MOTION-Dependent STABILIZATION SUPPORT SYSTEM

Description

[0001] The present invention relates to a system for detecting and preventing an impending fall of a moving body.

[0002] One in twelve adults in Germany suffers an accident at least once a year, with falls being the most common cause. This proportion is almost 30% and increases with age, so that among people over 70, the majority of accidents are caused by falls. A significant proportion of these accidents result in injuries that often require inpatient treatment.

[0003] Due to the increased risk of falls, older people often withdraw from public life and spend most of their time in familiar surroundings. Their declining physical performance thus leads to increasing social isolation.

[0004] It is therefore desirable to reduce the number of falls without limiting the ability of the affected people to function in everyday life.

[0005] Of course, not only older people are affected by an increased risk of falls, but also those whose performance is limited for other reasons, for example, during rehabilitation after an accident. Fall prevention is just as useful for other mobile bodies, such as robots or animals.

[0006] Fall detection has so far been technically achieved through the use of assistance solutions located in the person's environment. For example, a fall can be detected by sensors under a carpet that detect the person's position after a fall.

[0007] There are also aids that help people avoid falling or perform desired movements. These include, for example, wristbands that detect a fall once it has occurred and trigger an alarm. Exoskeletons that actively support the wearer's muscles are also known to assist people with movement.

[0008] US 2016 / 346156 A1 concerns a system for assisting a person in learning to walk. The person is supported by restricting their freedom of movement.

[0009] EP 3 342 390 A1 relates to a system that assists a person in getting into or out of a wheelchair, detecting and preventing an impending fall.

[0010] However, these systems either only implement measures after a fall has already occurred or actively support the wearer in their current movement. This means that these systems are not designed to prevent falls.

[0011] US2019099113A1 concerns a method for fall detection.

[0012] Furthermore, exoskeletons with active movement support are usually heavy, inflexible, and energy-intensive, making them irrelevant in everyday life. In this context, inflexible means that they are not easy for the wearer to put on. Furthermore, it means a spatial constraint, as is often the case with learning systems, since these rely on observing trajectories in the physical sense and usually use optical devices to observe target and actual curves.

[0013] Taking into account the above disadvantages or inadequacies of the prior art, it is therefore the object of the present invention to provide an improved system and an improved method for preventing a fall or for assisting in the stabilization of a moving body. Stabilization is understood to mean maintaining a stable state of a moving body. The onset of an unstable state is to be prevented without significant external force and in a very short, barely perceptible time. Flexibility in our case refers to the number of actuators of different lengths and thicknesses that can be controlled, which lose their flexibility and become hard when subjected to an electrical pulse. The control takes place exclusively based on the moving body.

[0014] This object is achieved by the independent claims. The dependent claims define advantageous embodiments.

[0015] The present invention relates to a movement-dependent stabilization support system for maintaining the stability of a moving body. The movement-dependent stabilization support system comprises a plurality of sensors designed to detect movement parameters of the body. Furthermore, the system comprises a plurality of actuators and a control unit designed to detect, based on the movement parameters and a biomechanical movement model, whether instability of the body is imminent. The control unit is further designed to select a stabilization strategy from a plurality of predefined stabilization strategies if it has been detected that instability of the body is imminent, and to control the actuators according to the selected stabilization strategy. The actuators are flexibly deformable and stiffen when controlled by the control unit.

[0016] In other words, the present invention relates to a system for preventing a moving body, such as a human being or a person, from falling, which is moving in such a way that it would fall in the next moment without intervention by the system.

[0017] By using multiple sensors, the system records movement parameters of the body, whereby the body's movement is continuously monitored by the system.

[0018] Based on the recorded sensor data or movement parameters and a biomechanical movement model, an estimate is made as to whether the body will enter an unstable position. Based on the results of the estimation of future instability and the movement parameters, a stabilization strategy is selected, which is used to control the actuators attached to the body.

[0019] A stabilization strategy is a predefined rule for controlling the actuators for a given situation or estimated position of the body. A stabilization strategy can, for example, contain rules specifying which actuators should be controlled at what time and in what manner. The stabilization strategy according to which the body is to be stabilized is thus selected from a plurality of predefined stabilization strategies. This is done based on the recorded movement parameters, the biomechanical movement model, and the resulting future position of the moving body.

[0020] A stabilization strategy can involve a temporal sequence of actuation of different actuator groups, with each actuator group containing a predefined subset of the actuators. Furthermore, a stabilization strategy can contain a multi-stage actuation rule, according to which a first actuator group is actuated first, and, if it is estimated that a fall is still imminent, a second actuator group is actuated. The actuators or actuator groups can thus be assigned a control priority so that additional actuators can be stiffened depending on the effect of the actuation.

