Equipment for individual movement analysis and treatment of patients

Abstract

The invention relates to a device (1) for individual movement analysis and treatment of a patient, the device being characterized in that a control and analysis unit (6) is designed to control a first intervention device (3) in such a way that a first trajectory (T1) of the movement of a limb (94) of the patient (90) is disturbed by a force applied by a movement module (5) to the limb (94) of the patient (90); a response to the disturbance (P) is measured by means of a change measurement value of at least one force sensor (41; 51) and / or at least one angle sensor (52), and a new second trajectory (T2) is calculated therefrom; and ... soll ), or a comparison of the measured values ​​with and without interference, to calculate new control parameters for (further) controlling the first intervention device (3).

Description

[0001] The invention relates to a device for individual movement analysis and movement therapy of a patient, having the features of the preamble of claim 1.

[0002] Bedridden patients, especially those with neurological impairment (e.g. after cerebrovascular accident, traumatic brain injury and / or paraplegia), can clearly benefit from timely initiated exercise therapy to improve motor and neurological function. In this context, the success of such exercise therapy depends largely on the individual situation of each patient and is difficult to estimate or evaluate, especially for patients in the early stages of the rehabilitation process. For example, two patients who have suffered a cerebrovascular accident, with similar physical impairments and similar clinical outcomes, e.g. as seen from MRI images, may recover completely differently with similar interventions (e.g., 3 weeks of rehabilitation therapy, 1 hour per day, 5 days per week for each person). Usually, patients who do not recover are called "non-responders", while patients who "wake up" in response to the treatment are called so-called "responders".

[0003] Therefore, there are few individualized therapeutic interventions, especially for neurological patients, because effectiveness / ineffectiveness is difficult to predict at the beginning of the rehabilitation period, and most patients receive only the type of treatment that is currently possible or is performed as standard in the respective hospital. In contrast to other clinical situations, statistical or systematic methods that facilitate individual recovery prediction are known, whereas in the case of neurological patients such methods are almost unknown, which results in therapeutic interventions, especially early motor therapy, not being tailored in a patient-specific manner.

[0004] For example, DE 10 2017 114 290 A1 discloses only a measuring method for determining the length ratio, position and / or radius of motion of the lower limbs of bedridden patients, and a device for carrying out such a measuring method. The device disclosed therein provides, among other things, a force sensor which monitors the forces introduced into the knee orthosis via the cantilever and the connecting element, but does not facilitate individual rehabilitation predictions.

[0005] Based on this, the purpose of the present invention is to provide a device that improves the prior art and is used for individual movement analysis and movement therapy for patients. The device is particularly convenient for patients to test the success possibility of possible therapeutic interventions in the early stages of the rehabilitation process, develop individualized treatment strategies, and even track the rehabilitation process during movement therapy.

[0006] This object is achieved by a device having the features of independent claim 1 .

[0007] Compared with the devices in the prior art, the difference of the device according to the present invention is that the control and analysis unit is configured to control the first intervention device in such a way that the first trajectory of the movement of the patient's limbs is disturbed by the force applied to the patient's limbs by the motion module; the response to the disturbance is measured by the change measurement value of the at least one force sensor and / or the at least one angle sensor, and a new second trajectory is calculated therefrom; and based on the comparison of the second trajectory with the first trajectory and / or the target trajectory, or the comparison of the disturbed measurement value and the non-interference measurement value of the at least one force sensor and / or the at least one angle sensor, new control parameters for (further) controlling the first intervention device are calculated.

[0008] Advantageously, such a device allows an individual gait analysis of the patient at an early stage of rehabilitation, in particular for bedridden patients, and allows the results of said analysis to be automatically taken into account in a further (more intensive) movement therapy performed with the aid of the first intervention device, in particular with the aid of a rehabilitation mechanism. Furthermore, the success of the therapy can conveniently be determined in an automatic manner, even small reactions of the patient to the disturbances imposed on them by the first intervention device being detected, although not by the therapist's eyes.

