WO2012119176A2

WO2012119176A2 - Method for digitizing a desired therapeutic movement

Info

Publication number: WO2012119176A2
Application number: PCT/AT2012/050031
Authority: WO
Inventors: Alexander Barth
Original assignee: Intelligent Motion Gmbh
Priority date: 2011-03-09
Filing date: 2012-03-07
Publication date: 2012-09-13
Also published as: WO2012119176A3

Abstract

The invention relates to a method for digitizing a desired therapeutic movement (1) with the aim of controlling a therapy robot (2) which is stationary while the movement is carried out, the desired therapeutic movement (1) carried out by a human (3) or an animal (4) being detected electronically and the three-dimensional position and/or movement information of at least three measurement points (8) of the moving object (9) being detected at defined measurement times. After checking and optionally completion and/or correction of the measured data (10) by interpolation of the measured data (10), a uniform movement portion in the measured data (12; 13) is eliminated along every of the three spatial coordinate axes. The measured data (17) so obtained are then used to calculate trajectory data points (18) so that a three-dimensional trajectory according to the desired therapeutic movement (1) is described by sequentially moving an effector of the therapy robot (2) to said trajectory data points (18). The invention devises a digitization method which allows the desired therapeutic movement (1) carried out by a human (3) or an animal (4) to be reflected in digital form as faithfully and efficiently as possible.

Description

Method for digitizing a therapy target movement

The invention relates to a method for digitizing a Therapiesollbewegung for controlling a therapy robot, as indicated in claim 1.

From DE 296 02 591 Ul a device for training the back muscles by transmitting vibration pulses to a person sitting on the devices subjects is known. The book also mentions hippotherapy and its physiotherapeutic patterns of movement. Although the described device can be moved according to these movement patterns, it is not shown how the entire complex movement sequence of a horse movement is transferred to the control of the drive means of the device. EP 2 030 657 B 1 describes the mechanical structure of a swinging training device with which movements similar to those of a rider on a horse can be trained. The movable unit of the training device on which a user rides can be moved forwards, backwards, to the left and to the right. Likewise, the movable unit can be rotated about a vertical axis. Due to these limited movement possibilities, the imitation of a natural horse movement is insufficiently possible.

The present invention has for its object to provide a method for digitizing a Therapiesollbewegung, which makes it possible to reproduce the desired, carried out by a human or animal therapy target movement as natural as possible and efficient in digital form, so that a therapy robot can be controlled so that it actively influences, moves or at least supports a patient in accordance with the digitized therapy target movement. This object of the invention is achieved by a method for digitizing a Therapiesollbewegung according to the features in claim 1. According to the invention, the therapy target movement, which is performed by a human or an animal, is detected three-dimensionally electronically and then digitized in order to be able to carry out the control of a therapy robot which in particular actively influences a patient during a movement therapy, for example after a stroke. moved or at least supported. Likewise, with such a controlled robot, for example, an athlete to be supported during training, especially when complicated or dangerous movements are to be learned or improved. Through the three-dimensional detection of a natural movement, it can be imaged very lifelike and therefore in its perfect complexity in all spatial dimensions of movement and imitated by the therapy robot. It is not possible to achieve such a degree of naturalness through a purely model-based, mathematical description of the therapy target movement. Only by a particularly lifelike mapping and imitation of a Therapiesollbewegung, for example, a horse movement for the so-called hippotherapy, it is possible to provide the patient with a particularly effective in terms of nerve learning and re-learning treatment by exercise therapy. The method according to the invention also ensures the correctness of the digitized therapy target movement, since the measured data obtained by the three-dimensional recording of the therapeutic movement is controlled and optionally completed and / or corrected, thereby ensuring the most lifelike imaging and imitation of the therapy target movement by a therapy robot.

Furthermore, it is only through the specified elimination of a uniform component of movement in the measured data that it is possible to carry out the therapy target movement with a therapy robot that is stationarily positioned during the execution of the movement, whereby the implementation of the therapy by means of a robot brings a whole series of advantages. On the one hand, a therapy with a robot can be performed directly in a clinic compared to a hippotherapy with a horse, which reduces the organizational effort for such a therapy massively, is independent of weather conditions and a precise and much more efficient planning of therapies is possible. On the other hand, due to the high flexibility of a therapy robot, it is possible to standardize and individualize the movement therapy, so that depending on the individual requirements of a patient, which can also change and differentiate daily, the individual therapy units can be designed. If a therapy robot is used instead of an animal for movement therapy, a safety concept can be created for the automation technology of the robot, which takes into account possible errors and disruptions and provides for safe behavioral scenarios. Thus, the safety of patients and therapists can be significantly increased.

