GB2460238A

GB2460238A - A Machine that can be used as a Running or Walking Training Aid

Info

Publication number: GB2460238A
Application number: GB0809147A
Authority: GB
Inventors: Andrew Neil Salter
Original assignee: Individual
Current assignee: Individual
Priority date: 2008-05-20
Filing date: 2008-05-20
Publication date: 2009-11-25
Anticipated expiration: 2028-05-20
Also published as: GB2460238B; EP2127702A1; EP2127702B1; GB0809147D0

Abstract

A machine for exercising the lower body comprises two foot supports 16 arranged to respectively support the left foot and right foot of a user. A plurality of motors 14 and 19 and control for the motors which control the positions of the foot supports which are mechanically independent of each other and can be controlled independently of each other. This provides a machine which can be used as a running or training aid which can essentially be programmed to control the position of a user's feet independently and such that they describe any desired path.

Description

A Machine that can be used as a Running or Watkins Training Aid The present invention relates to a machine that can be used to exercise the lower body and more particularly to a machine that can be used as a walking or training aid or coaching aid.

At present exercise machines for running or walking are nornially in the form of a treadmill, which simply provides a moving pavement to avoid the user having to change location, or is a crark based system where foot supports or pedals are attached, at least at one end, to a crank to provide circular or elliptical movement, for example as in a Cross Trainer, or to provide a vertical displacement in with Stepper machines.

A problem with the treadmill is that it only permits the user to adopt their normal style of running or walking. The other machines in contrast dictate the path the user's foot is to follow hut this is predetermined by the mechanical arrangement of the machine and the predetermined path that the pedals or foot supports take by being fixed to the machine in a set manner, which is not normally changeable. These machines thus permit strength and stamina to be increased but do not provide a machine which can be used to train a person in a particular running or waking technique or style, for as example as may he desirable as a professional race training aid, or as a walking aid for people who do not have, or who have lost, the ability to walk normally.

It is an object of the present invention to provide a machine for exercising (which term for the purposes of this specification includes training the lower body) and which can he used to teach a person running andlor walking techniques.

According to the present invention there is provided a machine for exercising the lower body, the machine comprising two foot supports arranged to respectively support the left foot and right foot of a user, a plurality of motors coupled to the foot supports and a controller for the motors, wherein the position of the foot supports are mechanically independent of each other and the controller and motors can control the position of the foot supports independently of each other. The motors may he self contained electrical motors or could he actuators driven by hydraulic fluid or other means, provided they can be independently controlled. The motors, if electrical, can he servo or stepper motors so that their position can he precisely controlled.

The present invention in providing foot supports which are independent of each other can enable the foot supports to more accurately imitate the true movement of the feet during normal running and walking. For example the feet of an individual do not necessarily move at the same speed throughout the stride pattern and are not always diagonally opposed to each other. This is particularly the case for example where a runner is sprinting. A machine in accordance with the present invention therefore eliminates the traditionally mechanical linkage between the left and right feet, which most training machines or exercise machines with foot supports employ. It also avoids impact associated with treadmills and may also provide a non exertive exercise, which may be desirable for central applications such as rehabilitation after injury.

Preferably, a machine in accordance with the present invention further comprises two cranks connected to respective foot supports; two spindles connected to respective cranks; two mountings for the respective spindles; mounting supports on which the mountings may move independently of each other in a substantially linear direction; and a frame for retaining the mounting supports in a fixed position, wherein the linear position of the mountings and the angular orientation of the cranks can he controlled so that the foot supports may each have an elliptical motion.

The mounting supports may be in the form of shafts on which the respective mountings can slide.