[0009] In this case, a disturbance is introduced by a first intervention device, in particular a rehabilitation mechanism, preferably in the form of "clamp trials", i.e. in the form of limiting the radius of movement, making the movement more difficult and / or preventing the movement. The analysis is carried out by measuring the force exerted by the patient to resist and / or by determining the deviations of the various trajectories.

[0010] In this case, the measurements of each individual patient can conveniently be stored and used for their own individual treatment or for determining their own treatment success, as well as for generating a database of "typical" treatment progress. By means of a statistical evaluation of these data, it can be helpful to establish more accurate predictions of the progress of different treatments, even when the therapist / doctor is (still) unable to visually identify changes in the individual patient's condition.

[0011] In a preferred embodiment of the invention, it proves its worth that the rehabilitation device has at least one knee module, which can be operatively connected to the knee joint of the patient as a movement module; the knee module includes: at least one force sensor for measuring the absolute value of the force between the knee module and the patient's knee joint, and / or at least one angle sensor for measuring the direction of the force between the knee module and the patient's knee joint; and / or a foot module for accommodating the patient's feet; the foot module includes at least one force sensor for measuring the absolute value of the force between the foot module and each foot of the patient. The rehabilitation device has at least one knee module and / or foot module as a movement module, which is particularly suitable for individual movement analysis and movement therapy of the patient's legs, in which the relatively large muscle groups of the legs are advantageously involved.

[0012] Furthermore, in a preferred embodiment of the invention, the device comprises at least one second intervention device for interacting with the patient, the second intervention device being configured to exchange (control) data with the control and analysis unit. If at least one second intervention device is provided, it is possible to test and / or controllably vary the effects of various treatment components or treatment strategies and concepts on the patient, for example by adding one or more further stimuli, and as a result the most effective treatment performance for the patient can be conveniently determined in an automated manner.

[0013] In this case, it has proven to be valuable that the second intervention device is configured to interact with the patient's body, in particular with their legs, knee joints and / or the patient's feet. The second intervention device configured in this way advantageously facilitates direct mechanical interaction with the patient or exerting an influence on the patient. For this purpose, the second intervention device can preferably be arranged directly on the first intervention device (in particular on a rehabilitation device) or on a device at a certain distance from the first intervention device.

[0014] For this purpose, the second intervention device can preferably be a device for generating vibrations and / or a device for performing electrical muscle stimulation. The second intervention device thus implemented advantageously promotes mechanical, electrical or other types of external muscle stimulation.

[0015] In another preferred embodiment, the second intervention device can also be a device for generating visual stimulation and / or a device for generating auditory stimulation. Firstly, this advantageously promotes visual and / or auditory stimulation of the patient, but secondly also provides the patient with the option of visual / auditory feedback related to their performance.

[0016] Furthermore, embodiments of the present invention have proven their worth in that the second intervention device is a device for planned administration of medication. The device for planned administration of medication advantageously facilitates controlled variation of pharmacological interventions on patients. Providing a second intervention device implemented thereby makes it possible to test which drugs (or which drugs are omitted) can advantageously affect the rehabilitation process, that is, whether, for example, different sedative agents or certain neurotransmitters, such as serotonin, norepinephrine or dopamine, should be selected on an individual basis in order to improve the effect of exercise therapy.

[0017] In a further preferred embodiment, it proves to be of value if the control and analysis unit comprises means for performing electromyography. If the control and analysis unit comprises means for performing electromyography, it is advantageous that even small changes in the patient's muscle electrical activity can be measured, allowing the health status to be tested, in particular if the patient loses consciousness shortly after a cerebrovascular accident.

[0018] Finally, embodiments of the device according to the invention have proven their worth in that the device comprises means for reversibly connecting the device, in particular the first intervention device, to a bed, in particular a hospital bed that can be driven vertically. The means for reversibly connecting the device, in particular the first intervention device, to a bed, in particular a hospital bed that can be driven vertically, advantageously facilitate the conversion of movable embodiments of the device according to the invention or conventional beds, in particular hospital beds, with the device according to the invention and in this way advantageously reduce procurement costs for hospitals and / or nursing homes. For example, the applicant disclosed a possible device for reversible connection in DE102018129370.4.