An advantage of the three-dimensional recording and digitization of a therapy target movement is an embodiment according to claim 2, since the periodic sequence of the measurement times makes measurement data particularly easy to interpret and therefore to be processed available. If, for example, the position information of a measuring point were only newly determined or stored when the measuring point has moved away from its previous position a certain minimum distance, then the individual measured values of a measuring point always also have to include the corresponding measuring time, so that the measured data can finally be processed , The embodiment described thus simplifies the interpretation and processing of the measurement data.

The measures according to claim 3 are also advantageous, since a continuous sequence of movements can thereby be stored, processed and imitated in an efficient manner by the detected movement sequence being repeated more or less often by the therapy robot depending on the desired duration of the continuous movement sequence. By considering exactly one movement sequence, it is furthermore possible in a simple manner to evaluate the acquired measurement data, in particular if there are data sets for several repetitions of the motion sequence by one and the same moving object or also by different moving objects.

Also advantageous are the measures according to claim 4, since in a simple manner the most accurate and efficient, three-dimensional detection of Therapiesollbewegung is possible. In particular, the positional and / or moving state of a reflective or luminous marker with a video camera can be easily detected and evaluated very accurately based on the obtained image material. In addition, such reflective or luminous markers form unambiguous measurement points and the number of measurement points can be kept relatively low, which reduces the amount of measurement data arising. Of particular advantage is an embodiment according to claim 5, since this is a very simple and inexpensive detection system for the three-dimensional therapy target movement is created. Such a visual detection system also has sufficient accuracy, since the use of two spaced and in particular temporally synchronized video cameras, a determination of the three-dimensional position and / or movement information of the measuring points by the known from metrology method of triangulation on efficient and sufficiently accurate manner can be performed. The advantage here is an embodiment according to claim 6, since on the one hand, a sufficiently accurate detection of therapy target movement is ensured by visual means and on the other hand, the resulting image data remains within certain limits. In particular, a capture rate of around 200 images per second represents a good compromise between detection accuracy and amount of data.

The measures according to claim 7 are also advantageous since the use of at least one motion sensor also provides a very inexpensive and simple detection system compared to a visual detection system with one or more video cameras and optical markers. In addition, kinematic variables, such as acceleration, can be directly recorded and evaluated with special motion sensors. Thus, for example, it is not necessary to process video image material that is sometimes complex and erroneous in order to arrive at these kinematic variables. Furthermore, motion sensors have the advantage that their functionality does not depend on whether they are in the visible for a video camera area, as is the case for example with the use of optical markers.

Furthermore, the measures according to claim 8 are advantageous, since thereby a true-to-nature detection of the therapy target movement with the at least one motion sensor while at the same time limiting the accumulated amount of measured data is made possible.

Of particular advantage are the measures according to claim 9, since hippotherapy with horses has been used for some time very successfully for the physiotherapy individual treatment for the rehabilitation of people, especially after a stroke becomes. Such a hippotherapy takes place preferably with a horse, which moves in the gait step, since in this form of movement can fully develop the neurophysiological elements based on the related movement patterns of man and horse. In hippotherapy, three-dimensional vibrations are transmitted to the patient over the horse's back. The resulting impulses allow targeted training of postural, balance and supportive responses as well as regulation of muscle tone and increased mobility. The therapy horse transmits to the trunk of the upright patient about 90 to 110 three-dimensional vibration impulses per minute, which are almost identical to the movement sequence of walking of an average adult.

