the braking arm of the speed controller, or both the first surface of the speed control track and the surface of the braking arm of the speed controller, may be a material selected from a group consisting of: metal, sandblasted metal, rubber, sandblasted rubber, polymeric material, and sandblasted polymeric material; or, both the first surface of the speed control track and the surface of the braking arm of the speed controller comprise a brake pad.

[0017] In some embodiments, the tether comprises two or more attachment points at the second end for attaching the trolley to the user. The attachment end of the trolley may comprise a hanger for attaching the first end of the tether to the trolley.

[0018] Some embodiments may comprise one or more than one second trolley for moving along the elongate guide rail, and a second tether attached to the one or more than one second trolley at a first end, a second end of the second tether for attaching to the user.In some embodiments, the trolley may comprise one or more than one roller for moving the trolley along the one or more than one raceway of the elongate guide rail, the fall control system further comprising a background speed controller comprising a gear wheel coupled to the one or more than one roller of the trolley, the gear wheel comprising a plurality of teeth, and the trolley comprising a moveable arm configured to interact with the teeth of the gear wheel.

[0019] There is also provided a fall control trolley for moving along a wall-mounted elongate guide rail, the elongate guide rail comprising one or more than one raceway and one or more than one speed control track extending along the axis of the elongate guide rail, the one or more than one speed control track comprising a first surface; the trolley comprising a trolley body and a braking arm, the braking arm attached to the trolley body and moveable from a first position to a second position, the braking arm comprising an attachment end and a braking end, the attachment end of the braking arm extending outwards from the trolley body in a direction substantially perpendicular to a longitudinal plane of the elongate guide rail when the trolley is mounted on the elongate guide rail; a tether attached at a first end of the attachment end of the braking arm, a second end of the tether for attaching to a user, and a speed controller coupled to the trolley for controlling a speed of the trolley along the elongate guide rail, the speed controller comprising a surface of the braking arm for frictionally interacting with the first surface of one or more than one speed control track of the elongate guide rail, wherein the braking arm is movable from the first position when the trolley is in the travelling orientation and the speed controller does not reduce speed, or temporarily stop movement, of the trolley along the elongate guide rail, to the second position when the trolley is in a falling orientation, so that the surface of the braking arm frictionally interacts with the first surface of the one or more than one speed control track, and the speed controller reduces speed, or temporarily stops movement, of the trolley along the elongate guide rail, the speed controller for controlling the speed of the trolley along the elongate guide rail in the falling orientation, wherein the surface of the braking arm is a flat surface or a sinusoidal wave surface.

[0020] The trolley may move along the elongate guide rail using any known rail and trolley system. In some embodiments, the guide rail comprises a circular shaft and the trolley comprises a corresponding recess for the circular shaft. Rolling elements positioned between the shaft and trolley surfaces may be used to assist movement of the trolley along the guide rail. Alternative means for providing a smooth, low friction surface, for example, self lubricating bearing elements may also be used. In other embodiments, the elongate guide rail may comprise one or more than one raceway and the trolley may comprise one or more than one rollers for moving along the one or more than one raceway. Means for providing a smooth, low friction surface, for example, self lubricating bearing elements may also be used.

[0021] The fall control trolley as described above may comprise a braking arm moveable from a travelling orientation (first position) to a falling orientation (second position). In one group of embodiments, the braking arm may rotate about an elongate axis of the trolley body from the travelling orientation to the falling orientation. For example, the braking arm may comprise an elongate pin and the trolley body may comprise a recess to receive the pin.
In other embodiments, the elongate pin may be part of the trolley body and the braking arm may comprise the recess to receive the pin. The braking arm may be biased towards the first position whereby upon application of a force by the user in a direction generally opposed to the biasing force that overcomes the biasing force, the braking arm moves from the travelling orientation to the falling orientation to engage the speed controller with the speed control track.
Alternatively, the braking arm may be positioned above the trolley and biased towards the travelling orientation (first position), whereby upon the application of a force by the user in a direction generally opposed to the biasing force that overcomes the biasing force, the braking arm moves from the travelling orientation to the falling orientation to engage the speed controller with the speed control track. For example, the braking arm may be positioned above the trolley on a retainer that is compressible upon application of a force by the user to displace the braking arm from the first position to the second position, where the speed controller is engaged with the speed control track.

[0022] The fall control system described herein may allow the user, following a fall, to move (e.g. crawl) along the floor or stairs while still attached to the fall control system should he or she he injured and/or too weak to stand fully erect. The trolley of the fall control system is typically pulled along by the user (when ascending stairs or moving along a flat surface), or by gravity (when descending stairs) and does not require an external power source. However, an external power source may be used to move the trolley if desired. For example, in some embodiments an external power source may assist the user to move the trolley along the elongate guide rail. In some embodiments, an external power source (e.g. a battery-powered remote control train) may push or pull the trolley to meet the user (or a second user) at the opposite end of the guide rail.

[0023] The guide rail of the fall control system described herein may also be used as a standard height hand rail (for example, approximately 30-37 inches from the floor or stairs), or can be installed in addition to a standard hand rail. If installed as a separate rail, then the guide rail may be located at some distance above and parallel to the standard hand rail.
In some embodiments, the trolley may lag behind the user travelling upstairs, and may lead the user travelling downstairs, and there would be room for the users hand on the rail ahead of the trolley walking upstairs, and behind the trolley walking downstairs (given an adequate and proper tether length). In some embodiments described herein, the trolley may lag behind the user when descending stairs and there would be room for the users hand on the rail ahead of the trolley walking downstairs (given an adequate and proper tether length).
Similarly, on a level surface the trolley would lag behind the user, allowing room for the hand in front of the trolley. In some embodiments, the guide rail of the fall control system may be installed on a wall at least above waist height of the user. In some embodiments, the guide rail of the fall control system may be installed on a wall at least above shoulder height of the user.

[0024] The outer surface of the trolley (not including the funnel-like opening for the tether) may be padded with high density foam or an inflatable material to decrease the chance of injury should the user fall forwards, backwards, or sideways and strike their head or other part of their body on the trolley. The trolley may also comprise a pad moveable with the trolley and configured to hang between the user and the wall on which the guide rail is installed.

[0025] The fall control system may be mounted on a wall, or on a wall bracket mounted on the wall such that the attachment end of the trolley extends outwards from the elongate guide rail in a direction substantially perpendicular to a longitudinal plane of the elongate guide rail, and substantially perpendicular to the wall.

[0026] In some embodiments, the trolley may comprise one or more than one roller for moving along the one or more than one raceway of the elongate guide rail. The one or more than one raceway of the elongate guide rail may comprise one or more than one rod, and the one or more than one roller may engage with the one or more than one rod. In some embodiments, the one or more than one rod may comprise a convex surface and the one or more than one roller of the trolley may comprise a corresponding concave surface, or vice versa.

[0027] In a second set of embodiments, there is provided a fall control system comprising, an elongate guide rail comprising one or more than one pair of raceways, a trolley comprising one or more than one pair of rollers for moving the trolley along the one or more than one pair of raceways of the elongate guide rail, the trolley comprising a trolley body and a braking arm moveably coupled to the trolley body, the braking arm moveable from a first position to a second position, a tether attached to the trolley at a first end, a second end of the tether for attaching to a user, and a speed control system for controlling a speed of the trolley along the elongate guide rail, the speed control system comprising: one or more than one speed control track extending along the axis of the elongate guide rail, the one or more than one speed control track comprising a first surface; and a speed controller coupled to the trolley, the speed controller comprising a surface of the trolley for frictionally interacting with the first surface of the one or more than one speed control track, wherein the braking arm is movable from the first position when the trolley is in the travelling orientation and the speed controller does not reduce speed, or temporarily stop movement, of the trolley along the elongate guide rail, to the second position when the trolley is in a falling orientation and the speed controller reduces speed, or temporarily stops movement, of the trolley along the elongate guide rail, the speed controller for controlling the speed of the trolley along the elongate guide rail in the falling orientation, and the first surface of the speed control track is a sinusoidal wave surface and the surface of the trolley of the speed control track is a flat surface or a sinusoidal wave surface, or the first surface of the speed control track is a flat surface and the surface of the trolley of the speed control track is a sinusoidal wave surface or a flat surface, wherein the one or more than one pair of rollers are attached to each end of a swivel arm that rotates around a pivot on the trolley body having a first axis of rotation substantially perpendicular to the direction of movement of the trolley and substantially perpendicular to the longitudinal plane of the elongate guide rail, and wherein each roller in each one or more pair of rollers is pivotable about a second axis of rotation substantially perpendicular to the direction of movement of the trolley and substantially parallel to the longitudinal plane of the elongate guide rail, wherein the movement of the swivel arm about the first axis of rotation and movement of each roller about the second axis of rotation allow the trolley to move along an elongate guide rail curving in any direction.

[0028] It will be appreciated that features described with respect to the first set of embodiments are also applicable and disclosed herein with respect to the second set of embodiments and vice versa.

[0029] In some embodiments, the braking arm comprises an attachment end and a braking end, the attachment end of the braking arm extending outwards from the trolley body in a direction substantially perpendicular to a longitudinal plane of the elongate guide rail. The fall control system may be mounted on a wall, or on a wall bracket mounted on the wall such that the attachment end of the braking arm extends outwards from the elongate guide rail in a direction substantially perpendicular to a longitudinal plane of the elongate guide rail, and substantially perpendicular to the wall.

[0030] In some embodiments, the braking arm is pivotally coupled to the trolley body. The braking arm may comprise a circular shaft extending substantially parallel to the elongate guide rail for pivotally displacing the braking arm between the first position and the second position, the braking arm biased to the first position, the first surface of the speed control track is on a lower surface of the elongate guide rail and the surface of the trolley is on a lower end of the braking arm and positioned to face the first surface of the speed control track, and wherein in the first position, the surface of the trolley does not frictionally interact with the first speed control track, and wherein in the second position, the surface of the trolley frictionally interacts with the first surface of the speed control track. Alternatively, the braking arm may be pivotally coupled to the trolley via a ball and socket type configuration. For example, the braking arm may comprise a ball that is coupled to a socket on the trolley body allowing for the braking arm to move or pivot in multiple planes relative to the trolley and the elongate guide rail, the braking arm biased to the first position.

[0031] In some embodiments, the braking arm is slidably coupled to the trolley body. The braking arm may be slidable in a plane parallel to the plane of the elongate guide rail from the first position to the second position, the braking arm biased to the first position, the first surface of the speed control track is on an upper end of the elongate guide rail and the surface of the trolley is on an upper end of the braking arm and positioned to face the first surface of the speed control track, and wherein in the first position, the surface of the trolley does not frictionally interact with the first speed control track, and wherein in the second position, the surface of the trolley frictionally interacts with the first surface of the speed control track. The trolley may further comprise a braking plate moveable in a compartment formed by the body of the trolley and a guide plate, the braking plate slidable in a plane parallel to the elongate guide rail when the braking arm moves from the first position to the second position.

