[0001] The aim of the present invention is a device capable of carrying out a stepping movement,
approximately like the movement a person makes when walking.
[0002] In the toy sector, many varied types of simple movement devices are known; we mention
here, as an example, a toy consisting of a transparent sphere containing a doll pivoted
on a diameter of the sphere; the sphere moves by rolling and/or oscillating and the
doll always stays in the upright position.
[0003] FR-A-1 002 057 discloses a stepping movement toy as said in the preamble of claim
1. Said toy as taught can be embodied only as a string-pulled toy, which is pulled
by a user; no disclosure has ever been made of a stepping device whereon a user can
ride, or seat or stand, making the device walk step by step.
[0004] In the field of aids for paraplegics, walking devices are known which substantially
comprise a frame for supporting the patient, to the bottom of whose support base two
feet are integral, the lower surface of which slopes to form a dihedral angle, with
its point towards the inside and its opening towards the side of the base plate. The
user proceeds by imparting to the apparatus a movement which combines an oscillation
around a horizontal, longitudinal axis and a rotation around the vertical axis of
his trunk.
[0005] The aim of the present invention is to obtain movements similar to those of a person
walking, by means of a simple versatile device.
[0006] Such aims have been obtained with the device of the present invention, as is defined
in claim 1, while the subsequent claims refer to additional distinctive details of
the device.
[0007] The device comprises two leg elements, linked together at an upper location in an
oscillating way round a substantially horizontal axis; this linkage or connection
can consist of a single pin around which the legs can rotate, or of two coaxial pins
fastened in turn by a rigid structure or linked by an interposed mechanism. Each leg
ends at the bottom with a foot integral with it, which has a support surface at the
bottom, which is usually relatively wide and is arched in the longitudinal direction
(that is in the moving forward direction) and in the transverse direction.
[0008] The centre of gravity of the whole toy or, in the case of a therapeutic aid, by the
aid plus the patient, is located below the pivoting axis.
[0009] The device is moved by imparting to it an oscillating movement in a transverse direction,
substantially an oscillation around a longitudinal axis, in such a way as to disengage
first one foot and then the other alternatively from the support surface; and a traction
or thrust movement substantially in the direction for moving where it is desired to
go.
[0010] The new device realizes in a simple way a walking movement relatively similar to
that of a human being moving forward. It can be realized as an aid for paraplegics,
as a piece of sports equipment, as a toy, as a gadget or as a robot for use in industry
or for transport.
[0011] Embodiments of the invention are described below, for the sake of example only and
not restrictively, with reference to the appended drawings, in which they are illustrated,
and in which:
- figure 1
- is a front view of a first embodiment of the device in the rest condition;
- figure 2
- is a view from the right, with respect to the view in figure 1;
- figure 2a
- is a view similar to the one in figure 2, but illustrates the device during a walking
movement;
- figure 3
- is top plan view of the device in the rest condition; figures 4 and 5 are, respectively,
a front view and a side view of a modified embodiment of the device;
- figure 6
- is a front view of a third embodiment of the device;
- figure 7
- is a perspective view of an embodiment of the device, structured to receive a person,
so as to act as a toy, as a piece of sports equipment or as an aid for paraplegics;
- figure 8
- is a side view of another embodiment of the device;
- figure 9 and figure 10
- are respectively a front view and a side view of a further embodiment;
- figure 11
- is a front view of the device of figures 9 and 10, realized as an aid for paraplegics.
[0012] With reference to the figures, a first exemplary embodiment of the device is shown
as a whole with 10 and comprises a pair of leg elements, respectively 12 and 14, linked
together in an upper position, in the example by means of a single pin 16 with horizontal
axis
a, around which they can rotate. Each leg is rigidly integral at its lower end with
a foot part, respectively 18, 20. Each foot part has a relatively wide bottom surface
18', 20', which serves as a support, and has an arched shape both on a longitudinal
plane (that is on a plane extending in the direction of movement - arrow F - that
is on the plane shown in figure 2) and on planes transverse to the said longitudinal
plane (that is on the plane shown in figure 1 and parallel to it).
[0013] In this text, the word "arched" is used to indicate a curve which is not necessarily
a circumference arc (respectively, not necessarily like a spherical cap), but any
curve whatsoever. It should also be noted that the curve of the support surface of
the feet can have a different radius in longitudinal section and in transverse section.
