FR3066397A1 - DEVICE FOR TRAINING ON THE MARKET - Google Patents

Abstract

The invention relates to a gait device (100) comprising - a treadmill (120) comprising a tread (121) and rolling members (122-124), and - a frame (130) on which is mounted the treadmill, the rolling members comprising: - a plurality of balls (122-124) distributed around a central core (126), and - a cage (125) trapping the plurality of balls to maintain said balls on the central core by allowing their mobility with respect to said central core, the tread (121) being able to slide on the balls and to drive said balls in rotation on the central core.

Description

WALKING TRAINING DEVICE

TECHNICAL AREA

The present invention relates to a gait training device, in particular for the rehabilitation of patients with injuries or gait disturbances or for training athletes. The invention finds applications in the medical field, for example for re-education in traumatology, rheumatology and neurology, or in the sports field for walking or running training or in the field of simulators and games. io video to simulate the movement of a user.

STATE OF THE ART

Treadmills are known, both in the medical field and in the sports field, for training a patient, an athlete or any other user in walking or running. These treadmills allow the number of steps to be repeated at different speeds, or even slopes.

Numerous medical studies have demonstrated the interest of these treadmills for the rehabilitation of patients with rheumatological or neurological injuries or ailments or in elderly patients for walking training. In fact, it has been shown that the use of a treadmill improves the walking performance of these patients compared to conventional rehabilitation practiced only with the help of a therapist.

In the sports field, whether for the training of a high level sportsman or for the practice of an occasional physical activity, the treadmill makes it possible to reproduce, indoors, the walking or running practiced generally in full air, with substantially identical effects on the body.

A conventional treadmill, such as that shown in FIG. 1 and referenced 10, generally comprises a chassis 11 in which a tread 12 is moved. This tread 12 is an endless strip, that is to say forming a closed loop, of flexible material driven and supported by pulleys or drums 13. The pulleys and / or drums 13 are mounted transversely in the chassis 11 , inside the tread so that said tread is in tension between the two pulleys and / or drums

13. The pulleys and / or drums 13 are rotated by a motor not shown in Figure 1 but generally housed in the chassis, so as to scroll the tread.

A conventional treadmill 10 generally comprises a console 15 provided with a control keyboard for controlling, for example, the starting, stopping, the speed and sometimes the inclination of the tread 12 and a screen for view speed and slope data and / or medical data.

In addition, a conventional treadmill generally comprises holding arms 14, fixed to the chassis and positioned substantially vertically above the tread 12. These holding arms 14 can be grip handles which allow the user to synchronize its movements with the running of the tread, in particular when the treadmill is used for sports applications. The holding arms 14 can also be parallel bars, as shown in FIG. 1, which allow the user to have brachial support when moving his legs, in particular when the treadmill is used for medical purposes.

Classic treadmills have a drawback in terms of adaptability. Even if the running conditions of the tread (running speed and incline) may vary, these conditions meet predefined parameters, determined independently of the user. The user, or his therapist, can choose the conditions for running the tread from a selection of predetermined conditions, but this selection of conditions is invariable regardless of the user of the mat. The user must therefore adapt to the running speed of the tread. However, some patients, especially those with gait disorders, have difficulty following a regular and continuous walking pace. For these patients, walking on a tread with regular and continuous scrolling generates falls. These patients cannot use a treadmill alone. A therapist must watch over each of them at all times in order to be able to intervene quickly in the event of a fall or the risk of a fall.

SUMMARY OF THE INVENTION

To respond to the problem mentioned above of the adaptability of the user to the running speed of the tread, the applicant proposes a walking training device in which the running speed of the tread is imposed by the user and not by the machine.

According to a first aspect, the invention relates to a gait training device comprising:

- a treadmill comprising a tread and rolling members, and

- a chassis on which the treadmill is mounted.

This device is characterized by the fact that the rolling members comprise a plurality of balls distributed around a central core, and a cage trapping the plurality of balls to hold said balls on the central core while allowing their mobility relative to said central core. , the tread being able to slide on the balls and to drive the said balls in rotation on the central core.

In this device, the tread is driven in displacement as the user steps. It is therefore the user himself who imposes the speed of movement of the tread.

In the following description, the walking training device will be described with reference to an orthonormal reference frame XYZ, in which the plane XZ is a plane parallel to the surface of the ground on which the training device is placed. step and in which the Y axis is an axis perpendicular to the XZ plane.

