WO2017178475A1

WO2017178475A1 - Therapy device, therapy system, use thereof, and method for identifying an object

Info

Publication number: WO2017178475A1
Application number: PCT/EP2017/058653
Authority: WO
Inventors: David Ram; Alexander Kollreider
Original assignee: Tyromotion Gmbh
Priority date: 2016-04-11
Filing date: 2017-04-11
Publication date: 2017-10-19
Also published as: EP3231486A1

Abstract

The invention relates to a therapy device for training the motor skills of a patient. The therapy device has a display device (4, 40, 400) and is characterized in that the display device (4, 40, 400) is mounted on at least three mutually spaced force sensors (3, 30) such that a force exerted onto the display device (4, 40, 400) can be quantified and/or a center of a force exerted onto the display device (4, 40, 400) can be determined. The invention further relates to a therapy system comprising such a therapy device and to a method for identifying an object.

Description

Therapy device, therapy system and their use

Method for identifying an object

description

The present invention relates to a therapy device for training the motor skills of a patient according to the preamble of claim 1, a therapy system comprising such a therapy device according to the preamble of claim 9, the use of such a therapy device or such a therapy system in a therapy method according to the preamble of Claim 13 and a method for identifying an object according to the preamble of claim 14. Numerous therapy devices are known from the prior art. For example, WO 2008/025047 A2 describes a device for training movement sequences. Furthermore, DE 10 201 1 056 219 A1 describes a rehabilitation device which has two position sensors, via which the position of ropes can be determined, to which the arms of a patient can be articulated.

The present invention has for its object to provide a therapy device that is designed mechanically simpler than the known from the prior art therapy devices, but is still suitable for training the motor skills of a patient.

This object is achieved with a therapy device having the features of claim 1. Such a therapy device serves to train the motor skills of a patient, in particular to train the motor skills of the upper extremities of a patient. The therapy device can also be used to improve the cognitive abilities of the patient. The patient is a patient with impaired motor skills, especially a patient with neurological disorders, such as a stroke patient. The device is used in particular for rehabilitation purposes. It can therefore also be called a rehabilitation device. The therapy device has a display device. The display device serves to display a graphical user interface. The display device may be, for example, a screen, a monitor or a television. The therapy device is characterized in that the display device is mounted on at least three spaced force sensors. By means of these force sensors, a force exerted on the display device can be determined quantitatively. Alternatively or additionally, it is possible to determine the center of force of a force exerted on the display device. The force sensors are arranged in such a way that it is not possible to connect all force sensors with a single straight line. This means that the force sensors are not in line. Rather, the force sensors are arranged at an angle to each other. If exactly three force sensors are used, the force sensors are arranged on an imaginary triangle. This triangle may be an arbitrarily shaped triangle, such as an isosceles or an equiangular triangle. This is ultimately dictated by the size of the display device. The force sensors are preferably mounted in an edge region of the display device.

When n force sensors are used, they can be arranged on a virtual n-corner. However, another arrangement, such as on an (n-1) corner, is also possible if n is greater than 3.

The force sensors are typically mounted on a support member, such as a frame or a table. The carrier element forms the reference point for the display device. In this case, the carrier element is typically located on an underside of the force sensors, while the display device is arranged on an upper side of the force sensors.

In one variant, bidirectional force sensors are used as force sensors. By means of bidirectional force sensors, it is possible to detect both a pull on the force sensors and a pressure on the force sensors. Consequently, both a pressure force exerted on the display device and a tensile force exerted on the display device can be quantified and / or localized by means of such sensors.

In one variant, the therapy device is equipped with a multi-touch device. With this multi-touch device, it is possible to recognize an object located on the display device. In particular, the position is detected at which an object is arranged on the display device. For this purpose, the multi-touch device spatially resolved determine the position of a corresponding object. For example, a user or patient can be instructed via a graphical user interface on the display device to switch off a specific object at a specific position on the display device or to move it along a specific path. By means of the multi-touch device can then be determined whether the patient has fulfilled this task.

In one variant, the multi-touch device is designed and arranged to differentiate between different objects. For this purpose, the objects must have an identification feature that can be recognized by the multi-touch device. This identification feature is therefore to be matched to the spatial resolution properties of the multi-touch device. If the multi-touch device is able to differentiate between different objects, not only can it be used to determine whether a patient has placed any object in the correct position on the display device, but whether he has the correct one, for example has arranged the graphical user interface predetermined object at the correct position on the display device. The multi-touch device can for this purpose have a database or be connected to a database in which appropriate information about the objects are stored.