[0021] The actuators, for example, are mounted at predetermined positions on the moving body and are flexibly deformable, so that the freedom of movement of the system's wearer is not restricted or only minimally restricted. However, when activated by the control unit, the actuators stiffen. In the event of an impending fall, the freedom of movement of the system's wearer is thus specifically restricted to prevent the impending unstable situation from actually occurring.

[0022] The present invention thus prevents an impending unstable situation of the moving body by suppressing movement of the body into the unstable position. An impending fall is thus prevented.

[0023] According to a specific embodiment, the control unit is further configured to perform a control process for terminating the control of the actuators for stabilization based on the movement parameters.

[0024] This means that in a case where a restriction of movement is no longer necessary because a fall is no longer imminent or has been successfully prevented, the control unit removes the restriction of freedom of movement by suspending the control of the actuators as part of a control process. For example, the stiffening of the individual actuators can be removed one after the other or, for example, gradually reduced.

[0025] Movement parameters are continuously recorded and evaluated for impending body instability. This ensures that no falls occur even when or during the termination of fall prevention. This is achieved by implementing a specific regulation for suspending the fall prevention measure.

[0026] According to a preferred embodiment, the biomechanical movement model is based on a formalization of the movement of a simple inverted pendulum or double inverted pendulum.

[0027] An inverted pendulum is a pendulum with its center of gravity above its axis. At its highest point, such a pendulum is in a resting position, which it will deviate from even with small deflections. Such a pendulum is easily suited for modeling the position of a moving body, especially a human body. A stable state is usually maintained by a person through continuous perception of the position and corresponding movement.

[0028] The use of a simple inverted pendulum allows the position of the moving body to be modeled in a way that requires minimal computational effort.

[0029] A double inverted pendulum is a combination of two simple inverted pendulums, with the second inverted pendulum mounted on the first. Such a double inverted pendulum is suitable for more accurately modeling the position of a humanoid body. In particular, such a model is capable of modeling the bending of a moving body, such as a humanoid body.

[0030] According to a further preferred embodiment, the biomechanical movement model is based on the formalization of the movement of a simple inverted pendulum on a spring or a double inverted pendulum on a spring.

[0031] In other words, the movement or position of the body can be modeled using a single inverted pendulum or a double inverted pendulum, each mounted on a spring. The spring represents the flexibility of the body being modeled along a vertical axis.

[0032] With the models mentioned, which include the spring, an accurate or more realistic modeling of the movement of the moving body is possible, whereby the complexity of the description of the position or movement of the body increases due to the increasing number of degrees of freedom.

[0033] According to another aspect, the biomechanical motion model is an extended biomechanical motion model of the body that models a human body muscle system for people of different ages through a system of inverted pendulums connected to elastic springs.

[0034] This means that by coupling several inverted pendulums with elastic springs, a complex model of the motion of the moving body can be realized. In particular, the properties of the springs (e.g., spring stiffness and spring length) can be used to realistically model the properties of the moving body. For example, the spring stiffness of the coupling springs can be set higher for a young human wearer of the system than for an older human wearer, in order to represent the different properties of the body's muscular system for people of different ages.

[0035] According to a further embodiment, the control unit is further configured to determine positions of predetermined reference points of the biomechanical movement model based on the received movement parameters of the body and to detect the impending instability of the body based on trajectories of the reference points of the biomechanical movement model.

[0036] This means that the coordinates (current and next positions of reference points) of the mathematical motion model are determined based on the body's motion parameters. To estimate impending instability, the positions of the reference points of the mathematical motion model are evaluated with respect to the position of the support plane.

[0037] According to a preferred embodiment, the control unit detects impending instability of the body by calculating future positions based on changes between previous and current positions of the reference points of the biomechanical movement model. If the future positions satisfy at least one of a plurality of predetermined conditions, the control unit detects that instability of the body is imminent.

[0038] This means that based on sensor data or movement parameters detected or recorded in the past, a prediction of the body's future position can be made. In other words, an extrapolation of the body's position or the biomechanical movement model is performed to estimate impending body instability.

[0039] For this purpose, the movement parameters are used to determine the positions of predefined reference points of the biomechanical movement model at given times or with a given detection rate. Based on the positions of the model's reference points and the model's properties (single / double-invested pendulum, spring stiffness, pendulum length, etc.), the position is extrapolated into the future, and stability or instability is estimated based on the future positions.

