WO2015188867A1

WO2015188867A1 - Analysis and evaluation of the quality of body movements

Info

Publication number: WO2015188867A1
Application number: PCT/EP2014/062262
Authority: WO
Inventors: Mario Weiss; Bernhard WELLHÖFER
Original assignee: Gaia Ag
Priority date: 2014-06-12
Filing date: 2014-06-12
Publication date: 2015-12-17

Abstract

According to the invention, in order to determine the quality of a movement, at least one measuring signal of an external sensing device secured to the body of a human or animal is captured and evaluated over a period of time. Said sensing device comprises at least one position sensor and/or acceleration sensor.

Description

ANALYSIS AND EVALUATION OF THE QUALITY OF BODY MOVEMENTS

The invention relates to methods and devices for determining the quality of a movement, in which at least one measurement signal of a transducer attached externally to a human or animal body is provided.

background

The determination of characteristic variables of the movement of a human or animal body can be of importance in particular for rehabilitation after surgical interventions, for example after an endoprosthesis of a joint (eg hip joint) and, for example, for the analysis of individual body movements, detection of errors in movement sequences Of joint loads, etc. be very important.

Summary of the invention

The object of the present invention is to provide an advantageous device and method (systems, etc.) for determining characteristics of the movement of a human or animal body, which supplements the known devices and methods and opens up new opportunities for statements, and methods for obtaining and Evaluation of parameters determined by means of such a device. Solutions of this object according to the invention are provided by the following aspects and exemplary embodiments.

Thus, methods and devices for determining the quality of a movement are provided, in which at least one measurement signal of a transducer attached externally to a human or animal body is provided. The at least one transducer comprises at least one position and / or acceleration sensor, which provides the measurement signal over time.

The measurement signal or the measurement signals are advantageously evaluated at least visually with reference to one or more positions or areas within the human or animal body.

The positions or areas within the body can advantageously also be visualized.

Advantageously, a value can be determined from the measurement signals of the transducer, which represents a position of the body.

Furthermore, alternatively or cumulatively, a value can be determined from the measuring signals of the measuring transducer, which represents an activity of the body.

Furthermore, alternatively or cumulatively, a value may be determined from the measurement signals of the transducer that visually represents a force on the positions or surfaces within the body.

Furthermore, alternatively or cumulatively, a value from the measurement signals of the transducer, which represents an activity of a muscle, can be determined.

Furthermore, one or more transducers may, for example, provide the following three types of measurement signals: accelerations, angular velocity and magnetic field.

Advantageously, a sensor fusion of several measurement signals of different transducers can be performed in order to determine an absolute orientation in space.

Preferably, quaternions may be used to achieve simple numerical stability, to reduce the number of arithmetic operations, or to circumvent the gimbal lock problem. Advantageously, measurement signals can be collected from one master unit per transducer and transmitted periodically, for example via a SIM card or via WLAN to a server.

In one aspect, at least one of the following motion algorithms may be applied to the measurement signals: force evaluations, movement activity, critical angles, muscular movements, or impulses.

The evaluations of the measurement signals can be carried out continuously and / or retroactively again. The evaluation of the measurement signals can be based on data mining, in particular decision trees and naive bayes approaches.

Furthermore, forces in joints can be determined using inverse-dynamic models, in particular by anthropometric body models.

Advantageously, the transducer or transducers can be calibrated once on the patient in order to adapt them to his physical circumstances or to be calibrated by means of continuous and independent calibration of the sensors by the transducer of the transducers or centrally by the controller of the master unit.

Each transducer and possibly also the master unit may have its own unique ID, which allows the identification and assignment to the position on the patient.

The invention also provides a device for determining the quality of a movement which comprises at least one transducer which can be attached to a human or animal body and which comprises at least one position and / or acceleration sensor and which provides a measuring signal over time.

The device may further comprise at least one visualization means arranged such that the measurement signal can be evaluated visually with reference to one or more positions or areas within the human or animal body. This visualization means is, for example, a screen of a computer or server terminal. The visualization means is advantageously not arranged in the transducer or the master unit. Other aspects of the device will be apparent from the above aspects of the method.

