WO2020126809A1 - Procédé d'analyse de mouvement équin - Google Patents

Procédé d'analyse de mouvement équin Download PDF

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Publication number
WO2020126809A1
WO2020126809A1 PCT/EP2019/084851 EP2019084851W WO2020126809A1 WO 2020126809 A1 WO2020126809 A1 WO 2020126809A1 EP 2019084851 W EP2019084851 W EP 2019084851W WO 2020126809 A1 WO2020126809 A1 WO 2020126809A1
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WO
WIPO (PCT)
Prior art keywords
hoof
determined
event
contact
measurement
Prior art date
Application number
PCT/EP2019/084851
Other languages
English (en)
Inventor
Joris BROUWER
Christel YAZGÖNÜL – WERKMAN
Original Assignee
Werkman Hoofcare Bv
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Publication date
Application filed by Werkman Hoofcare Bv filed Critical Werkman Hoofcare Bv
Publication of WO2020126809A1 publication Critical patent/WO2020126809A1/fr

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Classifications

    • 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
    • A61B5/112—Gait analysis
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
    • A61D9/00—Bandages, poultices, compresses specially adapted to veterinary purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
    • A61D99/00—Subject matter not provided for in other groups of this subclass
    • 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

Definitions

  • the invention concerns a method for equine motion analysis with the features of the preamble of claim 1.
  • this approach permits a direct measurement of the point of contact.
  • the arrangement of the sensor itself is such that it may lead to a distorted result with respect to what would be the point of contact when the sensor is not attached to the hoof.
  • the sensor is subject to great stress and therefore will need to be either very robust or is due to deteriorate quickly. Therefore the problem of the invention is to provide a method for equine motion analysis with which the point of contact of a hoof with ground can be determined which is less intrusive with respect to the motion of the hoof and which avoids direct impact on the sensors.
  • the invention is based on the realization that the point of contact can be indirectly determined by comparing the respective orientation of the hoof during two points in time. Based on these two orientations, the corresponding rotational movement of the hoof in the time in between may be determined. Because the point of contact can be assumed to be on the circumference of the hoof, i.e. on the hoof wall, identifying this rotational movement in turn permits pinpointing the point of con tact on the hoof wall. Such an approach based on determining rotational move ment does not require absorbing the actual impact with any sensor and is therefore both less intrusive to the gait and less damaging for the sensor.
  • the method according to the invention is for equine motion analysis.
  • a point of contact of a hoof of a horse with ground during movement of the horse is determined. This point of contact is either the initial point of contact of the hoof when the hoof is landing on the ground or the last point of contact of the hoof when the hoof is taking off from the ground. In both cases, the point of contact may be assumed to be a single point. The point of contact may also be assumed to have a certain contact area greater than a single point.
  • the method according to the invention is characterized in that a first spatial ori entation of the hoof is determined at a first measurement moment, that a second spatial orientation of the hoof is determined at a second measurement moment and that based on the first spatial orientation and the second spatial orientation the point of contact of the hoof with the ground is determined.
  • the determination of the point of contact of the hoof with the ground may comprise calculating an orientation difference between the first spatial orientation and the second spatial orientation. Based on this orientation difference, a rotational movement of the hoof before or after contact at the point of contact occurs may be determined, based on which in turn the point of contact itself may be determined.
  • any orientation, in particular spatial orientation, of the hoof or of any other entity may in principle be determined relative to an arbitrary base orientation.
  • the base orientation may be chosen to correspond to a hoof arranged flat on an even surface ground with the direction of gravity being normal to the surface ground. Because spatial orientation may be expressed in terms of pitch, roll and yaw, these quan tities may also be expressed relative to an arbitrary base orientation. For these also it is preferred that the base orientation corresponds to the hoof arranged flat on an even surface ground.
  • the first measurement moment is a stance event when the hoof is flat on the ground.
  • a position of the hoof provides a natural baseline in which full contact along the wall of the hoof with the ground may be assumed.
