(19)
(11) EP 2 127 702 A1

(12) EUROPEAN PATENT APPLICATION

(43) Date of publication:
02.12.2009 Bulletin 2009/49

(21) Application number: 09160806.7

(22) Date of filing: 20.05.2009
(51) International Patent Classification (IPC): 
A63B 22/08(2006.01)
A63B 23/04(2006.01)
(84) Designated Contracting States:
AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR

(30) Priority: 20.05.2008 GB 0809147

(71) Applicant: Salter, Andrew Neil
Rushden Northamptonshire NN10 6BL (GB)

(72) Inventor:
  • Salter, Andrew Neil
    Rushden Northamptonshire NN10 6BL (GB)

(74) Representative: Knights, Rupert 
Saunders & Dolleymore LLP 9 Rickmansworth Road
Watford WD18 0JU
Watford WD18 0JU (GB)

   


(54) A Machine that can be used as a Running or Walking Training Aid


(57) 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 are control for the motors and 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


[0001] 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.

[0002] At present, exercise machines for running or walking are normally in the form of a treadmill, which simply provides a moving pavement to avoid the user having to change location, or is a crank 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 Stepper machines.

[0003] 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 but 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 walking technique or style, for as example as may be 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.

[0004] 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 be used to teach a person running and/or walking techniques.

[0005] 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; 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; a frame for retaining the mounting supports in a fixed position; 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, and 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.

[0006] The motors may be self contained electrical motors or could be actuators driven by hydraulic fluid or other means, provided they can be independently controlled. The motors, if electrical, can be servo or stepper motors so that their position can be precisely controlled.

[0007] 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 traditional 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.

[0008] The mounting supports may be in the form of shafts on which the respective mountings can slide.

[0009] 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 be 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.

[0010] Advantageously, each spindle is driven by an associated motor. Thus, the associated motor can be controlled so that the angular displacement between the spindles supporting respective cranks and thus the angular position of the respective foot supports can be varied throughout a cycle, or throughout an exercise program.

[0011] It is particularly advantageous if the distance between the spindle and the foot support may be varied, since the foot support may then 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. This may be achieved by arranging each crank so that it 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. In an alternative this may be achieved by fixing the length of each crank and controlling the position of each foot support along the respective crank by an associated motor such that the distance between the spindle and the foot support may be varied.

[0012] 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 be 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 programmed 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.

[0013] 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.

[0014] 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.

[0015] Preferably, the transverse spacing in between the foot supports may be changed to that desired by a particular user.

[0016] 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.

[0017] - 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 synchronised to the actions of the lower body and thus assist in training the upper body also.

[0018] There may be provided a counterbalance means comprising at least one mass associated with each mounting and arranged to travel in a substantially linear direction in opposition to the corresponding mounting. This enables smooth operation and will act to minimise any unwanted vibrations during use.

[0019] The present invention will now be 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 a first embodiment of 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;

Figure 5 is a perspective view of an alternative machine according to a second embodiment of the present invention;

Figure 6 is a perspective view of the mounting of the machine of Figure 5;

Figure 7 is a rear view of the mounting of Figure 6; and

Figures 8 to 13 schematically illustrate the operation of the machine of Figures 1 to 4.



[0020] 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.

[0021] The mountings 7 and 8 can each independently slide horizontally along the respective pairs of support shafts 3, 4 and 5, 6 respectively.

[0022] 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.

[0023] For clarity only the right-hand mounting 7 is described below with reference to Figures 3, 4 and 8 to13. However the left-hand mounting and associated components functions in the same manner.

[0024] 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.

[0025] To the opposite end of 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 extendable 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.

[0026] 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 be 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 be 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.

[0027] Figure 1 shows the machine 1 in a rest position, but in operation respective motors 14 will be 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.

[0028] Referring to Figures 5 to 7, there is shown a second embodiment, which differs from the first embodiment primarily in the mechanism for varying the distance between the spindle and the foot support. For clarity, like features have been provided with the same numerals as in the first embodiment.

[0029] As with the first embodiment, only the right-hand mounting 7 is described below with reference to Figures 6 and 7. However, the left-hand mounting and associated components function in the same manner.

[0030] As with the first embodiment, the mounting 7 is arranged to slide backwards and forwards on shafts 3 and 4 and has a bearing (not shown) supporting a spindle 10 (see figure 7). For clarity, the shaft supports on the mountings 7, 8 (shown in Figure 5) are not shown in Figures 6 and 7. Between the first end of the spindle 10 and the mounting 7 is a pulley 33 locked to the spindle 10, which is driven by electric motor 14 within mounting 7, via belt 34. Crank 11 and con rod 12 are arranged as in the first embodiment.