In one variant, the multi-touch device can recognize an object regardless of its material properties and / or regardless of its physical and / or chemical properties. That is, the multi-touch device is preferably not designed as a capacitive multi-touch device. So it is particularly easy to use objects made of different materials together with the therapy device and to let differ from each other by the therapy device.

In one variant, the multi-touch device is designed as an infrared frame, which is applied to the display device. That is, the infrared frame is arranged on a side remote from the force sensors side of the display device. The display device is thus stored in this variant on an underside by the force sensors, while on its upper side the infrared frame is arranged.

The infrared frame preferably has a first infrared transmitting module on a first longitudinal side and a first infrared receiving module on a second longitudinal side, while having a second infrared transmitting module on a first transverse side and a second infrared receiving module on a second transverse side. In this way it is possible parallel to the surface of the display device emit infrared light and receive spatially resolved, so that the presence or movement of an object on the display device can be determined spatially resolved by interrupting the corresponding infrared light rays at a certain location. Since infrared light is invisible to the human eye, such an infrared light frame does not disturb the display characteristics of the display device. In addition, such an infrared frame can be easily mounted on the display device, for example, stick. This can be done for example via double-sided adhesive strips that allow a firm connection between the infrared frame and the surface of the display device.

When a conventional television or a conventional monitor is used as the display device, the glass surface of this conventional display device is typically not designed to park or move objects on it or to repeatedly touch the surface with fingers. In order to increase the durability of the display device, it is therefore provided in a variant, to provide an additional protective surface above the actual surface of the display device. This additional protective surface consists of unbreakable or shatterproof glass. Such glass is known to those skilled in the art and is offered for example as safety glass in the market. If such a disk of break-proof glass is used, it is applied directly to the surface of the display device. A multi-touch device, such as an infrared frame, is then not applied directly to the display device, but on the protective surface, so for example on the disc made of unbreakable glass. In this case, the connection between the multi-touch device and the break-proof glass can be accomplished in the same manner as the connection between the multi-touch device and the surface of the display device.

In order to ensure a particularly simple use of the therapy device by a patient, the display device is mounted in a variant pivotable and / or height-adjustable. In order to pivot the display device, in particular in order to pivot an axis running parallel to the bottom in a direction of longitudinal extent of the display device, a pivoting device basically known from the prior art is provided for this purpose. In a comparable manner, a lifting device basically known from the prior art is provided for lifting and lowering the display device. The pivoting device and the lifting device can - together with other optional components of the therapy device - be integrated in a common housing. A control unit can then be provided on the housing, by means of which the pivoting device and / or the lifting device can be operated in order to ensure a simple adaptation of the display device to the needs of the patient. The pivoting device is preferably designed such that it allows a horizontal or vertical arrangement of the display device or an arrangement in any angle between the horizontal and the vertical of the display device. This setting can preferably be done gradually.

In order to ensure protection of the individual components of the therapy device and to further increase the user-friendliness of the therapy device by a patient, a cover frame is preferably provided, which is located above the multi-touch device (if such a device is provided) and above the display device located. By such a cover frame and the force sensors and a support member can be covered. In this case, the cover frame is preferably designed mechanically decoupled from the display device, so that a pressure exerted by a patient on the cover frame, not on the display device and not on the display device stored superimposed force sensors.

In a variant, it is further provided to integrate speakers in the cover frame, for example, to be able to transmit operating instructions acoustically to a patient.

The present invention also relates to a therapy system which comprises a therapy device according to the previous explanations with a display device mounted on force sensors and at least one object to be placed on the display device. Such a therapy system can be used well to interactively enhance a patient's motor skills. Furthermore, the cognitive ability of a patient can be improved.

For example, the therapy system may issue an instruction to the patient to deliver a particular object to a particular position of the display device. If the mass of the object is known, it can be determined from the data obtained by means of the force sensors whether the patient has selected the correct object. Furthermore, it can be determined via the force sensors whether the object has been turned off in the correct position. If the therapy device additionally has a multi-touch device, a Position detection carried out independently of the force sensors by means of the multi-touch device. A software routine can then be used to monitor the training of the motor skills of the patient. The tasks assigned to the patient can be adapted according to his abilities and learning progress.