[0040] According to a further aspect, the sensors each comprise a storage unit and a computing unit, wherein the storage unit is designed to store previous sensor data and the computing unit is designed to process the previous and current sensor data and to record a result of the processing as a movement parameter of the body.

[0041] This means that primary sensor data is first preprocessed within the sensor itself, and the result is passed on to the control unit as a motion parameter. For example, preprocessing can include determining changes in the primary sensor data, so that a change in the corresponding measured value, rather than the measured value itself, is provided to the control unit as a motion parameter. This reduces the control unit's computational effort and also reduces the amount of data to be transmitted.

[0042] According to a preferred embodiment, after detecting the impending instability of the body, the control unit uses the body's movement parameters to determine whether the instability of the body is still present or not. The control unit controls the actuators accordingly.

[0043] This means that after detection of the impending instability, not only is the appropriate measure taken (selection of the stabilization strategy and control of the corresponding actuators), but the position or movement of the body is continuously monitored so that it can be recognized whether the instability is still imminent or whether the initiated stabilization strategy or fall prevention can be terminated.

[0044] According to a specific embodiment, the actuators have a tube-like shape and are filled with a magnetically sensitive or electrically sensitive medium that stiffens when activated by the control unit.

[0045] In other words, the actuators have an elongated shape with a narrow width compared to their length. The outer structure of the actuators is hollow and filled with a material that changes its elastic deformability when an electric or magnetic field is applied, so that a greater force is required to achieve the same deformation compared to when no electric or magnetic field is applied. Alternatively, the material can change its deformability when a current flows through it.

[0046] This ensures that when the actuators are activated by the control unit, they stiffen, thereby restricting the body's freedom of movement. In contrast, when no electric or magnetic field is applied, the actuators can be deformed with minimal force, so that the freedom of movement of the system's wearer is not restricted or only minimally restricted.

[0047] For example, an electrically sensitive material is an electroactive polymer that changes its mechanical properties when an electrical voltage is applied.

[0048] In a specific embodiment, the actuators contain a magnetorheological fluid that stiffens when a magnetic field is applied. In this case, the actuators each comprise a magnetic field generator that, when controlled by the control unit, generates a magnetic field to stiffen the magnetorheological fluid.

[0049] A magnetorheological fluid is a suspension of magnetically polarized particles finely dispersed in a carrier fluid. The particles are approximately one to three orders of magnitude larger than those of ferrofluids, which causes a magnetorheological fluid to solidify when a magnetic field is applied.

[0050] According to another aspect, the sensors are inertial measuring units that record accelerations or rotation rates as movement parameters of the body.

[0051] For example, these could be sensors for measuring linear acceleration, the change in a rotation rate, or the rotation rate itself. By integrating the measured values ​​once or multiple times in the time dimension, positions or angles can be determined.

[0052] The moving body can be a person or a robot with human form.

[0053] According to a specific embodiment, the plurality of sensors are designed to be mounted at least on hips, shoulders, hands and / or head of the person or the human-shaped robot.

[0054] This means that by evaluating the sensor data, the positions of the hips, shoulders, arms, hands and / or head can be determined.

[0055] According to a further aspect, the plurality of actuators are designed to be mounted in the area of ​​joints and / or the torso of the person or the robot human form in order to restrict the freedom of movement of the joints and / or the torso by stiffening when controlled by the control unit.

[0056] According to another specific embodiment, the movement-dependent stabilization support system further comprises a plurality of second actuators configured to perform an active movement when controlled by the control unit. The control unit is further configured to control the second actuators according to the selected stabilization strategy.

[0057] This means that in addition to the actuators that stiffen when controlled by the control unit, the system can include further second actuators that perform an active movement when controlled by the control unit.

[0058] In addition to restricting the body's freedom of movement, it is also possible to actively intervene in the movement, so that if a fall is imminent and cannot be prevented by stiffening the actuators alone, a movement of the body towards a stable state can be forced by the second actuators.

[0059] According to a further aspect, the movement-dependent stabilization support system may comprise a storage unit that continuously stores detected movement parameters as well as selected and implemented stabilization strategies.

[0060] In addition, the system may include an application programming interface (API) through which the stored contents of the storage unit can be made available to an external device.

[0061] Based on the provided parameters and the selected / implemented stabilization strategies, an analysis of the effects of the stabilization strategies can be performed in order to adapt the parameters of the biomechanical movement model as well as the stabilization strategies, thereby optimizing the stabilization support.

[0062] In this way, as well as through an initialization process, the system and the model used can be adapted to the individual characteristics of the wearer.