[0032] In some embodiments, the speed control system further comprises a background speed controller coupled to the trolley and engaged with the elongate guide rail, the background speed controller for controlling the speed of the trolley along the elongate guide rail in a travelling orientation while the user is walking, ascending stairs, or descending stairs.
The background speed controller may comprise one or more than one magnet on the trolley and the elongate guide rail comprising a conductive portion extending along the elongate guide rail. The conductive portion of the elongate guide rail may be the shaft of the elongate guide rail.
Alternatively, the conductive portion of the elongate guide rail may be located between a wall mounting portion and the shaft of the elongate guide rail, a side of the elongate guide rail adjacent a wall mounting portion, or a combination thereof. Alternatively or in addition to the magnets and conductive portion, in embodiments where the trolley comprises one or more than one roller for moving the trolley along the elongate guide rail or raceway of the elongate guide rail, the background speed controller may comprise a gear wheel coupled to the one or more the one roller of the trolley, the gear wheel comprising a plurality of teeth, and the trolley comprises a moveable arm configured to interact with the teeth of the gear wheel.

[0033] The fall control system may comprise a secondary wheel assembly comprising a secondary wheel for interacting with a surface of the elongate guide rail, the secondary wheel assembly optionally comprising a retainer for biasing the secondary wheel towards the surface of the elongate guide rail, optionally wherein the secondary wheel is a deformable wheel.

[0034] In some embodiments, the trolley further comprises a hanger (at the attachment end of the trolley or the braking arm), and the tether is attached to the hanger. In some embodiments, the tether may further comprise a belt or harness to be worn by the user. In some embodiments, the fall control system may comprise two or more trol lies. For example the fall control system may comprise one or more than one second trolley for moving along the elongate guide rail, and a second tether attached to the one or more than one second trolley at a first end, a second end of the second tether for attaching to the user. One or more than one of the second trollies may comprise a speed controller and/or a background speed controller.

[0035] In some embodiments, the trolley may further comprise one or more protective coverings for shielding the user from magnetic fields. The one or more protective coverings may comprise a first covering comprising a ferromagnetic material and a second covering comprising a non-magnetic material.

[0036] In some embodiments, the fall control system may further comprise a pad attached to the trolley and configured to be positioned between the user and a wall when the trolley is mounted on the guide rail and the guide rail is mounted on the wall, the pad moveable with the trolley along the elongate guide rail. The pad may comprise one or more than one pad wheel at a lower edge of the pad. The pad may comprise one or more than one holes to allow the user to hold a handrail mounted on the wall, and/or the pad may comprise a handrail attached to the pad, or a handrail built-in to the pad. In some embodiments, the pad is positioned to cover the trolley, a portion of the guide rail, or a combination thereof. The pad may be foldable at one or more fold axis. The pad may be removeably attached to the trolley.

[0037] In some embodiments, the tether comprises two or more attachment points for attaching the trolley to the user. In some embodiments, the first end of the tether is attached to a hanger on the braking arm. In some embodiments, the first end of the tether comprises a swivel connection to allow rotation of the tether with respect to the braking arm, e.g. a 360-degree swivel connection.

[0038] There is further provided a fall control trolley for use in the fall control system described herein, the fall control trolley for moving along an elongate guide rail.

[0039] In a third set of embodiments, there is provided a fall control system comprising: an elongate guide rail extending along an axis; a trolley configured to move along the elongate guide rail, the trolley moveable from a first position to a second position; a speed control system for controlling a speed of the trolley along the elongate guide rail when the trolley is in the second position, the trolley moveable from the first position when the trolley is in a travelling orientation and the speed control system does not reduce speed, or temporarily stop movement, of the trolley along the elongate guide rail, to the second position when the trolley is in the falling orientation, and the speed control system reduces speed, or temporarily stops movement, of the trolley along the elongate guide rail; a pad attached to the trolley and configured to be positioned between the user and a wall when the trolley is mounted on the guide rail and the guide rail is mounted on the wall, the pad moveable with the trolley along the elongate guide rail.

[0040] It will be appreciated that features described with respect to the first and second set of embodiments are also applicable and disclosed herein with respect to the third set of embodiments and vice versa.

[0041] There is further provided a method for controlling movement of a moveable object during a fall event using any of the fall control systems described herein, the method comprising:
(a) coupling the first end of the tether to the trolley of the fall control system, the trolley being moveable along the elongate guide rail extending along the axis of the elongate guide rail, the trolley comprising the speed controller and optionally comprising the background speed controller, the background speed controller active while the trolley is in the first position, in the travelling orientation, and the speed controller active when the trolley is in the second position, in the falling orientation;
(b) coupling the second end of the tether to the movable object;
(c) exerting a pulling force, through the tether, on the trolley that is sufficient to move the trolley along the elongate guide rail while in the travelling orientation, the background speed controller controlling the speed of the trolley along the elongate guide rail to not exceed a maximum walking speed:

(d) during the fall event, exerting a falling force, through the tether, on the trolley that is sufficient to displace the trolley from the first position to the second position, the speed controller for controlling the speed of the trolley along the guide rail in the falling orientation to not exceed a maximum fall speed; and (e) allowing the moveable object to descend towards a ground at a controlled speed, wherein the maximum walking speed is greater than the maximum fall speed, and the maximum walking speed and the maximum fall speed are greater than zero.

[0042] In some embodiments, the maximum walking speed is greater than the maximum fall speed, and the maximum walking speed and the maximum fall speed are greater than zero.

[0043] Figures 1-12 of US 10,864,393 and Figures 13 and 14 of US 2021/0069052 (both hereby incorporated by reference) show examples of fall control systems conceived by the present inventor. New and improved fall control systems disclosed herein may incorporate one or more features of the fall control systems of US 10,864,393 and Figures 13 and 14 of US
2021/0069052 and it will be appreciated that analogous components of the fall control systems described in US 10,864,393 and Figures 13 and 14 of US 2021/0069052 may also be used in combination with or in substitution with any of the components of the improved fall control systems described herein.

[0044] This summary does not necessarily describe the entire scope of all aspects of the disclosure. Other aspects, features and advantages will be apparent to those of ordinary skill in the art upon review of the following description of specific embodiments.
BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In the accompanying drawings, which illustrate one or more exemplary embodiments:

[0046] FIGURE 1 shows a perspective view of a person ascending a curved set of stairs using an example of a fall control device as described herein.

[0047] FIGURE 2A shows a cross-sectional side view of a fall control system as described herein in the travelling orientation, the trolley comprising a braking arm 722 rotatable about a circular shaft 725 as viewed from line A-A in Figure 2B and optionally background magnet 718 interacting with a surface of guide rail 700 which is conductive (background speed control track). FIGURE 2B shows a front end view of the fall control system of Figure 2A. FIGURE
2C shows a cross-sectional side view of the fall control system of Figures 2A
and 2B as viewed from line C-C in Figure 2B. FIGURE 2D shows a partial back view of a fall control trolley with the wheels removed having an alternative background speed control system comprising a gear wheel and a swing arm. The remaining components of the trolley body have been removed for clarity. FIGURE 2E shows a partial bottom view of the swing arm of Figure 2D (without gear wheel 741).

[0048] FIGURE 3A shows a cross-sectional side view of another example of a fall control system as described herein in the travelling orientation, the trolley comprising a braking arm 722 as viewed from line A-A in Figure 3B and optionally background magnet 718 interacting with a surface of guide ra 1 700 which is conductive (background speed control track). FIGURE
3B shows a front end view of the fall control system of Figure 3A with the braking arm in the travelling orientation.

[0049] FIGURE 4A shows a side view of another example of a fall control system with pad as described herein whilst in use attached to a user. FIGURE 4B shows a front view of the fall control system of Figure 4A, with the pad removed. FIGURE 4C shows a rear view of the pad 105 of a fall control system similar to the fall control system of Figure 4A, with wheels 30.

[0050] FIGURE 5A shows a cross-sectional side view of another example of a fall control system as described herein in the travelling orientation for use on a curved guide rail as viewed from line A-A in Figure 5D. FIGURE 5B shows a front view of the speed control system of Figure 5A (speed controller 726, 729, 722, 720 not shown). FIGURE 5C shows a top enlarged, partial view of one of the wheel assemblies of Figure 5A. FIGURE 5D shows a front view of the fall control system of Figure 5A. FIGURE 5E shows a cross-sectional side view of a fall control system similar to the fall control system of Figure 5A, except without the background speed controller.

51 [0051] FIGURE 6A shows a cross-sectional side view of another example of a fall control system as described herein in the travelling orientation for use on a curved guide rail as viewed from line A-A in Figure 6B. FIGURE 6B shows a front view of the fall control system of Figure 6A.
DETAILED DESCRIPTION:

[0052] The present disclosure relates to a fall control system and a method of controlling a movement during a fall event.

[0053] Directional terms such as "top," "bottom," "upwards," "downwards,"
"vertically," and "lateral l y" are used in the following description for the purpose of providing relative reference only, and are not intended to suggest any limitations on how any article is to be positioned during use, or to be mounted in an assembly or relative to an environment. The use of the word "a" or "an" when used herein in conjunction with the term "comprising" may mean "one," but it is also consistent with the meaning of "one or more," "at least one" and "one or more than one." Any element expressed in the singular form also encompasses its plural form. Any element expressed in the plural form also encompasses its singular form. The term "plurality"
as used herein means more than one, for example, two or more, three or more, four or more, and the like.

[0054] As used herein, the terms "comprising," "having," "including" and "containing," and grammatical variations thereof, are inclusive or open-ended and do not exclude additional, un-recited elements and/or method steps. The term "consisting essentially of' when used herein in connection with a composition, use or method, denotes that additional elements, method steps or both additional elements and method steps may be present, but that these additions do not materially affect the manner in which the recited composition, method or use functions.
The term "consisting of' when used herein in connection with a composition, use or method, excludes the presence of additional elements and/or method steps.

[0055] As described herein there is provided a non-electrical fall control system that allows a user to ascend and descend stairs or leve.1 surface on their own accord (travelling orientation of the fall control system). The fall control system general ly comprises an elongate guide rail and a trolley that moves along the elongate guide rail. The trolley generally moves by being pulled by the user, and no external electrical power source is used to move the trolley when attached to the user. However, in some embodiments an external power source may assist the user to move the trolley along the elongate guide rail. In some embodiments, an external power source (e.g. a battery-powered remote control train) may push or pull the trolley to meet the user (or a second user) at the opposite end of the guide rail. The fall control system decreases the user's ground impact speed during a fall event (falling orientation of the fall control system), limits the vertical drop of the user towards the ground, and does not completely stop a user from impacting or contacting the ground during a fall event. The fall control system described herein may allow the user, following a fall, to move (e.g. crawl) along the floor or stairs while still attached to the fall control system should he or she be injured and/or too weak to stand fully erect.

[0056] With reference to Figure 1 there is shown a user ascending a set of stairs while attached to a fall control system as described herein. The fall control system may be used while the user is moving along a horizontal surface, or while the user is descending or ascending stairs of any pitch or steepness. In the example shown in Figure 1, the user is wearing a belt 50 that is connected to a trolley 120 by an adjustable length tether 140. While the user ascends the stairs in a travelling orientation, trolley 120 moves along guide rail 110 by being pulled by the user along the guide rail 110 via tether 140. The trolley is not electric, or powered by an external power source when attached to the user.

