TW201542266A - 可變換步態移動之運動裝置 - Google Patents

可變換步態移動之運動裝置 Download PDF

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TW201542266A
TW201542266A TW104121826A TW104121826A TW201542266A TW 201542266 A TW201542266 A TW 201542266A TW 104121826 A TW104121826 A TW 104121826A TW 104121826 A TW104121826 A TW 104121826A TW 201542266 A TW201542266 A TW 201542266A
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transfer
link
coupled
movement
user
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TWI511760B (zh
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Joel D Gordon
Kevin G Abelbeck
Glenn D Ross
Brad R Olschansky
Scott M Olschansky
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Exerciting Llc
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    • A63B22/04—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable multiple steps, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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Abstract

本發明係提供一種用以執行多種移動樣式之運動裝置，其係具有樞安裝至一小腿連桿之一大腿連桿，及在該小腿連桿之遠端之一腳支承座。一第一轉移系統係活動式耦接一機架，及包含耦接該第一大腿連桿之一第一轉移構件及耦接該第二大腿連桿之一第二轉移構件，藉此可使該第一腿連桿相對於該第二腿連桿實質上往復移動。也設置一第二轉移系統及其可活動式耦接該機架，及包含各自係藉一對轉移耦接頭而各自耦接一對第四轉移構件的一對第三轉移構件，其各自係活動式安裝於該機架。該第四轉移構件可耦接該第一小腿連桿及第二小腿連桿，藉此該第一小腿連桿之移動引發該第二小腿連桿之移動，而與該大腿連桿之移動獨立無關，因而對使用者提供一穩定平台，且也使使用者可有無限種步態拍打數目。

Description

可變換步態移動之運動裝置
本發明一般而言係關於一種運動設備，及更明確言之係關於模擬或協助非臥床人類運動之運動設備。
運動乃健康生活型態之必要部分。如果沒有適當運動，肌肉組織減少，骨骼礦物質密度降低，且傾向於容易蓄積較多脂肪重量。如此促成多項健康問題，包括心血管病、骨質疏鬆症及糖尿病。常見有氧運動係跑步。跑步中敲擊地面動作可能對某些人造成關節問題。此外，在戶外跑步需要有適當空間及環境。天候問題及個別安全性議題限制某些人如其期望般頻繁地從事此項運動，原因在於在不良氣候或不佳環境跑步可能導致比心臟病還更嚴重的問題。
戶內跑步及走路可使用跑步機達成，但再度，腳敲擊地面動作可能導致關節過度使用的傷害。其它產品諸如橢圓訓練機可解決此項問題，但使用者被限制於固定步態樣式。使用者的自然步態與機器的預定步態間有任何些微差異，皆可能導致關節負荷的不平衡，及導致所使用的該肢體肌肉發展的不平衡。由於人們具有不同的步幅長度，且身高及體重上大有差異，故單一預定步態不可能對全部使用者皆屬理想。
因此須瞭解需要有一種適合之裝置，其可使人們以最少努力 從一個步態樣式變遷成另一樣式而以多種步態樣式運動。本發明可滿足此項需求及其它。
本發明提供一種機架，其係支承一第一大腿連桿及一第二大腿連桿，各自係樞耦接至該機架。一第一小腿連桿可樞耦接至該第一大腿連桿，及一第二小腿連桿可樞耦接至該第二大腿連桿，各小腿連桿可包括一腳支承座。可設置一第一轉移系統，其可活動式耦接一機架，及包含耦接該第一大腿連桿之一第一轉移構件及耦接該第二大腿連桿之一第二轉移構件。可設置一第二轉移系統，其係可活動式耦接該機架，及可包含各自係藉一對轉移耦接頭而各自耦接一對第四轉移構件的一對第三轉移構件，其各自係活動式安裝於該機架。該第四轉移構件可耦接該第一小腿連桿及第二小腿連桿，藉此該第一小腿連桿之移動引發該第二小腿連桿之移動，而與該大腿連桿之移動獨立無關。