[0063] The present invention further relates to a motion-dependent stabilization support method for maintaining the stability of a moving body. The motion-dependent stabilization support method comprises detecting movement parameters of the body and detecting whether instability of the body is imminent based on the movement parameters and a biomechanical movement model. Furthermore, the method comprises selecting a stabilization strategy from a plurality of predefined stabilization strategies if it has been detected that instability of the body is imminent, and stiffening flexibly deformable actuators according to the selected stabilization strategy.

[0064] With the system of the present invention, a future unstable state of the system's wearer, i.e., the moving body, can be reliably predicted, and appropriate countermeasures can be taken. In particular, the body's freedom of movement can be restricted to such an extent that a movement that would lead to an unstable state is made more difficult. This prevents the impending fall from occurring.

[0065] Additional advantages and benefits of the present invention will become apparent from the detailed description of a preferred embodiment and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Fig. 1 shows a schematic block diagram of the components of the motion-dependent stabilization support system. Fig. 2shows the position of the actuators in one embodiment of the motion-dependent stabilization support system on a human wearer. Fig. 3 shows the location of the sensors and the control unit in one embodiment of the motion-dependent stabilization support system on a human wearer. Fig. 4A to 4D show exemplary biomechanical movement models that can be used to determine the future stability of a wearer of the stabilization support system. Fig. 5A to 5C show, by way of example, the position of the center of gravity of a wearer of the stabilization support system and its vertical position on the standing plane of the body. Fig. 6A shows, by way of example, the position of the vertical projection of the center of gravity onto the standing plane of the body and its relative position to the support base in the case of a stable position of the body. Fig. 6Bshows, by way of example, the position of the vertical projection of the center of gravity onto the standing plane of the body and its relative position to the support base in the case of an unstable position of the body. Fig. 7A to 7E shows an example of the position of the support base for different positions of the feet of a human wearer of the system when standing and moving. Fig. 8 shows an example of a formalization of a movement as a trajectory of a doubly inverted pendulum on a spring. Fig. 9 shows a flowchart of a method for supporting the stabilization of a moving body. Fig. 10 shows a schematic block diagram of a sensor (MEM-SSC) that forwards pre-processed sensor data as motion parameters to the control unit. Fig. 11 shows an example embodiment of the stabilization support system, which additionally comprises second actuators that perform an active movement. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

[0067] In the following, a preferred embodiment of the present invention will be described in detail with reference to the drawings.

[0068] Fig. 1 shows a block diagram of the motion-dependent stabilization system 100 according to a preferred embodiment.

[0069] The motion-dependent stabilization system 100 (hereinafter also referred to as stabilization system 100 or system 100) comprises a plurality of sensors 110a-110c that detect movement parameters of the body 200. Furthermore, the system comprises a plurality of actuators 120a-120c and a control unit 130. In addition, the system includes a power supply, such as a battery, an accumulator, a wireless power supply system, or another power source, for supplying power to the individual components, as well as a storage unit, such as a RAM, a ROM, or a hard disk drive, which the control unit 130 can access.

[0070] Figures 2 and 3show the position of the sensors 110 and actuators 120 of the stabilization system 100 on a human wearer (a person) as a movable body 200. The actuators 120 are mounted in the areas of the joints of the person 200, as well as in the torso area on the front, on the back (the back), and laterally. Furthermore, an actuator 120 is attached in the area of ​​the person's neck.

[0071] The sensors 110 are located on the top of the head, in the neck area, and near the middle of the body and the joints in the shoulders, elbows, wrists, hips, knees, and ankles.

[0072] The present invention is not limited to the described location of the actuators 120. For example, actuators 120 can be mounted only in the leg and hip areas. Furthermore, a plurality of actuators 120 can be located in the back area, particularly in the spine area.

[0073] Furthermore, the present invention is not limited to the described location of the sensors 110. For example, they can be mounted in the middle of the extremities instead of in the area of ​​the joints of the person 200. Thus, one sensor each could be mounted in the area of ​​the palm, in the area of ​​the forearms and upper arms, and in the area of ​​the lower legs and thighs.

[0074] Furthermore, the stabilization system 100 comprises the control unit 130, which, as can be seen from Fig. 3 As can be seen, it is mounted in the chest area of ​​the person 200. However, the present invention is not limited to this location of the control unit. Rather, it can be mounted anywhere on the body 200. Alternatively, it can not be attached directly to the person, but rather, for example, be carried in a backpack or injected onto an integrated circuit (chip).

[0075] The stabilization system further comprises a power supply or energy supply, such as a battery together with lines for the voltage supply, as well as communication lines for signal transmission between the individual components of the system 100.