In addition to these fundamentally positive effects or benefits of hippotherapy, the complete, three-dimensional reproduction of the movement pattern of a therapeutic horse with a therapy robot offers even more advantages. In particular, the use of a therapy robot in a clinical environment can avoid various hygienic problems in hippotherapy with a horse in a riding hall. Due to the high flexibility of the therapy robot, it is furthermore possible to place a seat surface forming the effector of the therapy robot, which models the horse's back, for example, directly next to a wheelchair or walker, in order to facilitate easy and safe patient manipulation up to and at the end of the seat the therapy session from the seat down to realize. Since the therapy on the robot can take place at a much lower altitude than the horse itself, the therapist is closer to the patient, and he can act and react better. Another advantage of robot-assisted hippotherapy is that staff costs per therapy unit are significantly reduced. In the specific case of hippotherapy, it can be assumed that a maximum of one therapist per patient and therapy session is needed instead of two to three persons. It is even possible in certain cases for a therapist to care for several hippotherapy patients at the same time. The digitization of the movements of a horse's back in the riding position of a rider in the trot and canter gaits is particularly interesting for training robots, which can help especially beginners in a simple, efficient and animal-friendly manner during basic training. Advantageous in this case are the measures according to claim 10, since by attaching about 40 optical markers on one side of a horse body in the seat area of a rider due to the symmetry of the horse body a complete visual detection and determination of the position and / or state of motion of the horse back in this Range is reduced, while reducing the number of optical markers and their visibility is increased. Furthermore, the regular arrangement of the markers according to a rectangular grid makes it easier to calculate the trajectory of the horse's back from the measured data obtained via the markers. The grid spacing of 5 cm to 15 cm, preferably around 10 cm, on the one hand enables, in most cases, a clear differentiation of the different markers in the visual detection and, on the other hand, in the case of such

Grid spacing enough markers positioned in the seating area of the horse back to capture the movements of this area sufficiently lifelike and be able to replicate with a therapy robot can. In the measures according to claim 11, it is advantageous that, given a minimization of the number of optical markers required, a maximization of the three-dimensional detection accuracy and ascertainability of the positional and / or motion information of the markers is given and that the given formulas correspond to a calculation of both the positives - Ons as well as the orientation s values of the path data points, which describe the trajectory of the therapy robot, in a simple and efficient way is possible.

Another advantage are the measures according to claim 12, since this is a sufficiently lifelike and beyond liquid reproduction of the movements of the horse back is given. At the same time, due to the stated measures, there is minimal storage, processing and control expenditure due to the relatively low number of path data points with the position and orientation information of the effector of the therapy robot, which enables a very efficient digitization of the therapy target movement.

As a result of the measures according to claim 13, the therapy target movement can be carried out as naturally as possible and in the smallest possible space. Despite a sequence of movements that would cause a forward or backward movement of the moving human or animal, the moving object remains substantially at the same location in space. This is especially noticeable in the case of the three-dimensional detection of the therapy target movement visual way by means of one or more video cameras advantage, since the measures described a stationary camera system is possible. A stationary camera system is easier to handle and to operate. Furthermore, the position and / or movement information of the measuring points can be determined from the obtained image material in a very simple manner, since the position of the cameras does not change.

Another advantage is the measures according to claim 14, since thereby the trajectory of the effector of the therapy robot from the respective best features of each detected therapy target movement is composable and thus a possible ideal motion pattern for the final therapy performed by the therapy target therapist movement is found.

Also of advantage are the measures according to claim 15, since a very efficient mathematical description of the three-dimensional trajectory of the effector of the rapier robot is made possible by means of coordinates. For the clear definition of the location of the

It is sufficient to set the position and orientation of the Tool Center Point (TCP) in the room.

Finally, the measures according to claim 16 are advantageous because it provides a continuous mathematical description of the path of movement of the effector, whereby the therapy target movement can be mimicked very accurately with the therapy robot and the therapy target movement can be further adapted to the smallest detail.

For a better understanding of the invention, this will be explained in more detail with reference to the following figures.

In each case, in a highly simplified, schematic representation:

1 shows a data flow diagram for visualizing the method according to the invention;

FIG. 2 shows a horse whose back movements are digitized according to the method visualized in FIG. 1; FIG. 3 shows a person whose hip movements are digitized according to the method visualized in FIG. 1;

4a shows the geometric relationships for calculating the orientation angle "alpha" of a horse's back;

4b shows the geometric relationships for calculating the orientation angle "beta" of a horse's back;

4c shows the geometric relationships for calculating the orientation angle "gamma" of a horse's back;

5 shows a three-dimensional trajectory of a horse tail consisting of path data points with position and orientation information;

6 shows a therapy robot which executes the therapy target movement digitized according to the method visualized in FIG.

By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and these position information in a change in position mutatis mutandis to transfer to the new location.