If the therapy device additionally has a multi-touch device, different objects can be distinguished from one another not only on the basis of their weight but also on the basis of specific identifiers. Therefore, in one variant, the object has an identifier that allows a unique identification of the object. In addition to an identification of the object, the identifier can serve in a variant to determine the spatial orientation of the object. This is easiest to accomplish - as already shown - via the multi-touch device.

In one variant, the identifier is formed by a property of at least three feet of the object, wherein a number, an arrangement and / or a diameter of the feet are particularly suitable properties. Three feet ensure a secure state of the object on the display. Instead of three feet, however, it is also possible to provide, for example, 4, 5, 6, 7, 8, 9 or 10 feet, in order to allow identification of the object from the number of feet. Alternatively or additionally, the feet may be arranged regularly or irregularly on the object in order to also allow identification of the object from this arrangement of the stands. Alternatively or additionally, the feet may have different diameters, so that with the diameter of the stand, there is another size available for coding an object identification and for determining an object orientation.

To identify individual objects or to distinguish different objects from each other or to determine an orientation of individual objects on the display device corresponding information about the objects are preferably stored in a database. If particular object properties are determined by means of the multi-touch device, these can be compared with data stored in the database in order to carry out an object identification and / or a determination of the spatial arrangement of the object on the display device.

Further suitable properties of the feet for distinguishing different objects from one another are the surface design of the feet, reflective properties of the feet, color configurations of the feet and comparable properties of the feet detectable by a suitable detection device. If the spatial arrangement of the object on the display device is determined, for example, a patient can be asked to place a specific object in a specific orientation on the display device at a specific position. For example, a patient may be asked to place a cup with a handle pointing to the right on the display at a certain location. The multi-touch device can then be used to determine whether the patient has fulfilled this task. Furthermore, the patient can be asked the task to fill the thus positioned cup in half with water. The force sensors can then be used to determine whether the patient also fulfills this task. For this purpose, information about the filling volume of such a cup (or other information about a particular object) is stored in a corresponding database, so that it can be determined on the basis of the force exerted by the force sensors on the display device force, whether the cup actually half or was filled to a different proportion.

From this specific combination of force sensors and a multi-touch device, which is designed for the spatially resolved recognition of a particular object on the display device, complex, varied and extremely meaningful tasks for the therapeutic learning success can be constructed for training the motor skills of a patient ,

The present invention also relates to the use of a therapy device according to the above explanations or a therapy system as described above in a therapy method for training the motor skills of a patient.

The force sensors can be used, for example, to determine the force exerted by a patient on the display device force. The thus determined force can be visualized by the reproduction of a corresponding line thickness. For example, when a patient draws on the display with a finger, the greater the force exerted by the patient on the display, the thicker the line drawn by the finger. Thereby the training of a specific exercise of force can be trained. For on the one hand, not too little power should be exercised when drawing or writing. On the other hand, the force must not be too large to prevent fatigue and to ensure a consistently good fine motor skills of the patient. In this case, it is also possible to predetermine and train differently large desired force effects by the patient on the display device by means of predetermined lines of different thickness, which are to be traced by a patient in an adjacent area of the display device.

Such a character or writing of a patient on the display device is possible not only with the finger, but also with a pen or a pin-like element. It is not drawn with a color contained in the pen, but by a determined by the therapy device position or movement of the pen and a force determined by the therapy device on the display device by the pen.

The invention further relates to a therapeutic method for training the motor skills of a patient who needs such a training of the motor skills by means of a therapy device according to the above explanations or a therapy system according to the previous explanations.

The invention additionally relates to a method for identifying an object, which is characterized by the steps explained below. First, an object with at least three feet is placed on a display device of a device having a multi-touch device.

Subsequently, at least one property of the feet is detected by the multi-touch device. The property may be, for example, the number, the arrangement and / or the diameter of the feet.

The information about the properties of the feet thus obtained is then compared with information contained in a database. This information about the footer properties contained in the database is assigned to a defined object. That is, this database synchronization can be deduced directly from the information obtained on a defined object. It is - not only possible to deduce the identity of the object, but also to its spatial arrangement on the display device - depending on the determined properties of the stand feet.