[0019] These and additional details, as well as further advantages of the present invention, will be described below based on preferred exemplary embodiments, which, however, do not limit the present invention, and in conjunction with the accompanying drawings,

[0020] The schematic diagram:

[0021] Figure 1 shows a side view of an embodiment of an apparatus according to the present invention;

[0022] Figure 2 Another embodiment of the device according to the invention is shown, having means for reversibly connecting the device to a bed;

[0023] Figure 3 Another embodiment of the device according to the present invention when performing individual movement analysis and movement therapy is shown, and the trajectory is drawn in an exemplary manner;

[0024] Figure 4aAnother embodiment of the device according to the invention for individual movement analysis and movement therapy is shown, in which step height and flexion angle of the hip joint are plotted in an exemplary manner;

[0025] Figure 4b It is shown that in the first case, Figure 4a An example graph of step heights measured by a device in before and after interference, wherein the step height before the interference is greater than the step height after the interference;

[0026] Figure 4c It is shown that in the second case, Figure 4a An example graph of step heights measured by a device in before and after interference, wherein the step height before the interference is smaller than the step height after the interference;

[0027] Figure 5a Another embodiment of the device according to the invention is shown when performing individual movement analysis and movement therapy, the interference formed by the device hinders the movement of the limbs;

[0028] Figure 5b The results show the effects of the patient's movements on the limbs without interference and with interference, in particular with complete prevention of the limb movements. Figure 5a Example graphs of forces on and measured by the device; and

[0029] Figure 5c An example diagram of the bending angle is shown, corresponding to Figure 5a and 5b The working of individual motion analysis and motion therapy is shown in an exemplary manner in FIG. , with the bending angle as a function of time.

[0030] In the following description of preferred embodiments of the present invention, the same reference numerals denote the same or similar components.

[0031] Figure 1 A side view of an embodiment of a device 1 according to the invention is shown. The device 1 according to the invention comprises at least one first intervention device 3 in the form of a rehabilitation mechanism 30, designed to be suitable for performing automatic rehabilitation movements of the limbs 94 of a patient 90 (at least the joints, muscles and tendons of the leg 92) according to a plan, and having at least one movement module 5, which can be operatively connected to the limbs 94 of the patient 90. In this case, the movement module 5 comprises at least one force sensor 41, 51 for measuring the absolute value of the force F(t) between the movement module 5 and the limb 94 of the patient 90 (also refer to Figure 3and 5A); and / or at least one angle sensor 52 for measuring the direction of the force F(t) between the motion module 5 and the limbs 94 of the patient 90. The device 1 according to the present invention further comprises at least one control and analysis unit 6 for controlling the first intervention device 3 and analyzing the motion trajectory T1, T2, ... of the limbs 94 of the patient 90 according to the actual value calculation of at least one force sensor 41, 51 and / or at least one angle sensor 52.

[0032] The control and analysis unit 6 of the apparatus 1 according to the present invention is configured to control the first intervention device 3 in such a way that the first trajectory T1 of the movement of the limb 94 of the patient 90 is disturbed by the force applied by the motion module 5 to the limb 94 of the patient 90; the response to the disturbance P is measured by the change measurement value of at least one force sensor 41, 51 and / or at least one angle sensor 52, and a new second trajectory T2 is calculated therefrom; and a new second trajectory T2 is calculated based on the comparison between the second trajectory T2 and the first trajectory T1 and / or the target trajectory T soll , or a comparison of the disturbed and undisturbed measured values ​​of at least one force sensor 41, 51 and / or at least one angle sensor 52, to calculate new control parameters for (further) controlling the first intervention device 3. Figure 1 As shown, in particular, the force sensors 41, 51 can be arranged on the cantilever of the motion module 5, and / or arranged in the area close to the foot 91 of the patient 90, in particular arranged on the foot module 40 of the rehabilitation mechanism 30 (see also Figure 2 and Figure 3 ).