All statements on ranges of values in objective description are to be understood as including any and all sub-ranges thereof, eg the indication 1 to 10 should be understood to include all sub-ranges, starting from the lower limit 1 and the upper limit 10 ie, all sub-regions begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, eg, 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10. FIG. 1 shows in simplified form the data flows during the digitization of a therapy target movement 1 for controlling a therapy robot 2 in the form of a data flow diagram. The processes, functions, etc. specified in the individual function blocks serve for the design / programming for the person skilled in the art, wherein the programming takes place differently according to the digitization system used and is therefore not described in detail. The person skilled in the art is able to create individual coherent program sequences from the given function blocks so that the digitization system carries out corresponding sequences / tasks. According to the illustrated embodiment, at the beginning of a digitizing process, the desired therapeutic target movement 1 is performed by a human 3 or an animal 4, in particular on a stationary ground or ground. If the therapy target movement 1 is carried out by an animal 4, for example a horse 5 - FIG. 2 - or a dolphin, then a therapy robot 2, which executes the digitized therapeutic target movement 1, can appropriately support a patient impaired by a stroke, for example. It is also possible to detect and digitize the movement of a healthy person 3 as therapy target movement 1. After an accident or illness of the human being 3, it is then possible to perform a physiotherapy based on the previously recorded therapy target movement 1, so that the original mobility of the person 3 is restored as completely as possible.

During the execution of the therapeutic target movement 1, this is detected by electronic means and selected measuring points 8 of the moving object 9, which executes the therapeutic target movement 1, are further processed. This is done by determining the three-dimensional attitude and / or motion information of at least three measuring points 8 at certain measuring times. The three-dimensional position and / or movement information is thereby determined by at least three measuring points 8, since only then can the position and the orientation of the moving object 9 be determined unambiguously or completely in space. In this context, position information refers to the coordinates or the position of a measuring point 8 in space and to motion information, for example the current speed, acceleration or direction of movement of a measuring point 8. The measurement data 10 obtained by determining the three-dimensional position and / or movement information of measuring points 8 of the moving object 9 at specific measuring times are checked in a next step. If necessary, incomplete and / or erroneous measurement data 11 for certain measurement points 8 are completed and / or corrected by interpolation of the measurement data 10 in order to obtain completed and / or corrected measurement data 12.

The completely correct and correct measurement data 13 or the completed and / or corrected measurement data 12 are further processed in a next method step in such a way that a uniform motion santeil in the measurement data 12; 13 is eliminated. This is done by determining the average velocity of the measurement points 8 along each of the three spatial coordinate axes 14, 15, 16 - Fig. 5 - and subtracting these mean velocities from the detected instantaneous speeds of the measurement points 8 in each coordinate axis 14, 15, 16. From this process Measured data 17 result without a uniform proportion of movement.

In a final step of the digitization method, path data points 18 are calculated from the measured data 17 without a uniform proportion of movement. Each of these track data points 18 comprises a three-dimensional position value and a three-dimensional orientation value, by means of which values the position, that is to say the position and the orientation of an effector 19 - FIG. 6 - of the therapy robot 2 in space is clearly defined. By sequentially starting or stopping the track data points 18 with the effector 19 of the therapy robot 2, the effector 19 describes a three-dimensional movement path 20 - FIG. 5 - corresponding to the digitized therapy target movement 1.

According to an expedient embodiment, the three-dimensional positional and / or movement information of the measuring points 8 of the moving object 9, which executes the therapeutic target movement 1, is determined at specific, periodically successive measurement times. Furthermore, according to a particularly advantageous embodiment, the determination of the position and / or movement information of the measuring points 8 of the moving object 9 is performed precisely for such a movement ssequenz, which is repeated substantially several times in a continuous motion sequence. The in this case in the determination of the position and / or movement information of the measuring points 8 of The measured data 10 obtained from the moving object 9 are used to calculate the path data points 18 which exactly map this one motion sequence. If these path data points 18 are traversed sequentially with the effector 19 of a therapy robot 2, the result is a closed three-dimensional movement path 20, as can be seen in FIG. 5. By repeatedly moving away or passing through the movement sequence, the duration of movement can be extended as desired.