[0057] In the example shown in Figure 1, the guide rail 110 is separate from the handrail, and the user may hold onto a regular hand rail if desired. Alternatively, the guide rail 110 may also be used as a standard height hand rail (approximately 25-60 inches, such as 30-37 inches from the floor or stairs), or it can be used along with a standard hand rail. If both a hand rail and a guide rail are used, then the guide rail 110 is generally placed parallel to the standard hand rail 80 and at a suitable height, for example above the hand rail. In use, the trolley 120 will move along guide rail 110 and lag behind the user travelling upstairs, and may lead the user travelling downstairs. However, in some embodiments described herein, the trolley may lag behind the user when descending stairs. As a result, the user may place their hand on the hand rail ahead of the trolley walking upstairs, or behind the trolley walking downstairs. The user may also use the guide rail 110 as a hand rail on a level surface as the trolley would lag behind the user, allowing room for their hand in front of trolley 120.

[0058] The trolley, is typically of a light weight and the outer layer or surface of the trolley may be padded, for example, with a high density foam or an inflatable material. This arrangement may help to decrease chance of injury should the user fall forwards, backwards, or sideways and strike their head or other part of their body on the trolley.

[0059] The trolley comprises a speed control system and optionally comprising one or more than one background speed control system, which interact with the guide rail, a portion of the guide rail, a speed control track, a background speed control track, or a combination thereof.
Collectively, the speed control system controls movement of the trolley along the guide rail.
The trolley can transition from a first position (or travelling orientation) to a second position (or falling orientation). At the first position when the trolley in a travelling orientation, the trolley may be in a resting position (not moving along the guide rail), or the trolley may be moving along the guide rail at speed controlled by the background speed control system. In the travelling orientation the trolley moves at a speed that does not greatly exceed a usual maximum walking speed of the user. If the user falls, the fall control system transitions to the second position (fall orientation) and the one or more than one speed retarding system is activated. When the speed retarding system is activated, the movement of the trolley along the guide rail is reduced, thereby slowing the speed of user's fall and minimizing any injury that would occur as a result of the fall.

[0060] For some applications, e.g., where the guide rail is horizontal, the background speed control system may not be required to slow the movement of the trolley in the travelling orientation. In such embodiments, the speed control system may simply comprise the one or more speed controller for controlling the speed of the trolley in the falling orientation in the event of a fall (e.g. see Figure 5E). All of the fall control systems shown in Figures 1-6 may comprise or may not comprise the background speed controller.

[0061] By "travelling orientation" or "first position" it is meant the relative position of the trolley, one or more than one trolley component, or a combination thereof with respect to the guide rail, a background speed control track (if present), a speed control track, or combination thereof. The travelling orientation is achieved when the trolley is in a resting position (i.e. not moving along the guide rail) or when the trolley is attached to a user and the trolley moving along the guide rail as the user is walking, ascending, or descending stairs.
In the travelling orientation the background speed control system may be activated.

[0062] By "falling orientation" or "second position" it is meant the relative position of the trolley, one or more than one trolley component, or a combination thereof with respect to the guide rail, the background speed control track (if present), the speed control track, or combination thereof. The falling orientation is achieved when the trolley is attached to a user and the user falls thereby imparting a force on the tether, the trolley body, one or more than one trolley component, or a combination thereof. In the falling orientation the speed control system is activated.

[0063] A "speed control system" as used herein refers to a combination of elements that control the speed of the trolley when the trolley is in a falling orientation, e.g. the combination of the speed control track and the speed controller and optionally the background speed control system, of the fall control system. The speed control system comprises a speed control track located along, beside, on the surface of, or within, the guide rail, and a speed controller located in the trolley body. The speed controller engages or interacts with the speed control track when the trolley is the falling orientation.

[0064] A "background speed control system" as used herein refers to a combination of elements that control the speed of the trolley when the trolley is in the travelling orientation.
The background speed control system may comprise a background speed control track or portion, located along, beside, on the surface of, or within, the guide rail, and one or more than one background speed controller attached to the trolley body. The background speed controller interacts with the background speed control track or portion when the trolley is the travelling orientation.

[0065] A "background speed controller" refers to an element or a combination of elements that are a part of the trolley body and that engage directly or indirectly with the background speed control track or conductive portion, when the fall control system is in the travelling orientation.
The background speed controller may include one or more than one magnet, a pre-tensioned wheel, a pre tensioned gear wheel, one or more than one onset wheel (i.e. the axel is on the center of rotation of the wheel), or a combination thereof.

[0066] A "background speed control track- refers to a track that located along, beside, on the surface of, or within, the guide rail. The background speed control track may comprise a flat surface, a toothed (gear) surface, a wave-like surface, a conductive surface or portion, a conductive body, or a combination thereof. In some examples described herein the background speed control track and the speed control track may be the same element.

[0067] A "speed controller" as used herein refers to an element or a combination of elements that are a part of the trolley body that engage or interact with the speed control track. The speed controller may include one or more than one magnet, a pre-tensioned wheel, a pre tensioned gear wheel, one or more than one onset wheel, one or more than one offset wheel (i.e. the axel is off the center of rotation of the wheel), a flat surface, a wave-like (sinusoidal) surface of the trolley body, or a combination thereof

[0068] A "speed control track" as used herein refers to a track that is located along, beside, on the surface of, or within, the guide rail. The speed control track may comprise a flat surface, a toothed (gear) surface, a wave-like (sinusoidal) surface, a conductive surface, a conductive body, or a combination thereof. In some examples described herein the speed control track and the background speed control track may be the same element.

[0069] The trolley may be manufactured of any material suitable in the art, for example, but not limited to, a suitable metal, alloy, resilient polymeric material, epoxy resin, fibreglass cloth-fibreglass resin composition, carbon -fibre¨fibregl ass resin composition, fibreglass cloth-epoxy resin composition, carbon fibre cloth epoxy resin composition, and manufactured in a manner that can support a weight capacity of a person that may be attached to the trolley 120, for example, a person with a weight of from about 20 (10kg) to about 700 pounds (320kg), or any weight therebetween, such as a weight of from about 20 (10kg) to about 400 pounds (185kg). Preferably, the material with which the trolley 120 is manufactured is not ferromagnetic.

[0070] By "first maximum speed" or "maximum walking speed" as used herein, refers to the typical speed achieved by the average user (and when attached by tether to the trolley, the speed of the trolley), of the fall control system described herein. As would be evident to one of skill, the maximum walking speed will vary depending on the age, weight, and physical impairments or abilities of the user.

[0071] By "second maximum speed" or "maximum fall speed" as used herein, refers to the typical speed of the trolley travelling along the elongate axis when all the components of the speed control system are activated by the average user in the event of a fall when the trolley is in the second position. As would be evident to one of skill, the maximum fall speed will vary depending on certain factors, such as the angle of guide rail relative to a horizontal plane and the weight of the user. The maximum fall speed does not refer to the fall speed of the user attached to the trolley just before or after the trolley reaches maximum fall speed. It is expected that the speed at which the user travels in the event of a fall, just before or after the trolley attains maximum fall speed, will initially be greater than the maximum fall speed of the trolley, but the speed will be considerably reduced (slowed) by the slower trolley speed and the (elastic) properties of the tether attaching the user to the trolley prior to the user contacting the steps or level surface.

[0072] The first maximum speed of the movement of the trolley 120 along guide rail 110, in the travelling orientation, is less that the expected maximum fall velocity of the user in the event of a fall. For example which is not to be considered limiting, the first maximum speed may be from about 12 to about 14 inches/second, or any amount therebetween.
However, in other embodiments the first maximum speed of the movement of the trolley 120 along guide rail 110 may be adjusted to any desired speed, provided the speed is less that the expected maximum fall velocity of the user in the event of a fall. For example which is not to be considered limiting, the first maximum speed may be about 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20 inches/second, or from 0.5 to 5 km/hr, or any amount therebetween, or from about 0.5, 1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0 km/hr, or any amount therebetween, in order to approximate the range in walking speeds of a person. When engaged, the speed control system slows movement of the trolley along guide rail to a second maximum speed for example, but not limited to 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 inches/second, or any amount therebetween. In the second position, trolley may or may not to come to a full stop. In the event it does come to a full stop, the braking mechanisms described herein should not limit the user (while still attached to the trolley) from moving (e.g. crawling) up or down the stairs, or across a level surface. Therefore, the first maximum speed of the trolley is greater than the second maximum speed of the trolley, and in some cases neither the first maximum speed nor the second maximum speed is zero. In some embodiments of the speed control system described herein, both the first maximum speed and the second maximum speed are greater than zero, and the trolley is never fully arrested, even when the trolley is displaced fully in the second position.

[0073] An adjustable length tether may be attached to the trolley 120 at a first end, and affixed to a person either directly, or via a harness or a transfer belt at a distal second end. A non-limiting example of a suitable transfer belt is a SafteySure Transfer Belt (available from health suppliers, for example, Healthcare Solutions, MTS Medical Supply, or SCAN Medical).