It is appropriate, however, that the two lower surfaces 18', 20' should be symmetrical
mirror images and it is preferable that, at least near the symmetry plane, the longitudinal
curve should have a circular profile with its centre on the axis
a.
[0014] In addition, an arm 25 is mounted in a rotating way on the pin 16, said arm carrying
a weight 26 at its end. The arm 25 can be rigid with an articulated joint on the axis
a which allows only rotation, or of the spherical type with the possibility of transverse
oscillation, possibly limited by an elastic device. The arm 25 can also be of the
flexible type, consisting of an elastic rod or a wire, and it is used to arrange the
weight 26 in an appropriate position so that the centre of gravity of the assembly
is at a desired level below the axis
a.
[0015] In figure 1 a roughly anthropomorphic shell 28 is drawn with a broken line, such
as could be used to realize the device in toy form. In such a case, the arm 25 may
be omitted, the weight consisting of or being carried by the shell 28.
[0016] The device can move in various ways, for example: it can be placed on a surface sloping
downwards and a slight transverse oscillation can be imparted to it, which is sufficient
to release one foot after the other alternatively. According to another way of working,
traction can be applied to the device, on a surface sloping upwards or downwards or
horizontal, for example by means of a wire applied to the rod 25 or to the weight
26, and a transverse oscillation will be imparted to the device itself as for the
previous case. It can also be moved with an internal source of energy, for example
with the user's hands.
[0017] In figures 4 and 5 a variation of the device is illustrated, in which the weight
carried has its centre of gravity located above the axis
a (the centre of gravity of the whole assembly is, on the other hand, still below the
axis
a for the sake of stability).
[0018] The elements of the device 100 which correspond to the homologous elements of the
device 10 have the same reference numbers and will not be described in detail.
[0019] It will be noted that, in this case, an additional bond for the legs consists in
the fact that they have slots 30, 32 through which a transverse rod 34 is positioned
in a loose way, said rod integral with the weight 36 to be carried, by means of an
arm 35. The arm 35 is idle on the pin 16, as the arm 25 is in the previous embodiment.
[0020] In figure 6, a further embodiment is shown with 200 and it is similar to the one
illustrated in the figures 4 and 5, with a weight 36 to be carried in a position above
the axis
a, except that the additional bond between the leg elements 12, 14 consists of a crown
wheel 40 which meshes with two pinions 42, 44, each one integral with a respective
leg 12, 14, and idle on the pin 16.
[0021] Figure 7 illustrates an embodiment of the device as an aid for paraplegics or as
a sports implement. The device is indicated as a whole with reference number 300 and
essentially comprises a support framework 302, in the shape of a box for example,
carried on two substantially vertical leg elements 312 and 314, both of which are
pivoted with pins 326 and 328 outside on the walls 303 and 304 of the box framework
302 around one and the same axis
a.
[0022] As in the case of the previous embodiments, each leg ends at the bottom in a foot,
respectively 318, 320, whose lower support surface is curved both in a backwards and
forwards direction and in a transverse direction.
[0023] Each leg 312, 314 is also provided with a means for determining and controlling the
movement which, merely for the sake of example, has been illustrated as a hand grip
322, 324 respectively, but can consist of hand grips 322', 324' or some other.
[0024] The frame 302 has, in addition, a support base 306 for the user's feet and possibly
a resting or abutment surface 308 to avoid bending of the knees.
[0025] The user, suitably fastened to the device 300 by means not shown, by moving his head
and/or shoulder imparts a transverse oscillation (makes the axis
a oscillate around a longitudinal axis) in such a way as to weight and release one
foot after the other alternatively, and he acts manually on the moving means relating
to the momentarily released foot and, usually, also on the one supported.
[0026] With reference to figure 7, it should be noted that the box framework 302 can be
suspended on the axis
a by means of the interposition of elastic suspensions; the alignment of the pins 326,
328 must be ensured in such a case with a rigid additional structure.
[0027] In the figures 2, 2a and 5 devices are shown in which the curving of the foot in
a forward and backward direction has its curve axis coincident with the pivot axis
of the legs.
[0028] Figures 8 shows a device 400 similar to the one in figures 1-3, in which the forward
and backward curve of the rest surface of the feet 418, 420 has its axis
c positioned above the pivot axis
a of the legs 412, 414; or, in other words, the radius (R) of the forward to backward
curve of the foot on the inner vertical plane of the foot is greater than the distance
(H) between the pivot axis of the legs and the rest surface:
, for example H/R = 0.96.