於本發明之一個具體實施例中，該第一轉移系統可包括一第一齒輪及一第二齒輪，藉此該第一齒輪之旋轉結果導致第二齒輪於相反方向旋轉。該第一轉移系統也可包括具有一第一端及一第二端之一樞桿，且係樞安裝至該機架。該第一端可耦接該第一轉移構件及該第二端可耦接該第二轉移構件。
該運動裝置也可包括一種支承系統，其係界定該腳支承座之最低位置。該支承系統可包括一壓縮連桿，其係具有耦接該機架之一第一端及耦接一小腿連桿之一第二端。該壓縮連桿可包括一殼體、由該殼體所接納之一桿、及占據在該殼體與該桿間之一偏移構件，藉此而限制該桿相對於該殼體之位移量。該支承系統可包括耦接該第一小腿連桿之一第一壓縮連桿及耦接該第二小腿連 桿之一第二壓縮連桿。
該支承系統可包括一或多條帶，各自係藉至少兩個滑車而活動式耦接至該機架。該帶可包含一上動輪，其位置係相鄰於該腳支承座之下部且適用於與該上動輪接觸，藉此該帶限制該腳支承座之垂直位移。該支承系統可包括耦接該機架之一帶捲取件，該帶捲取件係偏移而提供張力予該帶。該支承系統也可包括一帶傳動件，其係操作式耦接該帶而使該等滑車中之一者或多者連續旋轉，藉此使得在不存在有來自使用者的動力輸入之情況下該帶連續移動。
為了用於摘要說明本發明及所達成之優於先前技術之優點之目的，前文已經描述若干本發明之優點。當然，須瞭解並非必要全部優點皆可依據本發明之任何特定具體實施例而達成。如此，舉例言之，熟諳技藝人士將瞭解以達成或最佳化如此處教示之一項優點或一組優點之方式，可具體實施或執行本發明，而非必要達成如此處教示或提示之其它優點。
全部此等具體實施例皆係意圖含括於如此處揭示之本發明之範圍。從後文較佳具體實施例及圖式之詳細說明部分，本發明之此等及其它具體實施例對熟諳技藝人士將為顯然易明，本發明並未囿限於此處揭示之任何特定具體實施例。
36、36”、36'''‧‧‧機架
38、38’、38”、38'''、38''''‧‧‧多功能適應性訓練裝置
40‧‧‧第一腿連桿組
42‧‧‧第二腿連桿組
44、44’、44”、44'''‧‧‧第一上連桿
46、46’、46”、46'''‧‧‧第一下連桿
48、48’、48”、48'''‧‧‧第二上連桿
50、50’、50”、50'''‧‧‧第二下連桿
52‧‧‧腳支承座
54、54’、54”、54'''、54''''‧‧‧第一轉移系統
56、56’、56”、56'''、56''''‧‧‧第二轉移系統
58、58’、58”、58'''‧‧‧第一轉移構件
60、60’、60”、60'''‧‧‧第二轉移構件
62、62”、62'''、62''''‧‧‧第一轉移桿
64、64’‧‧‧第一齒輪
66、66’‧‧‧第二齒輪
68、68’、68”、68'''‧‧‧第三轉移構件
70‧‧‧轉移耦接頭
72、72’、72”、72'''‧‧‧第四轉移構件
74、74”、74'''、74''''‧‧‧第二轉移桿
76‧‧‧第三齒輪
78‧‧‧第四齒輪
80‧‧‧制動器
82‧‧‧致動器
84‧‧‧軸承座
86‧‧‧較長路徑
88‧‧‧較短路徑
90‧‧‧弧形路徑
92‧‧‧垂直路徑
94‧‧‧樞臂
96‧‧‧第二樞臂
98‧‧‧阻尼器
99‧‧‧支承系統
100‧‧‧壓縮連桿
102‧‧‧主軸
104‧‧‧套筒
106‧‧‧壓縮彈簧
108‧‧‧連桿座
110‧‧‧步態樣式
112‧‧‧頂弧
114‧‧‧底弧
116‧‧‧第二行進路徑
120‧‧‧主軸止塊
122‧‧‧支承帶
124‧‧‧前底滑車
126‧‧‧後底滑車
128‧‧‧上運行部
130‧‧‧惰輪
132‧‧‧偏壓構件
134‧‧‧主軸傳動件
136‧‧‧內側鏈輪
138‧‧‧外側鏈輪
140‧‧‧主軸
141‧‧‧鏈輪
142‧‧‧下連桿控制系統
144‧‧‧傳動馬達
146‧‧‧傳動帶
148‧‧‧傳動滑車
150‧‧‧離合器
152-158‧‧‧接頭
160‧‧‧支承導件
162‧‧‧導軌
164‧‧‧滑車臂
166‧‧‧滑車
168‧‧‧阻力系統
170‧‧‧制動器
172‧‧‧彈簧取中系統
174‧‧‧彈簧
176‧‧‧第一凸耳
178‧‧‧第二凸耳
180‧‧‧第一桿凸耳
182‧‧‧第二桿凸耳
184‧‧‧阻尼器
現在將參考圖式，僅藉舉例說明目的描述本發明之具體實施例，圖式中：圖1為依據本發明結合可變換步態移動之系統的運動裝置之等角視圖。
圖2為沿圖1之線2-2所示觀點，具有部分機架移除以求視 覺清晰之一轉移系統之等角部分細節視圖。