According to an advantageous embodiment, not shown, the path data points 18 are calculated from groups of measured data 17 during the digitization of the therapy target movement 1. These groups of measured data 17 can be obtained on the one hand by detecting a moving object 9 several times and on the other hand by detecting a plurality of moving objects 9. The groups of the measured data 17 will differ more or less strongly. In a next step, an average group of measurement data is calculated from the groups of measurement data 17 or the measurement data are selected from the groups of measurement data 17 and combined to form a selection group of measurement data representing an ideal therapy target movement 1. The measured data of the mean value group and / or the selection group are then used to calculate the path data points 18. When calculating the path data points 18 from groups of measured data 17, it is particularly expedient to extract exactly the same sequence of movements from a group of measured data 17, since such an approach facilitates the formation of the mean value group and / or the selection group.

According to a further embodiment not shown, the path data points 18, which comprise position and orientation values, are transformed into functionally describable, continuous trajectories before they are used to control the therapy robot 2. By traversing the functionally described, continuous trajectories with the effector 19 of the therapy robot 2, the effector 19 passes through a three-dimensional trajectory 20 corresponding to the digitized therapy target movement 1. FIG. 2 shows an exemplary embodiment in which the therapy target movement 1 carried out by a horse 5 is visual two spaced and in particular synchronized video cameras 21, 22 is detected. In the example shown, a plurality of reflective or luminous markers 23 on one side of the horse body 6 in the back region 7 in Substantially arranged according to a T-shape along a rectangular grid 24. The rectangular grid 24 has a grid spacing of 5 cm to 15 cm, preferably of about 10 cm, and viewed from above, one of the two grid dimensions of the rectangular grid 24 is substantially parallel to the longitudinal axis 25 - FIG. 4 a - of the horse body 6 aligned.

The optical markers 23 represent the measuring points 8 of the optical detection system. Since two spaced-apart video cameras 21, 22 are used, the three-dimensional position and / or motion information of the markers 23 and the measuring points 8 can be determined by the metrological method of triangulation. The recording of the therapy target movement 1 by means of the video cameras 21, 22 takes place at 170 to 230 images per second, preferably at around 200 images per second. Upon detection of the therapy target movement 1, the horse 5 moves on a treadmill 26 "step", which is relatively frequently used in hippotherapy means moving in the gait "step", essentially remaining in the same place in the room.

3 shows a further expedient exemplary embodiment, in which the therapy target movement 1 carried out by a human 3 on a stationary base is detected electronically by means of a plurality of motion sensors 27, which in particular determine the current instantaneous acceleration. The motion sensors 27 are mounted in and around the hip portion 27 of the human 3. In the execution of the therapy target movement 1, the current data value of a motion sensor 27 is expediently queried or recorded 170 to 230 times per second, preferably approximately 200 times per second.

FIGS. 4 a to 4 c graphically illustrate the geometric relationships for calculating the orientation of an effector 19 of a therapy robot 2, wherein the effector 19 is intended to simulate the back movements of a horse 5. As can be seen in FIG. 2, rows of optical markers 23 are arranged in a rectangular grid 24 which has nine raster rows 29 and thirteen raster columns 30. The grid rows 29 are starting from the top with "1" to "9" and the grid columns 30 are starting from the head of the horse 5, starting with "A" to "M". Along the grid rows "1" and "2" and along the grid columns "E" and "G" 40 optical markers 23 are mounted, which serve to calculate the position and orientation of the effector 19 of the therapy robot 2. In the following descriptions of the calculation rules for determining the orientation of the effector 19 corresponds to the coordinate axis X 14 of the longitudinal axis 25 of the horse body 6, the coordinate axis Y 15 of the horizontal transverse axis of the horse body 6 and the coordinate axis Z 16 of the vertical transverse axis 31 of the horse body 6. The symbol For example, XI _G denotes the X coordinate value of the marker 35 in row "1", column "G". According to the geometric relationships shown in FIG. 4a, an orientation angle "alpha" 32 of the effector 19 is determined in particular by means of a side difference of the measurement data 17 X _m , Ym, XIG and Y _{iG of} the markers 35, 36 in row "1", column "G". and row "1", column "E" is calculated as follows, taking marker 35 in row "1", column "G" as fulcrum: alpha = arctan ((Y _1E -YIG) / (Xm-XIG)) ,

Alternatively, for example, if the measurement data 17 for the aforementioned markers 23 are too inaccurate, it is also appropriate to use the orientation angle "alpha" 32 by means of the measurement data 17 _{× 2E} , Y _2E , X ₂ _G and Y _2G corresponding to the aforementioned Calculate formula.