The provision of mounting supports on which the mountings may slide permits the spindles supporting the cranks to move backwards and forwards and therefore permits the foot rests to the prescribe an elliptical pattern. If the machine further comprises two con rods each mechanically coupled to a respective spindle and the frame, so that rotation of each spindle in one direction causes the respective mounting to move back and forth in a substantially liner direction on an associated mounting support, then the respective foot support will describe an elliptical pattern depending on the length of the crank and the length of the con rod and where this is connected. The con rod could he connected to the spindle via the crank to which the foot support is attached, but may be attached to a separate crank attached to the spindle, either directly or indirectly.

Advantageously, each spindle is driven by an associated motor. Thus, the associated motor can he controlled so that the angular displacement between the spindles supporting respective cranks and thus the angular position of the respective foot supports can he varied throughout a cycle, or throughout an exercise program.

It is particularly advantageous if each crank is extendable and is in turn controlled by an associated motor, such that the distance between the spindle and the foot support may be varied by being able to control the distance between the spindle and the respective foot support. The foot support may not only describe an elliptical pattern but that elliptical pattern may be varied to imitate the actual path a person's foot travels during natural walking or running.

Preferably, the machine comprises sensors which permit the controller to detect the natural movement of the feet of a user and to control the motors to control the position of the foot supports to mimic this natural movement. The sensors may he in the form of position, pressure, torque or load sensors and may use loading on the respective motors to provide feedback about the pressures and torque asserted by the user, which can then be used to calculate the user's natural movement and set the machine to mimic this natural movement. The controller may be a programmable computer, (which term includes for the purpose of this specification a micro processor), and preferably is arranged to be programmed to control the position of the foot supports to perform a desired running style.

This may either be a programmed running style, generated by a computer, or it may be a running style learnt from a model runner whose style the user wishes to adopt. In this way, for example, a professional athletes style can be pre-programmed into the machine and learnt by a runner wishing to adopt such a style. Preferably. the computer can be prograninied to sequentially change the style whilst in use to imitate different styles adopted by a user during different stages of a race or exercise program.

A program loaded into the machine may be created by using sensors mounted on a runner's feet whilst running a particular route, for example a cross country course, the program enabling the machine to subsequently replicate the course controlling the foot supports to reflect the actual steps taken on the route and altering the resistance to reflect variations in altitude.

Preferably, the frame of the machine supports side by side two mounting supports each associated with a respective foot support, wherein the foot supports are mounted in board of the mounting supports. This enables the foot supports to be very close together and therefore a runner to adopt to a natural running position where the feet, or foot and adjacent calf, are sometimes separated by less than a few centimetres.

Preferably, the transverse spacing in between the foot supports may he changed to that desired by a particular user.

The machine may comprise a saddle arranged to support a person using the machine or a harness arranged to support a person using the machine. This may permit a user to become familiar with the machine while being supported so that the user does not have to rely on the foot supports to support themselves. Gradually the dependence on support from the saddle or harness may be reduced. A harness and/or saddle may also be particularly suitable for supporting a person during rehabilitation where their muscles are not able to support their full body weight.

Preferably, the machine may comprise handles mechanically coupled to the position of the foot supports and arranged to control the position of a user's hands in dependence thereon, This enables the upper body to be syncbronised to the actions of the lower body and thus assist in training the upper body also.

The present invention will now he described by way of example only, with reference to the accompanying figures, of which: Figure 1 is a front view of a machine in accordance with the present invention; Figure 2 is a partially cutaway side view of the machine of Figure 1 shown in use; Figure 3 illustrates the components of the machine of Figures 1 and 2; Figure 4 is a cross-section through the mounting and associated components of the machine in accordance with the present invention; Figures 5 to 8 schematically illustrate the operation of the machine of Figures 1 to 4.

Referring to Figures 1 and 2, a machine, indicated generally as 1, for exercising the lower body, comprises a frame 2 to which are attached mounting support shafts 3 to 6. The mounting support shafts 3 to 6 are arranged in pairs, the shafts of each pair being arranged parallel to and vertically spaced from each other. Each pair 3, 4 and 5, 6 supporting a respective mounting 7,8.