[0074] The speed control track and the surface of the trolley body or surface of the braking arm may both be flat surfaces, may both be wave-like (sinusoidal) surfaces, or the speed control track may be a flat surface and the surface of the trolley body or surface of the braking arm may be a wave-like (sinusoidal) surface and vice versa. For example a flat surface having a narrow width, equal to or less than the length of the crest or trough of the wave-like surface, so that the flat surface is able to sufficiently contact the wave-like surface. In embodiments where both the speed control track and the surface of the trolley body are both wave-like, the wave form of the second speed control track may be any form permitting a corresponding wave-like surface on the body of the trolley, when engaged with the speed control track, to move along guide rail so that trolley does not come to an abrupt stop when the trolley is in the second (falling) position. If a flat surface of the trolley body and a wave-like surface of the speed control track is used or visa versa, then the flat surface is of a size that engages and continuously presses against the wave-like surface and does not glide over the peaks of the wave-like surface (i.e. the flat surface is shorter than the length of the peaks or the troughs).
Friction is the primary mechanism responsible for slowing the trolley when the surface of the trolley comes into contact with the second speed control track. As described herein, the surfaces of the first speed control track, the second speed control track and the surface of the trolley body may be made of the same or different material, and may be a material such as metal, sandblasted metal, rubber, sandblasted rubber, polymeric material, and sandblasted polymeric material. Alternatively, one or both the surface of the first speed control track, second speed control track and the surface of the trolley comprise a brake pad. Examples of brake pad materials may include, but are not limited, to non-metallic materials (e.g. comprising a combination of various synthetic substances bonded into a composite, principally in the form of cellulose, ararnid, polyacrylonitrile (PAN), and/or sintered glass), semi-metallic materials (e.g. comprising synthetic materials mixed with flaked metals), and/or ceramic materials (e.g.
comprising clay and porcelain bonded to copper flakes and filaments) combined with an appropriate binding agent, for example, phenol formaldehyde resin, and optionally a friction material, such as graphite or zirconium silicate. The friction between the speed control track and the surface of the trolley or surface of the braking arm causes slowing of the trolley, or causes the trolley to stop temporarily.
[00751 With reference to Figures 2A and 2B there is shown an embodiment of the speed control system. The fall control system shown in Figures 2A and 2B comprises a rectangular elongate guide rail 700 extending along an axis, with a trolley 740 comprising two or more rollers 710 to allow the trolley 740 to move along the guide rail 700, for example, along guide rail track 700a. Guide rail track 700a may comprise cylindrical rods or other analogous members to help maintain rollers 710 within the guide rail 700. The guide rail 700 further comprises a speed control track 703a for interacting with a surface 703b of the braking arm 722 of the trolley when the trolley is in the falling orientation.
[0076] As illustrated in the non-limiting example shown in Figures 2A-C, the guide rail 700 has inset cylindrical rods (or guide rail track) 700a on which the rollers of the trolley having concave travelling surfaces ride. Alternatively, the rollers 710 can have a convex travelling surface for travelling along a guide trail track or rods 700a with a concave surface, or the rollers 710 can have another shaped travelling surface for riding on an alternative track, e.g. non-cylindrically shaped rods. A low friction sliding element 711 (e.g. Teflon ) between the rollers 710 and guide rail 700 may be used to prevent the rollers from becoming inwardly displaced or jammed with high axial pressures exerted against the front of the trolley 740. Alternatively, the upper and lower outer edges 712 of elongate guide rail 700, with or without a low friction element 711, may overhang the rollers 710 to prevent the outward displacement of the rollers 710 from the guide rail 700 in the event of a fall. Alternatively, the two or more rollers 710 in Figure 2A can be replaced with a trolley body that rides inside an elongate guide rail on multiple smaller rollers, wheels, or ball bearings. The trolley body 740 may be attached to the rollers 710 by any connection mechanism known in the art. The trolley body may be spaced from the guide rail using a spacer 709, which also connects the trolley body to the rollers 710.
[0077] The elongate guide rail 700 may be attached to a wall via a connecting mechanism (e.g.
a screw, bolt, concrete fastener or other fastening mechanism) through multiple spaced rail holes 701 (e.g. see Figure 2C). The fall control system may further comprise a tether 754 attached to the trolley at a first end via hanger 720. The tether 754 may be securely attached to the hanger 720, for example, by a ring or carabiner 750. The tether may have an elastic component. The other end of the tether is attached to the user, such as to a transfer belt that circles the upper pelvis/lower abdomen, or to a full body fall arrest harness.
The tether may be attached to the user at one or multiple attachment points (for example, as shown in Figure 4A).
A 360-degree swivel connection 752 may be used for rotation of the tether with the carabiner.
The guide rail 700 containing the trolley 740 may be above waist height of the user, such as above shoulder height as shown in Figure 4A. However, the guide rail 700 may be placed at waist height of the user, at a height between waist and shoulder of the user, or above shoulder height of the user.
[0078] The trolley body 740 may comprise various components, including, but not limited to, the one or more background magnets 718, a cylindrical shaft 725 (attached to the main body of the trolley 740 in one or more locations at fixed capped ends 714), a braking arm 722 incorporating a hanger 720 in an upper portion of the braking arm, a braking arm contact surface 703b in a lower portion of the braking arm, a middle cylindrical surround 721 through which the braking arm rotates around the cylindrical shaft 725, and one or more than one biasing member 730, for example, compression spring(s), rubber insert(s), or a biasing member comprised of a resilient material that biases the braking arm surface 703b of the trolley away from the guide rail surface 703a. In the event of a fall, if the user falls and pulls the trolley body in the general direction of "A", a downward force pulling on the tether causes the hanger 720 and braking arm 722 to rotate ("B") around the cylindrical shaft 725.
Thus, the braking arm 722 pivots about an axis (of the cylindrical shaft 725) parallel to the axis of the elongate guide rail 700, causing the braking arm 722 to move in a plane perpendicular to the elongate guide rail 700. If the force applied exceeds a threshold force of the biasing member 730, the braking arm 722 is moved from a first position (travelling orientation) to a second position (falling orientation) compressing the biasing member 730 (e.g. spring) and causing the braking arm contact surface 703b to contact the first speed control track 703a of the lower guide rail.
Alternatively, the braking arm 722 may be coupled to the trolley via a ball and socket type configuration whereby the braking arm ball is contained within the trolley's socket allowing for the braking arm 722 to move or pivot in multiple planes relative to the trolley and the elongate guide rail 700. The braking arm may be biased in an upright or neutral position, essentially perpendicular to the trolley, by one or more than one biasing member(s) 730. If the force applied exceeds a threshold force of the biasing member(s), the braking arm is moved from a first position (travelling orientation) to a second position (falling orientation) compressing the biasing member and causing the braking arm contact surface 703b to contact the first speed control track 703 of the lower guide rail.
[0079] The material selected for 703a and 703b can be the same or different, and may be a material such as metal, sandblasted metal, rubber, sandblasted rubber, polymeric material, and sandblasted polymeric material. Alternatively, one or both the surface of the first speed control track 703a and the surface of the trolley 703b comprise a brake pad. Examples of brake pad materials may include, but are not limited, to non-metallic materials (e.g.
comprising a combination of various synthetic substances bonded into a composite, principally in the form of cellulose, aramid, polyacrylonitrile (PAN), and/or sintered glass), semi-metallic materials (e.g. comprising synthetic materials mixed with flaked metals), and/or ceramic materials (e.g.
comprising clay and porcelain bonded to copper flakes and filaments) combined with an appropriate binding agent, for example, phenol formaldehyde resin, and optionally a friction material, such as graphite or zirconium silicate. Alternatively, surfaces 703a or 703b can be the same material as the rail 700 and braking arm 722. The friction of surface 703a against surface 703b causes slowing of the trolley 740, or causes the trolley to stop temporarily.
Surfaces 703a and 703b can be flat surfaces or wave-like surfaces, or a combination thereof, as described with reference to other embodiments described herein.
[0080] The trolley body 740 in Figures 2A-2C may comprise a "shield" around the background magnets 718 to help redirect the magnetic fields away from the user. For example, in the embodiment shown in Figures 2A-2C, a ferromagnetic plate 716 (e.g. steel) is overlaid by an insulating material 717 (e.g. plastic). If the body of the trolley 740 housing the magnets is ferromagnetic material (e.g. steel), then an insulating (non--magnetic) layer such as plastic or aluminum should be added between the metal 716 and the magnet 718.
[0081] As shown in Figures 2B and 2C, a flexible shield 723 (e.g. plastic, rubber or nylon bristles) is attached to the outer ends of the lower portion of the braking arm 722. The flexible shield 723 helps prevent the user's fingers or other body parts from getting stuck, pinched, or jammed between the moving surfaces of the trolley and guide rail in the travelling or falling orientation. Figure 2C shows an optional rolling element 719, which may be a wheel, roller, ball bearing or equivalent feature that maintains a suitable distance between the guide rail 700 and the one or more than one background magnets 718 and allows smooth movement of the trolley 740 with respect to the guide rail 700.
[0082] As shown in Figure 2C, a wiper 706 may be attached to an end plate 705 of the trolley 740, the end plate 705 secured with a fastener 707 to the trolley body 740, helps to keep the guide rail track or rods clear of debris. The wiper can be made of any suitable material, including, but not limited to bristles, high density open or closed foam, and be housed within a molded plastic casing with spring-load to maintain contact between the wiper 706 and the surface(s) of rail 700. The wiper may be oil filled, or filled with another lubricating substance.

As shown in Figure 2B, one or more than one low friction rings 713 made of a low friction material (e.g. Teflon) can be inserted between the fixed capped ends 714 of the cylindrical shaft 725, and the middle cylindrical surround 721 and the cylindrical shaft 725 to allow smooth rotation of the braking arm 722.
[0083] The fall control system may comprise a background speed control system comprising a background eddy current brake comprising one or more than one background magnet 718 interacting with a surface of guide rail 700 which is conductive (background speed control track) for controlling a first maximum speed of the trolley so that it is less that the expected maximum fall velocity of the user in the event of a fall. The background magnet 718 may interact with any suitable surface of the guide rail 700, for example, an upper surface of guide rail, as shown in Figure 2A, or a lower surface of the guide rail as shown in Figure 3A. The one or more background magnets 718 may he square, rectangular, curved, arc shaped, or comprise any suitable shape in order to fit within trolley 740 and interact with the upper surface of the guide rail (background speed control track).
[0084] Alternatively, or in addition to, the background speed control system may comprise any other mechanism for controlling the speed of the trolley along the guide rail in the travelling orientation. An alternative background speed controller is shown in Figures 2D and 2E. Features of the background speed controller are shown in isolation from a back side view of the trolley 740 in Figure 2D, and from a partial bottom view in Figure 2E.
In this example, the background speed controller comprises a gear wheel 741, a biasing device 742, for example an extension spring, coil spring, elastic cord and the like, swing arm 743, and a post plate 744 with post 745. The axle for the wheels or rollers 710 may go through the center of gear wheel 741, so that the gear wheel 741 may rotate freely about a rotatable attachment to the trolley 740. The swing arm 743 and post plate 744 both pivot through an attachment 746, for example a pin that is anchored to a surface of the trolley 740.
[0085] The gear wheel 741 and swing arm 743 may create unidirectional wheel rotation resistance in a direction when the user is descending stairs but not when the user is ascending stairs. With reference to Figure 2D, when gear wheel 741 (and connected wheel or roller 710, not shown) rotate clockwise (e.g. in this example, when the user is moving from left to right and descending stairs), the gear wheel 741 contacts the bottom of the swing arm 743, pushing it against the post 745, and contacting the post 745 at its proximal end 745a relative to the trolley (Figure 2E). Post 745 is biased towards the swing arm 743 e.g. by a biasing device 742, for example, an extension spring that is under tension. In this non-limiting example, the spring 742 is anchored by an attachment point 748 to the trolley 740 and the opposite end is attached to the distal end of the post 745b. Tension on the post 745 by the biasing device 742 ultimately results in more resistance, arising from the swing arm 743 pressing against the gear wheel 741, causing slowing of the wheel or roller 710 on the guide rail 700. If the biasing device 742 is an extension spring, then minimal movement and deflection of the swing arm 743 and spring 742 is desired to increase the lifespan of the extension spring.
Alternatively, other embodiments could use compression springs, die springs, disc springs, coil springs or leaf springs, or elastic cord placed in alternate locations relative to the gear wheel 741 and post plate 745. The gear wheel background speed controller may be active when descending the stairs, but not when ascending the stairs, so there is no resistance and the user can more easily move up the stairs. For example, when the user is ascending stairs, the roller 710 and connected gear wheel 741 turn counter-clockwise (with reference to Figure 2D; with the user moving from right to left), causing the gear wheel 741 to push the bottom end of the swing arm 743 to the left, thereby moving the swing arm 743 away from the post 745 on the post plate 744, resulting in no appreciable resistance against the gear wheel 741. In this example, the post 745, held under tension by the extension spring 742, is prevented from pushing the swing arm 743 out of contact with the gear wheel 741 by a stopper or pin 747. The background speed controller can be applied to one or more than one of rollers 710. If the gear wheel background speed controller is used on more than one wheel or roller 710, then the teeth of the gear wheels for each wheel or roller 710 may be orientated so that they are out of sync (with respect to the timing of their contacting their relative swing arms 743) so that the combined braking mechanism on two or more rollers results in an overall more uniform resistance of trolley movement.
[0086] Different configurations of the gear wheel teeth 741 and bottom of the swing arm 743 from that illustrated in Figure 2D are also envisaged and could be used to enhance the braking mechanism. For example, as an alternative to the gear wheel and swing arm background speed controller shown in Figures 2D and 2E, a bearing or bushing in the roller 710 known in the art that causes wheel resistance when turning in one direction, but not the opposite direction may be used. It is contemplated that the gear wheel 741 may be used alone as a background brake, or in addition to another background brake, e.g. an eddy brake.
[00871 Figures 3A and 3B show an alternate fall control system similar to the fall control system shown in Figures 2A-2C, except that the background magnets 71 8 interact with the conductive surface at the bottom of the guide rail 700, and the braking arm 722 with braking arm surface 703b interacts with the opposing speed control track at the top of the guide rail 703a.
[00881 The trolley body 740 may be attached to the rollers 710 via any suitable connection mechanism e.g. an axel and may comprise a spacer 709. The trolley 740 comprises different parts, including, but not limited to, one or more background magnets 718, a braking arm 722 and braking arm plate 726, and one or more than one biasing member 730, for example compression spring(s), rubber insert(s), or a biasing member comprised of a resilient material, that biases the braking arm surface 703b away from the upper guide rail speed control surface 703a.
[00891 in the embodiment shown in Figures 3A and 3B, the braking arm plate 726 is located within a guiding bracket 729 sandwiched by rolling elements 727. The rolling elements 727 can be wheels, rollers, ball bearings, or other types of rolling elements known in the art. The rollers can be made of steel, rubber, or nylon, for example. The rolling elements 727 within the two guiding brackets 729 may be attached to the trolley body 740 by one or more axles or by other means to allow the braking arm plate 726 to ride smoothly within the channel defined by guiding bracket 729, in the event of a fall. Thus, the braking arm plate 726 is slidable in a plane parallel to the elongate guide rail 700. The braking arm plate 726 may comprise a stoppered end 726a, for example, a flared end, extending pins or other similar device that ensures the braking arm plate 726 is sandwiched between die rolling elements 727 and cannot he pulled up and out of the trolley.
[0090] In the event of a fall where the trolley moves from a travelling to a falling orientation, a downward force pulling on the tether "A" causes the braking arm 722 to move down. If the force applied exceeds a threshold force of the biasing member (for example, compression spring(s)) 730, the braking arm 722 is moved from its biased first position (travelling orientation) to a second position (falling orientation) where the biasing member 730 is compressed causing the braking plate 726 to move downwards within the guiding bracket 729 by means of the rolling elements 727, causing the surface of the braking arm 703h to contact the adjacent surface 703a of the upper guide rail (the speed control track).
The material selected for 703a and 703b can be the same or different, and may be a material selected from a group consisting of: metal, sandblasted metal, rubber, sandblasted rubber, polymeric material, and sandblasted polymeric material; or, both the second surface of the speed control track and the surface of the trolley of the speed controller comprise a brake pad. Examples of brake pad materials may include, but are not limited, to non-metallic materials (e.g. comprising a combination of various synthetic substances bonded into a composite, principally in the form of cellulose, aramid, polyacrylonitrile (PAN), and/or sintered glass), semi-metallic materials (e.g. comprising synthetic materials mixed with flaked metals), and/or ceramic materials (e.g.
comprising clay and porcelain bonded to copper flakes and filaments) combined with an appropriate binding agent, for example, phenol formaldehyde resin, and optionally a friction material, such as graphite or zirconium silicate. Alternatively, surfaces 703a or 703b may be the same material as the rail 700 and braking arm 722. The friction of 703a against 703b causes slowing of the trolley, or causes the trolley to stop temporarily. Surfaces 703a and 703b can be flat surfaces or wave-like surfaces.
[0091] It has been found that the embodiment shown in Figures 3A and 3B has minimal axial and radial forces, and minimal moments of force on the trolley body 740, the trolley wheels 710, and the guide rail track 700a in a falling orientation, since more forces are transmitted through the braking arm 722 to the top of the guide rail. The top of the guide rail may be firmly attached at to the wall at multiple points.