[0033] Figure 1 It is also shown that the device 1 may also preferably comprise at least one second intervention device 7 for interacting with the patient 90, the second intervention device 7 preferably being configured to exchange (control) data with the control and analysis unit 6. In particular, the second intervention device 7 may be configured to interact with the body of the patient 90, in particular with their legs 92, knee joints 93 and / or feet 91, so as to generate a further mechanical disturbance P in the movement of the limbs 94, for example by applying forces to the limbs 94 of the patient 90. To this end, in particular, the second intervention device 7 may be a device 71 for generating vibrations (cf. Figure 3), and / or a device 72 for performing electrical muscle stimulation. Preferably, in the latter case, the control and analysis unit 6 may also include a device 61 for performing electromyography, which facilitates the control and evaluation of electrical or other types of external muscle stimulation. As shown, alternately or cumulatively, the second intervention device 7 may also be a device 73 for generating visual stimulation, and / or a device 74 for generating auditory stimulation. In this embodiment of the invention, the second intervention device 7 may advantageously act on other senses (visual and / or auditory) of the patient 90 as interference P. In particular, in the case of a neurological injury in the patient 90, better (brain) stimulation may be caused by the action of different sensory organs, which in turn may contribute to the progress of rehabilitation. The device 1 may then advantageously measure and evaluate the effects of such interference P, in particular the effects of auditory and / or visual interference on the patient 90 as described above. Finally, alternately or cumulatively, the second intervention device 7 may also be a device 75 for the planned administration of medication. In this case, the interference P comprises targeted administration of medication and / or targeted non-administration of medication, i.e., drug intervention. By way of example, such a second intervention device 7 advantageously facilitates testing, for example, which drugs are beneficial or detrimental to the rehabilitation process, which dosages of active ingredients are effective, and whether a change of sedatives or the administration of certain neurotransmitters (such as serotonin, norepinephrine or dopamine) can influence the rehabilitation process (preferably in a positive way). According to the device 1 of the invention, it is advantageously possible to measure deviations in the patient's behavior, in particular deviations in their movement sequence, which are so small that during conventional movement therapy, these deviations are not even (yet) noticed by the therapist, with the result that the accuracy of the results obtained is advantageously improved.

[0034] Figure 2 Another embodiment of the device 1 according to the invention is shown, comprising means 11 for reversibly connecting the device 1, in particular the first intervention device 3, to a bed 80. In this case, preferably, the bed 80 is a hospital bed that can be driven vertically. Figure 2 As shown, the device 1 can have a mobile design by means of such a device 11 for reversible connection and can be connected to a bed 80 for individual movement analysis and movement therapy and can be removed again after the analysis or therapy is completed. For example, the applicant discloses a suitable device 11 in DE102018129370.4, to which reference is made here in full with regard to the function of the device 11.

[0035] Figure 2It is also shown that the device 1 can also have a rehabilitation mechanism 30 as a motion module 5, which includes at least one knee module 50, which can be operatively connected to the knee joint 93 of the patient 90; preferably, the knee module 50 includes at least one force sensor 51 for measuring the absolute value of the force F(t) between the knee module 50 and the knee joint 93 of the patient 90 and / or at least one angle sensor 52 for measuring the direction of the force F(t) between the knee module 50 and the knee joint 93 of the patient 90. Alternately or cumulatively, the rehabilitation mechanism 30 can also include a foot module 40 for accommodating the foot 91 of the patient 90; preferably, the foot module 40 includes at least one force sensor 41 for measuring the absolute value of the force between the foot module 40 and each foot 91 of the patient 90.

[0036] Figure 3 Now another embodiment of the device 1 according to the invention is shown, in which individual movement analysis and movement therapy are performed, the trajectory T soll , T1, T2 are drawn in an exemplary manner. For the motion analysis, the limbs 94 of the patient 90 (here the example of the legs 92 is used) can be operatively connected to the motion module 5. For this purpose, Figure 3 The operative connection on the thigh in the area of ​​the knee joint 93 is shown in an exemplary manner; however, Figure 1 , 4a As shown in Figures 5a and 5a, the leg 92 can also be operatively connected to the first intervention device 3 on the calf and / or at another location. Figure 3 A force sensor 51 is shown on the cantilever of the movement module 5 and a force sensor 41 in the area of ​​the foot module 40, by means of at least one force sensor 41, 51 and / or at least one angle sensor 52, it is then possible, by means of the control and analysis unit 6, to determine trajectories T1, T2, ..., by measuring the absolute value of the force F(t) between the movement module 5 and the limb 94, or by measuring the direction of the force F(t) during the movement of the limb 94, and to store said trajectories for further use. In this way, for example, the device 1, using the first intervention device 3, in particular the rehabilitation mechanism 30, does not impose any form of disturbance P on the movement of the subject during such a recording, but only accompanies the movement, advantageously facilitating the creation of a non-interfering database ("normal" trajectories T1, T2, ... of a healthy human being).

