WO2000077604A2

WO2000077604A2 - Rehabilitation device

Info

Publication number: WO2000077604A2
Application number: PCT/EP2000/005380
Authority: WO
Inventors: Rainer Beuthner; Philipp Beuthner
Original assignee: Rainer Beuthner; Philipp Beuthner
Priority date: 1999-06-10
Filing date: 2000-06-13
Publication date: 2000-12-21
Also published as: DE19927220A1; WO2000077604A3; AU5404400A

Abstract

The invention relates to a virtual area which can be viewed by a user, comprising a representation unit for representing a calculated image, a data-processing unit for calculating the image and an input unit for the data processing unit for inputting parameters to calculate said image. The invention also relates to a method for generating a virtual environment, as a representation of the image content, in which the image content is dynamically re-calculated for a user who is standing on a surface, according to parameters which are dynamically modified. In order to represent a virtual environment which allows the user to experience particularly natural movements and which can thus be used therapeutically, in particular, in rehabilitation programmes, a surface is provided for the user which can be displaced infinitely in at least one direction. Said surface comprises sensors for detecting motion data from the surface and/or sensors for detecting an exerted force and/or sensors for detecting the position of the user and/or accelerations.

Description

Rehabilitation device

description

The invention relates to a virtual space for viewing by a user, comprising a display unit for displaying a calculated image, a data processing unit for calculating the image and an input device for the data processing unit for entering parameters for calculating the image.

The invention also relates to a method for generating a virtual environment represented by image contents, in which the image contents are recalculated for a user standing on a footprint in a dynamically changing parameter.

Such virtual spaces and methods for creating a virtual environment are known, for example, as cages. The surface on which the user stands is encased in a cube shape by projection areas onto which an image recalculated by a very powerful data processing unit is projected approximately 50 times per second. The environment to be considered is stored as a model in the data processing unit. Using a joystick, the user can move in this model, the view of which is constantly updated for the viewer depending on the input parameters changed using the joystick.

The updated image contents are displayed on an image generator, for example on the monitors of glasses, an LCD in a projector or a MicroMirrorDevice, so that the viewer can see them. e.g.

In addition, virtual spaces are known as a section in the form of monitor representations of well-known video games. Here too, the viewer can use various input devices to move around the room and take action in the environment shown.

A disadvantage of the virtual rooms described is that the viewer cannot really act physically, which makes these systems unsuitable for rehabilitation measures.

Vehicle simulation applications for training ship operators, aircraft operators or drivers in which accelerating forces occur e.g. can be simulated by the inclinations of a closed capsule for the vehicle driver to be trained.

However, these systems also allow a physically active participation of the user to a limited extent.

In known games, participation is limited, for example, to weight shifts, which are detected by sensors and are used to change the calculation parameters instead of the joystick.

For extensive physical training or for rehabilitation programs, special training devices such as treadmills, rowing coaches, bicycle coaches etc. are used, as are commercially available for physical exercise.

The object of the invention is to provide a virtual space and a method for representing a virtual environment that enable a natural movement experience and therefore in particular can also be used therapeutically in rehabilitation measures.

In a virtual space of the generic type, this object is achieved in that an area which is continuously movable at least in one direction for the

User with sensors for detecting movement data of the surface and / or sensors for detecting an applied force and / or sensors for detecting the user location and / or accelerations is provided. For example, if the surface is designed as a treadmill, the user can walk in one direction without any route limitation. For example, sensors record the moving distance of the belt. The sensor signal is passed on to the data processing unit, which then calculates the image content taking this parameter into account.

In an advantageous embodiment it is provided that the movement of the surface is designed to be dynamically changeable by means of motors and / or delay devices, in particular sensors for influencing the motors and / or

Delay devices are provided. If, for example, the user is supported by handles, the sensors can detect them and send them to the

Data processing unit forwarded signals of the reaction forces are used to make the treadmill run faster or slower or to brake it. In this way, for example, pushing a cart can be simulated. The belt can be braked in a controlled manner to simulate inclines, which are also reproduced by the model. Mass inertia effects of the cart can be caused by V a calculated change in the braking forces over time can be simulated. Measured unequal reaction forces for the left and right hand lead to simulated cornering, in which the projected image is pivoted about the vertical axis of the user.

