RU2837231C1 - Device for training walking functions - Google Patents

Abstract

FIELD: medical equipment.

SUBSTANCE: device for training walking functions comprises a base on which side walls are fixed, between which two adjacent support elements are arranged, each of which has an upper surface comprising a platform for placing the user's foot, and a lower surface configured to interact with a drive having a motor and adapted to provide the support elements of a plurality of cycles of alternating steps of reciprocating and inclined movements in antiphase. Each support element is an elongated integral strip having front and rear ends. Between the side walls under the front ends of the elongated integral strips there is a means for supporting the front ends relative to the horizontal plane with possibility of rotation. Drive is made with possibility of interaction with lower surfaces of rear ends and implementation of a cycle of reciprocating and inclined movements of elongated integral strips in antiphase, including alternating stages. At the first stage, backward motion is performed from the extreme front position to the extreme rear position with zero angle of inclination of the rear end of the strip to the horizontal plane. At the second stage, the direction of movement is changed when the rear end of the strip reaches the extreme rear position. At the third stage – simultaneous beginning of inclined movements in up, forward and down directions at change of movement direction. And on the fourth – continuation of the started inclined movements with change of angle (α) inclination to the horizontal plane until the front end of the strip reaches the extreme front position.

EFFECT: simplifying and providing accuracy of reproduction of cycles of movement of legs.

19 cl, 6 dwg

Description

The present invention relates to the field of rehabilitation medicine, including traumatology, orthopedics and neurology, and more specifically to a device for training walking functions.

The proposed device can be used to train muscles serving large joints of the lower extremities with simultaneous protection of structural elements of the joints from the impact of weight load. At the same time, the proposed device can be used to improve motor capabilities, including those of low-mobility users of any age, to reduce the risk of injury during independent movement, to create a psychological situation of success, and to increase motivation for independent movement.

The present invention can be used, including in the field of sports and physical education, to improve mobility in the joints of the feet, ankle joints, knee and hip joints.

The present invention can be most effectively used in medicine for the rehabilitation of users with impaired leg movement functions when walking. Including for teaching walking skills to users with increased weight and dimensions, disabled people suffering from serious lesions of the nervous system and musculoskeletal system, i.e. with impaired independent movement function due to disabling diseases of the nervous system and musculoskeletal system (cerebral palsy; spinal dysraphism; consequences of acute cerebrovascular accidents, craniocerebral and spinal-spinal cord injuries, inflammatory diseases of the brain and spinal cord; consequences of injuries, inflammatory and / or degenerative diseases of the joints of the lower extremities; consequences of injuries to the long tubular bones of the lower extremities, etc.). The problem of rehabilitation treatment of these users is extremely relevant due to its social significance.

Getting a user who has lost the ability to walk back on their feet as soon as possible is critical to restoring walking ability and preventing problems that arise from physical immobility. In cases of walking disorders associated with stroke, traumatic spinal cord injury, and other neurological diseases, signals from the brain do not reach the muscles. In cases of walking disorders due to orthopedic reasons, the muscles are unable to fully respond to incoming signals from the brain.

Currently, various types of exercise machines, such as elliptical trainers and steppers, are widely used to rehabilitate users with impaired leg movement functions while walking and to train the muscles of the lower extremities. These devices contain support elements for placing the user's feet, designed with the ability to perform cyclic reciprocating movements in the horizontal and vertical planes. These devices allow you to train the muscles of the thigh, shin, improve mobility in the hip, knee, ankle and foot joints. However, these devices cannot be used to restore the walking pattern, that is, when using these devices, there is no way to automatically fix in the user's mind a stereotype of leg movement while walking that corresponds to the correct leg movement when a healthy person walks on a flat surface.

Currently, many devices are widely known for restoring the musculoskeletal functions of various sections of the musculoskeletal system, including by correcting pathological positions of segments of the lower extremities using support elements, such as exercise machines and devices for training walking functions, including using a treadmill, elliptical trainer and medical orthoses designed with the possibility of being attached to the user's foot or leg and providing imitation of the user's independent movement along a given trajectory simulating the movement when walking on a fixed support surface.

A device for training walking functions is known (RU No. 2409342). This device is a training device that contains at least one orthosis with means for fastening in the area of the foot or leg. The training device is mounted on a fixed solid support surface with the ability to move along a given trajectory simulating natural walking movement. Rolling or sliding means are provided between the orthosis and the support surface, providing the ability to move the orthosis relative to the fixed support surface. This device provides for an expansion of the training and rehabilitation capabilities of a sports training device simulating walking movement. However, this device has a complex design, which does not allow changing the step length, the amplitude of the muscles and the articular-ligamentous apparatus of the lower extremities when performing stepping movements. In addition, when using this device, it is not possible to automatically fix in the user's mind a stereotype of leg movement when walking, corresponding to the correct leg movement when a healthy person walks on a flat surface (a full walking pattern).

A device (RU 2671343 C1) is known for training and restoring a walking pattern, which contains a barbell, in the middle of which there is a mechanism for adjusting its length. The ends of the barbell are equipped with hinges, each of which is equipped with a shaft with a mechanism for adjusting its length, while at the end of each shaft a support bar with a fastening for the ankle joint is rigidly fixed. The shafts are installed in one plane perpendicular to the barbell with the ability to rotate around their axes together with the hinges. This device ensures regulation of the step length, an increase in the amplitude of muscle contraction of the trained muscles and an increase in the amplitude of movements in the joints of the lower limbs when performing stepping movements. However, when using this device, there is no way to automatically fix in the user's mind the correct stereotype of leg movements when walking on a flat surface.

A device for training walking functions is known: (INTERNET: LokoHelp, Woodway "Robotized complex for locomotor therapy and rehabilitation of the lower extremities LokoHelp", (https://integro.site/tovar/lokomat-pro-pediatric/), which is an electromechanical device for training walking functions. The LokoHelp device contains a walking simulator, a servo drive with a gear transmission and a control unit with a touch screen. To use this device, the simulator is installed on a treadmill containing a single solid support belt, and the simulator is removed from this treadmill after use. The LokoHelp device can be used with almost any treadmill, even with sports versions of treadmills. The device guides the feet and allows the user to activate and correct the position of the knee and hip, provides a symmetrical and rhythmic nature of walking during a therapy session, including many cycles of alternating stages of positions and movements in antiphase. However, when using this device, it is not possible to change the step length, the amplitude of the muscles and the joint-ligament apparatus of the lower limbs when performing stepping movements. At the same time, to use the LokoHelp device, it is necessary to have a separate treadmill and provide complex settings and special adjustment of the LokoHelp device on this treadmill. This complicates the design of the device, which requires the use of complex manipulations to ensure the possibility of its use. At the same time, it is not possible to automatically fix in the user's mind a stereotype of leg movement when walking, corresponding to the correct leg movement when a healthy person walks on a flat surface (full walking pattern).