[0029] This conformation has the following advantages: in the situation where the feet are
spaced apart (see figure 2a) lateral stability is maintained, even with the centre
of gravity of the system relatively high. This allows the device to be realized with
smaller vertical dimensions.
[0030] The further embodiment in figures 9 and 10 is shown with 500. The feet 518 and 520
are rigidly integral with the legs 512 and 514 respectively, and each of these carries,
on each side, three wheels positioned offset 515, 516, 517; in all, each leg is provided
with three wheels on each side, the homologous wheels being coaxial and preferably
pivoted on the same pin, that is to say, preferably 516 is coaxial with 516', 516''
and 516''' etc.
[0031] The three wheels 515, 516, 517 are engaged in a sliding way on a semicircular track
521, integral with a side wall 522 of a body 524. The wheels 515', 516', 517' of the
leg 514 and the wheels 515'', 516'', 517'' of leg 512 are engaged with and run on
opposite edges of a track 526 which is integral with the intermediate wall 528 of
the body 525. The wheels 515'', 516'', 517'' are engaged with and run on the edges
of the track 536 shaped as part of a circle which is integral with the side wall 532,
fixed in its turn to the plate 525 of the body. The body 524 obviously can be of any
shape whatsoever. In particular, to its brackets 534, 536 a structure can be fixed
with a seat, of the rocking-horse type or the like, for its use as a toy; or a so-called
support 'cage' (figure 11) can be fixed to the body 524 for its use as an aid for
paraplegics or as a piece of sports equipment.
[0032] The feet 518, 520 are curved in the forwards and backwards directions (a vertical
longitudinal section shows a curve having the shape of part of a circle) and in the
transverse direction (a transverse section shows a curve with the shape of an arc
of a circle).
[0033] The device 500 works in the same way as the above devices; that is to say, by imparting
to it thrust or traction in a longitudinal direction, as is illustrated with the arrow
in figure 10, and a transverse oscillation in the said direction, the foot which is
in the raised position slides along the track in the direction of the thrust, then
it is subsequently rested and the other foot is lifted, which proceeds in the same
way, and so on. The rotation axis
a for the feet, in this case, is the axis of the cylinder defined by the tracks 520,
526, 530. With respect to other embodiments, figure 10 offers the advantage of particularly
small vertical dimensions.
[0034] The embodiment in figure 10 can be used as the base for an aid for paraplegics or
as a piece of sports equipment. With respect to the embodiment in figure 7, it would
offer the following advantages:
- smaller transverse dimensions since the mechanism is below the support cage;
- greater ease in realization of folding embodiment which can fold at the level of the
users' knees, useful for allowing the seated position.
[0035] Obviously other equivalent embodiments are possible, as for example sliding shoes
on the legs, concentric with the tracks of the body, or a solution with wheels integral
with the body and tracks integral with the legs.
1. A stepping movement device comprising a first (12; 312; 512) and a second (14; 314;
514) leg, means for linking said legs to each other in such a way that they can oscillate
one with respect to the other, around a same oscillation axis; each leg being rigidly
integral with a respective foot, whose lower resting surface is curved, both in a
longitudinal direction, that is in the direction of the movement and in a direction
transverse to the longitudinal direction, the centre of gravity of the device being
located below the oscillation axis of the legs, characterized in that it comprises
a housing (302) for supporting a user, said two legs (312, 314) being able to oscillate
with respect to said housing.
2. A device as in claim 1, characterized in that said housing comprises a box-like framework
(302), said two legs being pivoted to said framework.
3. A device according to claim 2, characterized in that it comprises control means for
each leg, which are capable of being operated by the user.
4. A device according to claim 1, as an aid for paraplegics.
5. A device according to claim 1, as a toy or piece of sports equipment.
6. A device according to claim 2, characterized in that the said framework (302) comprises
a supporting base (306) for the user's feet and an abutment surface (308) for the
knees.
7. A device according to claim 1, characterized in that the curve axis of the curved
longitudinal profile of the feet is above the said oscillation axis for the legs.
8. A device according to claim 1, characterized in that said housing is part of a body
bearing tracks (521, 526, 530), the said tracks being part-cylindrical and having
said oscillation axis (a) as cylinder axis, said legs being movable along said tracks.