Alternatively, the treadmill can also be rotated by a servomotor, for example.

The load on the user, in particular on the joints, can be more realistic if the movable surface is designed as a plane whose angle of inclination to a horizontal plane is designed to be dynamically changeable about at least one horizontal axis by means of a motor. In this way, cross-trips in inclined terrain can also be simulated. A servomotor adjusts the inclination to that of the model stored in the computer.

In a further embodiment of the invention it is provided that the movable surface is shaped as the surface of a rotating body, in particular as a ball. This allows you to walk not only in one direction but in all directions. The movable surface can be realized, for example, as a membrane-like envelope surface of a circular disk. The envelope membrane is moved in every direction by suitably arranged friction drives around the support surface. In the case of a sphere, the envelope membrane can be dispensed with and the sphere surface can be used as a movable surface.

Alternatively, it is possible for the movable surface to be shaped concavely as an inner surface, preferably a ball. The movable surface can also be used here inner membrane be formed, which is under internal pressure.

However, the membrane can be dispensed with if the movable surface is self-supporting. This avoids ventilation and sealing problems on the door.

A particularly realistic experience of a virtual space results when the display unit is designed as a projection unit of a digitally generated image on an image generator and preferably a 3D module is provided for calculating the image contents for a left and a right eye of the user. Through the alternating projection of a left and right image and synchronous darkening of the other eye with the help of shutter glasses, in addition to a realistic spatial image, there is also a special depth effect of the projected image.

For this purpose, it is provided that the display unit is assigned shutter glasses.

In the case of a sphere, it is particularly advantageous if the movable surface is designed as a projection surface. A largely bumpless picture is created since there are no corners.

The projection onto the spherical surface can take place from outside or inside. If several, at least three, projectors are provided on the outside, their rays will hit the sphere with increasing distance from the projection axis, which in such a case must be transparent. The brightness of a pixel therefore drops outwards. To this To compensate for the effect, the image can be digitally filtered, changing the image so that it is brighter on the outside. Therefore, the measure is provided that a module for filtering pixels of the image generator is provided in such a way that a uniform brightness distribution is produced on the projection surface.

If the sphere is large enough, the projector can also be placed inside. The projection surface is then at a much more constant distance from the projector, so that filtering can often be dispensed with. The fact that an inductive transmission system for transmitting energy and / or information into the interior of the space formed by the movable surface is provided, the projector can also be operated within the sphere.

The ball can advantageously be built robustly and heavily without adversely affecting the realistic spatial and movement experience, if one

Mass compensation system for compensating inertia effects of the movable surface is provided. Such a system can be operated in the manner of known power steering systems. The positioning forces of the ball are kept sufficiently low for the user.

The movement experience in virtual space can not only be enjoyed alone but also in groups, because a module for interconnection and synchronous image data output of several virtual spaces is provided. The individual user in his sphere also sees the other group members, whose images are in his Sphere to be projected. Each member can move autonomously, move away from the others or approach them. Depending on the clarity of the environmental models stored in the computer, the participants can also meet each other at random.

For emergencies, for example after actuating an emergency stop, the user can be quickly recovered from the ball, since a module is provided for automatically starting from a starting position.

In a generic method, the process tasks are solved in that the contact area is moved dynamically by the user, preferably driven and / or delayed and / or inclined as a function of sensor signals, which the movement of the standing area and / or a force initiated by the user and / or or an acceleration of the user or the surface.

Advantageous refinements of the method are described in subclaims 16 to 19.

The invention is described on the basis of several preferred exemplary embodiments on the basis of a schematic drawing. The figures in the drawing show in detail

Figure l: the external view of the room according to the invention with a spherical movable surface;

Figure 2: a supervision of an alternative

Embodiment with a flat movable surface;

FIG. 3: a vertical section of the room according to FIG. 2; FIG. 4: a vertical section through another embodiment with a spherical projection surface and

FIG. 5: a vertical section through an embodiment similar to FIG. 1.