The mountings 7 and 8 can each independently slide horizontally along the respective pairs of support shafts 3, 4 and 5, 6 respectively.

As shown in Figure 1, mountings 7 and 8 are located on the left and right sides of the frame respectively and are the same except insofar as the left-hand mounting and associated components are a mirror image of the right-hand mounting and associated components.

For clarity only the right-hand mounting 7 is described below with reference to Figures 3 to 10. However the right-hand mounting and associated components functions in the same manner.

The mounting 7 is arranged to slide backwards and forwards on shafts 3 and 4 and has a bearing 9 supporting a spindle 10 (see figure 4). On a first end of the spindle 10 is mounted a crank 11, the opposite end of which is attached to a first end of con rod 12. The second end of the con rod 12 is anchored to a rear section of the frame 2. Between the first end of the spindle 10 and the mounting 7 is a sprocket locked to the spindle 10, which sprocket is driven by electric motor 14 within mounting 7, via chain 13.

To the opposite end spindle 10 to which crank 11 is attached, there is attached a second crank 15, to which is pivotally mounted a foot support 16 and associated retention strap 17 for receiving and supporting a users foot. Crank 15 is extend able by operation of a screw jack 18 controlled by electric motor 19. The power is supplied to the electric motor 19 via slip rings 20 and 21 on the spindle 10 and associated contacts 22 and 23 attached to the mounting 7.

Motors 14 and 19 on the mounting 7, and corresponding motors (not shown) on the mounting 8 of Figure 1 are connected to and controlled by a computer 24 mounted on the frame 2, as shown in figure 1. A user 25, as shown in Figure 1, can be primarily supported by foot supports 16 and additionally, depending on the purpose of the exercise to he performed on the machine, either by a harness 26 attached by wires 27 to the frame 2, shown in Figure 1, or by a saddle 28 mounted on additional longitudinal cross member 29.

Alternatively, or in addition thereto, handles 30 may also provide support. These may be fixed, pivotally mounted by pivots 31 (see Figure 3) or could he mechanically driven in dependence on the position of foot supports 16. The frame can be adjustable to adjust the transverse spacing between the foot supports 16.

Figure 1 shows the machine 1 in a rest position, but in operation respective motors 14 will he controlled by the computer such that cranks 15 are substantially 180° out of phase. However, the positions of the cranks 15 are mechanically independent of each other and are controlled solely by signals received by the respective motors 14 from the computer 24.

Referring now to Figures 5 to 8, there is illustrated schematically the effect of rotation of spindle 10 on the foot supportl6. As the spindle 10 rotates in an antielockwise direction, as shown, the foot support 16 attached to crank 15 prescribes an elliptical path 32, as indicted by arrows 33, due to the action of the associated crank 11 acting on con rod 12 anchored at point 34 to the frame 2. Furthermore, control of the motor 19 attached to the screw jack 18 controls the length of the crank 15, enabling the shape of the ellipse 32 to he modified, and the position of the foot support 16 to he controlled to mimic the actual path of a user's foot during running or walking or any other desired path. The positions of the foot supports 16 are controlled in the same manner but independently of each other, enabling the relative positions of each foot of the user to be controlled as desired and in complete mechanical independence of each other.

The computer may incorporate appropriate software such that it can he programmed to cause the foot supports 16 to take a desired path, or alternatively sensors may be used on the machine, or feedback obtained from the motors, whereby the motors may he controlled such that the position of the foot support may be modified by the forces applied by the user, such that on successive cycles the path of each foot support may gradually be modified to the natural walking or running style of the user. This can thus be learnt by the computer and subsequently used to control the motors, enabling other users to subsequently be forced by the machine to adopt the walking or running style of an earlier "model" walker or runner. Alternatively, a programme can be downloaded to the computer from an external source.