[0037] In the case of a convalescent patient 90, the actual trajectory T1, T2, ... of the movement of the limbs 94 can first be measured in a similar manner with the aid of the device 1 according to the present invention; and can be compared with the above-mentioned database record, i.e., with the target trajectory T of a healthy human being. sollSecondly, before and / or during the movement of the limb 94, a disturbance P acting on the patient 90 can also be generated by the first intervention device 3, in particular by the movement module 5, and / or by one or more second intervention devices 7, and possible deviations from the comparison trajectory caused thereby can be measured. In particular, in this case, the comparison trajectory can be a target trajectory T of a healthy human stored in the database soll , or the trajectory T1, T2, . . . previously measured by the patient 90 itself, thereby advantageously recording the rehabilitation process of each patient 90 on an individual basis.

[0038] The device 1 according to the invention can also describe the ability of the patient 90 to adapt to the disturbance P by quantifying the non-disturbing and disturbing measurement values ​​of at least one force sensor 41, 51 and / or at least one angle sensor 52, so that the health status and / or rehabilitation success of the patient can be evaluated. Two of the quantification methods are described below in an exemplary manner:

[0039] Figure 4a The embodiment of the device 1 according to the present invention when performing individual motion analysis and motion therapy is shown, and the step height H is exemplarily plotted. up , H p and the flexion angle φ of the hip joint 95 up ,φ p In this quantification method, it is possible to generate a disturbance P acting on the patient 90, either a force applied by the first intervention device 3, or another disturbance P applied by the second intervention device 7, in a plurality of consecutive movement cycles ("steps") controlled and / or accompanied by the device 1. In this case, the step height H up , H p and / or the bending angle φ of the hip joint 95 up ,φ p It can be preferably selected as a measurement parameter that the measured step height H can be influenced by the disturbance P, in particular the force exerted on the limb 94 of the patient 90. up , H p or the flexion angle of the hip joint 95 up ,φ p Depending on the health status of the patient 90, after the disturbance P acts on the patient 90 for a certain period of time and / or after the disturbance P is removed again, the patient 90 may have motor adaptation, and the patient 90 recovers from each disturbance P, which in turn can be reflected in the changes in the above-mentioned measured values.

[0040] Figure 4b It is shown that in the first case, Figure 4a The step height H measured by device 1 before and after the disturbance P up , H pExample diagram of where the step height H before the interference P up Greater than the step height H after the interference P p .

[0041] Accordingly, Figure 4c It is shown that in the second case, Figure 4a The step height H measured by device 1 before and after the disturbance P up , H p Example diagram of where the step height H before the disturbance P up Less than the step height H after the interference p In both figures, H(n) represents the step height of the corresponding step with value n.

[0042] from Figure 4b and Figure 4c It can be clearly seen that the step height H after the interference P starts p With no interference step height H up As the number of steps n increases after the disturbance P begins, the measured value approaches the step height H without the disturbance again. up However, the speed and / or extent to which this adaptation occurs (= "resilience") depends on the current individual health status of the patient 90 and can therefore provide an indication about the effectiveness of the type of treatment used (exercise therapy, drug therapy, etc.).

[0043] Figures 5a to 5c A second possible quantization process facilitated by the device 1 according to the invention is outlined in .