In FIG. 1, 1 denotes the foundation of a rehabilitation device using a virtual space according to the invention. The room in which the virtual environment is to be created is designed as sphere 2. An external sensor coordinate system 3 determines the current position of the ball 2, which is mounted on the foundation 1 so as to be movable about its center. To detect the current position of the room 2, the sensor coordinate system has one or more reference points attached to the ball 2, here for example in the form of magnets 7, which build up a magnetic field of the ball, the position of which can be detected by the sensor coordinate system 3. The room 2 is accessible via a door 8. In order to be able to open the door 8, the foundation 1 can be climbed via stairs 6. Exhaust air slots 4 and supply air slots 5 are provided for ventilating the room.

Figure 2 shows another embodiment of the rehabilitation device. The space 2, which is shown in a top view, is delimited on the ceiling and the sides by projection surfaces 9. Projector 10 projects image contents onto the projection surface 9 onto this surface. The projectors have an imaging unit, which can consist, for example, of a DMS (Digital Mirror Device) or an LCD and are controlled by a computer 11 as a data processing unit. The Computer calculates a corresponding image for each projection surface in a known manner, so that the impression of a coherent virtual space is created on all sides for a user 12. The model of the generated space is stored in the computer 11 as a digital model of the virtual environment. In Figure 2, only one projector of several, for example, a total of five are shown.

The user 12 stands on a flat surface 13. He can hold onto a left handle 14 and a right handle 15, which contain force sensors.

In Figure 3 it can be seen that the user 12 is standing on an endless belt 16. As soon as the user executes 12 walking movements, he moves the belt 16. Because of the friction in the deflection rollers 17 which the user 12 has to overcome, reaction forces develop in the handles 14, 15. A distance measuring sensor 18 measures the distance apparently traveled by the user 12. The signal of the displacement sensor 18 is as

Input signal for changing the calculation parameters for the image calculation by the computer 11 fed back to its input. On the basis of the distances traveled, the computer 11 calculates constantly updated image contents, which are then transmitted to the imaging unit in the projector 10.

The user 12 has the impression that the image is moved in the direction of the arrow 19 (FIG. 2). Motors provided on the deflection rollers can additionally drive the belt or, when switched as a generator, decelerate it. These motors are also controlled by the computer 11 depending on the stored environmental model. In this way, slopes can be simulated.

This impression can be created even more realistically for the user 12 if, in addition, a suitable drive 20, for example a piston-cylinder unit, inclines the surface 13 about a horizontal axis 21. Another drive 22 also inclines the surface 13 about a horizontal axis, which is arranged at right angles to the axis 21 and parallel to the running direction of the belt 16.

If, for example, the pushing of a cart is simulated, different distribution of the reaction forces to the right handle 15 and the left handle 14, the signals of which are fed to the computer 11, can be used to control a further drive 23 by the computer 11 so that the surface 13 is slowly given around the vertical axis by means of servo motor 23 and gives the viewer the impression that a curve is being driven.

Alternatively, the drive 23 can also be dispensed with and only the image impression of the room generated by the projectors 10 can be shifted by a corresponding solid angle.

Another embodiment is shown as a vertical section in FIG. In this case, the space 2 is delimited by a ball 25 which is designed to be stationary. The ball 25, like the projection surfaces 9, is made of transparent material onto which the image contents calculated, in a manner known per se, are projected by projectors 10. The projectors 10 can either be arranged outside the ball 25 or, as shown, centrally at the upper vertex of the ball inside. The //

Spherical shape has the advantage that the missing

Corners creates a realistic spatial impression. In addition, a spatial impression can also be created acoustically if, as here, a corresponding number of loudspeakers 26 are actuated with an acoustic signal calculated in an analog manner.

Since no handles are provided in FIG. 4, which can measure the reaction forces of the user and determine his position in space, sensors 27 are mounted in the ball, which detect the location of the user. As soon as the user moves out of the center of the ball 2, this is recognized by the sensors 27, for example ultrasound sensors, and passed on to the computer 11. This changes suitable drives the surface 13 so that the

User cannot exceed a certain radius around the central axis. In this case, instead of a band 16, an envelope membrane 28 is provided around a circular plate 29. The friction drive 30 can move the envelope membrane 28 about the vertical axis of the space 2. Friction drive 31 moves the membrane perpendicular to the plane of the drawing, while friction drive 32 can move the membrane parallel to the plane of the drawing. All servo drives of the at least two necessary friction rollers are controlled by the computer.