圖3為機架已被移除，圖1所示運動裝置之連桿組系統之等角視圖。
圖4為顯示圖3沿線4-4所示細節，圖3所示連桿組之大腿連桿樞軸的細節之等角視圖。
圖5為圖3連桿組從前向左側顯示之等角視圖。
圖6為顯示圖5沿線6-6所示細節，圖5所示連桿組之大腿連桿樞軸的細節之等角視圖。
圖7為圖1之運動裝置之側視圖，虛線顯示不同走路及跑步踏瓣路徑。
圖8為圖1之運動裝置之側視圖，虛線顯示傾斜的梯級踏瓣路徑。
圖9為結合一種允許變更步態移動之系統的運動裝置之等角視圖，該裝置包括含樞桿之一轉移系統。
圖10為圖9之裝置之後等角視圖，蓋子移除而顯示轉移系統。
圖11為圖10之裝置沿線11-11所示之細節圖，顯示轉移系統之進一步細節。
圖12為圖10之裝置沿線12-12所示之細節圖，顯示上連桿樞軸區之進一步細節。
圖13為結合一種允許變更步態移動之系統及包括含壓縮連桿之支承系統的運動裝置之等角視圖。
圖14為圖13之裝置沿線14-14所示之細節圖，顯示蓋子被部分移除之一壓縮連桿。
圖15為圖13之裝置之側視圖，顯示可藉相對於機架配置在 不同位置之一壓縮連桿導引之一不同踏瓣路徑，及於相對垂直定向之踏瓣。
圖16為圖15之裝置沿線16-16所示之細節圖，顯示蓋子被部分移除之一壓縮連桿。
圖17為圖15之裝置之側視圖，顯示可藉相對於機架配置在不同位置之一壓縮連桿導引之一不同踏瓣路徑，及於相對水平位置之踏瓣。
圖18為圖17之裝置沿線18-18所示之細節圖，顯示蓋子被部分移除之一壓縮連桿。
圖19為結合一種允許變更步態移動之系統及包括含一帶之一支承系統的運動裝置之側視圖。
圖20為圖19裝置從前向側向之等角視圖。
圖21為圖20之裝置沿線21-21所示之細節圖，顯示支承系統之前滑車。
圖22為圖20之裝置沿線22-22所示之細節圖，顯示支承系統之後滑車。
圖23為依據本發明結合可變換步態移動之系統的運動裝置之後等角視圖。
圖24為圖23之裝置沿線24-24所示之細節圖，顯示該裝置之傳動元件之後視圖。
圖25為圖23之裝置之傳動元件之前視圖。
圖26為結合可變換步態移動之系統且提供活節聯動腿的運動裝置之側視圖。
圖27為圖26之裝置之等角視圖。
圖28為圖27之裝置沿線28-28所示之細節圖，顯示該裝置之支承系統元件之側視等角視圖。
圖29為圖27之裝置之右前等角視圖。
圖30為圖29之裝置沿線30-30所示之細節圖，顯示該裝置之支承系統前部之側視等角視圖。
圖31為圖29之裝置沿線31-31所示之細節圖，顯示該裝置之阻力系統之側視等角視圖。
圖32為結合一種允許變更步態移動之系統的運動裝置之等角視圖，該裝置包括含樞桿及支承系統之一種轉移系統。
圖33為圖32之裝置之等角視圖，顯示底蓋及部分機架被移除。
圖34為圖33之裝置沿線34-34所示之細節圖，顯示轉移系統之等角視圖。
圖35為圖33之裝置沿線35-35所示之細節圖，顯示上連桿及支承系統之等角視圖。
參考例示說明之圖式，且特別係參考圖1至圖6，顯示一種呈多功能適應性訓練裝置38形式的運動裝置。本發明之此具體實施例可包括一機架36，其係支承一對腿連桿，其係包括一第一腿連桿組40及一第二腿連桿組42。該第一腿連桿組40可包括耦接至一第一下連桿46之一第一上連桿44。以類似方式，一第二腿連桿組42可包括耦接至一第二下連桿50之一第二上連桿48。一腳支承座52可配置在第一下連桿46及第二下連桿50各自之遠端。使用者可將其本身以各安置一腳方式定位在各個腳支承座52上，藉此從事多項不同運動。
腳支承座52係藉一第一轉移系統54及一第二轉移系統56而彼此聯動。該第一轉移系統54可包括一第一轉移構件58其係耦接至該第一上連桿44，及一第二轉移構件60其係耦接至該第二上連桿48。該第一轉移系統54也可包括一第一轉移桿62，其係使該第一轉移構件58相對於該第二轉移構件60實質上相對移動。該實質上相對移動可透過一第一齒輪64其係安裝相鄰於一第二齒輪66，及藉由該第一轉移桿62，第一轉移構件58係耦接至該第一齒輪64，且第二轉移構件60係耦接至該第二齒輪66而達成。此項組合可提供第一上連桿44相對於第二上連桿48之實質上往復移動。
為了完成該第一腿連桿組40之腳支承座52聯動至該第二腿連桿組42之腳支承座52，該第一下連桿46可聯動至第二下連桿50。此點可藉耦接一對第三轉移構件68，各一者係耦接至第一下連桿46，及另一者係耦接至第二下連桿50而達成。一對轉移耦接頭70可支承在該機架36上，及將該成對第三轉移構件68各自係耦接至一對第四轉移構件72中之各者。該等第四轉移構件72係藉第二轉移系統56而彼此耦接，藉此可使該等第四轉移構件相對於彼此之實質上往復移動。一第二轉移桿74可用來將扭矩從該等第四轉移構件72中之一者傳遞給另一者。