A device for training walking functions is known: (INTERNET: LokomatPro (Lokomat Adult) "Robotized complex for locomotor therapy with extended feedback", manufacturer: Nosota (Switzerland) (https://beka.ru/katalog/mekhano-i-robotizirovannaya-terapiya/vosstanovlenie-navykov-khodby/lokomat-pro/). This complex is designed to restore skills and train walking functions of neurological patients after a stroke, spinal cord injury, brain damage, or orthopedic patients after hip and knee endoprosthetics, anterior cruciate ligament injury, as a result of which the patient has lost walking skills. The Lokomat rehabilitation complex contains a treadmill with one solid support surface, which is a movable support surface on which the user is supported in a standing position using a suspension system. The user's feet are secured with means for fixing the user's feet or legs, each of which has a device for adjusting the density fixation. This means is connected to the robot, robotic orthoses are created, with the help of which the user is moved and the ratio of the user's participation in walking is assessed due to his own efforts and the participation of the simulator in walking, with the help of which the stereotype of the user's movements in the corresponding joints is brought closer to the physiologically correct stereotype of movements. In addition, the complex contains robotic motors controlled by a computer. These motors are attached to the user's legs using tapes. Robotic orthoses lead the patient's legs along the supporting surface of the treadmill in a position close to natural walking. As a result, the Lokomat rehabilitation complex helps to strengthen muscles and restore blood supply to the lower limbs in patients who have lost the ability to walk. At the same time, bone tissue is significantly strengthened, which reduces the risk of bone loss and, as a result, the risk of bone fractures. However, this training complex has a complex design of robotic orthoses, made with the possibility of fastening on the user's foot or leg and providing imitation of independent movement of the user along a given trajectory, simulating the movement when walking on a fixed support surface. This requires the use of complex manipulations to ensure the ability to accurately reproduce the correct stereotype of the user's leg movements when walking. In addition, when using this device, there is no possibility to automatically fix in the user's mind the stereotype of leg movements when walking, corresponding to the correct leg movement when walking of a healthy person on a flat surface (full walking pattern).

A device for training walking functions is known: (INTERNET: Vekarus "Rehabilitation robotic trainer with biofeedback for training walking and balance LEXO" Manufacturer: Tyromotion (Austria) (https://beka.ru/katalog/mekhano-i-robotizirovannaya-terapiya/vosstanovlenie-navykov-khodby/lexo/). This trainer contains a device for training walking and balance functions, containing a base on which side walls are fixed, between which two adjacent support elements for walking are installed, each of which is a prefabricated support web having an upper and lower surface. Each prefabricated support web in the transverse direction is made as a composite of three separate parts: front, middle and back, which are fastened with the ability to change position relative to each other and perform multiple movements relative to each other in the vertical and horizontal planes. The middle part of each prefabricated support web is a platform (zone) for placing the user's foot. On each platform, a means for fixing the corresponding foot or leg of the user is fixed, having a device for adjusting the density of fixation. In this case, the device contains a structurally complex drive (or several drives), made with the possibility of interaction with the lower surface of each individual part of the corresponding support web and providing individual parts of the support webs with a plurality of cycles of alternating stages of reciprocating and inclined movements in antiphase.

By the phrase "inclined movement" we mean movement at an angle of inclination to the horizontal plane (academic.ru: Dictionaries and encyclopedias on Academician: Dictionary and reference book of terms of normative and technical documentation: 3.1.17 lifting platform with inclined movement: A lifting platform in which the load-bearing device moves along rigid guides at an angle of inclination to the horizontal of no more than 75°).

When performing one cycle of alternating stages, the drive is configured to provide all parts of each prefabricated support web with alternation of the following stages of movements in antiphase: the first stage - with the ability to move the front and middle parts of the corresponding prefabricated support web from the extreme front position of the front part backwards with a zero angle of inclination to the horizontal plane and simultaneous inclined movement of the rear part of the corresponding prefabricated support web upwards with an increase in the angle of inclination to the horizontal plane; the second stage - with the ability to inclined movement of the middle and rear parts of the corresponding prefabricated support web simultaneously backwards and upwards with an increase in the angle of inclination to the horizontal plane until the rear part of the corresponding prefabricated support web is positioned in the extreme rear position with a maximum angle of inclination to the horizontal plane (highest lift); the third stage - with the ability, upon reaching the extreme rear position by the rear part, to change the direction of movement of the corresponding web to the opposite inclined direction forward and downwards with a decrease in the angle of inclination to the horizontal plane; the fourth stage - with the possibility of inclined movement of the corresponding web in the forward and downward direction with a decrease in the angle of inclination to the horizontal plane until the front and middle parts of the corresponding web reach a position with a zero angle of inclination to the horizontal plane, the front part reaches the extreme forward position and the rear part of the corresponding prefabricated support web is placed at an angle to the horizontal plane. In this case, each individual part of the corresponding web is designed with the possibility of changing the position relative to one another and performing a plurality of additional movements relative to one another in the vertical and horizontal planes. As a result, the drive contains a plurality of individual devices for interaction with the lower surfaces of each individual part of the corresponding prefabricated support web. These devices are designed with the possibility of giving each of the said parts of the corresponding web the required synchronous positions and movements in antiphase. The equipment of this simulator is adjusted to the physical condition of a specific user, which stimulates the user's activity, increases the effectiveness of his rehabilitation, ensures free movement of his joints. In this case, correct posture, balance, and the ability to transfer weight from one leg to another are trained.

However, the presence of the said plurality of separate drive devices for providing the corresponding component parts of the corresponding prefabricated support webs with a plurality of cycles of the said alternating stages of reciprocating and inclined movements in antiphase and additional movements relative to one another leads to the fact that the drive of this device has a complex design. This leads to difficulties in accurately reproducing the plurality of cycles of the said alternating stages of movements of the component parts of the corresponding prefabricated support webs as a whole.

In addition, since the upward movement of the corresponding prefabricated support web at the second stage is carried out with its inclined backward movement, this is accompanied by a forced upward lifting of the corresponding foot and heel of the user. This contradicts the correct movement of the legs when a healthy person walks on a flat surface, i.e. excludes the implementation of a full walking pattern. In this regard, when moving the prefabricated support webs with the implementation of the specified set of cycles of alternating stages of movements in antiphase, including with the alternation of the specified first, second, third and fourth stages, there is no possibility to automatically fix in the user's mind a stereotype of leg movement when walking, corresponding to the correct leg movement when a healthy person walks on a flat surface (full walking pattern).

The invention is based on the task of creating a device for training walking functions with such design features of the support elements and drive that would simplify their design implementation, ensure accurate reproduction of multiple cycles of alternating stages of reciprocating and inclined movements of the support elements and ensure the ability to automatically consolidate in the user's mind the correct stereotype of leg movement when walking, corresponding to the correct leg movement when a healthy person walks on a flat surface (ensure a complete walking pattern).

This problem is solved by creating a device for training walking functions, comprising a base, on which side walls are fixed, between which two adjacent support elements are placed, each of which has an upper surface containing a platform for placing the user's foot, and a lower surface configured to interact with a drive having a motor and adapted to provide the support elements with a plurality of cycles of alternating stages of reciprocating and inclined movements in antiphase, wherein, according to the invention, each support element is an elongated integral strip having a front and rear end, and between the side walls under the front ends of the elongated integral strips with the possibility of rotation there is a means for supporting the front ends of the elongated integral strips in a given position relative to a horizontal plane, wherein the drive is configured to interact with the lower surfaces of the rear ends of the elongated integral strips and to provide each elongated integral strip with the following alternating stages during the implementation of one cycle of reciprocating and inclined movements in antiphase: at the first stage, the drive is configured to provide the corresponding the strip of movement backwards from the extreme forward position to the extreme rear position and the implementation of this movement with a zero angle of inclination of the rear end of the strip to the horizontal plane; at the second stage, the drive is configured to provide a change in the direction of movement corresponding to the strip when the rear end of the strip reaches the extreme rear position; at the third stage, the drive is configured to provide a simultaneous start of inclined movements corresponding to the strip in the upward, forward and downward directions when the direction of movement changes; at the fourth stage, the drive is configured to provide a corresponding strip of implementation of inclined movements started at the third stage with a change in the angle of inclination to the horizontal plane until the front end of the strip reaches the extreme forward position.