The position of the foot support can be calculated from basic trigonometric principles. The distance between the fixed end of the con rod 12 and the spindle 10 can be calculated. Using the fixed length of both the crank 11 (represented by side B) and the con rod 12 (represented by side A) as the two fixed sides of a triangle, then the angle Y between them for all 360 degrees of rotation can he calculated from C2 = A2 + B2 -(2AB cos Y)

A

N B r

-/

Knowing length C, then as the crank oscillates along a fixed horizontal rail, formulae B2 = C2 -A2 can he used to calculate the position of the crank, where A is the offset height of the centreline of the spindle 10.

C

-,-.---With each degree of rotation, the fixed point of the foot support 16 moves around in a circle. As side B and Side A and the included angle c are known, c being the degree of rotation from the vertical, side C can be calculated from, (2 = A2 + B2 -(2AB cos c), and angle a can be calculated by SIN a (A x SIN h) I B

B // c A

16 / / < // As both angle a and length C are known this maps the fixed path for the foot support used to create the cycle and the data called up.

The present invention has been described by way of example only and described primarily as a training aid for professional runners. However, the machine may find general application in gyms and may be used for general orthopaedic applications, for example rehabilitation after an accident or other disability. Also, although specific embodiments have been described, it will be appreciated that many modifications thereto can he made without departing from the invention as defined by appended claims.

Claims

Claims 1. A machine for exercising the lower body, the machine comprising two foot supports arranged to respectively support the left foot and right foot of a user, a plurality of motors coupled to the foot supports and a controller for the motors, wherein the position of the foot supports are mechanically independent of each other and the controller and motors can control the position of the foot supports independently of each other.
2. A machine as claimed in claim 1 further comprising: two cranks connected to respective foot supports; two spindles connected to respective cranks; two mountings for the respective spindles; mounting supports on which the mountings may move independently of each other in a substantially linear direction; and a frame for retaining the mounting supports in a fixed position, wherein the linear position of the mountings and the angular orientation of the cranks can be controlled so that the foot supports may each have an elliptical motion.
3. A machine as claimed in claim 2 wherein the mounting supports are in the form of shafts on which the respective mountings can slide.
4. A machine as claimed in claim 2 or 3 further comprising two con rods each mechanically coupled to a respective spindle and the frame so that rotation of the each spindle in one direction causes the respective mounting to move back and forth in a substantially linear direction on a mounting support.
5. A machine as claimed in claim 4 wherein the con rods are mounted to respective cranks.
6. A machine as claimed in any of claims 2 to 5 wherein each spindle is driven by an associated motor.-U -
7. A niachine as claimed in any of claims 2 to 6 wherein each crank is extendable and is controlled by an associated motor such that the distance between the spindle and the foot support may he varied.
8. A machine as claimed in any of claims 2 to 7 wherein the frame supports side by side two mounting supports each associated with a respective foot support and wherein the foot supports are mounted inboard of the mounting supports.
9. A machine as claimed in any preceding claim wherein the transverse spacing between the foot supports may be changed.
10. A machine as claimed in any preceding claim further comprising a saddle arranged to support a person using the machine.
11. A machine as claimed in any preceding claim further comprising a harness arranged to support a person using the machine.
12. A machine as claimed in any preceding claim further comprising handles mechanically coupled to the position of the foot supports and arranged to control the position of a users hands in dependence thereon.
13. A machine as claimed in any preceding claim further comprising sensors that permit the controller to detect the natural movement of the feet of a user and control the motors to adapt the position of the foot supports to mimic this natural movement.
14. A machine as claimed in any preceding claim wherein the controller is a programmable computer and can be programmed to control the position of the foot supports to perform a desired running technique.
15. A machine as claimed in claim 14 wherein the computer can he programmed to sequentially change while in use the technique to imitate different techniques adopted by a user during different stages of a race or exercise program.
16. A running or walking training aid machine substantially as hereinbefore described with reference to, andlor as illustrated in, one or more of the accompanying figures.