Likewise, as shown in FIG. 4b, an orientation angle "beta" 33 of the effector 19 is determined in particular by means of a height difference of the measurement data 17 Xm, Zm, XI _G and ZI _{G of} the markers 35, 36 in row "1", column "G". and row "1", column "E" is calculated as follows, assuming marker 35 in row "1", column "G" as fulcrum: beta = arctane ((Zm -Z _1G ) / (Xm-XIG)) ,

Alternatively, for example, if the measurement data 17 for the aforementioned markers 23 are too inaccurate, it is also expedient to use the orientation angle "beta" 33 by means of the measurement data 17 _{× 2E} , Z _2E , X _2G and Z _{2G in} accordance with the aforementioned formula to calculate. Furthermore, as shown in FIG. 4 c, an orientation angle "gamma" 34 of the effector 19 is determined in particular by means of a height difference of the measurement data 17 YI _G , ZI _G , Y 2 _G and Z _{2G of} the markers 35, 37 in row "1", column " G "and row" 2 ", column" G "is calculated as follows, taking marker 35 in row" 1 ", column" G "as fulcrum: gamma = arctan ((Y _2G -YIG) / (Z _2G - Z _1G )).

Alternatively, for example, if the measurement data 17 for the aforementioned markers 23 are too inaccurate, it is also appropriate to use the orientation angle "gamma" 34 by means of the measurement data 17 Y _2G , Z _2G , Y _4G and Z _4G according to the aforementioned formula to calculate.

The orientation angle "alpha" 32 thus describes the rotation of the effector 19 from a zero position about the coordinate axis Z 16. Analogously, the orientation angles "beta" 33 and "gamma" 34 describe the respective rotation about the coordinate axis Y 15 or about the coordinate axis X 14. As an alternative to the reference lines of the orientation angles "alpha" 32, "beta" 33 and "gamma" 34 shown in FIGS. 4 a to 4 c, it may also be expedient to determine the respective orientation angle from a corresponding mean orientation angle for a specific desired therapeutic movement 1 to indicate. In other words, a specific orientation of the effector 19 is then given via alternative orientation angles "alpha _a i", "beta _a i" and "gamma _a it", which are based on the respectively corresponding average orientation angle

and "gamma _m i _t t _{e are} related.

FIG. 5 shows a self-contained, three-dimensional movement path 20 which is described by a plurality of path data points 18. Each of these track data points 18 comprises a three-dimensional position value and a three-dimensional orientation value for the effector 19 of the therapy robot 2. By sequential approach of the track data points 18 with the effector 19, the digitized therapy target movement 1 is executed. If this therapy target movement 1 represents the movement of a horse tail 7 - FIG. 2 -, then approximately 20 to 30 path data points 18 are preferably used to describe the three-dimensional movement path 20. FIG. 6 shows a possible embodiment of a therapy robot 2. On a base unit 38 with a connected control 39, a robot arm 40 is mounted on a bogie 47 and can be moved by means of a plurality of articulated joints 41 to 45. This makes it possible to position the effector 19 of the therapy robot 2, which effector 19 replicates in its shape a part of the back region 7 - Fig. 2 - of a horse 5, in a certain radius anywhere in the room and orient. In this case, a reference point 46 or Tool Center Point (TCP) of the therapy robot 2 is preferably positioned in the quietest point of the horse's back 7 and thus in the calmest point of the effector 19. For the sake of order, it should finally be pointed out that, for a better understanding of the digitization method, this or its constituent parts have been shown partly out of scale and / or enlarged and / or reduced in size.

The exemplary embodiments show possible embodiments of the method for digitizing a therapeutic target movement, wherein it should be noted that the invention is not limited to the specifically illustrated embodiments thereof, but rather various combinations of the individual embodiments are possible with each other and this variation possibility due to Teaching for technical action by objective invention in the skill of those working in this technical field is the expert. So are all conceivable embodiments, which are possible by combinations of individual details of the illustrated and described embodiment variant, includes the scope of protection. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.