  • the second measurement moment occurs when the hoof has point contact with the ground. It may be as sumed that the rotational movement of the hoof between these two measurement moments defines the direction which corresponds to the point of contact on the circumference of the hoof or - in other words - on the hoof wall.
  • a further condition for a stance event may be added.
  • the stance event is when the hoof is flat on the ground and has no linear velocity in the direction of movement of the horse. In other words, the hoof has stopped sliding. This additional condition may be useful because usually the hoof may slide for some distance after having reached the flat orientation.
  • the first measurement moment and the second measurement moment may occur in an arbitrary temporal sequence, i.e. order.
  • the second measurement moment occurs after the first measurement moment.
  • the first measurement moment and the second measurement moment occur during a take-off movement of the hoof.
  • the second measurement moment may be a hoof take-off event, i.e. the point in time just before the hoof loses contact with the ground.
  • the second measurement occurs before the first measurement moment.
  • the first measurement moment and the second measurement moment occur during a landing movement of the hoof.
  • the second measurement moment may be a hoof impact event. This is the point in time in which the hoof has just made point contact with the ground.
  • a preferred embodiment of the method is characterized in that the first spatial orientation and the second spatial orientation are determined based on a meas urement by a sensor arrangement for measuring linear acceleration and rotational speed.
  • a sensor arrangement which may be an inertial sensor, is particularly suited for making measurements of the above-cited quantities from which indi rectly spatial orientations may be determined.
  • the sensor arrangement is arranged on a distal end of a limb of the horse, in particular substantially near the hoof.
  • the sensor arrangement may be arranged substantially on a front side of the limb, which in turn may correspond to a front side of the hoof.
  • This placement of the sensor arrangement ensures that the sensor arrangement is sufficiently close to the hoof of the horse, that it therefore partakes of substan tially the entire motion of the hoof during the horse's movement and that rotation of the hoof around a lateral axis can be effectively measured by the sensor ar rangement.
  • the sensor arrangement comprises a three-axis acceleration sensor for measuring linear acceleration in three directions and a three-axis gyro scope for measuring rotational speed around three axes.
  • the three-axis acceleration sensor is a lower acceleration sensor for measuring lower accelerations and that the sensor arrangement comprises a further three- axis acceleration sensor which is a higher acceleration sensor for measuring higher linear acceleration in three directions.
  • the lower acceleration sensor and the higher acceleration sensor may have a lower and higher measurement range, re spectively.
  • lower acceleration and higher acceleration are relative with respect to each other, i.e. in the sense that the lower acceleration is lower than the higher acceleration.
  • a relative orientation between the sensor arrangement and the hoof is determined to a sufficient precision prior to the determination of the first and second spatial orientation.
  • a further preferred embodiment of the method is characterized in that determining the first spatial orientation and the second spatial orientation is based on a determined roll, a determined pitch and a determined yaw between the sensor arrangement and the hoof.
  • de termining said quantities by measurement and in that sense calibrating the sensor arrangement may be a preliminary step of determining the first spatial orientation and the second spatial orientation. Since the sensor arrangement is fixed with respect to the hoof, preferably the roll, the pitch and the yaw between the sensor arrangement and the hoof is substantially constant in time.
  • the roll and pitch between the acceleration sensor and the hoof is determined during the stance event of the hoof.
  • the stance event is identified based on rotational speeds around three axes being under a stance event threshold. This identification is based on the assump tion that during the stance event, the hoof is substantially stationary at least for a short period time and therefore exhibits no rotational speed.
  • the yaw between the accel eration sensor and the hoof is determined based on a direction of maximum rota tional speed, which direction of maximum rotational speed is assumed to be a lateral axis of the hoof.
  • the rotational speed is measured over time and, based on this measurement, that axis determined around which the rotational speed is maximal, which axis is here also called the direction of maximum rota tional speed.
  • that direc tion corresponds to a lateral axis of the hoof.