[0092] The bottom edge of the braking arm plate 726a may be enlarged as illustrated in Figure 3A to prevent the braking arm from being pulled up and out of the trolley by an upward (vertical) force. As the speed control surface 703a is on the top of the rail in the embodiment in Figure 3, it is important that the top of the rail be free of debris, which could hinder the braking mechanism from working properly. For example, a sweeper 724 (similar to the wipers 706 shown in Figure 2A) may be used at the top surface ends of the braking arm 722 to clear away debris from the top of the guide rail 700. The sweeper 724 may be composed of stiff nylon bristles, rubber, felt, or another suitable flexible material that would sweep away debris to prevent debris from getting stuck between surfaces 703a and 703b. The flexible sweeper 724 may compress in the falling orientation, allowing the braking arm surface 703b to contact the guide rail braking surface 703a.
[0093] Figure 3B also illustrates the option for a warning device 733, for example a hell, buzzer or other alarm-like device on the trolley 740 (or in another convenient location on the trolley) that would alert family or medical personnel that the user had fallen and may require assistance. As described above, when the braking arm 722 moves down vertically in the falling orientation, a metal striker 732 strikes or activates the warning device 733 resulting in an alarm, for example an alert call, a buzzing or a ringing noise. For example, a battery-powered buzzer may be used, or a battery-powered electronic chip that is Wi-Fi enabled to alert family members inside or outside the home that the user had fallen. If a bell 733 is used, the striker 732 may have a flexible base to allow for optimal contact of surfaces 703a and 703b and prevent damage to the bell.
[0094] Similarly to the embodiment shown in Figure 2, a "shield" is attached to the trolley 740, surrounding the magnets 718 to help redirect the magnetic fields away from the user. The shield comprises a ferromagnetic plate 716 (i.e. steel) overlaid by an insulating material 717 (e.g. plastic). If the body of the trolley 740 housing the magnets 718 is made of a ferromagnetic material, then an insulating (non-magnetic) layer such as plastic or aluminum may be added between the metal 716 and the magnet 718.
[0095] Features of other embodiments may also be incorporated into the fall control device as shown in Figure 3. For example, the flexible shield 723 shown in Figure 15B
and 15C may be attached to the outer surfaces of the braking arm plate 726 and guiding brackets 729. The flexible shield helps prevent the user's fingers or other body parts from getting stuck, pinched, or jammed between the moving surfaces of the braking arm plate 726 and the trolley body 740 or guiding brackets 729 in the travelling or falling orientation. In some embodiments, the fall control systems shown in Figures 2A-2C and 3A-3B may not comprise rollers or wheels 710 and may comprise alternative means for allowing movement of the trolley 740 along the guide rail 700. For example, the guide rail 700 and trolley 740 may comprise a plain bearing. In embodiments comprising a plain bearing, to reduce friction and improve movement of the trolley along the guide rail, a smooth, low friction surface, for example, self-lubricating bearing elements such as PBC Linear (Pacific Bearing Company) SIMPLICITY Linear Plain Bearings may be used. In some embodiments, the fall control system may comprise a curvilinear guide rail such as a Rolion() Curviline rail.
[0096] As described herein, the embodiments shown in Figures 2-3 may comprise a single speed controller, i.e. without a background speed control system. For example, if the fall control system is used in a location where the guide rail of the Fall control system is positioned horizontally with respect to the floor, then fall control system may only require the (primary) speed controller that is activated during a fall event by the user, and the background speed control system may be omitted. As described in more detail below, Figure 18E
provides an example of a fall control system that only comprises a speed control system (and no background speed control system).
[0097] Figure 4A illustrates a user with a walker using a fall control device on a level surface.
The trolley 102 (or trolley 220, 320, 620, 740 or 880) moves along elongate guide rail 110.
The guide rail 110 may be at or above the user's shoulder height and may be placed higher on the wall, near the ceiling if desired. In use, the user may wear a harness with a tether attached to the trolley at a hanger, roller, pulley, or spring/roller, or spring/pulley combination as described herein. Figure 4A shows the tether (140) having two points of attachment to the user, but the option for one point, or more than two points, of attachment also exists. Two or more separate tethers may be attached to the hanger on the trolley, or as illustrated in Figures 4A and 4B, the tether may be a cord 140 (e.g. a nylon band (belt), an elastic or non-elastic cord) that can go around a roller or pulley 103 that is attached to the trolley 102. A thin flexible padded flap (not shown) may overlay the hanger, or pulley, to prevent injuries to the user. The tether or cord 140 may be adjusted (e.g. pulled tight) using a buckle or other attachment known in the art for a customized length, depending on the user's height and posture. The pulley (or roller) 103 may be on a swivel, to allow the user to change directions once they reach the end of the guide rail 110 without the tether or cord(s) 140 becoming tangled or twisted. An option exists to insert a biasing member 129, for example a spring, rubber insert or other resilient insert (capable of accepting loads expected from a falling human) between the trolley 102 and the pulley (or roller) 103 that provides an elastic component to the attachment, so that in the event of a fall, there is a less abrupt stop for the user.
[0098] In the embodiment shown in Figure 4A, a pad 105 is placed between the user and the wall. The pad 105 may be similar to a fitness mat or crash mat to help prevent injuries in the event that the user fell against the wall or handrail 115. In some embodiments of the fall control system, the entire wall below the guide rail may be padded and/or any wall handrail 115 may be replaced (Figure 4A) with a foam or inflatable handrail. However, the use of the moving lightweight foam pad 105 is a less expensive option and may be more aesthetically pleasing. Alternatively, the pad 105 may be inflatable. The pad 105 may be attached to upper bracket 104 and lower bracket 109 that are attached to the trolley 102 that moves with the user.
The upper bracket 104 may be attached to the bottom of the trolley (closer to the front of the trolley body so the pad rides away from the wall), using any attachment means 107, for example, via a bolt (Figure 4B) or some other fastening device known in the art. In order to ensure that the pad is distanced from the wall, elongate attachment means 107 may be used.
The upper bracket 104 can be rigid or semi-rigid and may be attached to a lower bracket 109 via a flexible attachment 108, for example, a hinge. The pad 105 which may comprise a rigid or semi-rigid upper backing (for lateral stability) can be permanently attached to lower pad bracket 109; or alternatively the pad 105 may be a removable pad, whereby an upper back portion 105a of the pad 105 is removably attached to portion 109a of the lower pad bracket 109. The removable attachment may be for example but not limited to, a hook and loop fastener (e.g. Velcro), magnets, button fasteners, turn button fasteners, push button fasteners, press snap fasteners, spring-loaded clips, or a similar attachment known in the art.
If the pad 105 is removably attached to lower bracket 109, this would permit the pad 105 to break-away from the lower pad bracket 109 thereby avoiding tearing of the pad 105 in the event of high or significant downward forces, or prevent damage from vandalism from someone trying to hang on, or pull down on the pad 105. Preferably, the pad 105 would not rest against the wall, but it would be positioned away from the surface of the wall so that it would glide easily and smoothly over handrail 115 and other wall objects that may be present on the wall. The pad may contain one or more than one attachment points 112 (see Fig. 4C) for connection to a walker or similar gait assist device to help move the pad and hence also the trolley in the same direction, position, and speed as the user holding onto the walker or gait assist device. The pad's attachment point to the gait assist device may be temporary, for example but not limited to snap on, clip on, a magnet, or a hook and loop fastener (e.g., Velcro()) for easy connection.
A projection arm 112a (see Fig. 4A) from the walker oriented toward the pad may be comprised of a solid or semi-flexible material that connects to the pad's attachment point, and the projection arm may extend from both sides of the walker so that when the user changes direction (turns around) the walker (being pushed by the user) can easily reconnect with the moving pad. The term "gait assist device" refers to any device or apparatus for aiding the user to move e.g. walk. Examples of devices include a cane, crutch or walker.
[0099] The pad 105 may have a low friction, durable backing such as nylon, ripstop nylon, other ripstop material, abrasion resistant fabric or material (for example comprising KevlarTm or carbon weave, e.g. from ArmortexTm), to permit repetitive gliding over the handrail 115.
The pad 105 may have one or more creases or folds (for example, horizontal fold 106a and/or vertical fold 106b), so that the pad 105 may bend during use, and when the user or therapist is finished with the fall control device, the pad 105 may be easily folded.
Additionally, the lower section of the pad 105 may fold against the upper portion of the pad 105 so that with the lower half of the pad 105 tucked up behind the upper half, this would allow individuals to use the handrail 115 when the fall control device was not in use. The fall control device comprising pad 105 could also be used on stairs, and if desired, a hole or cut-out at or near the center of the pad 105 could allow the user to hold the handrail 115 while ascending and descending the stairs. It is contemplated that pad 105 may be used in combination with any of the fall control systems described herein.
[00100] Alternatively, the pad may comprise a built-in handrail or ledge at a standard height from the floor, constructed, for example, of a dense contoured foam connected to, or part of, the pad that the user grasps while walking. Alternatively, the pad 105 and/or handrail may be constructed of an inflatable material. Alternatively, the bracket 104 may be placed on the top surface of the trolley. This would allow the pad to extend to, or higher than, the elongate guide rail to cover (glide over) part of the guide rail adjacent to the side end(s) of the trolley, and/or cover most of the trolley facing the user (except for an opening for the tether attachment) to protect the user from directly striking the trolley or guide rail in the event of a fall towards the wall. A small padded flap can overhang the trolley's tether attachment site to also reduce the chance of injury. For added stability, the pad may also be attached to the elongate guide rail via one or more smaller "mini trollies" that passively glide along the same guide rail as the trolley, with the "mini trollies" travelling at a distance from one or both ends of the trolley.
[00101] As illustrated in Figure 4B, to prevent damage to the end of the trolley, especially on falls on stairs, a resilient bumper 111, for example a rubber bumper, a compressible spring, or similar cushioning material can cushion the impact between the end of the trolley 102 and the end of the guide rail 110. Alternatively, the resilient bumper can be attached to the trolley ends, which may be advantageous to prevent trolley damage if more than one trolley is used on the same elongate guide rail.
[00102] Built into the resilient bumper 111 there may be a warning device 113. The warning device 113 may be detachable and may comprise a spring-loaded pin or tab that is biased away from the warning device 113, and passes through an opening in the resilient bumper 111. When the user reaches the end of the rail 110, the trolley 102 hits the spring-loaded pin or tab, which activates a warning device, for example a bell or a small battery powered buzzer or similar device, that alerts the user that they have reached the end of the guide rail 110 and need to stop and/or turn around. Alternatively, an earlier warning device 40 (Figure 4B) can be placed just below, or above, the guide rail 110 on the wall at a distance away from the end of the guide rail to allow earlier warning for the user to stop and/ or turn around. For example, the early warning device 40 may be positioned near to the end of the guide rail, for example, approximately 12 or more inches from the end of the guide rail 110.
In some embodiments, the early warning device 40 may comprise a bell or buzzer, attached to the wall above or below the guide rail 110. The early warning device 40 may comprise a rotating lever arm 40a attached by a spring-loaded hinge-like mechanism to a spring-loaded piston (rod) 40b. The spring loaded piston rod enters a chamber 40c containing a bell, a buzzer, or warning device at the end of the piston. As described below, the early warning device 40 would only sound with the trolley 102 going in one direction, but the early warning device 40 could be flipped upside down in the installation process, with the rotating lever arm 40a mounted in the opposite direction to allow the early warning device 40 to be used at the opposite end of, or above, the guide rail 110. In the example shown in Figure 17B, the trolley 102 is moving from the right to the left and would hit the rotating lever arm 40a, moving it to the left against the outer edge of 40c until the trolley 102 passed. The pressure of 40a against the outside edge of 40c creates a lever effect, pulling the rod 40b out of the chamber 40c. When the trolley 102 has passed, rotating lever arm 40a springs back to an upright vertical position, the piston or rod 40b moves quickly into the chamber 40c, striking a bell or buzzer. When the trolley 102 returns, traveling from left to right in Figure 17B, the lever arm 40a moves to the right, but does not pull out the piston 40b, and therefore does not activate the early warning device 40.
[00103] Conceivably the fall control device can be used in a hospital or other facility settings where it may be unsupervised at times. To decrease the risk of vandalism or injures to those not authorized or trained in its use, a toggle clamp 10 (Figure 4B) (also known in the art as an "action clamp") may be used to prevent movement of the trolley 102 on the guide rail 110. The toggle clamp 10 is attached to one end of the trolley 102 for example by a bolt. By moving the toggle clamp 10, a hard or semi-flexible tip (e.g. rubber or plastic) presses down firmly on the guide rail 110, preventing movement of the trolley 102. An option exists to lock down the toggle clamp 10 with a key, or a pin with a unique shaped end, that when inserted, unlocks the toggle clamp 10, allowing the trolley 102 to move freely along the guide rail 110.
[00104] In other embodiments similar to Figures 4A and 4B, the pad 105 may extend nearly to, or completely to the floor and may comprise one or more than one pad wheel 30 (Figure 4C) that allows the pad 105 to ride smoothly across the floor. The one or more than one pad wheel 30 may be on one or more carriage 30a attached at the or near the lower edge of the pad 105. For example, as shown in Figure 4C (backside view of the pad), the pad 105 comprises two carriages 30a each having two pad wheels 30 attached at or near the lower edge of the pad 105. In some embodiments, the carriage 30a and pad wheels 30 may be on the rear side of the pad 105 as illustrated in Figure 4C (i.e. the side furthest from the user) to prevent the user from tripping or getting caught on the wheels 30. The pad 105 may comprise magnets 119 that may interact with the carriage 30a and pad wheels 30 when the pad 105 is folded to more securely hold the bottom half of the pad 105 when it is not in use. One or more than one rigid, semi-rigid, or flexible, vertical, horizontal, or angled deflectors 117 may be attached at the rear and/or side of the pad 105 to allow the pad 105 to deflect more easily off walls, railings, handrails, or other objects on the wall and to prevent the pad 105 from getting stuck. The pad 105 may comprise holes 20 to allow a user to hold onto the handrail, for example, but not limited to, in a bathroom environment. The holes 20 may also comprise a padded flap 20a attached to the pad's front 105 above the holes 20. For example, in the event of a fall, if the user's hand were to come off the hand rail 115, the padded flap 20a would fall down, covering the hole 20, preventing the user from striking a body part on the hand rail 115.
[00105] Figures 5 and 6 illustrate a trolley design that allows the trolley 880 to travel on a curved rail in any direction. It is anticipated that the embodiments illustrated in Figures 5 and 6 would have the capability to navigate substantially tighter curves (corners) that the previous embodiments described herein, an advantage in environments such as bathrooms, and U and L shaped staircases. The curved guide rail may comprise a system such as Rollon Curviline. The Rollon Curviline system uses curvilinear rails (constant or variable radius) with a trolley having radial ball bearing rollers. However, other curved guide rail systems may also be used.