In a final method step, at least one identification of the object is made on the basis of the comparison of the previous step. In an alternative, the spatial orientation of the object is additionally determined on the display device. The above-explained variants and preferred embodiments of the therapy device can be transferred analogously to the described therapy system, the use of the therapy device and the therapy system and the method for identifying an object, and vice versa. Any combination of the above-described variants and preferred embodiments is possible and basically provided.

The present invention will be explained in more detail below with reference to figures and exemplary embodiments. FIG. 1A shows a schematic side view of an embodiment of a

Therapy device;

Figure 1 B is a schematic plan view of the therapy device of Figure 1 A; Figure 2 is a schematic view obliquely from above of the therapy device of Figure 1 A;

Figure 3A is an exploded view of an embodiment of a therapy device in a view obliquely from above; FIG. 3B is an exploded view of the therapy device of FIG. 3A in a lateral view

View; a side view of an embodiment of a therapy device in a first operating state; a side view of the therapy device of Figure 4A in a second operating state;

Figure 4C is a side view of the therapy device of Figure 4A in a third

Operating condition; FIG. 4D is a front view of the therapy device of FIG. 4A in the third operating state;

FIG. 4E shows a first view obliquely from above of the therapy device of FIG. 4A in the third operating state;

FIG. 4F shows a second oblique view from above of the therapy device of FIG. 4A in the third operating state; FIG. 4G is a top view of the therapy device of FIG. 4A in the third

Operating condition;

Figure 5A is a bottom view of a first embodiment of a on a

Display device of a therapy device to be placed object;

Figure 5B is a side view of the object of Figure 5A;

Figure 5C is a view obliquely from below of the object of Figure 5A; Figure 6A is a bottom view of a second embodiment of a on a

Display device of a therapy device to be placed object;

Figure 6B is a side view of the object of Figure 6A and Figure 6C is a view obliquely from below of the object of Figure 6A.

Figure 1 A shows a side view of a therapy device 1, which has a support frame 2, on which three force sensors 3 are mounted. These three force sensors 3 carry a monitor 4, which serves as a display device. On the monitor 4, an infrared frame 5 is mounted, which serves as a multi-touch device. By means of the three force sensors 3, the magnitude of a force exerted on the monitor 4 can be determined. This applies both to a tensile force and to a compressive force, since the three force sensors 3 are bidirectional force sensors.

FIG. 1B shows a top view of the therapy device 1 of FIG. 1A, the same reference numerals being used for the same elements. As can be seen from the illustration of FIG. 1B, the three force sensors 3 are arranged at a distance from one another, namely on a virtual triangle. As a result, not only a force exerted on the monitor 4 can be detected by the force sensors 3. Rather, it is also possible to determine the center of force of the force thus exerted. If only the determination of the center of force of the applied force (for example, to determine at which position the force is applied to the monitor 4), it is not necessary to quantify the applied force by the three force sensors 3. But precisely in this application, it is necessary to work with at least three force sensors 3, because the center of force on a surface can only be determined by at least three force sensors (static equilibrium).

FIG. 2 shows a schematic top view obliquely from above of the therapy device 1 of FIGS. 1A and 1B. Again, identical elements are provided with the same reference numerals. In this illustration, it is easy to see that the monitor 4 is not supported directly on the support frame 2, but is mounted on the three force sensors 3.

FIG. 3A shows an exploded view of a further embodiment of a therapy device 10. The therapy device 10 also has a support frame 20, which serves to receive three force sensors 30, which in turn support a monitor 40.

On the monitor 40, a disc of unbreakable glass 41 is placed, which is clamped by means of three clamping elements 42 to the monitor 40. The disc of shatter-proof glass 41 serves as a protective surface for protecting the monitor 40 and allows direct contact by fingers or objects. The three clamping elements 42 are mounted on the force sensors 30 by means of rubber buffers 43, in order to prevent a distortion of the monitor 40 relative to the frame 20.

Above the pane of shatter-proof glass 41 and thus above the monitor 40, an infrared frame 50 is arranged as a multi-touch device. FIG. 3B shows the elements shown in FIG. 3A in a side view, wherein the same reference symbols are used in FIG. 3A and reference is made to the above explanations.