According to one aspect of the invention, there is provided a method of determining force at a point in a human or animal body. This comprises the steps of acquiring measuring signals over time, which indicate a relative state of a first measuring sensor arranged on the body. In that regard, the activity of the human or animal being can be determined in principle on the nature, duration and intensity. This aspect can be advantageously combined with the further aspects of the invention described below.

According to a further aspect of the invention, a force on a point in the body can be determined from the measurement signals of the first transducer. Here, in particular position, position and / or acceleration sensors are arranged in the transducer whose measurement signals are then evaluated.

Furthermore, a force on a body, in particular on or in the vicinity of a joint, can be determined by at least two sensors, which detect the movements of the limbs closest to the joint and, based on the measurement signals, determine the force in the joint. This can preferably be done depending on the movement of the links.

For example, the first transducer provides measurement signals that represent the location in the room. These may be coordinates with respect to a fixed reference point or the like. The same can apply to other transducers. Furthermore, the first and / or each additional transducer can also provide measurement signals which represent the instantaneous acceleration in space in three dimensions. For this purpose, the sensor (s) may preferably comprise an acceleration sensor.

Finally, the transducer and other transducers may include a gyro sensor for providing measurement signals relating to a rotational movement.

The detected measurement signals can preferably be recorded over time and stored and / or transmitted wirelessly to an evaluation unit. The measuring signals are advantageously digitized

From the measurement signals, the force can then be determined in a certain direction to the one or more points within the body. Basically, different models, formulas, or equations can be used to determine the forces. Of course, instead of the force any other meaningful signal can be determined on or in the joint, or on the bone or in the muscle. For this purpose, physiological data of the patient / subject are advantageously used. These include, for example, dimensions of the joints, weight of the subject and the weight of individual body parts, as well as the resulting position and the distance of the transducers.

On the basis of the force curves, in particular of peaks but also time courses, it is then determined whether and, if so, how long certain limit values are exceeded, for example. From the individual points, the load of entire surfaces within body parts, advantageously of inner joint surfaces, can be determined.

The activation of muscle parts can also be determined and evaluated. For this purpose, for example, the activity pattern of the measurement signals is determined and evaluated.

For example, the force applied to points or surfaces within the body can be integrated over time to determine if the joint has been overused.

Furthermore, activity, use in points or areas on or in the body, on or in the joint or on or in the muscle or on or in the bone can be determined. The transducers can be advantageously calibrated. For this purpose, the subject can assume a predetermined position or posture, etc. Then the calibration can be initialized. This can advantageously be done regularly and also advantageous after the application of the transducers.

The signals can advantageously be preprocessed electrically or digitally. In particular, the signals can be filtered. The preprocessing can be done within the transducers or on a computer, server etc. In order to determine the relative position of the measured value pick-up, a self-calibration can advantageously be carried out after the sensors have been applied. Furthermore, body models can be used to calculate the quality of the movement. There may also be critical points; Angles, maximum or minimum angles, the quality of movement and / or stress at a point or over areas of joints or other positions within the body. In this case, the anatomical conditions, such as, for example, length of the bones, dimensions of the joints, distances of the sensors, weight or mass of the body parts and / or the weight of the patient can be taken into account.

Furthermore, the signals can advantageously be represented graphically. This can be done on a computer display. It is particularly advantageous if the signals are displayed together in relation to the body in a graph. By graphic selection of certain points or areas within a graphical representation of one or more parts of the body can then be given very quickly and intuitively on the quality of movements for the corresponding part of the body.

Furthermore, an app can also be provided which, for example, can run on a computer and / or portable electronic device, such as a mobile telephone. This app can then already provide feedback to the subjects, whether the nature of the movements was favorable or unfavorable. If necessary, you can also contact the responsible doctor via the app, who will then be able to evaluate data. Advantageously, the app can configure the portable electronic device so that it receives the data from one or more measured value recorded wired or wireless.