The technical result of the proposed invention consists in the fact that the structural design of the supporting elongated integral strips and the drive eliminates the need to use a plurality of individual devices for interaction with the lower surfaces of each individual part of each supporting strip. This simplifies the structural design of the supporting strips and the drive and ensures accurate reproduction of a plurality of cycles of the said alternating stages of reciprocating and inclined movements of the supporting elongated integral strips in antiphase, eliminates the forced lifting of the user's foot and heel when moving the corresponding elongated strip backwards from the moment the front end of the strip is placed in the extreme forward position until the rear end of the strip reaches the extreme rear position and ensures the ability to automatically fix in the user's mind the correct stereotype of leg movement when walking, which contributes to the implementation and fixation in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, that is, it ensures the implementation of a complete walking pattern.

The proposed device is a stationary biomechanical stepper, i.e. an automated walking machine, which allows you to train the muscles of the entire body while reducing the load on the joints.

It is advisable that each elongated integral strip be a solid and rectilinear element, fully or partially made of high-strength titanium alloy VT6 or aluminum alloy D16T, or that each elongated integral strip be made of rigidly connected longitudinal parts, fully or partially made of the said high-strength titanium or aluminum alloys.

The specified design and high-strength materials of the elongated integral strips provide lightness, hardness, rigidity and strength of these strips, which makes it possible to simplify the design of the drive and ensure accurate reproduction of multiple cycles of alternating stages of positions and movements of the supporting elongated integral strips in antiphase without using multiple additional devices, to eliminate the forced lifting of the user's foot and heel when moving the corresponding elongated strip backwards from the moment the front end of the strip is placed in the extreme forward position until the rear end of the strip reaches the extreme rear position and to ensure the ability to automatically fix in the user's mind the correct stereotype of leg movement when walking, which contributes to the implementation and fixation in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, i.e. ensures the implementation of a complete walking pattern.

It is structurally justified that the drive is placed essentially under the rear ends of the extended integral strips. This simplifies the structural implementation of the drive, which ensures the exact reproduction of a plurality of cycles of the said alternating stages of reciprocating and inclined movements of the supporting extended integral strips in antiphase, which ensures all the advantages described above.

In order to improve the reproduction of the correct walking stereotype of specific users who, in a healthy state, had a gait with a raised toe in the final stage of the step, it is preferable that, at the fourth stage, the drive is designed with the possibility of providing the front end with a corresponding extended integral strip before reaching the extreme front position of the first stage of additional movement in the upward direction.

This facilitates the implementation and consolidation in the user's consciousness of a natural, independent and individual trajectory and correct movement of the legs when a healthy person walks on a flat surface, that is, it ensures the implementation of a complete walking pattern for a user with specific gait characteristics.

In order to prevent the user's foot from shifting from the selected position on the corresponding strip when performing the said plurality of cycles of the said alternating stages, it is useful that on each platform for placing the foot there is a means for fixing the user's foot, having a device for adjusting the density of fixation.

This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, that is, it ensures the implementation of a complete walking pattern.

It is possible that along the long sides of the extended integral strips a means for supporting the user's hands is placed.

This ensures the maintenance of the user's balance during the implementation of the specified set of cycles of the specified alternating stages, which contributes to the implementation and consolidation in the user's consciousness of a natural, independent and individual trajectory and correct movement of the legs when a healthy person walks on a flat surface, that is, ensures the implementation of a complete walking pattern of the user, having specific gait characteristics.

It is convenient to have a means of supporting the user's body fixed above the extended integral strips.

This ensures the vertical position of the user is given and maintained, fall protection and weight load reduction on the joints of the user's lower limbs. This enables the structural implementation of the support strips and drive to be simplified and facilitates the precise reproduction of multiple cycles of alternating stages of movement of the support elongated integral strips in antiphase, which enables the automatic fixation in the user's mind of the correct stereotype of leg movement when walking, which facilitates the implementation and fixation in the user's mind of a natural, independent and individual trajectory of the foot and heel lift and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders. This corresponds to the correct leg movement when a healthy person walks on a flat surface, i.e. ensures the implementation of a complete walking pattern.

It is preferable that the means for maintaining the front ends of the elongated integral strips in a given position relative to the horizontal plane is adapted to interact with the lower surfaces of the front ends of the elongated integral strips and contains a front axle having first and second opposite ends, by means of which this axle is mounted with the possibility of rotation in openings made in the front sections of the corresponding side walls, wherein the interaction of the lower surface of the front end of each elongated integral strip with the front axle is performed by means of rolling bearings secured near the corresponding first and second opposite ends and in the central part of the front axle.

This eliminates the need for the presence in the drive design of multiple individual devices for interaction with the lower surfaces of individual parts of each individual support strip, allows to simplify the structural implementation of the support strips and the drive, and also to ensure the accurate reproduction of multiple cycles of alternating stages of reciprocating and inclined movements of the strips in antiphase, which helps to consolidate in the user's mind a natural, independent and individual trajectory of the rise of the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with impaired walking function. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, i.e. ensures the implementation of a complete walking pattern.

It is advisable that the drive, having a motor and made with the possibility of providing the corresponding elongated integral strips with a plurality of cycles of the said alternating stages of movements in antiphase, comprise two transversely coaxial rear side axles, each of which has a first end mounted with the possibility of rotation in an opening made in the rear section of the corresponding side wall, and a second end, cantilevered under the corresponding elongated integral strip with the possibility of interaction with the lower surface of the latter using rolling bearings, a rear middle axle, transversely coaxially mounted between the rear side axles with the possibility of rotation and having first and second ends, placed under the corresponding elongated integral strips with the possibility of interaction with the lower surfaces of the latter using rolling bearings, two rear peripheral axles, mounted equidistantly and in parallel on different sides between the rear middle and the corresponding rear side axles, wherein each rear peripheral axle is placed under the corresponding elongated integral strip with the possibility of circular movement around the longitudinal axis (a - a) of the rear middle and lateral axes and has corresponding first and second ends, configured to interact with the lower surfaces of the corresponding elongated integral strips using rolling bearings, wherein on the second end of each rear lateral axle and the first and second ends of the rear middle axle, the first ends of the corresponding rear brackets are rigidly fixed, the second ends of which are rigidly fastened to the corresponding first and second ends of the corresponding rear peripheral axes, and on the lower surfaces of the corresponding elongated integral strips, carriers are fixed, having grooves in which the middle sections of the corresponding rear peripheral axes are placed, configured to transmit the corresponding movements to the carriers, which are configured to transmit the corresponding movements to the elongated integral strips and to ensure the said alternating stages during the implementation of one cycle of movements in antiphase.

Such a design and arrangement of the drive eliminates the need for multiple separate devices for interaction with the lower surfaces of individual parts of each individual support strip, simplifies the design of the support strips and the drive, ensures accurate reproduction of multiple cycles of alternating stages of reciprocating and inclined movements of the supporting elongated integral strips, eliminates the forced lifting of the user's foot and heel when the corresponding elongated element moves backwards from the moment the front end of the strip is placed in the extreme forward position until the rear end of the strip reaches the extreme rear position and ensures the ability to automatically fix in the user's mind the correct stereotype of leg movement when walking, which contributes to the implementation and fixation in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, i.e. ensures the implementation of a complete walking pattern.

In order to ensure the possibility of using the proposed device by users with different stride lengths, it is convenient that each rear bracket has a length of 10 to 30 cm. This corresponds to the average stride length of children and adult users and makes it possible to constructively replace the rear brackets for the stride length of each specific user. This corresponds to the correct movement of the legs when healthy users with different stride lengths walk on a flat surface, i.e., it ensures the implementation of the full walking pattern of different users.