FIG. 4A shows a further exemplary embodiment of a therapy device 100 in a lateral view. A monitor mounted on a frame 200 by means of force sensors is in a vertical position in the illustration of FIG. 4A. The frame 200 is mounted on a lifting column 600, which serves as a lifting device. At the lifting column 600 Furthermore, a control device 700 and a receptacle 800 for objects is arranged. By means of the control device 700, the height of the lifting column 600 can be adjusted. In addition, an inclination of the frame 200 can be varied by means of a pivoting device. For example, the frame 200 may be transferred to a horizontal position, as shown in FIG. 4B. Any other position of the frame 200 between a vertical position and a horizontal position is also possible. By pivoting the frame 200 about a pivot axis, which runs in the illustrations of Figures 4A and 4B in the plane of the paper, at the same time via the force sensors on the frame 200 mounted monitor is pivoted with.

The therapy device 100 is mounted on rollers 900 in order to enable easy displaceability of the therapy device 100. The lifting column 600 can be moved together such that the frame 200 and thus the monitor mounted thereon can be moved downwards, as shown in Figure 4C.

FIG. 4D shows a front view of the therapy device 100 in the operating state shown in FIG. 4C. The frame 200 could now be pivoted upwards (see FIG. 4A) so that one could look at the monitor mounted on the frame 200.

FIG. 4E shows a first view obliquely from above on the therapy device 100, in which the monitor 400, which is mounted on the frame 200, is visible. Around the monitor 400, a cover frame 210 is disposed, which covers an infrared frame, which serves as a multi-touch device and which is arranged above the monitor 400. In the cover frame 210, two loudspeakers 220 are arranged, via which acoustic signals can be sent to a user of the therapy device 100.

FIG. 4F shows a second view obliquely from above on the therapy device 100, reference being made to the explanation for FIG. 4E for explanation.

Finally, FIG. 4G shows a top view of the therapy device 100, reference being made to the explanation of FIGS. 4A to 4F for explanation. 5A shows a plan view of the underside of a first platform 1000 with a first base 1 100, a second Standfu ß 1200 and a third Standfu ß 1300. The first base 1 100 has a small diameter, the second Standfu ß 1200 a mean diameter and the third base 1300 has a large diameter. Consequently, the three feet 1 100, 1200 and 1300 can be distinguished from each other in terms of their diameter.

Figure 5B shows a side view of the first platform 1000 of Figure 5 A. Also in this side view, the different diameters of the first Standfu ßes 1 100, the second Standfu ßes 1200 and the third base 1300 recognize. Furthermore, it can be seen in the illustration of FIG. 5B that all three stands 1100, 1200 and 1300 have the same height, which ensures a secure footing of the first platform 1000 on a ground. The side view of the first platform 1000, in particular the lateral view of the first Standfu ßes 1 100, the second Standfu ßes 1200 and the third base 1300, reflects the image that wins a multi-touch device of the first platform 1000, if the first platform 1000 on the display device of a therapy device, which is equipped with a multi-touch device, is turned off. From the pattern of the three feet 1 100, 1200, 1300, a database match can then be used to determine which object is on the display device. The database contains corresponding data which item is mounted on the first platform 1000. It is possible to exchange the items that can be mounted on the first platform 1000 with each other, if desired. The corresponding database must then be updated. Alternatively, it is also possible that a specific item is firmly connected to the first platform 1000, so that no exchange is possible against an alternative item. An object can be only the first platform 1000 with its three feet 1 100, 1200, 1300 or else the first platform 1000 with its three feet 1 100, 1200, 1300 and an object mounted on the first platform 1000.

It is easy to imagine that the lateral view of the first stand 1 100, the second Standfu ßes 1200 and the third base 1300 changes when the first platform 1000 is rotated on a substrate on which it is arranged, parallel to the ground. Therefore, it can be determined from the specific arrangement of the three feet 1 100, 1200 and 1300 which orientation an object located on the first platform 1000 has, provided that its basic orientation relative to the first platform 1000 is stored in a corresponding database. Figure 5C shows a view obliquely from below on the first platform 1000 with the first Standfu ß 1 100, the second Standfu ß 1200 and stand 1300, reference being made to the further explanation to the previous explanations to the figures 5A and 5B.

Figure 6A shows a bottom view of a second platform 2000 with a fourth Standfu ß 2100, a fifth Standfu ß 2200, a sixth base 2300 and a seventh base 2400. In this case, the fourth Standfu ß 2100 the smallest diameter, the fifth base 2200 has the second smallest diameter, the sixth stand 2300 has the second largest diameter and the seventh stand 2400 has the largest diameter of the four feet 2100, 2200, 2300 and 2400.