至於同第一轉移系統54，第二轉移系統56可包括一第三齒輪76其係耦接至該第二轉移桿74，及一第四齒輪78，其係相鄰於該第三齒輪76。第四齒輪78可耦接至該等第四轉移構件72中之一者，而第二轉移桿74係耦接至第四轉移構件72中之另一者，藉此可使該等第四轉移構件72相對於彼此實質上往復移動。此項 動作可提供該等第三轉移構件68相對於彼此之實質上相對移動，其可提供第一下連桿46相對於第二下連桿50之實質上相對移動。利用第一轉移系統54及第二轉移系統56二者，可控制一個腳支承座52相對於另一者之移動。各個腳支承座52在其運動平面內可定位在無限個位置。如此進行中，另一個腳支承座52將定位在其運動平面內部空間的特定位置。此種組合由於可由使用者做出無限個變化，因而可使腳支承座52之移動路徑不受機器所限。藉各個腳支承座52之聯動定位可對使用者提供穩定性，因而提供穩定平台來支承使用者。
參考圖2、3及5，提供一種賦與阻力之裝置。當人類在無風的平坦表面上跑步或走路時，並無運動阻力。跑者在跑步結束時的勢能係與在跑步健身起點的勢能相同。能量係耗用在跑步步態或走路步態機制上。使用者的質心在每個步幅中升降。此外，腿部的質量促進提供每個步幅重複的複雜運動。此乃跑者的作功，跑者並未儲存能量反而係耗用能量。能量耗用的此等態樣從此處揭示之本發明顯然易知。腿部的跑步步態可能與跑者在平坦表面或階梯表面上的跑步步態相同，因此使用者操控與改變腿部方向所需能量係由使用者所提供。此點可藉第一腿連桿組40及第二腿連桿組42質量增加至跑者腿部質量而更誇大。使用者質心之垂直位移也可以本發明提供。
某些情況下，可能期望增加額外阻力至第一轉移系統54、第二轉移系統56或二者的移動。此點可藉制動器80或其它針對任一轉移系統(54及56)之阻力元件而達成。於圖2、3及5中，增加一制動器80來對抗第一轉移系統54之第一轉移桿62的旋轉， 及提供一第二制動器80來對抗第二轉移系統56之第二轉移桿74的旋轉。一或二個制動器80可用來給其個別轉移系統(54及56)增加扭矩，增加工作負荷，而彷彿跑者係在軟砂上跑步接受訓練般。此外，藉由增加阻力給一個或另一轉移系統(54及56)，可針對跑者修改跑步步態。此點乃發現缺點而需要特殊訓練來修正該項缺點時所期望者。
制動器80的另一項用途係在使用者進出機器期間，增加對腳支承座52的支撐。藉由齧合二制動器80，腳支承座52可有效地鎖定定位，及然後緩慢地釋放，來提供平順且穩定地進出訓練裝置38之方法。在進出期間藉由減少任何快速運動，使用者遠較少可能感覺不穩，因而可能減低感覺不穩的可能性。
藉由將一個腳支承座52配置在由另一個腳支承座52所決定的空間中的特定位置，所述系統對使用者提供穩定平台，可能期望變更兩個腳支承座52間之此種關係。達成此項目的之一種方法係改變第三轉移構件68之長度。如圖1、3及5所示，第三轉移構件68可包括一致動器82，其各端上各自具有一軸承座84。致動器82可使軸承座84的間距改變，藉此變更第一上連桿44與第一下連桿46間之夾角，及同理，變更第二上連桿48與第二下連桿50間之夾角。藉由變更此等夾角，腳支承座52相對於機架36的位置改變，及因而相對於彼此的位置改變，藉此而變更步態樣式。
未變更第三轉移構件68之長度而可獲得的步態樣式變化之若干實施例係顯示於圖7及8。圖7中，較長路徑86係符合跑步步態期望的腳行進路徑。針對走路步態，顯示一較短路徑88。本 發明38自動將腳支承座52的行進幅度(垂直高度)與經度(步幅長度)相關聯，原因在於此等行進幅度及步幅長度在人類典型步態樣式也自然相關聯。因此，許多情況下，無需變更本發明38而使得在使用期間，使用者從一種步態樣式變遷成另一步態樣式。如此可使從一種步態平順且流暢地變遷成另一步態。若期望變更路徑，則第三轉移構件68可在使用期間改變，而使用者無需停止機器38。弧形路徑90描述可用作為回復步態的擺動路徑。
圖8中，顯示更為極端的垂直移動路徑92。再度，可提供此種情況而未變更第三轉移構件68之長度。顯示一種爬階梯或陡峭傾斜小山諸如登山健行的步履路徑。裝置38之能力可以獲得大為多樣性變化，圖式僅顯示藉裝置38所能達成的無限步態樣式中之數種。
藉由以驅動馬達，諸如伺服馬達或步進馬達置換制動器80，步態樣式可經控制來導引使用者成為特定的步態樣式。本系統之一個具體實施例係使得一個轉移系統為主動件，而另一轉移系統為從動。用於例示說明目的，將描述一種系統，此處該第一轉移系統54為主動件，而該第二轉移系統56為從動。須瞭解主動狀態與從動狀態可顛倒，所述系統可實質上相同，而只有被感測者及被驅動者顛倒。牢記此點，使用伺服馬達來置換各個制動器80，提供發展出有關第一轉移桿62及第二轉移桿74之扭矩的裝置。當伺服馬達內建有一主軸定位裝置時，無需有外部編碼器或其它裝置來感測馬達主軸，以及因而感測相關聯的第一轉移桿62及第二轉移桿74之位置、方向及速度。若使用步進馬達來替代伺服馬達而置換制動器80，則將使用至少該第一轉移桿62的感測 裝置。