[0044] Figure 5a An embodiment of the device 1 according to the invention is shown for individual movement analysis and movement therapy, wherein the interference P constituted by the device 1 hinders the movement of a limb 94. To this end, the patient 90 can be effectively connected to the device 1 according to the invention, in particular to the first interference device 3, preferably via the movement module 5. Subsequently, in a non-interference state, during the execution of the movement cycle (i.e., "step"), the force F(t) between the movement module 5 and the limb 94 of the patient 90 can be measured with the help of at least one force sensor 41, 51. In the next step, the limb 94 (in particular the leg 92 shown here) is firmly fixed by the first intervention device 3 (preferably the movement module 5), i.e., it is almost completely prevented from moving. Now, with the help of this force sensor or sensors 41, 51, the force F(t) generated by the patient 90 to counteract the obstruction of the first intervention device 3 and move can be measured.

[0045] Figure 5b The figure shows the movement of the limb 94 without interference and with interference, in particular with complete prevention of the movement of the limb 94. Figure 5aFIG. 5 shows an example diagram of the bending angle φ(t), corresponding to FIG. Figure 5a and 5b The working situation of individual movement analysis and movement therapy is shown in an exemplary manner in FIG. , where φ(t) is a function of time t. In this case, F up (t) and φ up (t) respectively describe the non-interference state, and F p (t) and φ p (t) describes the interference state, in which the first intervention device 3 almost completely blocks the movement. In the example shown here, the leg 92 of the patient 90 remains extended in the interference state, so that the flexion angle φ of the hip joint 95 is φ throughout the entire period t of the interference P (=fixed leg 92). p (t) remains constant at 0° or 180° (depending on the definition of zero). The force F exerted by the patient 90 against the disturbance P p (t) in turn depends on the current individual health state and can be compared with the non-interfering step F up (t) and / or compared with a database of measurements of healthy humans or other patients.

[0046] The invention relates to a device 1 for individual movement analysis and treatment of a patient, characterized in that a control and analysis unit 6 is designed to control a first intervention device 3 in such a way that a first trajectory T1 of the movement of a limb 94 of a patient 90 is disturbed by a force applied by a movement module 5 to the limb 94 of the patient 90; a response to the disturbance P is measured by means of a change measurement value from at least one force sensor 41, 51 and / or at least one angle sensor 52; and a new second trajectory T2 is calculated therefrom; and a comparison is made between the second trajectory T2 and the first trajectory T1 and / or the target trajectory T soll , or from the comparison of the disturbed measured values ​​with the unperturbed measured values, new control parameters for (further) controlling the first intervention device 3 are calculated. Advantageously, the device 1 according to the invention is particularly convenient for testing possible therapeutic interventions with respect to their likelihood of success, for developing individualized therapeutic strategies, and even for tracking the rehabilitation process during movement therapy in the early stages of the rehabilitation process. Within the scope of the individualized movement analysis and movement therapy facilitated by the device 1 according to the invention, it is in particular possible to infer the type of therapeutic intervention or therapeutic component to which the individual patient 90 is most likely to respond as a "responder", that is, to enable rehabilitation to be accompanied by a positive progress by targeted addition or omission of different therapeutic components.

[0047] Reference numerals list

[0048] 1 Equipment

[0049] 11. A device for reversibly connecting the device (1), in particular the first intervention device (3), to a bed (80), in particular a hospital bed capable of being driven vertically.

[0050] 3 First intervention device

[0051] 30 Rehabilitation institutions

[0052] 40 Foot Module

[0053] 41 Force Sensor

[0054] 5 Motion Module

[0055] 50 Knee Module

[0056] 51 Force Sensor

[0057] 52 Angle sensor

[0058] 6 Control and analysis unit

[0059] 61 Device for performing electromyography

[0060] 7 Second Intervention Device

[0061] 71 Device for producing vibrations

[0062] 72 Device for electrical muscle stimulation

[0063] 73 Device for producing visual stimulation

[0064] 74 Device for producing auditory stimulation

[0065] 75 Devices for planned administration of medication

[0066] 80 Beds, especially hospital beds capable of vertical drive

[0067] 90 patients

[0068] 91 Foot

[0069] 92 Legs

[0070] 93 Knee joint

[0071] 94 Limbs

[0072] 95 Hip

[0073] T soll , T1, T2…trajectory

[0074] F(t) is the force between the motion module (5) and the limbs (94) of the patient (90)

[0075] Fup (t); F p (t) are the non-interference and interference forces (F(t)),

[0076] H up (n); H p (n) are the step heights without interference and with interference,

[0077] φ up (t); φ p (t) are the bending angles of the hip joint (95) without interference and with interference, respectively.