The second platform 2000 differs from the first platform 2100 shown in FIG. 5A in that instead of having three pedestals, it has four pedestals. Further, the diameter gradations between the individual stands 2100, 2200, 2300, 2400 are different.

This is also shown in a side view of the second platform 2200, as shown in Figure 6B. The profile of the second platform 2000 or the four feet 2100, 2200, 2300, 2400 of the second platform 2000 differs from the profile of the first platform 1000 (see FIG. 5B). It can be seen from a direct comparison of FIGS. 5B and 6B that pattern recognition is suitable for distinguishing the first platform 1000 from the second platform 2000. By appropriate information, which are stored in a database, can then be assigned to the second platform 2000, a specific item.

FIG. 6C shows, for illustrative purposes, the second platform 2000 in an oblique view from below, reference being made to the explanations of FIGS. 6A and 6B for further explanation.

Claims

claims

Therapy device for training the motor skills of a patient, with a display device (4, 40, 400), characterized in that the display device (4, 40, 400) on at least three spaced-apart force sensors (3, 30) is mounted, so that a force exerted on the display device (4, 40, 400) can be quantified and / or a force center of a force exerted on the display device (4, 40, 400) can be determined.

Therapy device according to claim 1, characterized in that the force sensors (3, 30) are bidirectional force sensors.

Therapy device according to claim 1 or 2, characterized in that it comprises a multi-touch device (5, 50), by means of which on the display device (4, 40, 400) located object (1000, 2000) can be detected.

Therapy device according to claim 3, characterized in that the multi-touch device (5, 50) is provided and arranged to distinguish a plurality of objects (1000, 2000) from each other.

Therapy device according to claim 3 or 4, characterized in that the multi-touch device (5, 50) can detect an object (1000, 2000) regardless of its material and / or regardless of its physical and / or chemical properties.

Therapy device according to one of claims 3 to 5, characterized in that the multi-touch device (5, 50) is designed as an infrared frame, on one of the force sensors (3, 30) facing away from the display device (4, 40, 400 ) is arranged.

Therapy device according to one of the preceding claims, characterized in that on a surface remote from the force sensors (3, 30) of the display device (4, 40, 400) a protective surface made of unbreakable glass (41) is arranged.

8. Therapy device according to one of the preceding claims, characterized in that the display device (4, 40, 400) by means of a pivoting device and / or by means of a lifting device (600) is mounted vertically variable.

9. therapy system, comprising a therapy device (1, 10, 100) according to one of the preceding claims and an object (1000, 2000) to be placed on the display device (4, 40, 400).

10. therapy system according to claim 9, characterized in that the object (1000, 2000) has an identifier by means of which a unique identification of the object (1000, 2000) can be made.

1 1. Therapy system according to claim 10, characterized in that the identifier by a property of at least three feet (1 100, 1200, 1300, 2100, 2200,

2300, 2400) of the object (1000, 2000) is formed

12. Therapy system according to claim 1 1, characterized in that the property is a number, an arrangement and / or a diameter of the feet (1 100, 1200, 1300, 2100, 2200, 2300, 2400) of the object (1000, 2000) ,

13. A therapy device according to any one of claims 1 to 8 or a therapy system according to any one of claims 9 to 12 for use in a therapy method for training the motor skills of a patient.

14. A method for identifying an object, characterized by the following steps: a) placing an object (1000, 2000) with at least three feet (1 100, 1200, 1300, 2100, 2200, 2300, 2400) on a display device (4 , 40, 400) of a device

(1, 10, 100) having a multi-touch device (5, 50), b) detecting a property of the feet (1 100, 1200, 1300, 2100, 2200, 2300, 2400) by means of the multi-touch device Touch device (5, 50), c) comparison of the information obtained in step b) information about the properties of the feet (1 100, 1200, 1300, 2100, 2200, 2300, 2400) with a database, in the an assignment of this information to a defined object (1000, 2000) is included, d) identifying the object (1000, 2000) based on the comparison of step c).

15. The method according to claim 14, characterized in that on the basis of the information obtained in step c) additionally the orientation of the object (1000, 2000) is determined in space.