The task underlying the independent inventive solutions can be taken from the description. Above all, the individual in Figs. 1; 2; 3; 4a to 4c; 5; 6 embodiments form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures. Reference symbol for therapy target movement 36 markers in row "1", column "E" Therapy robot 37 markers in row "2", column "G" Human 38 Base unit

Animal 39 control

Horse 40 robot arm

Horse Body 41 Joint

Horseback 42 joint

Measuring point 43 joint

Moving object 44 Joint

Measurement data at specific measuring time45 joint

points

46 reference point

Incomplete and / or faulty 47 bogie

measurement data

Completed and / or corrected measurement data

Complete and correct measurement data

Coordinate axis X

Coordinate axis Y

Coordinate axis Z

Measurement data without a slipping motion component

Path data point

effector

Three-dimensional trajectory

video camera

marker

grid

longitudinal axis

treadmill

motion sensor

hip

grid rows

grid columns

Vertical transverse axis

Orientation angle "alpha"

Orientation angle "beta"

Orientation angle "gamma"

Marker in row "1", column "G"

Claims

Patent claims

1. A method for digitizing a Therapiesollbewegung (1) for controlling a stationary during the movement therapy Therapy robot (2), characterized by performing the Therapiesollbewegung (1) by a human (3) or an animal (4), detecting the Therapiesollbewegung (1) electronic way and determining the three-dimensional attitude and / or movement information of at least three measuring points (8) of the moving object (9) at certain measuring times, controlling and optionally completing and / or correcting the measured data (10) in particular in the case of missing and / or faulty Measurement data (11) for specific measurement points (8) at specific measurement times by interpolation of the measurement data (10) from locally adjacent, further measurement points (8) and / or by interpolation of the measurement data (10) from the particular measurement points (8), which measurement data (10) were obtained at temporally adjacent measurement times, eliminating a uniform the amount of movement in the measured data (12; 13) by determining the mean velocity of the measuring points (8) along each of the three spatial coordinate axes (14, 15, 16) and subtracting these mean velocities from the determined instantaneous speeds of the measuring points (8) in each coordinate axis (14, 15, 16), Calculating path data points (18) from the measurement data (17), which path data points (18) comprise three-dimensional position and orientation values, such that a three-dimensional movement path (20) can be achieved by sequentially approaching these path data points (18) with an effector (19) of the therapy robot (2) ) is described according to the Therapiesollbewegung (1).

2. The method according to claim 1, characterized by determining the position and / or movement information of the measuring points (8) of the moving object (9), which the

Therapiesollbewegung (1) performs, at certain, periodically successive measurement times.

3. The method according to any one of claims 1 and 2, characterized by determining the position and / or movement information of the measuring points (8) of the moving object

(9), which executes the therapy target movement (1), for exactly one movement sequence, which is essentially repeated in a continuous movement sequence.

4. Method according to one of the preceding claims, characterized by detecting the therapy target movement (1) visually by means of at least one video camera (21, 22) by filming one or more, in particular reflective or luminous, optical markers (23), which on the Moving object (9), which executes the Therapiesollbewegung (1), in an area of interest, in particular in the back region (7) of an animal (4) or in the hip region (27) of a human (3) are mounted.

5. The method according to claim 4, characterized by detecting the Therapiesollbewegung (1) by visual means of two spaced and in particular synchronized video cameras (21, 22) and determining the three-dimensional position and / or movement information of the measuring points (8) of the moving object ( 9) by triangulation.

6. The method according to any one of claims 4 and 5, characterized by detecting the Therapiesollbewegung (1) by visual means, wherein 170 to 230 images per second, preferably about 200 images per second are made.

7. The method according to any one of the preceding claims, characterized by detecting the Therapiesollbewegung (1) by electronic means of at least one motion sensor (27), in particular at least one acceleration sensor, which on the moving object (9), which executes the Therapiesollbewegung (1) , in an area of interest, in particular in the back region (7) of an animal (4) or in the hip region (27) of a human being (3).

8. The method according to claim 7, characterized by detecting the Therapiesollbe- movement (1) with the at least one motion sensor (27) 170 to 230 times per second, preferably about 200 times per second.

9. The method according to any one of the preceding claims, characterized in that the Therapiesollbewegung (1) is the movements of a horse back (7) in the seat position of a rider in the gait "step", "trot" or "gallop".

10. The method according to claim 9, characterized by attaching about 40 optical markers (23) on one side of a horse back (7) in the seating area of a rider for visual detection of therapy target movement (1), wherein the optical markers (23) are aligned substantially in accordance with a rectangular grid (24) with 5 cm to 15 cm grid spacing, preferably about 10 cm grid spacing.