In addition, in this description, the arrangement of the balls of the device will be described with reference to the central core which constitutes the base of the treadmill, that is to say the support structure of the running members and of the tread. This central core has a surface and a sub-face, in substantially parallel planes, and a circumference or periphery perpendicular to the surface and sub-face planes. The surface is the face of the central core closest to the user's walking surface. The underside is the face, opposite the surface, closest to the ground surface.

Advantageously, the tread envelopes the central core, the cage and the plurality of balls. Thus, the tread can be moved in all directions of the walking surface.

Advantageously, the plurality of balls comprises sliding balls distributed on the surface of the central core and housed in first housings of said central core. These sliding balls allow the tread to slide over the surface of the central core.

Advantageously, the plurality of balls comprises support balls distributed on the underside of the central core and housed in first housings of said central core. These support balls allow the movement of the tread.

Advantageously, the sliding balls have a diameter smaller than the diameter of the support balls.

Advantageously, the chassis has an internal wall equipped with second housings, the second housings being adapted to receive at least support balls attached to the support balls of the central core.

Advantageously, the chassis support balls and the central core support balls are formed respectively on either side of the tread. This arrangement of the balls allows the tread to move continuously, smoothly, smoothly, which allows the user to move on the treadmill as on a floor.

Advantageously, the plurality of balls comprises positioning balls or rollers positioned laterally on the central core and housed in first housings of said central core.

Advantageously, the chassis comprises positioning balls or rollers housed in second housings of the chassis and each attached to a positioning ball or roller of the central core.

Advantageously, the balls or rollers for positioning the chassis and the balls or rollers for positioning the central core are formed respectively on either side of the tread. This arrangement of positioning balls or rollers contributes to the fluidity of movement of the tread.

Advantageously, the walking training device comprises a safety device and / or a user retaining device able to be positioned vertically on the chassis so as to reassure and / or help to maintain the user, especially when this is a patient with gait disturbances.

Advantageously, the walking training device comprises an external structure in which is mounted the assembly formed by the chassis and the treadmill, and a tilt system connecting the chassis and the external structure to tilt said chassis relative to to the external structure. Such a configuration of the device makes it possible to simulate a sloping ground and to train a user to walk on a slope.

BRIEF DESCRIPTION OF THE FIGURES

Other advantages and characteristics of the invention will appear on reading the description, illustrated by the figures in which:

- Figure 1 shows an example of a treadmill according to the prior art.

io - Figures 2A and 2B show views, respectively from the front and in perspective, of an example of a gait training device according to the invention.

- Figure 3 schematically shows an example of a treadmill of the walking training device of Figure 2.

- Figure 4 schematically shows an example of the treadmill of Figure 3 mounted in a frame of the walking training device according to the invention.

- Figure 5 schematically shows an example of the chassis block of Figure 4 mounted in an external structure so as to be tiltable.

- Figures 6A, 6B and 6C schematically show top views of different variants of the tilting system of the chassis block in the external structure.

DETAILED DESCRIPTION OF AT LEAST ONE EMBODIMENT

An exemplary embodiment of a walking training device in which the running speed of the tread adapts to the user is described in detail below, with reference to the accompanying drawings. This example illustrates the characteristics and advantages of the invention. It is however recalled that the invention is not limited to this example.

In the figures, identical elements are identified by identical references. For reasons of readability of the figures, the size scales between the elements represented are not respected.

FIGS. 2A and 2B show a side view and a perspective view of the walking training device according to certain embodiments of the invention. This training device 100 comprises a treadmill 120 mounted in a frame 130 placed on the ground or on any other flat surface intended to receive the training device 100. The treadmill 120 is adapted to be driven in movement by a patient or any other user, in the walking position on said mat.

io The frame 130 is a rigid structure, for example made of metal or plastic, hollow, in which the conveyor belt 120 is placed. The frame 130 may have, for example, a shape of a rectangular or cylindrical basin with a tight neck making it possible to surround the conveyor belt 120 while leaving the surface of said conveyor free. The assembly consisting of the treadmill 120 and the chassis 130 forms a chassis block

110. In certain embodiments, the chassis block 110 is placed directly on the ground or on any flat surface parallel to the ground. In other embodiments, which will be described later, the chassis block 110 is mounted in an external structure 170 placed on the ground or on any flat surface parallel to the ground.

