Programmable joint simulator with force and motion feedback

• US 20040254771A1
• Filed: 07/30/2004
• Published: 12/16/2004
• Est. Priority Date: 06/25/2001
• Status: Active Grant

• Current Assignee: Rainer Burgkart, Robert Riener
• Original Assignee: Rainer Burgkart, Robert Riener
• Inventors: Burgkart, Rainer, Riener, Robert
• Granted Patent: US 8,108,190 B2
• Time in Patent Office: Days
• US Class Current: 703/7
• CPC Class Codes: G09B 23/32 with moving parts

Abstract

The invention concerns a joint simulator for duplicating the biomechanical properties of body segments with joints. The joint simulator has the following features:

a body model 3, 4 of the body segment to be simulated,

controllable drive elements 8, which are coupled mechanically with the body model 3, 4, in such a way that movements of the body model 3, 4, which correspond to real biomechanical joint movements of the body segment to be simulated, can be effected by controlling the drive elements,

a sensor arrangement 7 for detecting forces and movements, which are introduced by an examining person on body model 3, 4, and

a programmable control device for controlling the drive elements 8, whereby the control device is configured such that the measured signals processed by the sensor arrangement are introduced into a computer, in which a simulation program is stored, which, in cooperation with the control device, causes that, when contacted with the hands, the body model 3, 4 is moved by means of the drive elements 8 in such a way that the biomechanical joint properties of the natural body segment are simulated.

Claims

1. A programmable joint simulator with force and movement feedback for duplicating modifiable biomechanical properties of human and animal body segments with joints, whereby the joint simulator has the following features:

a body model, which essentially has the shape and hardness properties of the body segment to be simulated

controllable drive elements, which are coupled mechanically with the body model, in such a way that movements of the body model, which correspond to real biomechanical joint movements of the body segment to be simulated, can be effected by controlling the drive elements,

a sensor arrangement for detecting forces and movements, which are introduced by an examining person with his/her hands on body model

whereby the sensors of sensor arrangement are arranged in the kinematic chain between the body model and the drive elements and/or on the drive elements themselves and

a programmable control device having a computer for controlling the drive elements, whereby the control device is configured such that the measured signals processed by the sensor arrangement are introduced into the computer, in which a simulation program is stored, which, in cooperation with the control device, causes the body model to move by means of the drive elements when external force is applied, in such a way that the biomechanical joint properties of the natural body segment are simulated and are sensed by the examining person as a biomechanical property of the respective natural body segment.

2. The joint simulator according to claim 1, further characterized in that an optical display device, which is connected to the control device by signal technology, is provided, which shows the examining person a visual representation of a respective natural body segment during the activity on the body model.

3. The joint simulator according to claim 2, further characterized in that the optic display device displays suggestions and additional information.

4. The joint simulator according to one of the preceding claims, further characterized in that an acoustic generator connected by signal technology to the control device is provided for the generation of typical noises, which can occur during the examination of the respective natural body segment.

5. The joint simulator according to claim 4, further characterized in that the acoustic generators are integrated into body model.