於此一具體實施例中，當使用者以某個速度，於某個方向驅動一腳支承座52，及該第一上連桿44及因而第二上連桿48也位移時，第一轉移桿62將以某個速度，於某個方向旋轉某個量。感測器諸如伺服馬達中之編碼器可用來收集馬達所在位置、移動方向及移動速度之相關資訊，及因而收集第一轉移桿62之相關資訊。由於此項資訊可以是一特定步態樣式所特有，故此項資訊可用來決定步態樣式；或特定步態樣式可由使用者預選定。針對該步態樣式，可提供演算法來將第一轉移桿62(主動件)之所在位置及移動方向與第二轉移桿74(從動)之期望位置交互關聯。與該第二轉移桿74相關聯之馬達(正式地為制動器80)可經致動來驅動該第二轉移桿74至一位置，該位置係藉該第一轉移桿62的資訊，利用該演算法運算而決定。此種處理程序將第一轉移系統54電子式聯動至第二轉移系統56，而同時仍然許可使用者決定腳支承座52之移動路徑及移動速度，及因而決定使用者的腳之移動路徑及移動速度。藉將第一轉移系統54聯動至第二轉移系統56，可提供該腳支承座52之經界定的移動路徑。透過電子式連結，二者間之聯動方式可有無限種變化。採用目前現行處理器技術，500至1000赫茲之讀取與回應閉路系統變成可能，提供平滑路徑，而極少或無運動「鑲齒效應(cogging)」，使得此種系統變成採用目前可用技術之可行系統。
參考圖9至圖12，顯示本發明38’之另一具體實施例。於本具體實施例中，本發明38’具有一第一上連桿44’、一第二上連桿48’、一第一下連桿46’、一第二下連桿50’、及聯動至該第一下連 桿46’及一第二下連桿50’之一第三轉移構件68’。該轉移耦接頭70’將負荷從該第三轉移構件68’轉移至第四轉移構件72’，及一第一轉移構件58’係藉包含一樞臂94之一第一轉移系統54’而耦接至一第二轉移構件60’，藉此提供該第一轉移構件58’相對於第二轉移構件60’之實質上往復移動。
提供第二轉移系統56’來達成該第四轉移構件72’之類似的往復移動。於本具體實施例中，轉移耦接頭70’為實質上縱向設置的傳統第一類槓桿，而與先前揭示之具體實施例相反，此處負荷及施力可視為係在支點的同側(第二或第三類槓桿)。此種情況下，於第四轉移構件72’之負荷可經常性處在緊張狀態。如此，可使用可彎構件，諸如繩索或纜繩，而非剛性結構件諸如鋼棒。 第二樞臂96可提供實質上往復移動給第四轉移構件72’；如同樞臂94，第二樞臂96為實質上剛性臂，其係以沿該長軸之一中點為中心，樞式安裝於該機架，樞臂末端係可自由移動，因而相對於機架36’，一端為降低而另一端為升高。此項動作使得個別轉移構件(72’對72’，及58’對60’)相對於彼此以實質上往復方式移動。於本具體實施例中，液壓阻尼器98可用來提供一或二個轉移系統(54’及56’)之移動阻力。阻尼器98可附接至位在或接近於轉移耦接頭70’，或位在系統中任何其它位置的第一轉移構件58’及第二轉移構件60’。
本發明之另一具體實施例包括一種包含一壓縮連桿100之支承系統99，係顯示於圖13至圖18。該壓縮連桿100可以是兩根壓縮連桿100，各自有一主軸102，兩根主軸102之第一端各自係耦接至第一下連桿46、及第二下連桿50。各壓縮連桿100之主軸 102可被套筒104所盛納，該套筒104可耦接至一連桿座108，而該連桿座108可安裝至機架36。壓縮彈簧106可容納在該套筒104內部。該彈簧106可作為朝向主軸102延伸出套筒104外的偏壓。 藉此方式，壓縮連桿100之擴張距離受該彈簧及作用在主軸102上的延伸力所限。壓縮連桿100之一端係藉連桿座108而耦接至機架，而另一端係耦接至裝置38”之下連桿(46及50)，腳支承座52之最低位置係藉壓縮連桿100之彈簧106所限。如此，當使用者通過跑步的站立期(此處最高法線力係施加至支承表面)時，最大張力將作用在彈簧106上。如此可使得壓縮連桿100具有最大長度。
如圖15所示，小型曲線110為針對走路步態，腳支承座52的行進路徑之代表。可知在腳支承座52之底部位置，可提供平滑弧形路徑。在「擺動期」期間，當腳向前變遷時，使用者開始將重量轉移至頂腳支承座52上，前腳將開始降低，而後腳開始升高，此時使用者重量係從結束站立期的腳(接近「腳尖離地」至變遷成擺動期)而轉移至結束擺動期的腳(接近「腳跟著地」至變遷成站立期)。因使用者體重開始從站立(底)腳移開，彈簧106可朝向套筒104施加偏壓壓進主軸102，藉此縮短壓縮連桿100之總長度。如此將下連桿46及因而其上安放使用者腳的腳支承座52朝向連桿座108拉近，藉此導引腳支承座52以期望的步態樣式110向上升。