[00106] Figures 5A, 5B and 6A illustrate a rail system based on a curved track system, for example, but not limited to, the Rolion Curviline system that allows for movement of the trolley 880 along a constant or variable radius curved guide rail 800, as well as a straight guide rail. The trolley 880 may comprise at least two pairs of wheels (e.g. four wheels) 810 riding in raceways (concave depressions) 804 on the guide rail 800. However, additional numbers of wheels may be used, for example, 4, 5, 6, 7, 8, 9, 10 or more wheels, depending on the size of the wheels and the size of the trolley. The guide rail 800 may be attached to the wall 801 via a screw or bolt 802 or another fastening device. Each pair of wheels 810 may be attached to a swivel arm 818, with each swivel arm 818 rotatable about an axis 820, for example using pivot bolt, or other similar connection between the swivel arms 818 and the top plate 821. The swivel arms 818 are able to pivot, allowing the wheels 810 to follow, in addition to a straight rail, a constant or variable radius curved guide rail 800. Figure 18B illustrates how the wheels 810 would function on a curved track with the swivel arms 818 moving to allow the wheels 810 to follow the curve. Two flexible sweepers 724 at each end of the swivel arms 818 may be present to clear the raceways 804 and the top of the guide rail 800 of any debris to allow for smooth movement of the wheels 810 and ensure a firm braking motion in the event of a fall (described below). Small holes (not shown) may be drilled in the bottom of the raceways 804, exiting at the bottom of the guide rail 800 to allow drainage of water, so that the fall control system could be used on the walls in a bathroom, including the shower.
[00107] However, the above described curved rail system only allows the trolley to move in one plane; for example, it would not allow the trolley 880 to follow the walls on an L
or U-shaped staircase with a landing in between the flights of stairs. To overcome this problem, the fall control device shown in Figures 5 and 6 may comprise an additional wheel attachment assembly (see Figure 5C) that allow the wheels 810 to independently (and passively) turn right or left (in the direction of the arrows in Figure 5C). This allows the trolley 880 to navigate curves right, left, as well as up or down. As shown in Figure 18C, wheel 810 may be attached to a mounting block 813, for example, a rectangular, square, circular, rod, or other shaped block via an axle 812 (as illustrated in Figure SA). The mounting block 813 pivots via one or more short axles 814 or other pivotable connection in a channel set into the ends of the swivel arm 818. These short axles 814 may be biased, for example, spring loaded to return the wheels 810 more quickly to a neutral position when the trolley 880 is traveling on a straight part of the guide rail 800. Nylon bushings or other durable, low friction material known in the art may be used between the surfaces of the block 813 and the swivel arm 818, to allow for highly repetitive, low-friction pivoting movements for longer life. Limits may be set on how far the wheels 810 can turn right or left by adjusting the size of the block 813 in the channel setting.
The wheel assembly 813, 814, 812, 810 shown in Figure 5C that allows the wheels 810 to turn right or left may also be used in other embodiments described herein, for example in Figures 2 and 3 to allow the trolley with wheels 710 to negotiate a curved guide rail 700.
[00108] For the fall control device illustrated in Figures 5 and 6, it is expected that, in the event of a fall, the forces acting on the tether 754 and/or hanger 720 will be down and away from the wall. However, with all wheels 810 turning passively right or left, it is possible that if the user and therefore the trolley 880 is traveling relatively fast and entering a tight corner, that the wheels 810 may partially or fully ride up on the raceways 804, causing the leading side edge of the trolley 880 to possibly strike the guide rail's front surface. To avoid this, guiding wheels 831 (shown in Figure 5B) may be attached to the opposing edges of the top-plate 821 of the trolley 880. The guiding wheels 831 may not be in constant contact with the guide rail 800, but would keep the side edges of the trolley 880 a minimum distance away from the guide rail's front surface at all times to prevent the trolley 880 from collapsing against the guide rail 800 during times of high radial forces that push the trolley 880 towards the guide rail 800 and wall.
[00109] In Figures 5A, 5B and 6A a background speed controller (e.g. an eddy current braking mechanism or gear wheel mechanism as previously described) is always active.
Magnets 718 are attached to the underside of each swivel arm 818, with the magnetic fields shielded by one or more ferromagnetic and non-ferromagnetic coverings, for example three shields 715, 716, 717 as shown in Figures 5A and 6A, and as previously described with reference to Figures 2A and 3A. The magnets 718 face the guide rail surface 803 (Figures 5A, 5B and 6A) that is composed of a conductive, but non-ferromagnetic material (e.g. aluminum).
Alternatively, as illustrated in Figure 5E, the fall control system may not comprise a background speed controller. For example, if the fall control system is used in a location where the guide rail of the fall control system is positioned horizontally with respect to the floor, and the guide rail is not positioned at an angle with respect to the floor, for example located beside a set of stairs, then fall control system may only require the (primary) speed controller that is activated during a fall event by the user, and the background speed control system may be omitted.
[00110] Figures 5A and 5D illustrate a hanger 720, braking arm plate 722, and rollers/balls 727 as previously described for Figures 3A and 3B. However, in contrast to Figures 3A and 3B, the one or more than one biasing member 730, for example a spring, rubber member or other resilient member, is located below the lower edge of the braking arm plate 726a. The biasing member 730 biases the braking plate 726 away from the bottom ledge of the guiding bracket 729. In a falling orientation, the braking plate 726 is pulled down, engaging the speed control track 703a with the braking arm surface 703b, thereby activating the braking mechanism. Also in contrast to Figures 3A and 3B, the speed control track 703a and corresponding opposing braking arm surface 703b both slope down toward the wall. This prevents the trolley from being pulled away from the guide rail 800 during a strong braking action, if a user vigorously pulls down on the braking arm 722. Figure 5D also illustrates thin flexible shields 728 that protect the user from getting fingers, other body parts, or clothing caught between the braking arm plate 726 and the guiding brackets 729. The features shown in Figures 5A-5D may also be used in the embodiments illustrated in Figures 3A
and 3B.
[00111] Figure 6A has a speed controller comprising a similar braking mechanism to the embodiments illustrated in Figures 2A and 2B. The differences in the braking arm mechanism are: a) as illustrated in Figure 6B, the bottom of the braking arm 722, when viewed from the front, is narrower than the lower portion of the braking arm as shown in Figure 2B
(this permits the lower portion of the braking arm 722, when viewed from the front, to sit between swivel arms 818), but the option exists for braking arm 722 to be wider e.g. if it extended below the lower edge of the trolley while still permitting the surface of the braking arm 703b to engage the surface of the elongate guide rail 703a; and b) surfaces 703a and 703b slope upward toward the wall to allow for better grip of the braking surfaces.
Top plate 821 may comprise an opening to permit the passage of braking arm 722, of alternatively top plate 821 may be dimensioned such that it does not overlap or interfere with the passage of braking arm 722. Guiding wheels 831 as shown in Figure 5B may also be present in the embodiment shown in Figure 6. The additional or alternative features shown in Figures 5A
and 5B may also be used in the embodiments illustrated in Figures 2A and 2B and vice versa.
[00112] For several of the embodiments described herein, it is anticipated that the guide rail 800 will be usually installed on flat, non-curved walls. However, if curved rail is installed to navigate inside or outside corners (for example an inside corner within a stairwell, or an outside corner between a hall and a room), then a portion of the rail may be mounted at a greater distance away from the wall as the curved rail passes around the corner, since the radius of the curve of the rail may be greater than the curve of the corner. In this case, one or more brackets bridging the distance between the guide rail and the wall may he needed to provide adequate support for the guide rail 800 and trolley 880 system. When navigating tight turns where the guide rail 800 is in a convex configuration relative to the trolley 880, the center of the trolley may slightly move toward the guide rail 800 and wall, and in some cases may cause the end of the braking arm 722 to partially overshoot the guide rail 800, and potentially strike the wall. It is anticipated that in applications where the guide rail 800 is in a convex orientation relative to the trolley 880, that the guide rail 800 will be positioned away from the wall by brackets, which would allow the braking arm 722 to partially overshoot the guide rail 800 without hitting the wall.
[00113] The guide rail 110 may be provided in sections, e.g.
in 1, 2, 4, or 8 foot, or other lengths, and may be directly attached to the wall, or metal brackets can first be installed on the wall to which the guide rails are attached. An advantage to first installing the metal brackets is that for walls with unevenly spaced wall studs, screws or other fastening devices can be placed at almost any point in the bracket that attaches to the wall. The metal brackets may have guiding slots at both ends to ensure good alignment of the brackets end-to-end. Pre-drilled holes in the metal bracket may match the hole spacing in the guide rails for easy and perfect alignment using bolts or other fastening devices. This bracket system may be used for the installation of all the guide rail embodiments discussed herein.