9. A device according to claim 8, characterized in that the legs have wheels for engaging
said tracks.
1. Vorrichtung zur schrittweisen Bewegung, die ein erstes (12; 312; 512) und ein zweites
Bein (14; 314; 514) umfaßt, Mittel um die beiden Beine miteinander zu verbinden, damit
sie gegeneinander auf derselben Schwingungsachse schwingen können; jedes Bein verfügt
über einen jeweiligen fest damit integrierten Fuß, dessen Standunterfläche gebogen
ist, sowohl in Längsrichtung, also in Richtung der Bewegung, als auch in Querrichtung
im Vergleich zur Längsrichtung, der Schwerpunkt der Vorrichtung befindet sich unter
der Schwingungsachse der Beine, dadurch gekennzeichnet, daß sie ein Gehäuse (302)
umfaßt, um einen Benutzer zu stützen, die beiden genannten Beine (312, 314) sind in
der Lage, gegenüber diesem Gehäuse zu schwingen.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet daß das Gehäuse einen schachtelartigen
Rahmen (302) umfaßt und beide Beine mit dem Rahmen verbolzt sind.
3. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet daß sie Kontrollmittel für jedes
Bein umfaßt, die vom Benutzer bedient werden können.
4. Vorrichtung nach Anspruch 1, als Hilfsmittel für Querschnittsgelähmte.
5. Vorrichtung nach Anspruch 1, als Spiel- oder Sportgerät.
6. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet daß der Rahmen (302) eine Trägerbasis
(306) für den Fuß des Benutzers und eine Stütze (308) für die Knie umfaßt.
7. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet daß die Achse der Kurve des Profils
des Längsbogens des Fusses über der Schwingungsachse für die Beine liegt.
8. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet daß das Gehäuse Teil eines Körpers
ist, der Schienen (521, 526, 530) trägt, wobei die Schienen teilweise zylinderförmig
sind, mit der Schwingungsachse (a) als Zylinderachse, und die Beine entlang der Schienen
beweglich sind.
9. Vorrichtung nach Anspruch 8, dadurch gekennzeichnet daß die Beine über Räder für die
Schienen verfügen.
1. Un dispositif de mouvement à pas comprenant une première (12; 312; 512) et une deuxième
(14; 314; 514) jambes, des moyens pour accoupler ces jambes l'une à l'autre afin de
permettre leur oscillation, l'une relativement à l'autre autour d'un même axe d'oscillation;
chaque jambe étant rigidement intégrale avec un pied dont la surface inférieure d'appui
est cintrée, tant dans la direction longitudinale c'est-à-dire dans la direction du
mouvement, que dans la direction transversale par rapport à la direction longitudinale,
le barycentre du dispositif étant placé en-dessous de l'axe d'oscillation des jambes,
caractérisé par le fait qu'il comprend un logement (302) pour soutenir un utilisateur,
ces deux jambes (312, 314) étant à même d'osciller par rapport à ce logement.
2. Un dispositif suivant la revendication 1, caractérisé par le fait que ce logement
comprend une charpente (302) en caisson, ces deux jambes pivotant sur cette charpente.
3. Un dispositif suivant la revendication 2, caractérisé par le fait qu'il comprend des
moyens de contrôle pour chaque jambe, ces moyens pouvant être commandés par l'utilisateur.
4. Un dispositif suivant la revendication 1, en tant que dispositif auxiliaire pour paraplégiques.
5. Un dispositif suivant la revendication 1, en tant que jouet ou équipement sportif.
6. Un dispositif suivant la revendication 2, caractérisé par le fait que cette charpente
(302) comprend une base de support (306) pour les pieds de l'utilisateur et un support
(308) pour les genoux.
7. Un dispositif suivant la revendication 1, caractérisé par le fait que l'axe de la
courbe du profil longitudinal cintré des pieds est au-dessus de cet axe d'oscillation
pour les jambes.
8. Un dispositif suivant la revendication 1, caractérisé par le fait que ce logement
fait partie d'un corps qui porte des rails (521, 526, 530); ces rails étant partiellement
cylindriques et ayant cet axe (a) d'oscillation en tant qu'axe du cylindre, ces jambes
étant mobiles le long de ces rails.
9. Un dispositif suivant la revendication 8, caractérisé par le fait que les jambes sont
pourvues de roulettes qui s'engagent dans ces rails.