1 1. The method of claim 10, characterized by attaching rows of optical markers (23) in the rectangular grid (24), which is aligned as seen from above, that one of the two grid dimensions substantially parallel to the longitudinal axis (25) of the horse body (6), such that seen from the side of the horse body (6) at nine raster rows (29), which are from top beginning with "1" to "9", and at thirteen grid columns (30), which from the head area of the horse (5) starting with "A" to "M", along the grid rows "1" and "2" and along the grid columns "E" and "G" optical markers (23) are mounted, and calculating the position and the orientation of the effector (19) of the therapy robot (2) as follows, wherein the coordinate axis X (14) of the longitudinal axis (25) of the horse body (6), the coordinate axis Y (15) of the horizontal transverse axis of the horse body (6) and the Coordinate axis Z (16) of the vertical Transverse axis (3 1) corresponds to the horse body (6) and, for example, the symbol XIG denotes the X coordinate value of the marker (35) in row "1", column "G":

a) calculating the three-dimensional position of the effector (19) by means of the measurement data (17) X _1G , YIG and Z _{1G of} the marker (35) in row "1", column "G";

b) calculating an orientation angle "alpha" (32) of the effector (19) by means of a side difference of the measurement data (17) for markers (23) from the columns "E" and "G", in particular by means of the measurement data (17) X _1E , Y _1E , XIG and Y _1G :

alpha = arctane ((Y _M -YIG) / (Xm-XIG))

wherein the marker (35) is assumed to be the fulcrum in row "1", column "G", or by means of the measurement data (17) X ₂ E, Y ₂ E, X _2G and Y ₂ G;

c) calculating an orientation angle "beta" (33) of the effector (19) by means of a height difference of the measurement data (17) for markers (23) from the columns "E" and "G", in particular by means of the measurement data (17) Xm, Z _1E , XIG and ZIG:

beta = arctane ((Z _M - Z _1G ) / (Xm - XIG))

the marker (35) being assumed to be a fulcrum in row "1", column "G", or correspondingly by means of the measured data (17) X _2E , Z _2E , X ₂ G and Z ₂ G; and

d) calculating an orientation angle "gamma" (34) of the effector (19) by means of a height difference of the measurement data (17) for markers (23) from the rows "1" and "2" or from the column "G", in particular by means of the measured data (17) YI _G , ZI _G , Y ₂ _G and Z ₂ Q: gamma = arctan ((Y _2G -YIG) / (Z _2G -Z _1G ))

wherein the marker (35) in row "1", column "G" is assumed as a fulcrum, or correspondingly by means of the measurement data (17) Y _2G , Z _2G , Y _4G and Z _4G .

12. The method according to any one of the preceding claims 9 to 11, characterized by calculating the web data points (18) from the measured data (17) of the horse back (7) such that for describing the three-dimensional trajectory (20) each about 20 to 30 orbit data points (18 ) are used with the position and orientation information of the effector (19) of the therapy robot (2).

13. The method according to any one of the preceding claims, characterized by performing the Therapiesollbewegung (1) by a human (3) or an animal (4) on a conveyor belt or a treadmill (26) which is controlled such that the human (3 ) or the animal (4) remains substantially in the same place in the space during execution of the therapy target movement (1).

14. The method according to any one of the preceding claims, characterized by calculating the web data points (18) from groups of measured data (17), which groups obtained by repeated detection of a moving object (9) and / or by detecting a plurality of moving objects (9) in which a mean value group of measurement data is calculated from the groups of measurement data (17) or the measurement data are selected from the groups of measurement data (17) and combined to form a selection group of measurement data representing an ideal therapy target movement (1), and wherein the measurement data of the mean value group and / or the selection group are used for the calculation of the path data points (18).

15. The method according to any one of the preceding claims, characterized by calculating the web data points (18) from the measurement data (17) such that it as the reference point (46) or Tool Center Point (TCP) of the therapy robot (2) of the quietest point of the moving object (9) which executes the therapy target movement (1) is defined.

16. The method according to any one of the preceding claims, characterized by

Transforming the track data points (18) into functionally describable, continuous trajectories, so that by tracing these trajectories with the effector (19) of the therapy robot (2) a three-dimensional trajectory (20) corresponding to the therapy target movement (1) is described.