The treadmill 120 has a tread 121 intended to be moved by sliding on rolling members 122-124. Indeed, as will be described in more detail below, the user making steps on the belt generates a displacement of the tread on the rolling members. These rolling members comprise, as shown in FIG. 3, a plurality of balls 122-124 distributed around a central core 126 and housed in said core. The central core 126 can be a plate, for example parallelepiped or cylindrical, solid or partially hollow. The central core 126 can be made, for example, of Titanium - which has the advantage of being very resistant - or of Steel - which has the advantage of being cheaper than Titanium - or of Aluminum - which has the advantage of being light and having a good hygienic level - or even in composite materials - which have the advantage of being particularly light. The central core 126 can also be produced using several of the aforementioned materials such as, for example, a composite material for the entire core with titanium reinforcements in order to make the core more resistant to impact.

The central core 126 may include a plurality of housings 127, called first housings, adapted to each receive one of the balls 122-124. In certain variants, each housing 127 is hollowed out in the material forming the central core 126. In other variants, the central core 126 is manufactured, for example by molding, with the plurality of housings 127. Depending on the material chosen for the central core 126, reinforcements, for example made of titanium, can be arranged in the housings or in the vicinity of said housings 127 in order to reinforce the structure of the core and / or facilitate the sliding of the balls 122-124 in their respective housings.

io A cage 125 is provided around the central core 126 to trap the balls 122-124 in order to keep them in their respective housing 127 while allowing their mobility in said housing. The cage 125 of the central core can be a box - of shape substantially identical to that of the central core 126 but of substantially larger dimensions - the walls of which have openings facing the housings 127 of the central core 126. According to a variant, the cage 125 may be a rigid or semi-rigid frame, of the lattice type, having openings facing the housings 127 of the central core 126. The openings in the box or in the frame have dimensions allowing partial passage of the balls 122-124, that is to say the crossing of a portion less than half of the sphere forming each of the balls, this portion being called "external part of the balls". Thus, each of the balls 122-124 is placed in a housing 127 of the central core 126 and passes partly through an opening of the cage 125 so as to protrude from said cage while remaining held between the central core 126 and the cage 125 .

The tread 121 is an envelope made of a flexible material, of the fabric or rubber type, mounted and stretched around the balls 122-124. The material in which the tread 121 is formed has a predetermined elasticity and structure making it possible to form an envelope which surrounds the entire assembly formed by the central core 126, the cage 125 and the balls 12230 124. The tread bearing 121 is therefore in contact with the external part of each ball 122-124, that is to say with the part of each of the balls which is outside the cage 125. In this way, any movement of the tread

121 is accompanied by a rotation of the balls 122-124 in their respective housings 127.

The treadmill 120 may take the form, for example, of a straight block or of a cylinder whose height is small compared to the lateral (if straight block) or radial (if cylinder) dimensions. In other words, the section of the treadmill 120 may have a shape of a parallelogram, for example of a rectangle, or a shape of a disc. In the examples of FIGS. 2A and 2B, the treadmill 120 has the shape of a flat cylinder and comprises a central cylindrical core 126, surrounded by a cylindrical cage 125, itself surrounded by a tread 121 forming an envelope io cylindrical.

Housing 127, each intended to receive one of the balls 122-124, is distributed over the surface 126a and the underside 126b of the cylindrical central core 126 as well as around its circumference 126c. According to certain embodiments, and as shown in the example of FIG. 3, the balls 122-124 are distributed over the central core 126 according to their function. For example, sliding balls 122, intended to ensure the sliding of the tread 121, are distributed over the surface 126a of the central core; support balls 124, intended to support the central core 126 and ensure the movement of the tread 121, are distributed on the underside 126b of the central core; positioning balls 123, intended to ensure the positioning of the central core in the chassis and the movement of the tread 121, are distributed over the circumference of said central core 126.

The sliding balls 122 are, according to certain embodiments, of dimensions smaller than the dimensions of the support balls 124 and of the positioning balls 123. The sliding balls 122 preferably have a diameter less than 10 mm so as to ensure, at the user, a feeling of flatness when walking. They can have, for example, a diameter of 5mm. The small dimension of the sliding balls 122, relative to the support balls and the positioning balls, allows the tread 121 to slide on the central core 126, that is to say to move continuously and fluid, developing minimum effort. It also allows the user not to feel, under his feet, the undulations of the balls and give him the feeling of walking on a flat structure like a ground.