[00114] For the embodiments described herein, the tether attachment end of the braking arm or trolley is offset from, and extends outward from, the elongate guide rail at a distance perpendicular to the plane (or longitudinal axis) of the elongate guide rail (i.e. it is not directly above or below the elongate guide rail), meaning that the forces (e.g.
torsional force) applied by the user as well as gravitational forces must be considered. For all embodiments, particularly in applications where the device is used on stairs, multidirectional forces on the hanger 146, 720 would be anticipated. Without wishing to be bound by theory, increasing the ratio of the bearing length (the length between the axels of the outermost wheels; distance X
shown in Figure 2B) to the lever length (distance Y- shown in Figures 2A and 3A) reduces the risk of the trolley binding (sticking) on the guide rail. Since the braking arm 722 extends outwards from the plane of the plain bearing/wheel assembly, during use while the user is walking, ascending or descending stairs and the trolley is moving along the guide rail, the user exerts forces on the braking arm 722 in two directions, down, as well as outward, from the wall. As a result, the "lever length" is a combination of both the length, Y
(distance from the rollers 710 to the hanger 720 at right angles to the rail; Figures 2A and 3A), and length, Y' (Y
prime; the distance between the axel of roller 710 and the hanger 720 in the same plane as the guide rail, resulting in length Y" (Y double prime), the compound moment arm distance. For embodiments where a plain bearing (or other linear motion system) between the trolley and guide rail is used, binding may be avoided by approximating (e.g. not exceeding) a 2:1 ratio (of the moment arm distance, Y" : bearing length, X). The 2:1 ratio is also known as the "Binding Ratio" (see URL: pages.pbclinear.com/rs/909-BFY-775/images/White-Paper-Demystifying-the-2-1-Ratio-and-Stick-Slip-Phenomenon.pdf). The "binding ratio"
may be defined as the maximum ratio of moment arm distance (Y") to bearing length (X) which will not bind (prevent motion) of the linear bearing or wheels, when a torque is applied to braking arm 722. For example, in a plain bearing system, the composite length of the braking arm 722 from point of attachment at the trolley at 725 to the end of the hanger 720 where the trolley is attached to the user (distance Y"; Y double prime) should not exceed twice the width of the bearing length where the trolley contacts the guide rail at each end (distance X). The ratio may be higher for linear systems with ball bearing or wheel systems, depending on the coefficient of friction.

[00115] In an analogous manner, binding may also be considered for the ratio of the moment arm distance, Y" (Y double prime), of the braking plate 726 and guide brackets 729 (Figures 3A and 5A) to the bearing length (X). As shown in Figures 3A and 3B
(not to scale), the bearing length is wide relative to the moment arm distance Y", thus reducing bearing friction resulting from torque applied to the trolley body during a fall event.
[00116] A second potential site of binding that is avoided in the designs discussed herein is within the braking mechanism itself. For example, in Figures 2A-2B and 6A-6B, the width of the cylindrical shaft 725 (analogous to "X" in a plain bearing system) is maximized, and the horizontal distance between the outer edge of hanger 720 to the braking shaft 725 (analogous to "Y") is minimized to prevent binding of the braking shaft 725 when rotating inside the middle cylindrical surround 721. Another example is Figures 3A-3B and 5A-5D, where the width of the braking arm plate 726 (analogous to ")C) is maximized, and the horizontal distance between the outer edge of the hanger 720 to the braking arm plate 726 (analogous to "Y") is minimized to prevent binding of the plate 726 within the guiding bracket 729. This second potential binding site may play a role in wall mounted fall control systems wherein in the event of a fall, multidirectional forces acting on the braking arm have the potential to cause binding. In contrast, the second potential binding site is relatively unimportant in overhead fall control systems known in the art, where the braking mechanism consists of a lever being pulled straight down, with little or no forces pulling it to one side or the other.
[00117] To further reduce the chance of the braking plate 726 binding against the guide brackets 729, nylon or other low friction material can be placed on a surface of the trolley body 728 adjacent the ends of the braking plate on the inner guide bracket 729 to provide a smooth gliding surface between the braking plate 726 and the guide brackets 729. In some embodiments, rolling elements 727 are not present and a smooth, low friction surface on the inside of the guide bracket 729 is instead provided. Since it is anticipated that falls would be infrequent, there would be minimal wear on the rolling elements and low-friction surfaces.
[00118] It is contemplated that any part of any aspect or embodiment discussed in this specification can he implemented or combined with any part of any other aspect or embodiment discussed in this specification. While particular embodiments have been described in the foregoing, it is to be understood that other embodiments are possible and are intended to be included herein. It will be clear to any person skilled in the art that modification of and adjustment to the foregoing embodiments, not shown, is possible.

Claims

1. A fall control system comprising, an elongate guide rail extending along an axis comprising one or more than one raceway, the elongate guide rail for mounting to a wall, a trolley configured to move along the one or more than one raceway of the elongate guide rail, the trolley comprising a trolley body and a braking arm, the braking arm moveably coupled to the trolley body, the braking arm moveable from a first position to a second position, the braking arm comprising an attachment end and a braking end, the attachment end of the braking arm extending outwards from the trolley body in a direction substantially perpendicular to a longitudinal plane of the elongate guide rail;
a tether attached at a first end of the attachment end of the braking arm, a second end of the tether for attaching to a user, and a speed control system for controlling a speed of the trolley along the elongate guide rail, the speed control system comprising:
one or more than one speed control track extending along the axis of the elongate guide rail on an outer surface of the elongate guide rail, the one or more than one speed control track comprising a first surface; and a speed controller coupled to the trolley, the speed controller comprising a surface at the braking end of the braking arm for frictionally interacting with the first surface of the one or more than one speed control track, wherein the braking arm is movable from the first position when the trolley is in the travelling orientation and the speed controller does not reduce speed, or temporarily stop movement, of the trolley along the elongate guide rail, to the second position when the trolley is in a falling orientation, so that the surface of the braking arm frictionally interacts with the first surface of the one or more than one speed control track, and the speed controller reduces speed, or temporarily stops movement, of the trolley along the elongate guide rail, the speed controller for controlling the speed of the trolley along the elongate guide rail in the falling orientation, and the first surface of the speed control track is a sinusoidal wave surface and the surface of the braking arm is a flat surface or a sinusoidal wave surface, or the first surface of the speed control track is a flat surface and the surface of the braking arm is a sinusoidal wave surface or a flat surface.

2. The fall control system of claim 1, wherein the one or more than one speed control track is on an outer upper surface of the elongate guide rail, an outer lower surface of the elongate guide rail, an outer side surface of the elongate guide rail, or a combination thereof.

3. The fall control system of claim 1 or 2, wherein the braking arm is pivotally coupled to the trolley body.

4. The fall control system of claim 3, wherein the braking arm comprises a circular shaft extending substantially parallel to the elongate guide rail for pivotally displacing the braking arm between the first position and the second position, the braking arm biased to the first position, the first surface of the speed control track is on the outer lower surface of the elongate guide rail and the surface of the trolley is on a lower end of the braking arm and positioned to face the first surface of the speed control track, and wherein in the first position, the surface of the trolley does not frictionally interact with the first speed control track, and wherein in the second position, the surface of the trolley frictionally interacts with the first surface of the speed control track.