藉改變連桿座108在機架36上的相對位置，可變更步態幅度。圖15所示頂弧112為整個站立期(支承使用者體重時)期間壓縮連桿100聯動至第一下連桿46之路徑。底弧114代表整個站立 期(支承使用者體重時)期間，當連桿座108降低至機架36上時，壓縮連桿100聯動至第一下連桿46之路徑。如此可能導致由腳支承座52之第二行進路徑116所表示之一行進路徑。比較具有較短路徑110之走路步態，此種較大的腳行進幅度可表示跑步步態。 因此藉由改變連桿座108位置，可變更期望的步態樣式。
為了更進一步舉例說明壓縮連桿100之功能，具有壓縮連桿100之裝置38”及切除細節係顯示於圖15至圖18。圖15中，第二下連桿50係以升高位置顯示，如使用者將腳放置在腳支承座52上，而其右腳係在走路步態之擺動期沿向前移動118的約略中點而顯然易明。如此，當使用者重量係支承在第一下連桿46的腳支承座上的另一(左)腳時，使用者的右腳可卸除負荷。此種在擺動期腳支承座52卸除負荷的壓縮連桿100之切除細節圖係顯示於圖16。當主軸102係容納在套筒104內部而非加壓在彈簧106上時，壓縮連桿100之彈簧106係在弛張位置。
圖17中，連桿座108已經向下移動來使腳支承座52達成在其移動步態中的最大幅度。此外，第二下連桿50及第二上連桿48已經移動，而將相對應之腳支承座52定位在模擬過去腳跟步幅及跑步步態之站立期起點，此處腳支承座52之行進路徑係近似較大幅度第二路徑116。圖18之切除細節圖顯示比較圖16於壓縮態之彈簧106。此點係因當主軸捕捉在套筒104內部時，主軸止塊120接觸彈簧106之一端所致。因此當主軸102從套筒104延伸遠離時，彈簧106被壓縮，施加偏壓給壓縮連桿100至更為回縮位置。
另一支承系統係顯示於圖19至圖22，其中支承系統99’包括 活動式耦接至該機架36之一支承帶122。帶122可以是兩條分開的但相同的帶122配置成在腳支承座52近端平行排列，因而當腳支承座52降低至相對於該機架的預定高度時，腳支承座52之一部分接觸該帶122，藉此而限制該腳支承座52之最低位置。顯示一個具體實施例，其中有二帶122，各自係藉一前底滑車124及一後底滑車126支承。如先前所示及所述，如提議在壓縮連桿100使用壓縮彈簧106，可能期望提供彈性體性質給腳支承座52之支承部。於本具體實施例中，藉由設置含彈性性質之帶122可達成類似的減震支承。如此，當腳支承座接觸帶122之上運行部128時，該帶122可屈曲或伸展。在步態的站立期期間，當使用者施力至腳支承座時，帶122可屈曲來使其對由使用者體重所施加的負荷有若干隨順性。
至於腳支承座52之彈性體支承的替代形式係使用實質上非彈性帶122，實質上非彈性帶係定義為帶122在負荷之下極少伸長。惰輪130可設置一偏壓構件132，其係配置來維持帶122的張緊。如圖20及圖21所示，當腳支承座52接觸帶122之上運行部128時，惰輪130位移來配合因應透過腳支承座52所施加的正常負荷所導致帶122之上運行部128的位移。
另一支承系統99’之後部細節係顯示於圖22。帶122係由後底滑車126所支承。當要求制動器或對腳支承座52之移動的其它阻力時，一主軸傳動件134可用來限制後底滑車126之旋轉，及藉此限制帶122之旋轉，如此要求使用者作功。至於替代之道，主軸傳動件134也可為向前傳動件，藉此而驅動後底滑車126及因而驅動帶122。藉由驅動帶122，當腳支承座接觸帶122之上運 行部128時，如同於跑步步態或走路步態期間，使用者的腳移動之正常運作方式，腳支承座52可被積極地從動返回。設腳支承座52可如先前所述聯動，當一個腳支承座52相對於使用者係於向後方向移動時，如同在典型走路步態或跑步步態中支承腳的表現般，另一腳支承座抬高而於向前方向移動。如此提供動力系統可給予肢體障礙(能力受損)個體行走或跑步上的導引，藉此對肌肉作體能訓練。此外，因步幅長度係由使用者決定，故針對使用者控制方面有若干神經方面的要求。於神經損傷個體，諸如中風倖存者，神經方面訓練可能與肌肉訓練同等重要。藉由增加一安全帶來支撐使用者體重與免除跌倒，比較更昂貴且更複雜的全控式步行訓練裝置，如圖所示及所述系統對神經損傷個體的復健更加有利。
替代控制系統係顯示於圖23至圖25。於本具體實施例中，訓練裝置38'''包括一機架36”，該機架支承聯動至一第一下連桿46”之一第一上連桿44”，及在其下端之一腳支承座52。以類似方式，可配備一第二上連桿48”，其可樞耦接至該機架36”，且包括一第二下連桿50”，具有耦接至該第二下連桿50”之一腳支承座52。一第三轉移構件68”可耦接至該第一下連桿46”，及另一第三轉移構件68”可耦接至該第二下連桿50”。於本具體實施例中，第一上連桿44”及第二上連桿48”各自係架設於一內側鏈輪136。第三轉移構件68”可耦接至一轉移耦接頭70”，其可藉軸頸支承至該機架36”之一主軸140而聯動至一外側鏈輪138。