Brief description of the figures

Further features and advantages of the invention will be described below with reference to embodiments and with reference to the figures, wherein

FIG. 1 is a simplified schematic illustration of a right side hip joint from the back, illustrating aspects of the invention;

FIG. 2 are exemplary diagrams for time traces of measurement signals, FIG. 3 are exemplary diagrams for time traces of measurement signals,

FIG. FIG. 4 is a flowchart of a process for providing values for the application of force to a joint; and FIG

FIG. 5 is an overall picture of the system with all involved (transducers, patients, servers, doctors, etc.).

Detailed description of the embodiments

FIG. Figure 1 is a simplified schematic illustration of a right side hip joint from the back, illustrating aspects of the invention. The contour of the skin or body surface with clothing is indicated. The transducers (sensors) S1 and S2 are attached to the body. The first transducer S1 is arranged above the hip joint (eg at the hip). The second transducer S2 is attached below the hip joint on the right leg (thigh). Furthermore, an endoprosthesis of the hip joint can be seen on which the exemplary points P1, P2 and P2 are arranged. According to this embodiment of the invention, the measurement signals of the transducers S1 and S2 are evaluated in such a way that effects on the artificial joint can be determined at the points P1, P2 and P3.

The sensor S1 provides the measurement signals X1, Y1 and Z1, which can be used to reproduce the position in the room. The spatial position is advantageously based on a sensor fusion, ie an evaluation of signals of several different sensor types. The spatial position can be coordinates with respect to a fixed reference point or the like.

The transducer S2 provides the measurement signals X2, Y2 and Z2, which represent the position in space. These may be coordinates with respect to a fixed reference point or the like. Also, the transducer S2 may for this purpose preferably comprise a magnetometer.

Furthermore, the sensor S1 can also provide the measurement signals A1, B1 and C1, which represent the instantaneous acceleration in space in three dimensions. For this purpose, the sensor S1 may preferably comprise an acceleration sensor.

Furthermore, the transducer S2 can also provide the measurement signals A2, B2 and C2, which the instantaneous acceleration in space in three Play back dimensions. Also, the transducer S2 may for this purpose preferably include an acceleration sensor.

Finally, the transducer S1 and the transducer S2 may include a gyro sensor for providing measurement signals relating to a rotational movement.

FIG. 2 shows exemplary diagrams for time profiles of measurement signals X1, Y1, Z1, X2, Y2, Z2 as well as A1, B1, C1, A2, B2, C2 of the two transducers S1 and S2.

From the measurement signals, the force effect FP1, FP2 in a specific direction on the points P1 and P2 based on the measurement signals with respect to the position (X, Y, Z) and / or based on the measurement signals with respect to the acceleration (A, B, C).

On the basis of the force curves FP1, FP2 it can then be recognized whether and, if so, how long certain limit values, for example THR1, are exceeded. From the individual points, the load of surfaces, etc. can be further determined.

The activation of muscle parts can also be determined and evaluated.

FIG. 3 shows further exemplary diagrams for time profiles of signals that can be determined from the measurement signals of the transducers S1 and S2. For example, the force applied to points or surfaces over time may be integrated (signal INTFP1 in FIGURE 3) to determine if the joint has been overstressed.

FIG. 4 is a flowchart of a process for providing values for the application of force to a joint. Accordingly, the data of a measurement signal of a transducer are stored. Then, a force FPX at a point out of the measurement signals is determined as described below. After the forces FPX are all determined, the data can be displayed visually on a screen, preferably on the basis of the representation of the body part of interest, such as a joint or hip joint, and evaluated visually but also numerically.