[0031] It will be readily appreciated by the skilled person that the mountings 7, 8 in both the first and second embodiments may be arranged to slide back and forth on wheels, rollers or similar and that the present invention need not be limited to the arrangement shown. For example, the shafts 3 and 4 may be replaced by one or more runners or tracks arranged to receive wheels or rollers provided on the mountings 7, 8.

[0032] To the opposite end of 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 (not shown) for receiving and supporting a users foot. Crank 15 is locked to spindle 10 such that rotation of spindle 10 effects rotation of crank 15. Crank 15 is of fixed length, however, the position of the foot support 16 along crank 15 may be varied under control of electric motor 19. Drive is transmitted from motor 19 using a belt 35, which is arranged to drive a secondary spindle 36 (Figure 7), which is of tubular construction and sits over the spindle 10 to rotate independently of spindle 10. Rotation of spindle 36 effects rotation of an associated belt 37, which is arranged to raise and lower foot support 16 independently of rotation of crank 15.

[0033] An advantage of the second embodiment is that by mounting the motor 19 on the mounting 7 rather than on the second crank 15, as in the first embodiment, power may be supplied directly to the electric motor 19, obviating the need for slip rings 20, 21. However, slip rings 20, 21 and corresponding contacts may be provided in the second embodiment, as shown, to provide power to sensors or any additional components that require power.

[0034] As with the first embodiment, motors 14 and 19 on the mounting 7, and corresponding motors on the mounting 8 of Figure 5 are connected to and controlled by a computer 24 (not shown) which is mounted on the frame 2. A user 25, as shown in Figure 1 in respect of the first embodiment, can be primarily supported by foot supports 16 and additionally, depending on the purpose of the exercise to be 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 be 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.

[0035] Whilst in the first embodiment chains are shown for transmission of drive from the motors and in the second embodiment belts are shown, it will be readily appreciated that any suitable transmission means may be used, including, for example, bevelled gear drive shafts. Furthermore, the transmission means of the first and second embodiments may be swapped and/or combined as desired.

[0036] In either or both of the first and second embodiments there may additionally be provided a counter-balance mechanism (not shown) comprising at least one mass associated with each mounting and arranged to travel in a substantially linear direction in opposition to the corresponding mounting. The counter-balance mechanism may be of any standard construction, as will be readily appreciated by the skilled person.

[0037] Referring now to Figures 8 to 13, there is illustrated schematically the effect of rotation of spindle 10 on the foot support 16. As the spindle 10 rotates in an anticlockwise 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 be modified, and the position of the foot support 16 to be 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.

[0038] The computer may incorporate appropriate software such that it can be 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 be 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.

[0039] 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 be calculated from C2 = A2 + B2 - (2AB cos Y)

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



[0040] With each degree of rotation, the fixed point of the foot support16 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, C2 = A2 + B2 - (2AB cos c), and angle a can be calculated by SIN a = (A x SIN b) / B



[0041] 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.

[0042] It will be readily appreciated by the skilled person that the above description in respect of Figures 8 to 13 is equally applicable to the arrangement of the second embodiment as described with respect to Figures 5, 6 and 7, wherein in the second embodiment rather than varying the length of the crank 15 to modify the shape of the ellipse 32, the distance between the foot support 16 and the spindle 10 is varied to enable the shape of the ellipse 32 to be modified, and the position of the foot support 16 to be controlled to mimic the actual path of a user's foot during running or walking or any other desired path.

[0043] 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 be made without departing from the invention as defined by appended 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, 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; a frame for retaining the mounting supports in a fixed position; 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, and 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.
 
2. A machine as claimed in claim 1 wherein the mounting supports are in the form of shafts on which the respective mountings can slide.
 
3. A machine as claimed in claim 1 or 2 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.
 
4. A machine as claimed in claim 3 wherein the con rods are mounted to respective cranks.
 
5. A machine as claimed in any preceding claim wherein each spindle is driven by an associated motor.
 
6. A machine as claimed in any preceding claim wherein each crank is extendable and is controlled by an associated motor such that the distance between the spindle and the foot support may be varied.
 
7. A machine as claimed in any of claims 1 to 5 wherein the length of each crank is fixed and the position of each foot support along the respective crank is controlled by an associated motor such that the distance between the spindle and the foot support may be varied.
 
8. A machine as claimed in any preceding claim 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 be 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.
 




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