  • Rotational speed around this axis corresponds to pitch velocity, i.e. the rate at which the pitch of the hoof changes.
  • the first spatial ori entation and the second spatial orientation are determined from a measurement series of linear acceleration and rotational speed measured over a measurement period covering multiple strides of the horse.
  • the individual stages of a stride of a horse are well-known and may be therefore identified without great difficulty. Con sidering multiple such strides provides a greater data basis, thereby enabling the reduction of noise and other artifacts.
  • the measurement period is di vided into a series of individual strides based on detected breakover events of hoof movement. Breakover begins when the heel of the hoof leaves the ground and the hoof starts to rotate around the toe of the hoof, which is still in contact with the ground.
  • the breakover event is thereby a specific, but principally arbitrary event during breakover.
  • the breakover event is detected based on a pitch velocity threshold.
  • This pitch velocity threshold may be constant and/or predefined. It may also be variable.
  • a preferred embodiment of the method is characterized in that each stride is di vided into a landing period, a mid stance period comprising the stance event, a breakover period comprising the breakover event. Further, a swing period and determination of the first measurement moment and the second measurement moment is preferably based on the division of each stride. Such a division into characteristic periods makes identifying specific events during the stride easier.
  • the landing period may begin when the hoof has point contact with the ground when landing, i.e. beginning with the hoof impact event during landing movement.
  • each of the above periods in which a stride is divided may in turn be subdivided into an arbitrary number of subperiods, which may be denotes as phases.
  • the landing period may be subdivided into a first phase beginning from the hoof impact event to the first point in time when the hoof is flat on the ground. This first phase may be called landing phase.
  • the second phase may then follow.
  • the second phase begins at the first point in time when the hoof is flat on the ground to the point in time when the hoof stops from any remaining sliding movement.
  • the second phase of the landing period may continue until the stance event.
  • This second phase may be called sliding phase.
  • an orientation sequence of the hoof is determined based on an integration, preferably a quaternion integration, of the measured ro- tational speeds.
  • the orientation sequence is a sequence or a course of values de scribing the orientation of the hoof and therefore represents the orientation in time.
  • orientation sequence of the hoof is determined based on an integration of the measured rotational speeds during an individual stride. With integration small offsets or measurement errors may lead to large errors in the result. By performing this integration per stride and e.g. making certain assumptions about the orienta tion for specific events during the stride, such errors may be avoided or reduced.
  • the orientation sequence of the hoof may be determined by merging a forward integration of the measured rotational speeds and a backward integra tion of the measured rotational speeds. This two-pronged approach may likewise reduce the effect of measurement errors.
  • Quaternion integration in the above sense means that rotation of the hoof is ex pressed in quaternions. Quaternions are well-known in Mathematics. It is also known that rotations in three-dimensional space can be expressed in terms of quaternions, with combinations of rotations corresponding to operations on the quaternions. In this way, the integration of the rotations is more efficiently com puted when expressed in terms of quaternions.
  • a velocity sequence of the hoof is determined based on integration of the measured linear accelerations adjusted by the determined orientation sequence. This adjustment by the orientation sequence takes into account that changes in the orientation of the hoof - and therefore of the sensor arrangement - will also affect the direction of the linear accelerations measured.
  • the velocity sequence is a sequence or a course of values describing the linear velocity and therefore represents the velocity in time.
  • the velocity of the hoof is a three dimensional quantity.
  • the velocities sequence of the hoof is determined by merging a forward integration of the measured linear accelerations and a backward integration of the measured linear accelerations.
  • a po sition sequence of the hoof is determined based on integration of the velocity se quence. It is further preferred that the position sequence of the hoof is determined by merging a forward integration of the velocity sequence and a backward inte gration of the velocity sequence.