The support balls 124 and the positioning balls 123 are balls of dimensions greater than the dimensions of the sliding balls 122 and whose role is to ensure the movement of the tread around the central core 126.

In a variant, the support balls 124 and 134 have a diameter greater than that of the positioning balls 123 and 133. The positioning balls 123, 133 may have, for example, a diameter of the order of ten times the diameter of the sliding balls 122. The support balls 124, 134 can have, for example, a diameter of the order of twenty times the diameter of the sliding balls 122. In particular, the positioning balls can have a diameter of 50 mm and the support balls have a diameter of 100mm.

These support 124 and positioning 123 balls are each associated with an identical ball positioned in the chassis. Each support ball 124 and positioning ball 123 of the treadmill 120 is adapted to interact with, respectively, a support ball 134 and a positioning ball 133 of the chassis 130. Examples of pairs of support balls 124, 134 and couples positioning balls 123, 133 are shown in FIG. 4. As shown in FIG. 4, the support balls 134 of the chassis 130 and the positioning balls 133 of the chassis 130 are housed in housings 137, called second housings, formed in the inner wall 131 of the chassis 130. A chassis cage 135 is mounted at least partially along the internal wall 131 of the chassis so as to hold the support 134 and positioning balls 133 in their housings 137. As for the cage 125 of the central core, the cage 135 of the chassis can be a rigid or semi-rigid reinforcement, of the lattice type, having openings facing the housings 137 of the chassis. According to a variant, the cage 135 of the chassis may be a U-shaped receptacle - with dimensions substantially smaller than the dimensions of the internal display 131 - the walls of which have openings facing the housings 137 of the chassis 130. The openings in the receptacle or in the frame have dimensions allowing the partial crossing of the balls 133-134, that is to say the crossing of a portion less than half of the sphere forming each of the balls, this portion being called "part external of the balls ”. Thus, each of the balls 133-134 is placed in a housing 137 of the chassis 130 and passes partly through an opening of the cage 135 so as to protrude from said cage while remaining held between the chassis 130 and the chassis cage 135.

1. The support balls 124 of the central core and the support balls 134 of the chassis are identical balls, of the same dimensions and made of the same material. Each support ball 124 is positioned opposite a support ball 134 and is separated from said ball 134 by the tread 121. Each support ball 134 is mounted by ball joint in a housing 137 of the chassis.

Likewise, the positioning balls 123 of the central core and the positioning balls 133 of the chassis are identical balls, of the same dimensions and made of the same material. Each positioning ball 123 is positioned opposite a positioning ball 133 and is separated from said ball

133 by the tread 121.

Thus, the tread 121, which envelops the central core 126 and all of the balls 122-124 of the core, is positioned so as to separate the support balls 124 from the core of the support balls 134 of the chassis and the balls positioning 123 of the core of the positioning balls 133 of the chassis. The interaction between the support balls 124 of the core and the support balls 134 of the chassis makes it possible to limit the areas of the tread in contact with the chassis and / or the core and therefore limit the friction of the tread during of his movements. The movement of the tread 121 on the sliding balls 122 is thus facilitated so that the patient does not perceive this movement under his feet.

The interaction between the positioning balls 123 of the core and the positioning balls 133 of the chassis makes it possible both to ensure the correct positioning of the tread 121 around the central core 126 and to assist in the movement of said tread. bearing on the rolling balls 122. The positioning balls 123, 133 also make it possible to stretch the tread so that it does not come into contact with the cage 125 of the central core.

In certain embodiments, the positioning balls 123 and the positioning balls 133 are in a cylindrical shape, of the roller type, positioned along axes parallel to one another. The movement of the tread 121 therefore generates a rotation of each of the rollers 123,

133 in opposite directions of rotation.

It is understood from the above that the structure of the chassis 130 surrounds the treadmill 120 except the upper face 121s of the tread 121 5 also called walking surface - which is intended to accommodate the user. When the user takes steps on the treadmill 120, the tread 121 is driven in translation by the sliding balls 122. In other words, the tread slides on the sliding balls. The positioning balls 123, 133 and the support balls 124, 134 accompany this sliding so that the tread io can translate in all directions of the plane containing the walking surface 121s. In this way, it is the user who imposes his walking pace on the training device. The user is therefore not forced to adapt to a rhythm imposed by the machine; it can move at its own pace on the treadmill and the tread follows its movements. In applications in the medical field, the training device as just described promotes proprioception with unpredictable changes in rhythm and direction.