一第一轉移系統54”可藉該第一轉移桿62”而將該運動從該第一上連桿44”而轉移至該第二上連桿48”，其可透過第一轉移構 件58”及第二轉移構件60”而聯動該內側鏈輪136。於本具體實施例中，與先前具體倒顯示的實質上剛性連桿相反，第一轉移構件58”及第二轉移構件60”可呈滾子鏈、帶或其它可彎的傳動構件形式。藉由第一齒輪64’於徑向方向耦接至第二齒輪66’，第一轉移構件58”之移動方向可與第二轉移構件60”之移動方向實質上相反。第一齒輪64’相對於第二齒輪66’之實質上反向旋轉，係於與第一轉移桿62”移動方向之反向傳動該鏈輪141。此種組合使得第一上連桿44”相對於第二上連桿48”之實質上往復移動。
於本發明之具體實施例中，如前述，第一下連桿46”係藉第三轉移構件68”而與第二下連桿50”聯絡。外側鏈輪138驅動第四轉移構件72”至第二轉移系統56”，藉此而聯動該第一下連桿46”至第二下連桿50”。第二轉移系統56”可包括一第二轉移桿74”來協助動力移轉至該外側鏈輪138，及藉此而經由第三轉移構件68”移轉至第一下連桿46”及第二下連桿50”。
於本具體實施例中，第一下連桿46”相對於第二下連桿50”之實質上往復移動可藉下連桿控制系統142而達成。關注在圖25，藉由作為一傳動滑車148安裝至第二轉移桿74”的關節之一傳動帶146，一傳動馬達144係用來提供扭矩給第二轉移桿74”。 一對離合器150可用來調節從第二轉移桿74”透過傳動馬達144而輸出給第四轉移構件72”的扭矩，而第四轉移構件72”又轉而施力給第一下連桿46”及第二下連桿50”。此種下連桿控制系統142之優點為其提供在使用期間，可依據腿連桿(44”、48”、46”及50”)中之任一者的移動速度、移動方向及在空間位置，而修正第一下連桿46”與第二下連桿50”間交互作用的能力。如此獲得一種可藉 使用者步態或速度而變更的動態系統。一或多個感測器可用來判定一個腿連桿相對於任何其它腿連桿之速度或移動或方向；及一邏輯系統可用來讀取此項資訊，及調節離合器150而變更以第一下連桿46”與第一上連桿44”間之接頭及第二下連桿50”與第二上連桿48”間之接頭為中心之扭矩。藉改變此等扭矩，使用者的步態樣式可由裝置38'''所模擬或支援來使得使用者獲得流暢且舒適之移動過程。
裝置38''''之另一具體實施例係顯示於圖26至圖31。機架36'''支承分別以接頭152及154為中心之一第一上連桿44'''及一第二上連桿48'''。一第一下連桿46'''可在接頭156樞耦接至第一上連桿44'''，及第二下連桿50'''可在接頭158樞耦接至第二上連桿48'''。一對腳支承座52可定位在該第一下連桿46'''及第二下連桿50'''之遠端。此種連桿組組合之功能係類似前文揭示之功能。有個支承導件160，其係耦接至該第一下連桿46'''及第二下連桿50'''，可能係接近腳支承座52。支承導件160各自係由一導軌162所接納，各導軌162可以一主軸163為中心而活動式耦接至該機架36'''。導軌162可製造成藉第一轉移構件58'''及第二轉移構件60'''而相對於彼此實質上往復移動。一第一轉移系統54'''包括一第一轉移桿62'''，其可在該第一轉移桿62'''之各端上聯動一對滑車臂164。該滑車臂164可包括一滑車166適用於接合第一轉移構件58'''及第二轉移構件60'''中之各者。滑車臂164可實質上定位在第一轉移桿62'''之對側上，使得從側視觀點，當一個滑車166係實質上向前移動時，另一個滑車166係實質上向後移動。如此使得第一轉移構件58'''之位移係實質上與第二轉移構件60'''之位 移相反，藉此可使導軌162相對於彼此的實質上往復動作，及藉此可使支承導件160及安裝相鄰於支承導件160之腳支承座52相對於彼此的實質上往復動作。
支承導件160沿導軌162之移動可藉耦接至支承導件160下部之一第三轉移構件68'''、及耦接至支承導件160上部之一第四轉移構件72'''控制。在裝置38''''各側上的第三轉移構件68'''以及第四轉移構件72'''係耦接至包括一第二轉移桿74'''之一第二轉移系統56'''。於本具體實施例中，第三轉移構件68'''以及第四轉移構件72'''可以是可彎結構，諸如滾子鏈、帶或帶條。第三轉移構件68'''以及第四轉移構件72'''可藉呈鏈輪或滑車形式之轉移耦接頭70”而耦接至第二轉移桿74'''。此種組合提供一個支承導件160及因而相關聯的腳支承座52之實質上向前移動，將導致另一個支承導件160及相關聯的腳支承座52之實質上向後移動。第一轉移系統54'''與第二轉移系統56'''及相關聯之連桿的組合使沿導軌162之實質上往復移動及同時導軌162之大致上垂直位移，藉此形成穩定平台來執行踏在腳支承座52下的使用者之無限種步態樣式移動。