  • a wireless transmitter of the sensor arrangement transmits the measured linear acceleration and measured rotational speed to a computing device, which may in particular be a personal computer, a smart phone or the like. It is further preferred that the computing device performs a computa tion for determining the first spatial orientation and the second spatial orientation based on the transmitted linear acceleration and rotational speed.
  • the computing device may also perform computations for determining the roll, pitch and yaw between the sensor arrangement and the hoof, for identifying the stance event, for dividing the measurement period into the series of individual strides, for detecting the breakover events and/or for dividing each stride into the landing period, the mid stance period, the breakover period and the swing period. Further, the computing device may perform computations for the integration of the measured rotational speeds and/or for merging the forward integration of the measured rotational speeds and the backward integration of the measured rota tional speeds. The computing device may also perform the computations for any other determination directly or indirectly based on the measured linear accelera tion and measured rotational speed.
  • a preferred embodiment of the method is characterized in that a hoof-off event is determined based on a hoof-of acceleration threshold for acceleration in an upward vertical direction.
  • the hoof-off event is the point or period in time in which the hoof has completed breakover and is fully leaving contact with the ground.
  • the hoof-off event may therefore be considered to be the moment in which there is substantially only a single point of contact of the hoof with the ground.
  • the determined hoof-off event is the second measurement mo ment. It has been found out that the hoof-off event may be identified or at least approximated with substantive accuracy with the moment in which the linear ac celeration in a upward vertical direction exceeds a threshold.
  • the upward vertical direction is in reference to the horizontal plane of the ground.
  • a start of breakover event is determined based on a breakover threshold for a change in pitch with respect to the stance event. This is based on the understanding that the pitch at the stance event is zero, since the hoof is assumed to lie flat on the ground. Thus the beginning of breakover is associated with the pitch of the hoof exceeding a specific threshold, namely the breakover threshold.
  • a further preferred embodiment of the method is characterized in that a hoof im pact event is determined based on an impact acceleration threshold for accelera tion in an upward vertical direction.
  • the hoof impact event is deter mined further based on occurring after a start of breakover event. This is in prin ciple similar to the detection of the hoof-off event, with the hoof impact event in particular distinguishable from the hoof-off event by the start of breakover event preceding the hoof impact event.
  • the determined hoof impact event is the first measurement moment.
  • an angular position for the point of contact is determined.
  • This angular position is a value indicating the angle, with respect to an arbitrary zero angle baseline, of the point of contact from a central point of the hoof within the plane defined by the hoof wall. Based on the understanding that the wall of the hoof is substantially circular, such an angular position would suffice for indicating the point of contact. In this context, it is assumed that the bottom surface of the hoof wall is substantially in a plane.
  • a pitch angle of the hoof in the moment when the point of contact of the hoof is in contact with the ground is determined.
  • This pitch angle may also be called hoof angle.
  • a roll angle of the hoof in the moment when the point of contact of the hoof is in contact with the ground is determined.
  • Fig. 1 a schematical illustration of the orientation of the hoof of a horse, the motion of which is to be analyzed by the method of the invention, during movement of the horse,
  • Fig. 2 a schematical illustration of the position of a sensor arrangement with respect to the hoof
  • Fig. 3 a schematical illustration of the hoof wall of the hoof.
  • a sensor arrangement 1 is attached on a distal end of a limb 2, i.e. leg, of a horse at or near the hoof 3. Such a placement is shown in Fig. 2.
  • the sensor arrangement 1 of Fig. 2 which here is also called an inertial motion unit, comprises an arrangement of microme chanical systems.
  • the sensor arrangement 1 comprises a first three- axis acceleration sensor for measuring higher linear accelerations and a second three-axis acceleration sensor for measuring lower linear accelerations.
  • the re spective axes of the acceleration sensors are in alignment. Both acceleration sen sors are for measuring linear accelerations in respectively different value ranges. Based on this, the respective measurement from each acceleration sensor may be combined into one value.
  • the sensor arrangement 1 also comprises a three-axis gyroscope for measuring rotational velocities around three axes.