FIG. Figure 5 shows an illustrative view of one possible embodiment of the overall system according to the invention. The patient wears the inventive Transducers S1 and S2. The signals or data determined by the transducers S1 and S2 can be transmitted, for example, directly into the Internet according to Option 1 (for example, WLAN, etc.). According to the alternative option 2, the signals or data of the transducers S1, S2 can also first be transmitted to a smartphone or other mobile device. The transmission can be done, for example, by wire (for example by USB connection) or wirelessly (eg by Bluetooth). The smartphone can then transfer the data to the Internet. Via the Internet, the data then pass to a data processing unit SERVER, which carries out the evaluation of the quality of the movement according to the criteria described above and below. In this case, as already explained, for example, the general activity, the angles of movement per joint, forces in certain areas of a joint and much more are assessed. Among other things, the data processing unit can also provide the user with immediate feedback. This may be, for example, that a warning signal is generated when the patient has performed or carried out an inappropriate movement, or the patient may be asked to more frequent or specific other movements. The feedback to the patient may, for example, be sent directly by email or SMS to the patient, his or her relatives, or even the treated doctor, the surgeon of a previous or upcoming surgery, or the physiotherapist. The system is designed so that this kind of feedback can be done for all patients registered in the system. The feedback can then be evaluated by the recipient of the feedback. In particular, for example, the time and the type of feedback can be displayed. In this example, it could be displayed on a browser or within an app (computer program) that the patient has been making a dangerous move on a particular day at a certain time. (March 17, 11 o'clock). In addition, the activity of the patient can be displayed. For example, this could be the number of steps per day. In addition, further information may be presented, in particular specific recommendations to the patient or the treated physician or physiotherapist. According to the invention, therefore, a system is provided that sensor signals from transducers, which are mounted on the body of the patient (ie outside, for example. On the skin or clothing) preprocessed and transmitted by electronic data transmission to a data processing unit (SERVER). The data will be evaluated and there will be a direct or indirect feedback to the doctor, the patient or others Given to individuals. In particular, such evaluated data and evaluations can also be transmitted to a hospital information system (HIS), for example via the Internet. In particular, after operations on the human body, such as joint surgery on the hip or other joints, can be reduced or even avoided by means of a system according to the invention aftertreatments. Overall, the quality of movements can be determined for the successful course of recovery.

Advantageously, three sensor types are used per transducer or sensor unit: gyroscope, acceleration sensors and magnetometers. From the combination of these three types of sensors, a position in space can be determined. For example, two sensor units (hip, thigh) can be attached to previously fixed points per patient. Optionally, there is a third sensor unit on the lower leg.

The sensors can be combined with the battery and a controller on a board and integrated in a sticky and easily replaceable plaster.

A "master" unit can be provided which collects the raw data of the three sensor types for all sensor units or transducers and, for example, also calculates the position in the room However, the sensor units should be as small and flat as possible, and any action (such as continuous CPU processing time of the controller) that consumes energy and thus results in larger batteries should be avoided can transmit the data wirelessly.A suitable solution could be the current Bluetooth 4.0 version ("low energy").

Theoretically, the master unit may e.g. also be integrated in the hip-sensor unit. In order to keep the sensor units flat and small, the master unit can advantageously be carried with a belt on the back above the belt and thus use a much larger battery than the sensor units:

For example, there are the following three types of raw data: accelerations, angular velocity, and magnetic field. Of course, other types of sensors may also be used for other types of data or signals. On the basis of this sensor data, it is possible to operate sensor fusion in order to determine an absolute orientation in the room.

With Kalman filters you can calculate the situation in the room. The disadvantage is that Kalman filters are very complex. Quaternions should be used to describe a position in space, since they require less CPU power, are numerically stable (less rounding errors in computer calculations) and do not have the problem of "gimbal lock".

All four types of data are collected by the master unit per sensor unit and periodically, e.g. via a SIM card or via WLAN (private WLAN of the patient or the clinic) to the server. As already explained above, the data from the sensor units (transducers) or a master unit can also first be transmitted to a mobile electronic device, such as a smartphone, a notebook or tablet computer or the like. On the mobile device, a corresponding app (application / software / computer program) can be installed, which configures the device accordingly. The mobile device can then at least partially evaluate the data, memory, compress and possibly already provide feedback. The data can be transmitted in preprocessed or already more or less evaluated form of the mobile device to a data processing unit with electronic memory (database, etc.) using WLAN, Bluetooth, GPS, UMTS or the like, among others, over the Internet.