In addition, the support foundation on which the plate 29 is supported can be inclined horizontally as desired, so that different terrain inclinations can also be simulated.

Instead of an envelope membrane as a moving surface 13, a ball 33 indicated in broken lines can also be provided, on the surface of which the 12

User 12 can run. Suitable drives can be used

Ball 33 can also be rotated about each spatial axis. For this purpose, it is mounted so that it can move freely by means of the supply of spherical cap 34.

In Figure 5 is an embodiment of the

Rehabilitation device shown, in which the inner surface of a moving ball 35 serves as the moving surface 13. Ball 35 is movably supported in support foundation 1 on all sides. For this purpose, the support foundation has individual channels 36, via which

Compressed air from a compressed air source 37, the gap between the ball and cap 34 is pressed. For ventilation purposes, the ball 35 can have a large number of small openings. The remaining area between the openings is sufficient to be sufficiently high

To provide bearing rigidity. Two friction wheels 38 and 50, which are provided with a plurality of rollers 39 on their circumference, can rotate the ball in the direction of their imaginary longitude. A similarly designed wheel 49 moves the ball in the direction of its imaginary equator.

The energy supply for the projector 10, which is arranged inside the ball 35, is fed inductively from the mains supply 42 via the primary part 40 and secondary part 41 of an inductive transmission system. The secondary part 41 is held magnetically within the sphere of the position shown. For this purpose, the gap present between the primary part 40 and the secondary part 41 is measured by a suitable sensor 48, for example an ultrasonic distance sensor, and its signal is sent to a controller 43 which controls the gap so that it remains constant. 12

An emergency power supply, not shown, replaces in

If necessary, the power supply 42 so that the secondary part 41 cannot fall down on the user 12. Supports 44 can also be attached to the secondary part 41, which support the secondary part 41 with the projector 10 attached to it within the ball 35 if necessary.

Inertial effects of the ball 30 can be compensated for by appropriate programs. The user 12 therefore does not have to accelerate the entire mass of the ball with his own physical strength, but is assisted by the driven wheels 38, 49 and 50. User 12 thus does not have to move substantially out of the central vertical axis of ball 35. Its respective position is detected by sensors 27. To simulate certain terrain shapes, the target position of the user 12 is changed so that the inclination of the spherical surface at the target location of the user corresponds approximately to that of the terrain model. By comparing the target position with the actual position determined by sensors 27, the servomotors of wheels 38, 49 and 50 are activated accordingly.

In certain cases, however, sensors that detect the user location can also be dispensed with.

Especially when the ball has a low mass and therefore no power boost is required.

The user 12 can thus move freely in any virtual space. For example, patients who need circulatory training can do 35 hikes in one area in this sphere perform that can be adapted to the performance of the patient. Controlled by the computer according to the model, the drives can accelerate or decelerate the ball. The distance traveled by the user is either tapped from the shafts of the drives by rotary encoders 48 or by separately arranged displacement encoders.

The patient can be given a transmitter that has an emergency button 45. After pressing this button, the ball 35 is returned to its original starting position by an automatically running program, so that the door can then be opened and the user 12 can be saved. The actual position of the ball is e.g. detected by the rotary encoders 48 or the sensor coordinate system 3, which are also evaluated in operation as input signals for the parameters for calculating the current image content.

Several of the rehabilitation devices described can also be networked with one another via lines 46 to form groups. The users, each in their own

Ball complete the training, then move in a shared environment. You can move around freely in this environment. You can move away from the other members of the group or meet them at random.

The user can also take additional input devices into the sphere that are wirelessly connected to the computer and thus also operate within the environment modeled by the computer. If the position and direction of the transmitters taken along are also recorded using suitable sensors, target exercises can also be simulated. ιr

The rehabilitation device according to the invention enables the user to move freely. As a result, it can be used for a variety of therapeutic purposes. In addition, there are countless ways to use it for entertainment.