In order to ensure the precise reproduction of the specified plurality of cycles of alternating stages of movements of the supporting elongated integral strips corresponding to the correct movement of the legs when a healthy person walks on a flat surface, i.e. corresponding to the implementation of a complete walking pattern, and to ensure the possibility of automatically fixing in the user's mind the correct stereotype of leg movement when walking, facilitating the implementation and fixing in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with walking impairments, it is useful that the lower surface of each individual elongated integral strip be made flat, while it is advisable that the front axle, two rear side axles and the rear middle axle are installed at the same level, and also, preferably, that rolling bearings are installed in the holes made in the front and rear parts of the side walls and in the grooves of the carrier, while it is advisable that at the ends of the corresponding rear brackets, rigidly fastened to the corresponding rear peripheral axles, rolling bearings were placed.

In order to prevent the platform for placing the user's foot from lowering below the horizontal plane in which the front and rear ends of the elongated integral strips lie, it is structurally justified that this platform be located on the upper surface of each elongated integral strip between the locations of the front axle and the rear side axes of the drive during any possible movements of the said strips.

It is desirable that the means for maintaining the front ends of the elongated integral strips in a given position relative to the horizontal plane be adapted to interact with the lower surfaces of the front ends of the elongated integral strips and be made as a composite of several parts comprising two transversely coaxial front lateral axes, each of which has a first end arranged with the possibility of rotation in an opening made in the front section of the corresponding side wall, and a second end arranged under the corresponding elongated integral strip with the possibility of interaction with the lower surface of the latter using rolling bearings, a front central axis transversely coaxially installed between the front lateral axes with the possibility of rotation and having first and second ends arranged under the corresponding elongated integral strips with the possibility of interaction with the lower surfaces of the latter using rolling bearings, two front peripheral axes arranged equidistantly and parallel on different sides between the front central and the corresponding front lateral axes, arranged under the corresponding elongated integral strips with the possibility of circular movement around the longitudinal axles (b - b) of the front central and front side axles and have corresponding first and second ends, made with the possibility of interaction with the lower surfaces of the corresponding elongated integral strips by means of rolling bearings, wherein on the second end of each front side axle and the first and second ends of the front central axle, the first ends of the corresponding front brackets are rigidly fixed, the second ends of which are rigidly fastened to the corresponding first and second ends of the corresponding front peripheral axles, adapted to ensure the movement of the front end of each elongated integral strip in the upward direction before reaching the extreme front position by means of a means connected to the drive motor for transmitting synchronous rotation from the rear central axle to the front central axle.

This makes it possible to use the same drive to impart the corresponding movement to the drive elements, located essentially under the rear ends of the elongated integral strips, and to the elements of the means for supporting the front ends of the elongated integral strips in a given position relative to the horizontal plane. This ensures the precise reproduction of a plurality of the said cycles of alternating stages of movements of the supporting elongated integral strips, corresponding to the correct movement of the legs when a healthy person walks on a flat surface, i.e. corresponding to the implementation of a complete walking pattern, including for improving the reproduction of the correct walking stereotype of specific users, who in a healthy state had a gait with a raised toe at the final stage of the step. In addition, this ensures automatic consolidation in the user's consciousness of a stereotype of the movement of the legs when walking, which facilitates the implementation and consolidation in the user's consciousness of a natural, independent and individual trajectory of the rise of the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with impaired walking function, as well as in specific users who, in a healthy state, had a gait with the rise of the toe at the final stage of the step.

It is advisable for each front bracket to be 4 to 10 cm long. This corresponds to the average height of the toe lift of different users (children and adults) and makes it possible to constructively replace the front brackets to suit the gait characteristics of each specific user. This corresponds to the correct movement of the legs when healthy users walk on a flat surface, i.e., it ensures the implementation of the full walking pattern of different users.

It is structurally sound for the drive motor to be an electric motor connected to one of the rear side axles.

This simplifies the design of the drive, which allows for the precise reproduction of the specified set of cycles of alternating stages of movements of the supporting elongated integral strips and provides the ability to automatically fix the stereotype of leg movements when walking in the user's mind, which facilitates the implementation and fixation in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with impaired walking function. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, i.e. ensures the implementation of a complete walking pattern.

In order to ensure identity in reproducing a plurality of the said cycles of alternating stages of positions and movements of the supporting elongated integral strips corresponding to the correct movement of the legs when a healthy person walks on a flat surface, and to ensure identity in reproducing the correct walking stereotype of specific users who, in a healthy state, had a gait with a raised toe at the final stage of the step, i.e. to ensure the implementation of a complete walking pattern, it is possible that the means for transmitting synchronous rotation from the rear central axle to the front central axle contain front and rear sprockets rigidly fixed on the corresponding central sections of the front central axle and the rear central axle and connected to each other by means of a chain, as well as connected to the drive motor. In this case, it is necessary that the front and rear sprockets have the same number of teeth.

Thus, the use of the proposed device eliminates the need for multiple separate devices for interaction with the lower surfaces of each individual support strip, which allows for simplifying the design of the support elongated integral strips and the drive, ensuring accurate reproduction of multiple cycles of alternating stages of movement of the support elongated integral strips, eliminating the forced lifting of the user's foot and heel when moving the corresponding elongated strip backwards from the moment the front end of the strip is placed in the extreme forward position until the rear end of the strip reaches the extreme rear position and ensuring the ability to automatically consolidate in the user's mind the correct stereotype of leg movement when walking, which facilitates the implementation and consolidation in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, i.e. ensures the implementation of a complete walking pattern.

For a better understanding of the invention, specific examples of its implementation are given below with references to the attached drawings, in which:

Fig. 1 - schematically depicts a device for training walking functions, made according to the invention, the first embodiment, a top view in section;

Fig. 2 - schematically depicts II-II in Fig. 1;

Fig. 3 - schematically depicts a device for training walking functions, made according to the invention, a second embodiment, a top view in section,

Fig. 4 - schematically depicts IV-IV in Fig. 3;

Fig. 5 a), b), c), d) - schematically depict a sequence of alternating stages of one cycle for one strip, according to the invention; in the first variant of the structural implementation of the proposed device;

Fig. 6 a), b), c), d) - schematically depict a sequence of alternating stages of one cycle for one strip, according to the invention; in the second variant of the structural implementation of the proposed device.

The device for training walking functions contains a base 1 (Fig. 1-4), on which side walls 2 are fixed, between which two adjacent elongated integral support strips 3 are placed.

By the term “integral” we mean: representing an internal unity, perceived as a single whole (INTERNET: kartaslov.ru>meaning of the word “integral”), that is, indivisible, inseparable, inseparable, inseparable.

Each extended integral strip 3 has a front end 4 and a rear end 5, a single upper surface 6 containing a platform (zone) 7 (Fig. 2, 4) for placing the user's foot and a single lower surface 8 made with the possibility of interaction with a drive 9. The drive 9 is made in the form of a crank, has a motor 10 and is adapted to provide the first and second supporting extended integral strips 3 with a plurality of cycles of alternating stages of reciprocating and inclined movements in antiphase.

Each elongated integral strip 3 is a solid and rectilinear element, completely or partially made of high-strength titanium alloy, for example, VT6, or aluminum alloy, for example, D16T, and can be made, for example, from rigidly connected longitudinal parts to form a rectilinear element, completely or partially made, for example, of high-strength titanium or aluminum alloys.

In this case, the single lower surface 8 of each separate elongated integral strip 3 is made flat.