The data processing unit or the server stores, for example, for all patients all four types of data over time. Now different evaluation algorithms are applied to this data:

- Force evaluations

- Movement activity

- Critical angles

- Another model calculates whether the muscles are properly trained by the movements in order to prevent muscle breakdown after surgery

- Impulses

- other These different evaluations of the data are carried out continuously, but can also be carried out retroactively even when adapting the evaluation algorithms. The assessments are advantageously based on the "data mining" environment, where various approaches to discovery and identification are known, primarily decision trees and naïve bayes approaches, or statistical series determined by trial series.

For some of the reviews you need more data such as Some body measurements and body weights of the patient. Methods for determining forces in joints can be calculated using inverse-dynamic models. These can be converted to the joints via anthropometric body models (inverse dynamics), in order to determine joint loads, for example

For presentation and feedback to the subjects, or the doctors, etc. are apps, the Internet, SMS, daily summary by email into consideration

Advantageously, a simple and fast evaluation can be carried out on the master controller. For example, the master can then vibrate as feedback to change the posture / movement.

The three types of sensors on the sensor units consume different amounts of power. At a frequency of e.g. 50 Hz, smaller batteries will soon be exhausted. Certain sensors should therefore be temporarily deactivated and / or operated at a lower frequency without later losing quality. The lower the power consumption, the smaller the battery. Furthermore, transferring the data to the master unit consumes power. It may advantageously be transmitted only periodically and stored therebetween on the units. Depending on the application and available energy storage or data storage and their energy consumption different transmission and storage concepts come into consideration, which manage without a master unit.

The sensor unit can be calibrated once on the patient to adapt it to his physical condition. Due to the sensor drift (which happens between the sampling rates) and the locally very different Magnetic fields (in the car, at home, ...) make the calculated spatial orientation data unusable very quickly. It is therefore advantageous if a continuous and independent calibration of the sensors is performed by the controller of the sensor units or centrally by the controller of the master unit.

Each sensor unit and possibly also the master unit has its own unique ID, which allows the identification and assignment to the position on the patient.

The type of movement, for example, after a hip replacement surgery is crucial for the success of therapy. Up to now surgeons have no chance to understand whether quality problems (loosening, infection, pain, functional problems) are due to their surgical technique, endoprosthesis, aftercare (rehab, physiotherapy) or movement behavior of the patient. As a result, quality problems are not recognized and a large number of patients unnecessarily suffer and need to be treated. For example, a revision surgery may be required or a pain medication with side effects.

The present invention therefore provides, among other things, methods and apparatus that can measure, record and evaluate various physiological parameters of the joint. These include movement and rest times, bending angles and amplitudes of the joints, loads, torsion, temperature, etc.

The present invention allows physicians to obtain information about the quality of movement of the operated patient. Likewise, information on the quality of life and the individual pain situation of the patient is provided.

The operating physician or the clinic can see the quality of movement of the operated patient in the rehabilitation phase via a secure web portal as well as the physician receives additional information on the subjective pain intensity, etc. This allows targeted intervention to optimize the care of the patient.

Furthermore, for example, the physiotherapist can see how the patient has performed certain exercises. Of particular importance may be the following parts of the body: the hip, the knee, the shoulder or the spine.

With regard to the spine, for example, the transducer (s) and evaluation algorithms and devices according to the invention can be used to alert the patient to correct sitting and to arrange the appropriate exercises. The data from the transducers are read more frequently, for example, daily or weekly. The data of the transducers can be read out at the patient's home or in the practice of the doctor or in the clinic. According to the invention, it is provided that data, evaluations and responses are displayed visually, in particular in diagrams, tables and graphically. For example, by clicking on a specific area or point of a graphically displayed articulation of a joint, the physician can automatically display specific information pertaining to that point or area. Another application of the present invention relates to athletes. Thus, with the present invention, the motion behavior can be analyzed. This may, for example, include running, swimming, playing golf, football and other sports. The present invention can then give feedback as a trainer, how the movement behavior can be optimized. Further, the surgeon / sports physician / coach can mark fixed points on the patient's skin (e.g., via waterproof pens) and attach patches embedded sensors or transducers according to the present invention (other approaches to capture the data are also possible).