In this way it is possible to create virtual rooms without having to equip the user of the virtual room with a large number of sensors, monitors, reactors.

Reference number list

Foundation 26 loudspeaker room 27 sensors sensor coordinate system 28 envelope membrane exhaust air vent 29 plate supply air vent 30 friction roller staircase 31 friction roller magnets 32 friction roller door 33 sphere projection surface 34 spherical projector 35 sphere computer 36 channels user 37 compressed air source surface 38 friction wheel left handle 39 roller right handle 40 primary part band 41 secondary part Deflection roller 42 Mains supply for displacement sensor 43 Regulator arrow 44 Support drive 45 Emergency button axis 46 Cable drive 47 Distance sensor drive 48 Rotary encoder vertical axis 49 Friction wheel ball 50 Friction wheel

Claims

/? Claims

1. Virtual space for viewing by a user, consisting of a display unit for displaying a calculated image, one

Data processing unit for calculating the image and with an input device for the data processing unit for entering parameters for calculating the image, characterized in that an at least one surface that is endlessly movable in one direction for the user with sensors for detecting movement data of the surface and / or sensors for Detection of an applied force and / or sensors for detecting the user location and / or accelerations is provided.

2. Virtual space according to claim 1, characterized in that the movement of the surface is designed to be dynamically changeable by means of motors and / or delay devices, in particular sensors are provided for influencing the motors and / or delay devices.

3. Virtual space according to claim 1, characterized in that the movable surface as

Level is formed, the angle of inclination to a horizontal plane about at least one horizontal axis is dynamically changeable by means of a motor.

4. Virtual space according to one of the previous ones

Claims, characterized in that the movable surface is convex as the surface of a

SEQUENCING QUQ W

Rotating body, in particular is shaped as a ball.

5. Virtual space according to one of the preceding claims, characterized in that the movable surface is concavely shaped as an inner surface, preferably a ball.

6. Virtual space according to one of the preceding claims, characterized in that the movable surface is self-supporting.

7. Virtual space according to one of the previous ones

Claims, characterized in that the

Display unit is designed as a projection unit of an image digitally generated on an image generator and preferably a 3D module for calculating the image contents is provided for a left and a right eye of the user.

8. Virtual space according to one of the preceding claims, characterized in that the display unit is assigned shutter glasses.

9. Virtual space according to one of the preceding claims, characterized in that the movable surface is designed as a projection surface.

10. Virtual space according to one of the preceding claims, characterized in that a

Module for filtering pixels of the imaging device is provided in such a way that a uniform brightness distribution on the

Projection screen is created.

11. Virtual space according to one of the preceding claims, characterized in that an inductive transmission system for transmitting energy and / or information is provided in the interior of the space formed by the movable surface.

12. Virtual space according to one of the preceding claims, characterized in that a

Mass compensation system for compensating inertia effects of the movable surface is provided.

13. Virtual space according to one of the preceding claims, characterized in that a

Module for interconnection and synchronous image data output of several virtual rooms is provided.

14. Virtual space according to one of the preceding claims, characterized in that a

Module for automatically starting a starting position is provided.

15. A method for generating a virtual environment represented by image contents in the case of dynamically dependent parameters which change dynamically, the image contents are recalculated for a user standing on a footprint, characterized in that the footprint is moved by the user, preferably dynamically driven and / or is decelerated and / or inclined depending on sensor signals that indicate the movement of the

Footprint and / or one by the user o initiated force and / or acceleration of the user or the surface.

16. A method for generating a virtual environment according to claim 15, characterized in that the movement of the surface takes place on a convex or concave path.

17. A method for generating a virtual environment according to claim 15 or 16, characterized in that the image contents are calculated separately for a left and a right eye of the user.

18. A method for generating a virtual environment according to one of claims 15 to 17, characterized in that a calculation of 3-D- in synchronism with the calculation of the image contents

Audio signals.

19. A method for generating a virtual environment according to one of claims 15 to 17, characterized in that a compensation of mass effects of the moving contact surface takes place.