In certain embodiments, in particular those applied to the medical field represented in FIGS. 2A and 2B, the training device comprises a safety device 140 ensuring in particular the balance or the maintenance of the patient. This safety device 140 may comprise, for example, an annular structure 141 adapted to surround the patient and delimit a walking space. This annular structure 141 can be equipped, in its center, with a buoy 142 of dimensions adaptable to the patient's body size. This buoy 142 may be a plastic or rubber crown whose internal circumference is variable and whose external circumference is adapted to the annular structure 141.

In a variant, the buoy 140 is a hollow crown, filled with a gas, for example air, of the children's buoy or inner tube type. The pressure of the gas inside the buoy 142 can vary depending on the patient's build or the support desired.

Alternatively, the annular structure 141 and the buoy 142 may be equipped with a door system making it possible to open and close the annular structure and the buoy to allow the patient to be installed on the treadmill 120.

The security device 140 may further comprise telescopic feet

143 fixed on the annular structure 141 to ensure a vertical displacement of said annular structure as well as of the buoy 142. These telescopic feet 143 can be placed on the ground, around the frame 130, or else fixed in bases

111 integral with the frame 130. These telescopic feet 143 make it possible to lower the annular structure and / or the buoy to allow the patient to be installed on the treadmill 120 and to reassemble them to hold the patient.

Buoy 142 can be used to support the patient and help them maintain a standing position. In this case, the buoy should be inflated enough to surround the patient. Buoy 142 can also be used to help the patient maintain balance and reassurance. In this case, the buoy should be more slightly inflated so as to surround the patient without holding it.

The training device may also include a patient restraint system 150. This restraint system may be in the form, for example, of a shoulder belt 151 making it possible to restrain the patient in the event of a fall. This harness 151 can be fixed on the annular structure 141, or on any other structure located in the vicinity of the treadmill 120, by means of fasteners 152. These fasteners 152 can be, for example, equipped with a locking pawl associated with an accelerometer so that the shoulder belt 151 is blocked as soon as an acceleration threshold corresponding to a fall of the patient is detected.

In certain embodiments, the gait training device includes motors connected to the support balls and / or to the positioning balls in order to control the speed of movement of the tread 121 and, in particular, to avoid any acceleration of said tread. These motors, positioned in chassis 130, for example in the vicinity of the support balls 124, are connected to a control unit capable of controlling the speed and / or the direction of rotation of the support and / or positioning balls.

In some embodiments, the chassis block 110 as just described is mounted in an external structure 170, itself placed on the ground. The external structure 170 can be made, for example, from the same material as the chassis 130 and have a shape similar to said chassis but with larger external and internal dimensions so that the entire chassis block can be contained in the external structure. The chassis block 110 can be fixed in the external structure 170. The chassis block can also be movable in the external structure thus making it possible to incline the surface 121s of the treadmill 120 relative to the surface of the ground, that is to say say with respect to the XZ plane. Such an inclination makes it possible to simulate, for the patient, a rising slope and / or a falling slope. In these embodiments, an example of which is shown in FIG. 5, the walking drive device 100 comprises an inclination system 160 capable of tilting the chassis block 110, formed by the chassis 130 and the treadmill 120, by compared to the XZ plan. In these embodiments, the chassis block 110, as described above, is mounted in an external structure 170 and connected to said external structure by the tilt system 160. This tilt system 160 can be controlled to move, in the direction Y, at least part of the chassis block 110 so that said chassis block is inclined at a predetermined angle relative to the plane XZ.

For this, the tilt system 160 may comprise, for example, at least two cylinders 161-164 both positioned between the external structure 170 and the chassis 130. The cylinders may be two in number, for example the cylinders 161 and 162, positioned at opposite locations from each other of the chassis. In the case of a rectangular chassis block, one of the cylinders is positioned at the front of the mat while the other cylinder is positioned at the rear of the mat. In the case of a round chassis block, the two jacks 161, 162 are positioned on either side of the diagonal of said chassis block, as shown diagrammatically in FIG. 6A. The opposite cylinders 161, 162 are fixed to the external structure 170 by pivot links so as to allow an inclination in one direction or the other of the treadmill 120. The activation of the cylinders 161 and / or 162 makes it possible to generate a positive slope (rising slope) or negative slope (descending slope) of a variable angle. The inclination of the two opposing cylinders 161, 162 allows a relatively high degree of slope for a reduced cylinder stroke.