  • the sensor ar- rangement 1 further comprises computer processing means and memory for stor ing measurement comprises as well as wireless communication means for trans mitting the measured values to a computing device such as a stationary computer, a portable computer or a smartphone.
  • the sensor arrangement 1 may be part of a greater system which comprises multiple such sensor arrangement 1, e.g. a system of four sensor arrangement 1 each attached to a respective limb 2 of the same horse and all in wireless communication with the computing device.
  • the measurement process by the sensor arrangement 1 and the analysis of the corresponding measurement values begins during movement of the horse in either a walking gait or a trotting gait. Both these gaits can be divided into individual strides, wherein for each stride a particular hoof 3 goes through the phases of landing - which phase begins with a hoof impact event 8 -, stance, breakover and swing. The breakover phase ends with a hoof-off event 9. A stance event 10 occurs during the stance phase.
  • the position of the hoof 3 with respect to the ground 7 during the hoof impact event 8, which is the moment in which the hoof 3 makes contact with the ground 7 at the point of contact 6, the stance event 10, in which the hoof 3 is at rest with respect to rotational speed, and the hoof-off event 9, which is the moment in which the hoof 3 has only remaining contact with the ground 7 at the point of contact 6, is illustrated in Fig. 1. If there is an extended period of time during the stance phase in which the hoof 3 is at rest with respect to rotational speed, then the stance event 10 may in principle be set to any mo ment within that period. The respective point of contact 6 of the hoof impact event 8 and the hoof-off event 9 may be different from each other.
  • the method of the invention is for determining the point of contact 6 - either during the hoof impact event 8 or the hoof-off event 9 or for both - of the hoof 3 with the ground 7 during movement, wherein the point of contact 6 may be un derstood to be a point in the mathematical sense or a surface area small in relation to the whole of the hoof 3 or the hoof wall. This determination may be only for a single stride. Alternatively, each point of contact 6 for a plurality of strides or even all strides may be determined, in which case it would also be possible to determine an average of the determined points of contact 6.
  • the determination of the point of contact 6 for the hoof impact event 8 is based on a comparison between the spatial orientation of the hoof 3 during the stance event 10 and a further moment when the contact between the hoof 3 and the ground 7 is only a point of contact 6. Based on the considerations above, that further moment is either the hoof impact event 8 or the hoof-off event 9.
  • the first measurement moment 11 is the stance event 10 and the second measurement moment 12a is the hoof impact event 8.
  • the first measurement moment 11 again is the stance event 10 and the second measurement moment 12b is the hoof-off event 9.
  • the qualifier first and second measurement moment does not imply a temporal suc cession order, i.e. the second measurement moment 12a, b may come before the first measurement moment 11 in time.
  • the change in spatial orientation of the hoof 3 between either of these further moments and the stance event 10 maps to an angular po sition of the point of contact 6 on the hoof wall, which hoof wall substantially forms the circumference of the hoof 3 at least for the part of the hoof 3 in which the point of contact 6 can be expected to be.
  • the hoof 3 substan tially pivots between those moments in a rotational movement that corresponds to the change in spatial orientation.
  • the hoof wall is also shown in Fig. 3. In this way, the point of contact 6 can be determined without any sensor at the point of contact 6 itself.
  • the relative orientation 13 - which is indicated symbolically in Fig. 2 - between the sensor arrangement 1 and the hoof 3 is determined and preferably expressed in terms of roll, pitch and yaw.
  • a stance event 10 is identified. Based on the consideration that at the stance event 10 the hoof 3 will be substantially stationary with respect to rotation, the stance event 10 is identi fied when the rotational speed around all three axes as determined by the three- axis gyroscope of the sensor arrangement 1 is below a stance event threshold, i.e. sufficiently low.
  • This stance event threshold may either be predetermined and con stant or may be determined dynamically during measurement.
  • the orientation of the hoof 3 as denoted by the hoof normal axis 5 corresponds to the direction of gravity. Based on these considerations, roll and the pitch of the relative orientation 13 may be determined based on the linear accelerations measured by the sensor arrange ment 1.
  • the determination of the yaw of the relative orientation 13 may be performed based on the assumption that the greatest rotational speed - in any direction- during movement of the hoof 3 will occur around a lateral axis 14 of the hoof 3, i.e. an axis that is parallel to the ground 7 and normal to the averaged translational direction of movement of the hoof 3 during a single stride or a number of strides.
