WO2012119176A2 - Procédé de numérisation d'un mouvement thérapeutique de consigne - Google Patents

Procédé de numérisation d'un mouvement thérapeutique de consigne Download PDF

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Publication number
WO2012119176A2
WO2012119176A2 PCT/AT2012/050031 AT2012050031W WO2012119176A2 WO 2012119176 A2 WO2012119176 A2 WO 2012119176A2 AT 2012050031 W AT2012050031 W AT 2012050031W WO 2012119176 A2 WO2012119176 A2 WO 2012119176A2
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WO
WIPO (PCT)
Prior art keywords
movement
measurement data
therapy
data
points
Prior art date
Application number
PCT/AT2012/050031
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German (de)
English (en)
Other versions
WO2012119176A3 (fr
Inventor
Alexander Barth
Original Assignee
Intelligent Motion Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intelligent Motion Gmbh filed Critical Intelligent Motion Gmbh
Publication of WO2012119176A2 publication Critical patent/WO2012119176A2/fr
Publication of WO2012119176A3 publication Critical patent/WO2012119176A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A61B5/1122—Determining geometric values, e.g. centre of rotation or angular range of movement of movement trajectories
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/04—Training appliances or apparatus for special sports simulating the movement of horses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2503/00—Evaluating a particular growth phase or type of persons or animals
    • A61B2503/40—Animals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
    • A61B2505/09—Rehabilitation or training
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using markers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
    • A63B2024/0012—Comparing movements or motion sequences with a registered reference
    • A63B2024/0015—Comparing movements or motion sequences with computerised simulations of movements or motion sequences, e.g. for generating an ideal template as reference to be achieved by the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/806—Video cameras

Definitions

  • the invention relates to a method for digitizing a Therapiesollhus for controlling a therapy robot, as indicated in claim 1.
  • the present invention has for its object to provide a method for digitizing a Therapiesollamba, 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 Therapiesollzi according to the features in claim 1.
  • 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.
  • 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.
  • 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.
  • a therapy robot 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.
  • 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.
  • 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.
  • kinematic variables such as acceleration
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the complete, three-dimensional reproduction of the movement pattern of a therapeutic horse with a therapy robot offers even more advantages.
  • 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.
  • 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
  • the therapy target movement can be carried out as naturally as possible and in the smallest possible space.
  • 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.
  • 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.
  • TCP Tool Center Point
  • 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.
  • FIG. 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
  • FIG. 5 shows a three-dimensional trajectory of a horse tail consisting of path data points with position and orientation information
  • FIG. 6 shows a therapy robot which executes the therapy target movement digitized according to the method visualized in FIG.
  • 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.
  • 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.
  • 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.
  • 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.
  • the effector 19 describes a three-dimensional movement path 20 - FIG. 5 - corresponding to the digitized therapy target movement 1.
  • 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.
  • 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.
  • 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.
  • 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.
  • the effector 19 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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”.
  • optical markers 23 are mounted, which serve to calculate the position and orientation of the effector 19 of the therapy robot 2.
  • 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.
  • 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.
  • 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.
  • 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.
  • a robot arm 40 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.
  • 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.
  • TCP Tool Center Point
  • 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.

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Abstract

L'invention concerne un procédé de numérisation d'un mouvement thérapeutique de consigne (1) pour la commande d'un robot thérapeutique (2) fixe durant l'exécution du mouvement, procédé selon lequel le mouvement thérapeutique de consigne (1) exécuté par un être humain (3) ou un animal (4) est enregistré par voie électronique et les informations de mouvement et/ou de position en trois dimensions d'au moins trois points de mesure (8) de l'objet en mouvement (9) sont déterminées à des instants de mesure précis. Après la vérification et éventuellement le complétage et/ou la correction des données de mesure (10) par interpolation des données de mesure (10), une composante de mouvement uniforme dans les données de mesure (12; 13) est éliminée dans chacun des trois axes des coordonnées dans l'espace. Ensuite, des points de données de trajectoire (18) sont calculés à partir des données de mesure (17) ainsi obtenues, de sorte qu'une trajectoire de mouvement en trois dimensions correspondant au mouvement thérapeutique de consigne (1) est décrite par un effecteur du robot thérapeutique (2) parcourant de manière séquentielle les points de données de trajectoire (18). On obtient ainsi un procédé de numérisation qui permet de reproduire sous forme numérique, le plus fidèlement et le plus efficacement possible, le mouvement thérapeutique de consigne (1) souhaité, exécuté par un être humain (3) ou un animal (4).
PCT/AT2012/050031 2011-03-09 2012-03-07 Procédé de numérisation d'un mouvement thérapeutique de consigne WO2012119176A2 (fr)

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Application Number Priority Date Filing Date Title
ATA316/2011 2011-03-09
AT3162011 2011-03-09

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WO2012119176A2 true WO2012119176A2 (fr) 2012-09-13
WO2012119176A3 WO2012119176A3 (fr) 2013-06-06

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016213964A1 (de) 2016-07-28 2018-02-01 Kuka Roboter Gmbh Hippotherapievorrichtung

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29602591U1 (de) 1996-02-14 1996-04-11 Ann, Christoph, Dr.jur. LL.M.(Duke Univ.), 91054 Erlangen Vorrichtung zum Training der Rückenmuskulatur
EP2030657B1 (fr) 2007-08-31 2010-12-08 Panasonic Electric Works Co., Ltd. Appareil d'entraînement basculant

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4631676A (en) * 1983-05-25 1986-12-23 Hospital For Joint Diseases Or Computerized video gait and motion analysis system and method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29602591U1 (de) 1996-02-14 1996-04-11 Ann, Christoph, Dr.jur. LL.M.(Duke Univ.), 91054 Erlangen Vorrichtung zum Training der Rückenmuskulatur
EP2030657B1 (fr) 2007-08-31 2010-12-08 Panasonic Electric Works Co., Ltd. Appareil d'entraînement basculant

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016213964A1 (de) 2016-07-28 2018-02-01 Kuka Roboter Gmbh Hippotherapievorrichtung
WO2018019672A1 (fr) 2016-07-28 2018-02-01 Kuka Roboter Gmbh Dispositif d'hippothérapie
US11660245B2 (en) 2016-07-28 2023-05-30 Kuka Deutschland Gmbh Hippotherapy device

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