Known solutions assume that the sensors are fixed in or on the bone. This can lead to problems with the energy supply, susceptibility to infection, etc.

Likewise, there are sensors which only track "movement." The present invention detects the movement of the joints in order to respond to erroneous movements and overloads.Over two hinges can advantageously be used, by means of the relative movement of the sensors relative to each other (acceleration vector) Movement and loading of the joint are closed in three-dimensional space.The recording and synchronization of the motion vectors collected by the sensors takes place over time. To develop suitable models, subjects are recorded by video and the actual movements are compared with the measurements, or one uses, for example, inverse-dynamic models.

The readout of the data from the sensors or transducers takes place, for example, wirelessly via Bluetooth, WLAN, Near Field Communication, or induction.

The subject or patient may, for example, go to the doctor who has an essay on a smartphone and reads the data. Then the doctor can look at the signals in his analysis software.

The data on the transducers can also be read by the patient and then uploaded to a memory, computer or server. The patient or subject may supplement the data with additional information about the pain and / or exercise profile. From this diagnoses can be made. It can be determined which movements the subject or patient has performed in a certain period, for example within the last few weeks, how these movements correlate with the condition of the subject or patient (for example joint and / or back pain). This counteracts, for example, the problem that in back surgery on an x-ray often numerous damage can be seen, without it is recognizable what the respective damage causes or whereby a specific pain. Leading a "pain protocol" can also provide important information on the patient's subjective complaint assessment and can be an important factor in deciding on an operation.

The invention also relates to the power supply of the transducers or sensors. These are advantageously made very small and can be easily attached to the body or the clothing of the subject. This is achieved, for example, by straps, belts or paving. The energy is supplied by means of integrated electrical energy storage, such as batteries or rechargeable batteries. For short-term monitoring also capacitors are considered. Likewise, an inductive wireless transmission of energy can take place, through which the integrated energy store is charged.

Advantageously, the energy supply of a transducer or sensor lasts for four to six weeks. If necessary, it can then be read out, recharged or thrown away. In order to increase the battery life of the energy storage device, the invention proposes the following concepts: for example, the sensor may switch off after a predetermined time if there is no activity. He can then turn back on when a movement occurs. Furthermore, the sensor or transducer can use kinetic energy to self-charge. Furthermore, a switch may be provided which is actuated to read the data. Only then does the wireless or wired data transmission turn on to read out the data.

The present invention also provides a concept for calibrating the measurements. Thus, after attaching the sensors, the patient may be asked to perform certain movements with which the device can be calibrated. These movements may include stretching and flexing certain joints or body parts.

Furthermore, the weight of the patient can be included. In addition, information on the position of the sensors and the length of the bones can be used.

Above all, the present invention also relates to the visualization of the measurement results. Among other things, the following parameters can be visualized and evaluated: the range of motion, which states which radii were covered and with which frequency. The accelerations and forces applied to the body parts and joints. In addition to the acceleration forces here are also the static forces into consideration, the occurrence when the subject stands or sits. Based on the knowledge of the position of the sensor in the room, certain movement patterns (walking, running, sitting, getting up, etc.) can be evaluated. On the basis of the data, it is then possible to detect whether a test person stands, for example, and conclude from this, which forces act on certain body parts or joints in his body weight. There are biomechanical models for this.

It is advantageous to measure, among other things, acceleration vectors, from which it is possible to deduce the movement and stress of joints.

Furthermore, the sensors or transducers can indicate the relative position to each other in three-dimensional space. These sensors also detect and store advantageously the movement behavior of the patient over several months (for example 6 months). The values can be from patients themselves or be read by his orthopedist and be forwarded via the Internet to a secure server (eg once or twice a week).