The structural design of the supporting elongated integral strips 3 eliminates the need to use a plurality of separate devices for interaction with the lower surfaces 8 of each supporting strip 3. This simplifies the structural design of the supporting strips 3 and ensures accurate reproduction of a plurality of cycles of the said alternating stages of reciprocating and inclined movements of the supporting elongated integral strips 3 in antiphase, eliminates the forced lifting of the user's foot and heel when the corresponding elongated strip 3 moves backwards from the moment the front end 4 of the strip 3 is placed in the extreme forward position until the moment the rear end 5 of the strip 3 reaches the extreme rear position and ensures the possibility of automatically fixing in the user's mind the correct stereotype of leg movement when walking, which contributes to the implementation and fixation in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with impaired walking function. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, that is, it ensures the implementation of a complete walking pattern.

The proposed device is a stationary biomechanical stepper, i.e. an automated walking machine, which allows you to train the muscles of the entire body while reducing the load on the joints.

In addition, the said design and materials of the elongated integral strips 3 provide lightness, hardness, rigidity and strength to these strips 3, which makes it possible to simplify the design of the drive 9 (a more detailed design version of which will be described below) and to ensure precise reproduction of a multitude of cycles of the said alternating stages of reciprocating and inclined movements of the supporting elongated integral strips 3 in antiphase.

Between the side walls 2 under the front ends 4 of the elongated integral strips 3, a means 11 is placed with the possibility of rotation for placing the front ends of the elongated integral strips 3 in a given position relative to the horizontal plane 12, adapted for interaction with the lower surfaces 8 of the front ends 4 of the elongated integral strips 3.

In this case, the drive 9 is configured to interact with the lower surfaces 8 of the rear ends 5 of the elongated integral strips 3 with the ability to provide each elongated integral strip 3 with the following alternating stages during the implementation of one cycle of reciprocating and inclined movements in antiphase: at the first stage, the drive 9 is configured to provide the corresponding strip 3 with a backward movement from the extreme forward position (EP) to the extreme rear position (ER) and to perform this movement with a zero angle α of inclination of the rear end 5 of the strip 3 to the horizontal plane 12; at the second stage, the drive 9 is configured to provide the corresponding strip 3 with a change in the direction of movement when the rear end 5 of the strip 3 reaches the extreme rear position of the first stage; at the third stage, the drive 9 is configured to provide the corresponding strip 3 with the simultaneous start of movements in the upward, forward and downward directions when the direction of movement changes at the second stage; at the fourth stage, the drive 9 is designed with the possibility of ensuring the corresponding strip 3 of the implementation of the movements started at the third stage with a change in the angle α of inclination to the horizontal plane 12 until the front end 4 of the strip 3 reaches the extreme front position of the first stage.

By the phrase “inclined displacement” we mean displacement at an angle α of inclination to the horizontal plane 12.

Such a design of the drive 9 and the presence of the means 11 eliminates the need for the presence in the design of the drive 9 of a plurality of separate devices for interaction with the lower surfaces 8 of the separate parts of each separate support strip (due to the absence of the latter), allows to simplify the design of the support strips and the drive, and also to ensure the accurate reproduction of a plurality of cycles of alternating stages of reciprocating and inclined movements of the strips in antiphase, which helps to consolidate in the user's consciousness a natural, independent and individual trajectory of the rise of the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with impaired walking function. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, i.e. ensures the implementation of a complete walking pattern.

The specified first, second, third and fourth stages of movement of each strip 3 during the implementation of one cycle of reciprocating and inclined movements in the first and second embodiments of the proposed device are illustrated in the diagrams shown in Fig. 5 - a), b), c), d) and in Fig. 6 - a), b), c), d).

Fig. 5a) shows the first stage of the movements of each strip 3 during the implementation of one movement cycle, in the first embodiment of the proposed device.

Fig. 5 b) shows the second stage of the movements of each strip 3 during the implementation of one cycle of movements, in the first embodiment of the proposed device.

Fig. 5c) shows the third stage of movements of each strip 3 during the implementation of one cycle of movements, in the first embodiment of the proposed device.

Fig. 5 g) shows the fourth stage of the movements of each strip 3 during the implementation of one cycle of movements, in the first embodiment of the proposed device.

Fig. 6 a) shows the first stage of the movements of each strip 3 during the implementation of one cycle of movements, in the second embodiment of the proposed device.

Fig. 6 b) shows the second stage of movements of each strip 3 during the implementation of one cycle of movements, in the second embodiment of the proposed device.

Fig. 6 c) shows the third stage of movements of each strip 3 during the implementation of one cycle of movements, in the second embodiment of the proposed device.

Fig. 6 g) shows the fourth stage of movements of each strip 3 during the implementation of one cycle of movements, in the second embodiment of the proposed device.

The execution of the said alternating stages by the extended integral strips 3 during one cycle of reciprocating and inclined movements in antiphase and the structural execution of the extended integral strips 3 and the drive 9 excludes the forced lifting of the user's foot and heel during the movement of the corresponding extended integral strip 3 backwards from the moment of placing the front end 4 of the strip 3 in the extreme forward position until the moment of reaching the rear end 5 of the strip 3 in the extreme rear position (ERP), which corresponds to the correct movement of the legs when walking of a healthy person. This ensures the possibility of automatically fixing in the user's mind the correct stereotype of leg movement when walking, which contributes to the implementation and fixation in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders. This corresponds to the correct movement of the legs when walking of a healthy person on a flat surface, i.e. ensures the implementation of a complete walking pattern.

By the angle α of inclination to the horizontal plane 12 we mean the angle α between the straight line A (Fig. 5) (passing from the point of ascent of the extreme rear position of the rear end 5 of the corresponding strip 3 to the point of placement of the extreme front position of the front end 4 of this strip 3), and the straight line B (passing along the lower surface 8 of the elongated integral strip 3 lying in the horizontal plane 12, belonging to the zero angle α of inclination of the corresponding strip 3 to the horizontal plane 12 of the zero level).

In this case, by the zero angle α of inclination to the horizontal plane 12 we mean the angle α between the straight line B, passing along the lower surface 8 of the elongated integral strip 3, and the straight line lying in the horizontal plane 12 of the zero level.

Drive 9 in plan (viewed from above in section) in a stationary position is visually designed as a crank.

A first variant of the structural implementation of the proposed device is possible, in which the means 11 for supporting the front ends 4 of the elongated integral strips 3 in a given position relative to the horizontal plane 12 contains a front axle 13 having first and second opposite ends 14, 15, with the help of which this front axle 13 is mounted with the possibility of rotation in openings 16 made in the front sections 17 of the corresponding side walls 2. The interaction of the lower surface 8 of the front end 4 of each elongated integral strip 3 with the front axle 13 is performed with the help of rolling bearings 18, secured near the corresponding first and second opposite ends 14, 15 and in the central part of the front axle 13.

In this case, the drive 9, as indicated above, is designed with the possibility of providing the corresponding extended integral strips 3 with a plurality of cycles of the said alternating stages of reciprocating and inclined movements in antiphase, and contains two transversely coaxial rear side axes 19, each of which has a first end 20, installed with the possibility of rotation in an opening 21, made in the rear section 22 of the corresponding side wall 2, and a second end 23, cantilevered under the corresponding extended integral strip 3 with the possibility of interaction with the lower surface 8 of the latter using rolling bearings 24.

In addition, the drive 9 contains a rear middle axle 25, transversely coaxially installed between the rear side axles 19 with the possibility of rotation and having first and second ends 26, 27, located under the corresponding elongated integral strips 3 with the possibility of interaction with the lower surfaces 8 of the latter using rolling bearings 28.

In this case, the drive 9 comprises two rear peripheral axes 29, installed in one plane equidistantly and parallel on different sides between the rear central axis 25 and the corresponding rear side axis 19. Each peripheral axis 29 is placed under the corresponding extended integral strip 3 with the possibility of circular movement around the longitudinal axis (a - a) of the rear central axis 25 and side axes 19. Moreover, each peripheral axis 29 has corresponding first and second ends 30, 31, made with the possibility of interaction with the lower surfaces 8 of the corresponding extended integral strips 3 using rolling bearings 32.