如圖29至圖31所示，也可對第二轉移系統56'''或對第一轉移系統54'''設置一阻力系統168。阻力系統168可包括一制動器170、馬達或任何其它形式的阻力來對抗第二轉移桿74'''的運動。 彈簧取中系統172可含括在第一轉移系統54'''，而包括一對彈簧174來導引第一轉移系統54'''至預定位置。
參考圖32至圖35，顯示依據本發明之另一具體實施例製造之裝置38。類似先前各圖式顯示之本具體實施例之若干態樣在數 值元件符號之後並未標示以獨特的撇號。類似前述該等具體實施例，第一上連桿44係耦接至第一下連桿46，而同理，第二上連桿48係耦接至第二下連桿50。於本具體實施例中，一對第三轉移構件68'''係顯示為具有固定長度的剛性連桿。如前文揭示，此等第三轉移構件68'''係耦接至第一下連桿46及第二下連桿50，其各自具有一第二端係耦接至一轉移耦接頭70。一對第四轉移構件72聯動兩個轉移耦接頭70中之各者至第二轉移系統56''''。於本具體實施例中，第二轉移系統56''''包括一第二轉移桿74''''，其包括一第一凸耳176，其係與一第二凸耳178實質上相對定位。 此種第一凸耳176相對於第二凸耳178之實質上反向定向使得第四轉移構件72中之一者相對於另一第四轉移構件72之實質上反向位移。
類似系統可用在第一轉移系統54''''，其中一第一轉移桿62''''可提供以實質上相對於一第二桿凸耳182相對定位之一第一桿凸耳180。如同第二轉移系統56''''，該第一轉移系統54''''之第一轉移桿62''''提供第一轉移構件58相對於第二轉移構件60之實質上相對位移，藉此可使該第一上連桿44相對於第二上連桿48之實質上往復移動。為了協助且導引使用者，可設置一壓縮連桿100來在步態的站立期期間，限制腳支承座52在使用者腳下方的底部移動。如前文揭示，壓縮連桿100可包括一彈簧或其它偏壓構件來提供緩衝，而在大部分步態樣式之站立期中央期間，隨順使用者的用力較大。此外，於壓縮連桿100之偏壓可在許多跑步步態及走路步態的站立期結束而擺動期開始時，協助在腳尖離地期間腳的反衝。如此，可期望壓縮連桿100用在本發明之此一或其它 具體實施例。
另一個阻力源已經以液壓阻尼器184形式提供。如此可以是單向衝擊，其提供對抗壓縮之阻力，藉此對抗在使用者體重作用下，第一上連桿44及第二上連桿48降低的趨勢。若阻尼器184對阻尼器184工作缸的延伸產生極少阻力或無阻力，則第一上連桿44及第二上連桿48的反衝或向上移動可能不受限制。技藝界一般已知之任一種形式的阻力皆可用在任何位置，包括第一轉移系統54''''、第二轉移系統56''''、第四轉移構件72，或於此種情況下，分別地接近第一上連桿44及第二上連桿48之附接點的第一轉移構件58及第二轉移構件60。該系統任何部分移動之受限制皆可能導致腳支承座52的移動限制，原因在於腳支承座52可透過如圖所示及所述的連桿組系統聯結。
前述本發明之詳細說明部分係用於舉例說明之目的，絕非意圖為排它性或限制本發明於所示特定具體實施例。取決於用來具體實現本發明之關鍵特徵的組態，該等具體實施例可提供不同能力及效果。
36‧‧‧機架
38‧‧‧多功能適應性訓練裝置
40‧‧‧第一腿連桿組
42‧‧‧第二腿連桿組
44‧‧‧第一上連桿
46‧‧‧第一下連桿
48‧‧‧第二上連桿
50‧‧‧第二下連桿
52‧‧‧腳支承座

Claims (1)

  1. 一種運動裝置，其係包括：(a)具有一前端及一後端之一機架，其中該機架係經組構及配置以因應使用者從該後端進出該運動裝置；(b)樞耦接該機架之一第一大腿連桿，以於一第一上部樞軸點樞轉，及樞耦接該機架之一第二大腿連桿，以於一第二上部樞軸點樞轉，其中該第一上部樞軸點及該第二上部樞軸點係定義一側向延伸上部樞軸；(c)直接地樞耦接該第一大腿連桿遠端之該第一上部樞軸點之一第一小腿連桿，以於一第一下部樞軸點樞轉，及直接地樞耦接該第二大腿連桿遠端之該第二上部樞軸點之一第二小腿連桿，以於一第二下部樞軸點樞轉；及(d)一腳支承座，其係附接各小腿連桿遠端之各別下部樞軸點，其中該等大腿連桿、小腿連桿及腳支承座係經承載、組構及配置，使得該上部樞軸通過或於面向合適使用者姿位的臀部區域的後方，該使用者係經以水平和垂直排列之該腳支承座的該腳支承座所支承。
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