5. The fall control system of claim 1 or 2, wherein the braking arm i s slidably coupled to the trolley body.

6. The fall control system of claim 5, wherein the braking arm is slidable in a plane parallel to the plane of the elongate guide rail from the first position to the second position, the braking arm biased to the first position, the first surface of the speed control track is on the outer upper surface of the elongate guide rail and the surface of the trolley is on an upper end of the braking arm and positioned to face the first surface of the speed control track, and wherein in the first position, the surface of the trolley does not frictionally interact with the first speed control track, and wherein in the second position, the surface of the trolley frictionally interacts with the first surface of the speed control track.

7. The fall control system of claim 6, further comprising a braking plate moveable in a compartment formed by the body of the trolley and a guide plate, the braking plate slidable in a plane parallel to the elongate guide rail when the braking arm moves from the first position to the second position.

8. The fall control system of any one of claims 1 to 7, further comprising a pad attached to the trolley and configured to be positioned between the user and the wall when the trolley is mounted on the guide rail and the guide rail is mounted on the wall, the pad moveable with the trolley along the elongate guide rail.

9. The fall control system of claim 8, wherein the pad comprises one or more than one holes to allow the user to hold a handrail mounted on the wall, or the pad comprises the handrail attached to or built-in to the pad.

10. The fall control system of claim 8 or 9, wherein the pad is positioned to cover the trolley, a portion of the guide rail, or a combination thereof.

11. The fall control system of any one of claims 8 to 10, wherein the pad is removably attached to the trolley, the pad is foldable, the pad comprises one or more than one pad wheel at a lower edge of the pad, the pad comprises one or more attachment point to a gait assist device, or a combination thereof.

12. The fall control system of any one of claims 1 to 11, the speed control system further comprising a background speed controller coupled to the trolley and engaged with the elongate guide rail, the background speed controller for controlling the speed of the trolley along the elongate guide rail in a travelling orientation while the user is walking, ascending stairs, or descending stairs.

13. The fall control system of claim 12, the background speed controller comprising one or more than one magnet on the trolley and the elongate guide rail comprising a conductive portion extending along a portion of the elongate guide rail.

14. The fall control system of any one of claims 1 to 13, wherein:
the first surface of the speed control track and the surface of the braking arm of the speed controller are both flat surfaces; or the first surface of the speed control track and the surface of the braking arm of the speed controller are both sinusoidal wave surfaces.

15. The fall control system of any one of claims 1 to 13, wherein:
the first surface of the speed control track is a sinusoidal wave surface and the surface of the braking arm of the speed control track is a flat surface; or the first surface of the speed control track is a flat surface and the surface of the braking arm of the speed control track is a sinusoidal wave surface.

16. The fall control system of any one of claims 1 to 15, wherein the first surface of the speed control track, the surface of the braking arm of the speed controller, or both the first surface of the speed control track and the surface of the braking arm of the speed controller, is a material selected from a group consisting of: metal, sandblasted metal, rubber, sandblasted rubber, polymeric material, and sandblasted polymeric material; or, both the first surface of the speed control track and the surface of the braking arm of the speed controller comprise a brake pad.

17. The fall control system of any one of claims 1 to 16, wherein the tether comprises two or more attachment points at the second end for attaching the trolley to the user.

18. The fall control system of any one of claims 1 to 17, further comprising one or more than one second trolley for moving along the elongate guide rail, and a second tether attached to the one or more than one second trolley at a first end, a second end of the second tether for attaching to the user.

19. The fall control system of any one of claims 1 to 18, wherein the attachment end of the trolley comprises a hanger for attaching the first end of the tether to the trolley.

20. The fall control system of any one of claims 1 to 19, the trolley comprising one or more than one roller for moving the trolley along the one or more than one raceway of the elongate guide rail, the fall control system further comprising a background speed controller comprising a gear wheel coupled to the one or more than one roller of the trolley, the gear wheel comprising a plurality of teeth, and the trolley comprising a moveable arm configured to interact with the teeth of the gear wheel.

21. A fall control trolley for moving along a w all-mounted elongate guide rail, the elongate guide rail comprising one or more than one raceway and one or more than one speed control track extending along the axis of the elongate guide rail, the one or more than one speed control track comprising a first surface;
the trolley comprising a trolley body and a braking arm, the braking arm attached to the trolley body and moveable from a first position to a second position, the braking arm comprising an attachment end and a braking end, the attachment end of the braking arm extending outwards from the trolley body in a direction substantially perpendicular to a longitudinal plane of the elongate guide rail when the trolley is mounted on the elongate guide rail;
a tether attached at a first end of the attachment end of the braking arm, a second end of the tether for attaching to a user, and a speed controller coupled to the trolley for controlling a speed of the trolley along the elongate guide rail, the speed controller comprising a surface of the braking arm for frictionally interacting with the first surface of one or more than one speed control track of the elongate guide rail, wherein the braking arm is movable from the first position when the trolley is in the travelling orientation and the speed controller does not reduce speed, or temporarily stop movement, of the trolley along the elongate guide rail, to the second position when the trolley is in a falling orientation, so that the surface of the braking arm frictionally interacts with the first surface of the one or more than one speed control track, and the speed controller reduces speed, or temporarily stops movement, of the trolley along the elongate guide rail, the speed controller for controlling the speed of the trolley along the elongate guide rail in the falling orientation, wherein the surface of the braking arm is a flat surface or a sinusoidal wave surface.

22. A fall control system comprising, an elongate guide rail comprising one or more than one pair of raceways, a trolley comprising one or more than one pair of rollers for moving the trolley along the one or more than one pair of raceways of the elongate guide rail, the trolley comprising a trolley body and a braking arm moveably coupled to the trolley body, the braking arm moveable from a first position to a second position, a tether attached to the trolley at a first end, a second end of the tether for attaching to a user, and a speed control system for controlling a speed of the trolley along the elongate guide rail, the speed control system comprising:
one or more than one speed control track extending along the axis of the elongate guide rail, the one or more than one speed control track comprising a first surface; and a speed controller coupled to the trolley, the speed controller comprising a surface of the trolley for frictionally interacting with the first surface of the one or more than one speed control track, wherein the braking arm is movable from the first position when the trolley is in the travelling orientation and the speed controller does not reduce speed, or temporarily stop movement, of the trolley along the elongate guide rail, to the second position when the trolley is in a falling orientation and the speed controller reduces speed, or temporarily stops movement, of the trolley along the elongate guide rail, the speed controller for controlling the speed of the trolley along the elongate guide rail in the falling orientation, and the first surface of the speed control track is a sinusoidal wave surface and the surface of the trolley of the speed control track is a flat surface or a sinusoidal wave surface, or the first surface of the speed control track is a flat surface and the surface of the trolley of the speed control track is a sinusoidal wave surface or a flat surface, wherein the one or more than one pair of rollers are attached to each end of a swivel arm that rotates around a pivot on the trolley body having a first axis of rotation substantially perpendicular to the direction of movement of the trolley and substantially perpendicular to the longitudinal plane of the elongate guide rail, and wherein each roller in each one or more pair of rollers i s pi votabl e about a second ax i s of rotati on sub stan ti ally perpen di cul ar to the di recti on of movement of the trolley and substantially parallel to the longitudinal plane of the elongate guide rail, wherein the movement of the swivel arm about the first axis of rotation and movement of each roller about the second axis of rotation allow the trolley to move along an elongate guide rail curving in any direction.

23. The fall control system of claim 22, wherein the braking arm comprises an attachment end and a braking end, the attachment end of the braking arm extending outwards from the trolley body in a direction substantially perpendicular to a longitudinal plane of the elongate guide rail.

24. The fall control system of claim 22 or 23, wherein the braking arm is pivotally coupled to the trolley body.

25. The fall control system of claim 24, wherein the braking arm comprises a circular shaft extending substantially parallel to the elongate guide rail for pivotally displacing the braking arm between the first position and the second position, the braking arm biased to the first position, the first surface of the speed control track is on a lower surface of the elongate guide rail and the surface of the trolley is on a lower end of the braking arm and positioned to face the first surface of the speed control track, and wherein in the first position, the surface of the trolley does not frictionally interact with the first speed control track, and wherein in the second position, the surface of the trolley frictionally interacts with the first surface of the speed control track.

26. The fall control system of claim 22 or 23, wherein the braking arm is slidably coupled to the trolley body.

27. The fall control system of claim 26, wherein the braking arm is slidable in a plane parallel to the plane of the elongate guide rail from the first position to the second position, the braking arm biased to the first position, the first surface of the speed control track is on an upper end of the elongate guide rail and the surface of the trolley is on an upper end of the braking arm and positioned to face the first surface of the speed control track, and wherein in the first position, the surface of the trolley does not frictionally interact with the first speed control track, and wherein in the second position, the surface of the trolley frictionally interacts with the first surface of the speed control track.

28. The fall control system of claim 27, further comprising a braking plate moveable in a compartment formed by the body of the trolley and a guide plate, the braking plate slidable in a plane parallel to the elongate guide rail when the braking arm moves from the first position to the second position.

29. The fall control system of any one of claims 22 to 28, the speed control system further comprising a background speed controller coupled to the trolley and engaged with the elongate guide rail, the background speed controller for controlling the speed of the trolley along the elongate guide rail in a travelling orientation while the user is walking, ascending stairs, or descending stairs.

30. The fall control system of claim 29, the background speed controller comprising one or more than one magnet on the trolley and the elongate guide rail comprising a conductive portion extending along the elongate guide rail.

31. The fall control system of any one of claims 22 to 30, the fall control system comprising a secondary wheel assembly comprising a secondary wheel for interacting with a surface of the elongate guide rail, the secondary wheel assembly optionally comprising a retainer for biasing the secondary wheel towards the surface of the elongate guide rail, optionally wherein the secondary wheel is a deformable wheel.

32. A fall control system comprising:
an elongate guide rail extending along an axis;
a trolley configured to move along the elongate guide rail, the trolley moveable from a first position to a second position:

a speed control system for controlling a speed of the trolley along the elongate guide rail when the trolley is in the second position, the trolley moveable from the first position when the trolley is in a travelling orientation and the speed control system does not reduce speed, or temporarily stop movement, of the trolley along the elongate guide rail, to the second position when the trolley is in the falling orientation, and the speed control system reduces speed, or temporarily stops movement, of the trolley along the elongate guide rail;
a pad attached to the trolley and configured to be positioned between the user and a wall when the trolley is mounted on the guide rail and the guide rail is mounted on the wall, the pad moveable with the trolley along the elongate guide rail.

33. The fall control system of claim 32, wherein the pad comprises one or more than one holes to allow the user to hold a handrail mounted on the wall, or the pad comprises the handrail attached to or built-in to the pad.

34. The fall control system of claim 32 or 33, wherein the pad is positioned to cover the trolley, a portion of the guide rail, or a combination thereof.

35. The fall control system of any one of claims 32 to 34, wherein the pad is removably attached to the trolley, the pad is foldable, the pad comprises one or more than one pad wheel at a lower edge of the pad, the pad comprises one or more attachment point to a gait assist device, or a combination thereof.