In this case, on the second end 23 of each rear side axle 19 and the first and second ends 26, 27 of the rear middle axle 25, the first ends 33 of the corresponding rear brackets 34 are rigidly fixed, the second ends 35 of which are rigidly fastened to the corresponding first and second ends 30, 31 of the corresponding rear peripheral axles 29.

On the lower surfaces 8 of the corresponding elongated integral strips 3, carriers 36 are fixed, having grooves 37, in which the middle sections of the corresponding rear peripheral axes 29 are placed, made with the possibility of transmitting the corresponding movements to the carriers 36. In this case, carriers 36 are made with the possibility of transmitting the corresponding movements to the elongated integral strips 3 and ensuring the said alternating stages during the implementation of one cycle of movements in antiphase.

From the above-described variant of the structural embodiment of the proposed device it follows that all the components of the drive 9 are configured to interact with the lower surfaces 8 of the rear ends 5 of the corresponding elongated integral strips 3, which provides each elongated integral strip 3 with the following alternating stages during the implementation of one cycle of reciprocating and inclined movements in antiphase: at the first stage, the drive 9 is configured to provide the corresponding strip 3 with a backward movement from the extreme forward position to the extreme rear position and to perform this movement with a zero angle α of inclination of the rear end 5 of the strip 3 to the horizontal plane 12; at the second stage, the drive 9 is configured to provide the corresponding strip 3 with a change in the direction of movement when the rear end 5 of the strip 3 reaches the extreme rear position of the first stage; at the third stage, the drive 9 is configured to provide the corresponding strip 3 with the simultaneous start of inclined movements in the upward, forward and downward directions when the direction of movement changes at the second stage; at the fourth stage, the drive 9 is designed with the possibility of ensuring the implementation of the inclined movements corresponding to the strip 3, started at the third stage, with a change in the angle α of inclination to the horizontal plane 12 until the front end 4 of the strip 3 reaches the extreme front position of the first stage.

This eliminates the need for a plurality of separate devices for interaction with the entire lower surface 8 of each separate strip 3, makes it possible to simplify the design of the supporting elongated integral strips 3 and the drive 9 and to ensure accurate reproduction of the plurality of said cycles of alternating stages of reciprocating and inclined movements of the supporting elongated integral strips 3 in antiphase. This eliminates the forced lifting of the user's foot and heel when the corresponding strip 3 moves backwards from the moment the front end 4 of the strip 3 is placed in the extreme forward position (EP) until the moment the rear end 5 of the strip 3 reaches the extreme rear position (R), which corresponds to the correct leg movement when walking of a healthy person. This, in turn, makes it possible to automatically fix in the user's mind the correct stereotype of leg movement when walking, which contributes to the implementation and fixation in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, that is, it ensures the implementation of a complete walking pattern.

Along the long sides of the elongated integral strips 3, any known means for supporting the user's hands, for example, a handrail (not shown in the drawing), can be placed.

This ensures the maintenance of the user's balance during the implementation of the specified set of cycles of the specified alternating stages, which contributes to the implementation and consolidation in the user's consciousness of a natural, independent and individual trajectory and correct movement of the legs when a healthy person walks on a flat surface, that is, ensures the implementation of a complete walking pattern of the user, having specific gait characteristics.

Above the extended integral strips 3, a means (not shown in the drawing) for supporting the user's body can be fixed, made of any known design, for example, EA 39202 "DEVICE FOR REHABILITATION VERTICALIZATION OF A USER".

This ensures the vertical position of the user is given and maintained, fall protection is provided and the weight load on the joints of the user's lower limbs is reduced. This enables the structural implementation of the support strips 3 and the drive 9 to be simplified and facilitates the precise reproduction of a plurality of cycles of the said alternating stages of positions and movements of the support elongated integral strips 3 in antiphase without using a plurality of additional drive 9 devices, which enables the correct stereotype of leg movement during walking to be automatically fixed in the user's mind, which facilitates the implementation and fixation in the user's mind of a natural, independent and individual trajectory of the foot and heel lift and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders. This corresponds to the correct leg movement during walking of a healthy person on a flat surface, i.e. ensures the implementation of a complete walking pattern.

The equipment of the proposed device is adjusted to the physical condition of a specific user, which stimulates the user's activity, increases the effectiveness of his rehabilitation, ensures free movement of his joints. At the same time, correct posture, balance, and the ability to transfer weight from one leg to another are trained. Moreover, the step width of a specific user is selected taking into account his anatomical features, which determines the choice of the length of the rear bracket 34. To ensure the possibility of using the proposed device by users with different step lengths, each rear bracket 34 has a length of 10 to 30 cm (different sizes). This makes it possible to constructively replace the rear brackets 34 for the step length when adjusting the proposed device for each specific user, which ensures the correct movement of the legs when healthy users with different step lengths walk on a flat surface, i.e., ensures the implementation of a complete walking pattern of different users.

In order to improve the precise reproduction of the specified set of cycles of alternating stages of positions and movements of the supporting elongated integral strips 3 corresponding to the correct movement of the legs when a healthy person walks on a flat surface, i.e. corresponding to the implementation of a complete walking pattern, and to ensure the possibility of automatically fixing in the user's mind the correct stereotype of leg movement when walking, facilitating the implementation and fixing in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders, the lower surface 8 of each individual elongated integral strip 3 is made flat, in addition, the front axle 13, two rear side axes 19 and the rear middle axle 25 are installed at the same level, while in the holes 16, 21, respectively, made in the front and rear sections 17 and 22 of the side walls 2 and in the grooves 37 of the carrier 36, bearings are installed rolling 38.

As described above, each elongated integral strip 3 has an upper surface 6, on which a platform (zone) 7 (Fig. 2, 4) is fixed for placing the user's foot. The platform 7 is located on the upper surface 6 of each elongated integral strip 3 between the location under the strips 3 of the front axle 13 and the rear side axles 19 of the drive 9 during any movements of the said strips 3. On each platform 7, a means 39 is fixed for fixing the user's foot, having a device 40 for adjusting the density of fixation, for example, straps 41.

An embodiment of the present invention is possible in which, at the fourth stage, the drive 9 is designed with the possibility of providing the front end 4 with a corresponding extended integral strip 3 before reaching the extreme front position at the first stage of additional movement in the upward direction.

This improves the reproduction of the correct walking stereotype of specific users, who in a healthy state had a gait with the toe raised in the final stage of the step. This contributes to the implementation and consolidation in the user's consciousness of a natural, independent and individual trajectory and correct movement of the legs when a healthy person walks on a flat surface, i.e. ensures the implementation of the full walking pattern of a user with specific gait features.