[0078] T Time

[0079] n number of steps

[0080] P Interference

Claims

1. A device (1) for individual movement analysis and treatment of a patient, the device (1) comprising: The first intervention device (3) is constructed as a rehabilitation mechanism (30), wherein the rehabilitation mechanism (30) is configured to perform automatic rehabilitation movements on the limbs (94) of the patient (90), at least on the joints, muscles and tendons of the leg (92), according to a plan. The first intervention device (3) has at least one movement module (5) operatively connected to a limb (94) of the patient (90); The at least one motion module (5) comprises at least one of the following: at least one force sensor (41; 51) for measuring the absolute value of a force (F(t)) between the at least one movement module (5) and a limb (94) of the patient (90), or at least one angle sensor (52) for measuring the direction of a force (F(t)) between the at least one motion module (5) and a limb (94) of the patient (90); as well as at least one second intervention device (7) for interacting with the patient (90), the at least one second intervention device (7) being configured to exchange control data with the control and analysis unit (6); The second intervention device (7) is configured to interact with the body of the patient (90); the second intervention device (7) is one of the following devices: a device for at least one of generating vibration or performing electrical muscle stimulation; means for producing at least one of a visual stimulus or an auditory stimulus; devices for administering scheduled medications; as well as a control and analysis unit (6), the control and analysis unit (6) being used to control the first intervention device (3) and to analyze the movement trajectories T1, T2, ... of the limbs (94) of the patient (90) based on actual value calculations of at least one of the at least one force sensor (41; 51) or the at least one angle sensor (52); The control and analysis unit (6) is configured as follows: Controlling the first intervention device (3) to apply force to the limbs (94) of the patient (90) through the at least one motion module (5), and controlling the second intervention device (7) to interact with the patient's body to interfere with a first trajectory T1 of the movement of the limbs (94) of the patient (90); Measuring a response to a disturbance (P) of the first intervention device (3) and the second intervention device (7) by a change in a measurement value of at least one of the at least one force sensor (41; 51) or the at least one angle sensor (52), and calculating a new second trajectory T2 therefrom; and According to the second trajectory T2 and the first trajectory T1 or the target trajectory T soll By comparing at least one of the interference measurement values ​​and the interference-free measurement values ​​of at least one of the at least one force sensor (41; 51) or the at least one angle sensor (52), a new control parameter for further controlling the first intervention device (3) is calculated.

2. The device (1) according to claim 1, wherein: The rehabilitation mechanism (30) has at least one motion module (5) formed of at least one of a knee module (50) or a foot module (40); The foot module (40) is configured to accommodate a foot (91) of the patient (90), the foot module (40) comprising at least one force sensor (41), the at least one force sensor (41) being used to measure an absolute value of a force between the foot module (40) and each foot (91) of the patient (90); The knee module (50) is configured to be operatively connected to a knee joint (93) of the patient (90) and the knee module (50) includes at least one of the following: at least one force sensor (51) for measuring the absolute value of the force between the knee module (50) and the patient's (90) knee joint (93), or At least one angle sensor (52) for measuring the direction of a force between the knee module (50) and the patient's (90) knee joint (93).

3. The device (1) according to claim 1, wherein: The at least one second intervention device (7) is configured to interact with at least one of the leg (92), knee joint (93) or foot (91) of the patient (90).

4. The device (1) according to claim 1, wherein: The control and analysis unit (6) comprises a device (61) for performing electromyography.

5. The device (1) according to claim 1, further comprising means (11) for reversibly connecting the device (1) to a bed (80).

6. The device (1) according to claim 5, wherein: The device (11) is configured for reversibly connecting the first intervention device (3) to the bed (80).

7. The device (1) according to claim 5 or 6, wherein: The bed (80) is a hospital bed configured for vertical drive.

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