  • the direction of maximal rotational speed is considered to be the lateral axis 14.
  • the resulting vector can be projected to the ground 7. Based on this projection, the yaw of the relative orientation 13 can be deter mined.
  • the pitch angle of the hoof 3 can be determined from the measurements of the sensor arrangement 1.
  • the accelerations and rotational velocities measured by the sensor arrange ment 1 can be rotated to the frame of reference of the hoof 3.
  • the movement data measured by the sensor arrangement 1 during the ongoing movement of the horse is firstly divided into individual strides of the horse.
  • breakover events are detected among the measurement data.
  • a breakover event is detected when the pitch velocity - which is the rota tional speed around the lateral axis 14 of the hoof 3 - exceeds a pitch velocity threshold.
  • This threshold is principally variable and may be dynamically deter mined based on the consideration that breakover events occur with a time period which is substantially constant or at least slowly-changing and that in any stride, the pitch velocity will be maximal on or near the breakover event.
  • the stance event 10 immediately preceding the breakover event is detected based on the observation that rotational speed of the hoof 3 will be substantially zero or very small during the stance event 10.
  • Each stride consists then of the time from one stance event 10 to the subsequent stance event 10.
  • the course or sequence of the orientation and the velocities of the hoof 3 in time is determined by integrating the measured rotational speeds and the measured accelerations in particular using quaternion integration.
  • the starting point is the stance event 10 in which a flat position of the hoof 3 on the ground is assumed. From this starting point, integra tion proceeds both in a forward and in the backward direction in time. The result of the backward integration is merged with the result of the forward integration from the previous stance event 10. The same merging occurs mutatis mutandis with the result of the forward integration.
  • a sequence or course of orien tations of the hoof 3 in time is determined for the entire stride.
  • the accelerations are integrated into a sequence of linear velocities in time. For this, integration again proceeds from the stance event 10 in the forward and backward directions and merging takes place as described for the orientation. It is assumed that in the stance event 10 the velocity of the hoof 3 is zero. Then the velocities can be integrated in the same way to arrive at a positions sequence in time.
  • the hoof-off event 9 is detected by comparing acceleration in an upward vertical di rection 15, i.e. the direction normal to the ground 7, with a hoof-off acceleration threshold which is also variable in the same way as described for the pitch velocity threshold.
  • the beginning of breakover, which precedes the breakover event, can be identified when the pitch angle of the hoof 3 exceeds a breakover threshold.
  • the hoof impact event 8 is also determined by comparing acceleration in the up ward vertical direction 15 with a variable impact acceleration threshold. It is to be noted that after a stance event 10 first the hoof-off event 9 occurs and only after wards the hoof impact event 8. As shown in Fig. 3, based on the difference between the first spatial orientation and the second spatial orientation, the point of contact 6 and thereby also an angular position 16 defining the point of contact 6 on the circumference of the hoof 3 presented by the hoof wall is determined. In addition, the pitch angle and the roll angle of the hoof 3 at that moment may be determined.

Abstract

L'invention concerne un procédé d'analyse de mouvement équin, dans lequel un point de contact (6) d'un sabot (3) d'un cheval avec le sol (6) pendant le mouvement du cheval est déterminé. Le procédé est caractérisé en ce qu'une première orientation spatiale du sabot (3) est déterminée à un premier moment de mesure (11), qu'une seconde orientation spatiale du sabot (3) est déterminée à un second moment de mesure (12a, b) et que, sur la base de la première orientation spatiale et de la seconde orientation spatiale, le point de contact (6) du sabot (3) avec le sol (7) est déterminé.
PCT/EP2019/084851 2018-12-19 2019-12-12 Procédé d'analyse de mouvement équin WO2020126809A1 (fr)

Applications Claiming Priority (2)

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DE102018132827.3 2018-12-19
DE102018132827.3A DE102018132827A1 (de) 2018-12-19 2018-12-19 Verfahren zur Pferdebewegungsanalyse

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Publication number Priority date Publication date Assignee Title
DE102020106112A1 (de) 2020-03-06 2021-09-09 Werkman Hoofcare Bv Verfahren zur Pferdebewegungsanalyse

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