In this case, a second variant of the structural embodiment of the proposed device is used, in which the means 42 (Fig. 3) for supporting the front ends 4 of the elongated integral strips 3 in a given position relative to the horizontal plane 12 is adapted to interact with the lower surfaces 8 of the front ends 4 of the elongated integral strips 3 and is made as a composite of several parts containing two transversely coaxial front lateral axes 43, each of which has a first end 44, located with the possibility of rotation in an opening 16, made in the front section 17 of the corresponding side wall 2, and a second end 45, cantilevered under the corresponding elongated integral strip 3 with the possibility of interaction with the lower surface 8 of this strip 3 with the help of rolling bearings 18. The means 42 also contains a front central axis 46, transversely coaxially installed between the front lateral axes 43 with the possibility of rotation and having a first and second ends 47, 48, located under the corresponding elongated integral strips 3 with the possibility of interaction with the lower surfaces 8 of the latter by means of rolling bearings 18, two front peripheral axles 49, installed equidistantly and in parallel on different sides between the front central and the corresponding front lateral axles 46, 43, located under the corresponding elongated integral strips 3 with the possibility of circular movement around the longitudinal axis (b - b) of the front central and front lateral axles 46, 43. Each front peripheral axle 49 has corresponding first and second ends 50, 51, made with the possibility of interaction with the lower surfaces 8 of the corresponding elongated integral strips 3 by means of rolling bearings 18. In this case, on the second end 45 of each front lateral axle 43 and the first and second ends 47,48 of the front central axle 46, the first ends 52 of the corresponding front brackets 53 are rigidly fixed, the second ends 54 of which are rigidly are fastened to the corresponding first and second ends 50, 51 of the corresponding front peripheral axles 49, adapted to ensure the movement of the front end 4 of each extended integral strip 3 in the upward direction before reaching the extreme front position (EP) with the help of means 55, connected to the motor 10 of the drive 9 for transmitting synchronous rotation from the rear central axle 25 to the front central axle 46. Means 55 is connected to the motor 10 of the drive 9.

In this embodiment of the proposed device, the means 42 for maintaining the front ends 4 of the elongated integral strips 3 in a given position relative to the horizontal plane 12 is made in the form of a crank.

Each front bracket 53 has a length from 4 to 10 cm (different sizes). This makes it possible to constructively replace the front brackets 53 for the gait characteristics of each specific user when adjusting the proposed device. This corresponds to the correct movement of the legs when healthy users walk on a flat surface, i.e. ensures the implementation of the full walking pattern of different users.

The means 55 for transmitting synchronous rotation from the rear central axle 25 to the front central axle 46 comprises front and rear sprockets 56, rigidly fixed to the corresponding central sections of the front central axle 46 and the rear central axle 25 and rigidly connected to each other by means of a chain 57. The means 55 is connected to the engine 10 of the drive 9 via the rear central axle 25, the corresponding rear bracket 34, the rear peripheral axle 29, the corresponding rear bracket 34 and the corresponding rear side axle 19 of the drive 9.

To ensure identical repeat cycles, the front and rear sprockets 56 have the same number of teeth.

In this case, the means 55 for transmitting synchronous rotation from the rear central axle 25 to the front central axle 46 can be made in another version, for example, instead of the front and rear sprockets 56, it can contain front and rear pulleys (not shown in the drawing), rigidly fixed to the corresponding central sections of the front central axle 46 and the rear central axle 25 and connected to each other by means of a drive belt (not shown in the drawing).

The engine 10 of the drive 9 is an electric motor connected to one of the rear side axles 19. Any known engine designed with the ability to provide the specified movements to the constituent elements of the drive 9 can be used as the engine 10.

To prevent the rolling bearings 38 from shifting and to hold the carriers 36 in a given position, spacer bushings 58 are installed on the outer surface of each rear peripheral axle 29 between the rolling bearings 38 and 32.

To prevent displacement of rolling bearings 18, located on the front axle 13 and the front central axle 46, spacer bushings 58 are installed on their outer surfaces.

All the rigid connections of the structural elements described above are made, for example, by means of keys 59. In this case, the rigid connections of the structural elements described above can be made by any other known method, for example, by welding.

Thus, the use of the proposed device eliminates the need for a plurality of individual devices for interaction with the lower surfaces 8 of each individual support strip 3, which makes it possible to simplify the structural implementation of the support elongated integral strips 3 and the drive 9, to ensure accurate reproduction of a plurality of cycles of alternating stages of movements of the support elongated integral strips 3, to eliminate the forced lifting of the user's foot and heel when moving the corresponding elongated strip 3 backwards from the moment the front end 4 of the strip 3 is placed in the extreme forward position until the moment the rear end 5 of the strip 3 reaches the extreme rear position and to ensure the possibility of automatically fixing in the user's mind the correct stereotype of leg movement when walking, which contributes to the implementation and fixation in the user's mind of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, that is, it ensures the implementation of a complete walking pattern.

The device works as follows.

In the static position of the proposed device, two adjacent elongated integral strips 3 are placed on the base 1 between the side walls 2.

The front ends 4 of the extended integral strips 3 interact with the means 11 for maintaining them in a given position relative to the horizontal plane 12 with the help of rolling bearings 18. In this case, the front ends 4 are located in the same horizontal plane 12.

When the electric motor 10 of the drive 9 is switched on, the lower surfaces 8 of the rear ends 5 of the extended integral strips 3 interact with the drive 9 using rolling bearings 24, 28, 32, and the lower surfaces 8 of the front ends 5 of the extended integral strips 3 interact with the front axle 13 of the means 11, which is configured to rotate, using rolling bearings 18.

In this case, the drive 9 provides the extended integral strips 3 with the following alternating stages during the implementation of one cycle of reciprocating and inclined movements in antiphase.

At the first stage, the drive 9 moves the corresponding strip 3 backwards from the extreme forward position (EFP) to the extreme rear position (ERP) with a zero angle (a) of inclination of the rear end 5 of the strip 3 to the horizontal plane 12. That is, when moving backwards, the strip 3 and its rear end 5 move without lifting upwards until reaching the extreme rear position (ERP).

In this position, the backward movement of the corresponding strip 3 stops. That is, in this position of strip 3, the possibility of lifting the user's foot and heel, located on platform 7 of the upper surface 6 of strip 3, is excluded, which corresponds to the correct stereotype of leg movement when walking and the implementation and consolidation in the user's consciousness of a natural, independent and individual trajectory of lifting the foot and heel and the work of the ankle, knee, hip joints and joints of the feet in users with walking disorders. This corresponds to the correct movement of the legs when a healthy person walks on a flat surface, that is, it ensures the implementation of a complete walking pattern.

At the second stage, the drive 9 changes the direction of movement of the strip 3 when the rear end 5 of the strip 3 reaches the extreme rear position (ERP) of the first stage, and then at the third stage, the drive 9 transmits to the corresponding strip 3 a simultaneous start of movements in the upward, forward and downward directions. At the fourth stage, the drive 9 moves the corresponding strip 3 with a change in the angle α of inclination to the horizontal plane 12 until the front end 4 of this strip 3 reaches the extreme front position (EP) of the first stage.

Both strips 3 are constantly supported by the structural elements (two axles 19, axle 25 and two axles 29) of the drive 9 and the front axle 13 through the corresponding rolling bearings 24, 28, 32, 18. The torque required for rotating the axles 19, 25 can be applied to the middle rear axle 25 or one of the lateral rear axles 19 from an external source.

The movement of the strips 3 of the drive 9 is carried out with the help of the carriers 36, which are in constant contact with the peripheral rear axles 29 of the drive 9.

When any of the two rear peripheral axes 29 of the drive 9 is located in the horizontal plane 12, and during rotation of the drive 9 is lowered downwards and moves away from the front axle 13, the carrier 36 moves the corresponding strip 3 in the same direction, causing it to move backwards along the front axle 13, along the middle rear axle 25 and the side rear axes 19 of the drive 9 to the extreme rear position (ERP).

Having passed the lower half of the circular motion, having risen again to the horizontal plane 12 and continuing to rotate, the corresponding rear peripheral axle 29 begins to raise the rear end 5 of the strip 3, and the carrier 36 begins to move the strip 3 in the opposite direction, that is, towards the front axle 13. Having completed the circle and having reached the horizontal plane 12, the rear peripheral axle 29 again lowers the rear end 5 of the strip 3 onto the corresponding rolling bearings 24, 28 of the rear middle axle 25 and the rear side axles 19 of the drive 9.