At the same time, the patient can use an "app" that runs on a standard smartphone or via an Internet portal to provide information on the intensity of pain and the subjective movement behavior, etc. Ideally, the patient can also read the data himself via such a smartphone.

Furthermore, one or more electronic goniometers may be arranged in the sensors, which determine the maximum mobility of the body as an electronic quantity corresponding to an angle. In addition, for determining the location of the body with respect to its surroundings, further devices, such as e.g. B. optical or magnetic positioning systems in the environment or pressure and / or acceleration sensors may be provided.

There may also be a combination of a position sensor and an acceleration sensor.

The signals of the sensors can be sampled with a clock frequency of 20Hz to 5kHz and stored over a longer period of time.

Claims

claims

1. A method for determining the quality of a movement, in which at least one measurement signal of a transducer attached externally to a human or animal body and comprising at least one position and / or acceleration sensor that provides the measurement signal over time,

2. The method of claim 1, wherein the measurement signal is evaluated at least visually with reference to one or more positions or areas within the human or animal body.

3. The method of claim 1 or 2, wherein the positions or areas within the body are also visually displayed.

A method according to any one of the preceding claims, further comprising. Determining a value from the measuring signal of the transducer, which represents a position of the body.

5. The method according to any one of the preceding claims, further comprising. Determining a value from the measuring signal of the transducer, the one

Represents activity of the body.

A method according to any one of the preceding claims, further comprising. Determining a value from the transducer measurement signal that visually represents a force on the positions or surfaces within the body.

A method according to any one of the preceding claims, further comprising. Determining a value from the measurement signal of the transducer, which represents an activity of a muscle.

8. The method according to any one of the preceding claims, wherein one or more transducers provide three types of measurement signals: accelerations, angular velocity and magnetic field.

9. The method according to any one of the preceding claims, wherein a sensor fusion of a plurality of measurement signals of different transducers is performed to determine an absolute orientation in space.

10. The method of claim 9, wherein the sensor fusion using quaternions are used to determine the position in space.

11. The method according to any one of the preceding claims, wherein the measurement signal or a plurality of measurement signals from a master unit, in particular a smartphone, collected per sensor and periodically, in particular using GSM, UMTS, LTE or via WLAN to a server.

12. The method according to any one of the preceding claims, wherein at least one of the following motion algorithms is applied to the measurement signal or a plurality of measurement signals: force evaluations, movement activity, critical angle, movements of the muscles, or pulses.

13. The method according to any one of the preceding claims, wherein the evaluations of the measuring signal or a plurality of measuring signals are carried out continuously and / or retroactively again.

14. The method according to any one of the preceding claims, wherein the evaluation of the measurement signal or a plurality of measurement signals based on the "data mining, in particular on" decision trees "and" Naive Bayes "approaches.

15. The method according to any one of the preceding claims, wherein are determined for the determination of forces in joints by means of inverse-dynamic models, in particular by anthropometric body models.

16. The method according to any one of the preceding claims, wherein the one or more transducers are calibrated once on the patient to adapt to his physical conditions or performed by continuous and independent calibration of the sensors by the controller of the transducers or centrally by the controller of the master unit be calibrated.

17. The method according to any one of the preceding claims, wherein each transducer and possibly also the master unit has its own unique ID, which allows the identification and assignment to the position on the patient.

18. A device for determining the quality of a movement, comprising: at least one transducer which can be attached to a human or animal body and which comprises at least one position and / or acceleration sensor which provides a measuring signal over time,

19. The apparatus of claim 18, wherein the apparatus further comprises at least one visualization means arranged such that the measurement signal is visually evaluable with reference to one or more positions or areas within the human or animal body.

20. Device according to claim 18 or 19, wherein the positions or areas within the body are also visually displayed.

21. Device according to one of claims 18 to 20, wherein at least two transducers are provided at different locations on the outside of the human or animal body.