According to a variant, the tilt system 160 may comprise two jacks 161, 164 distributed over the same half of the chassis block and a pivot 165 fixed on the other half of the chassis block 110, as shown diagrammatically in FIG. 6B. In the case of a rectangular chassis block, the two jacks 161, 164 can both be fixed to the front of the chassis block 110, by ball joint connections on the external structure 170 and by pivot connections on the chassis block. Pivot 165 is then attached to the back of the chassis block. In the case of a round chassis block, the two cylinders 161, 164 can both be fixed on the same half-circumference of the chassis block 110, by ball joint connections on the external structure 170 and by pivot connections on the chassis block . The pivot 165 is then fixed on the other half-circumference of the chassis block, as shown in FIG. 6B. In this variant, only part of the chassis block rises with respect to the XZ plane while the other part pivots. This variant, relatively easy to use, allows a more solid fixing but a lower degree of slope than the variant of FIG. 6A.

According to another variant, the tilt system 160 may include three cylinders 161, 163, 164 distributed over the contour of the chassis block, as shown diagrammatically in FIG. 6C. They can be distributed, for example, so as to form an equilateral triangle. Each jack 161, 163, 164 can be fixed by a ball joint on the chassis block and by a pivot link on the external structure 170. This variant makes it possible to generate all kinds of inclinations, which makes it possible to simulate, for example, a movement on variable slopes.

Although described through a certain number of examples, variants and embodiments, the gait training device according to the invention includes various variants, modifications and improvements which will be obvious to those skilled in the art, being understood that these variants, modifications and improvements are part of the scope of the invention.

Claims (12)

1. Walking training device (100) comprising: a treadmill (120) comprising a tread (121) and members 5 rolling (122-124), and a chassis (130) on which is mounted the treadmill, characterized in that the rolling members comprise: a plurality of balls (122-124) distributed around a central core (126), and a cage (125) trapping the plurality of balls to hold said balls on the central core while allowing their mobility relative to said central core, the tread (121) being able to slide on the balls and to drive said balls in rotation on the central core. 2. Walking training device according to claim 1, characterized in that 15 that the tread (121) envelops the central core (126), the cage (125) and the plurality of balls (122-124). 3. A walking training device according to claim 1 or 2, characterized in that the plurality of balls includes sliding balls (122) distributed in 20 surface of the central core (126) and housed in first housings (127) of said central core. 4. Walking training device according to any one of claims 1 to 3, characterized in that the plurality of balls comprises support balls (124) 25 distributed on the underside of the central core (126) and housed in first housings (127) of said central core. 5. Walking training device according to claims 3 and 4, characterized in that the sliding balls (122) have a diameter less than the diameter of 30 support balls (124). 6. A walking training device according to claim 5, characterized in that the chassis comprises an internal wall (131) equipped with second housings (137), the second housings being adapted to receive at least support balls (134 ) attached to the support balls (124) of the central core. 7. A walking training device according to claim 6, characterized in that the support balls (134) of the chassis and the support balls (124) of the central core are formed respectively on either side of the tread (121). 8. A walking training device according to any one of claims 1 to 7, characterized in that the plurality of balls comprises positioning balls or rollers (123) positioned laterally on the central core (126) and housed in first housings (127) of said central core. 9. A walking training device according to claim 8, characterized in that the chassis comprises positioning balls or rollers (133) housed in second housings (137) of the chassis and attached to a ball or roller each. positioning (123) of the central core. 10. A walking training device according to claim 9, characterized in that the positioning balls or rollers (133) of the chassis and the positioning balls or rollers (123) of the central core are formed respectively on the one hand and on the other. other of the tread (121). 11. Walking training device according to any one of claims 25 1 to 10, characterized in that it includes a safety device and / or a user restraint device capable of being positioned vertically on the chassis. 12. Walking training device according to any one of claims 1 to 11, characterized in that it comprises: 30 - an external structure (170) in which is mounted the assembly formed by the chassis and the treadmill, and a tilt system (160) connecting the chassis and the external structure to tilt said chassis relative to the external structure.