A similar movement is carried out by the second peripheral axis 29, moving the second strip 3 in antiphase.

In the second variant of the design of the device described above, when the electric motor 10 is switched on, rotation is transmitted through the chain 57 using the front and rear sprockets 56 from the rear middle axle 25 to the front central axle 46, as well as to the front and rear brackets 53, 34, which perform a circular motion around the rear middle axle 25 and the front central axle 46.

The rear brackets 34 through the bearings 32 set in motion the corresponding strips 3 by means of the carrier 36, cyclically moving these strips 3 in antiphase. When the trajectory of the bearings 32 is below the horizontal plane 12 formed by the supporting surfaces of the bearings 18 of the front central and lateral axles 46, 43, the carrier 36 moves the corresponding strips 3 backward. When the trajectory of movement of bearings 32 is above horizontal plane 12 formed by the support surfaces of bearings 18 of front central and lateral axles 46, 43, carrier 36 moves corresponding strips 3 forward, raising them above horizontal plane 12. In this case, front ends 4 of strips 3 also cyclically rise on bearings 18 of front peripheral axles 49 of front brackets 53, and then lower onto bearings 18 of front central and lateral axles 46, 43 of these same brackets 53.

In this case, each strip 3 has the ability to move upward in the vertical plane only when the flat-parallel movement of the corresponding strip 3 backward at the first stage completely stops and until the forward and downward movement begins at the third stage.

Claims (23)

1. A device for training walking functions, comprising a base on which side walls are secured, between which two adjacent support elements are placed, each of which has an upper surface containing a platform for placing the user's foot, and a lower surface configured to interact with a drive having a motor and adapted to provide the support elements with a plurality of cycles of alternating stages of reciprocating and inclined movements in antiphase, characterized in that each support element is an elongated integral strip having a front and rear end, between the side walls under the front ends of the elongated integral strips a means for supporting the front ends relative to a horizontal plane is placed with the possibility of rotation, and the drive is configured to interact with the lower surfaces of the rear ends and to perform a cycle of reciprocating and inclined movements of the elongated integral strips in antiphase, including the following alternating stages: I) moving backwards from the extreme forward position to the extreme rear position with a zero angle (a) of inclination of the rear end of the strip to the horizontal plane, II) changing the direction of movement when the rear end of the strip reaches the extreme rear position, III) simultaneous start of inclined movements in the upward, forward and downward directions when changing the direction of movement, IY) continuation of the started inclined movements with a change in the angle (a) of inclination to the horizontal plane until the front end of the strip reaches the extreme forward position. 2. The device according to item 1, characterized in that each elongated integral strip is a solid and rectilinear element, completely or partially made of high-strength titanium alloy VT6 or aluminum alloy D16T. 3. The device according to item 1, characterized in that each elongated integral strip is made from rigidly connected longitudinal parts to form a rectilinear element, completely or partially made of titanium or aluminum alloys. 4. The device according to item 1, characterized in that the drive is located under the rear ends of the elongated integral strips. 5. The device according to item 1, characterized in that at the fourth stage IY the drive is designed with the possibility of additional movement in the upward direction of the front end of the elongated integral strip before reaching the extreme front position. 6. The device according to item 1, characterized in that on each platform for placing the foot there is a means for fixing the user’s foot, having a device for adjusting the density of fixation. 7. The device according to item 1, characterized in that along the long sides of the elongated integral strips there is a means for supporting the user’s hands. 8. The device according to item 1, characterized in that a means for supporting the user’s body is secured above the elongated integral strips. 9. The device according to claim 1, characterized in that the means for supporting the front ends of the elongated integral strips relative to the horizontal plane is designed with the possibility of interaction with the lower surfaces of the front ends of the elongated integral strips and contains a front axle having first and second opposite ends, with the help of which this axle is mounted with the possibility of rotation in the openings of the front sections of the side walls, and the interaction of the lower surface of the front end of each elongated integral strip with the front axle is carried out by rolling bearings secured to the first and second ends and in the central part of the front axle. 10. The device according to claim 1, characterized in that the drive comprises two transverse coaxial rear side axles, each of which has a first end mounted with the possibility of rotation in an opening in the rear section of the side wall, and a second end, cantilevered under the corresponding elongated integral strip with the possibility of interaction with the lower surface of the latter using rolling bearings, a rear middle axle, coaxially mounted between the rear side axles with the possibility of rotation and having first and second ends, located under the elongated integral strips with the possibility of interaction with their lower surfaces using rolling bearings, two rear peripheral axles, mounted equidistantly and in parallel on different sides between the rear middle and rear side axles, wherein each rear peripheral axle is located under the corresponding elongated integral strip with the possibility of circular movement around the rear middle and side axles and has first and second ends, made with the possibility of interaction with the lower surfaces of the elongated integral strips using rolling bearings, wherein on the second end of each rear side axle and the first and second ends of the rear middle axle, the first ends of the rear brackets are rigidly fixed, the second ends of which are rigidly fastened to the first and second ends of the rear peripheral axles, and on the lower surfaces of the elongated integral strips, carriers are fixed, having grooves for accommodating the middle sections of the rear peripheral axles, made with the possibility of transmitting movements to the carriers, which are made with the possibility of transmitting movements to the elongated integral strips and ensuring alternating stages during the implementation of one cycle of movements in antiphase. 11. The device according to item 9, characterized in that each rear bracket has a length of 10 to 30 cm. 12. The device according to item 9, characterized in that the lower surface of each individual elongated integral strip is made flat. 13. The device according to item 9, characterized in that the front axle, two rear side axles and the rear center axle are installed at the same level. 14. The device according to item 9, characterized in that the rolling bearings are installed in the holes in the front and rear sections of the side walls and in the grooves of the carrier. 15. The device according to paragraphs 5 and 9, characterized in that the platform for placing the user's foot is located on the upper surface of each elongated integral strip between the location under the strips of the front axle and the rear side axles of the drive. 16. The device according to claim 1, characterized in that the means for supporting the front ends of the elongated integral strips relative to the horizontal plane has parts comprising two transverse coaxial front lateral axes, each of which has a first end arranged with the possibility of rotation in an opening in the front section of the side wall, and a second end, cantilevered under the elongated integral strip with the possibility of interaction with the lower surface of the latter using rolling bearings, a front central axis, coaxially installed between the front lateral axes with the possibility of rotation and having first and second ends, arranged under the elongated integral strips with the possibility of interaction with their lower surfaces using rolling bearings, two front peripheral axes, installed equidistantly and in parallel on different sides between the front central and the corresponding front lateral axes, arranged under the corresponding elongated integral strips with the possibility of circular movement around the front lateral and central axes, wherein each front peripheral axis has first and second ends made with with the possibility of interaction with the lower surfaces of the elongated integral strips using rolling bearings, wherein the first ends of the front brackets are rigidly fixed to the second end of each front lateral axle and the first and second ends of the front central axle, the second ends of which are rigidly fastened to the first and second ends of the front peripheral axles, made with the possibility of circular movement around the longitudinal axis (b - b) of the front central and lateral axles and adapted to ensure the movement of the front end of each elongated integral strip in the upward direction before reaching the extreme forward position using the means for transmitting synchronous rotation from the rear central axle to the front central axle, connected to the drive motor. 17. The device according to item 16, characterized in that each front bracket has a length of 4 to 10 cm. 18. The device according to item 9, characterized in that the drive motor is an electric motor connected to one of the rear side axles. 19. The device according to item 16, characterized in that the means for transmitting synchronous rotation from the rear center axle to the front center axle comprises front and rear sprockets rigidly fixed to the central sections of the front center axle and the rear center axle, having the same number of teeth and connected to each other by means of a chain.