[0076] The present invention is not limited to a central power supply system. Rather, each individual component can contain a corresponding power supply.

[0077] This can be implemented, for example, as a shared transmission line between the individual components of the stabilization system 100 in the form of a bus line. However, the present invention is not limited to data transmission within a bus system; rather, data transmission between the individual components can occur in any desired manner. Wireless data transmission between the components, for example, via a local wireless network (WLAN) or via Bluetooth® connections, is also possible.

[0078] The system 100 can be embedded in a support structure that can be attached to the person 200. Alternatively, the components can be integrated into textiles worn by the person 200. The present invention is not limited to a specific support system or method of attaching the individual components, provided that the sensors can detect required movement parameters and the actuators, when stiffened, restrict the movement of the person 200.

[0079] Sensors 110 detect movement parameters of body 200 and transmit them to control unit 130. The movement parameters can be, for example, acceleration values, speed values, or rotation rates, depending on the characteristics of the individual sensors 110a-110c. The movement parameters are transmitted at a predetermined frequency, for example, every 0.1, 0.2, 0.5, or 1 second.

[0080] However, the present invention is not limited to a specific transmission / detection cycle. Rather, the motion parameters can be transmitted to the control unit 130 at any regular or irregular times.

[0081] The control unit further comprises a storage unit that stores the received movement parameters.

[0082] Based on the received movement parameters or changes in the movement data, the control unit 130 determines positions of reference points of a biomechanical movement model.

[0083] Figures 4A to 4B show four biomechanical movement models of varying complexity as examples.

[0084] In Fig. 4AAn example of a biomechanical motion model based on a simple inverted pendulum is shown. The position of the biomechanical motion model is uniquely described by the angular deflection θ from the equilibrium position. The parameters l 1 and m 1 , which denote the length of the pendulum and the mass, are predefined and can be configured, for example, during initialization of system 100.

[0085] In Fig. 4Bis an example of a biomechanical motion model based on double inverted pendulums. The position of this biomechanical motion model is described by the angular deflection θ of the first inverted pendulum and the angular deflection φ of the second inverted pendulum. The parameters l 1 , m 1 , l 2 , and m 2 , which denote the length of the first pendulum, the first mass, the length of the second pendulum, and the second mass, are predetermined and can be configured, as for the simple inverted pendulum, during initialization of the system 100.

[0086] The Figures 4C and 4D The exemplary biomechanical movement models shown correspond to those in the Figures 4A and 4B The models shown also contain a spring on which the pendulums are mounted. Further parameters for the position of the motion models are the spring deflection ys and the spring stiffness k.

[0087] As already described, the parameters of the biomechanical movement model, which describe the properties of the model, can be configured during initialization of the system 100. The properties of the body 200, which is to be stabilized by the system 100, can be taken into account so that the model can optimally represent the movement of the person (the body) 200.

[0088] For example, the characteristics of the person 200 on the basis of which the model parameters are initialized may include height, limb length, age, and weight. However, the present invention is not limited to these characteristics. In particular, a standard configuration may be specified that does not take the individual geometric properties of the body into account. On the other hand, a detailed weight distribution and / or geometry of the person 200 may serve as the basis for initializing the model parameters.

[0089] The Figures 4A to 4DThe biomechanical movement models shown are limited to two dimensions (x, y), where y denotes a forward direction of the body 200 and y denotes a vertical axis of the body 200. However, the present invention is not limited to a model in two dimensions and an extension of the biomechanical movement models to three dimensions, which additionally takes into account a deflection perpendicular to the directions shown, i.e., into or out of the plane of the drawing, is possible. To describe the position of the movement models, additional angular deflection coordinates are then required which map the deflection of the individual pendulums into the plane of the drawing. Since an extension to three dimensions does not change the basic principle of the present invention, but rather enables a more precise / extended description of the position of the body 200 due to the higher degree of complexity, pictorial representation has been omitted at this point.

[0090] Furthermore, the present invention is not limited to the Figures 4A to 4D The motion models shown are not limited to the ones shown. Rather, by adding additional pendulums, the position of the arms, both legs, and / or the head can be taken into account. Furthermore, the biomechanical motion model can include another inverted double pendulum, which is coupled to the model shown via another spring with an assigned spring rate.

[0091] Based on the movement parameters detected by sensors 110 and forwarded to control unit 130, control unit 130 first determines the coordinates for describing the position of the biomechanical movement model. Furthermore, based on the movement parameters and the position of the biomechanical movement model, the control unit determines the position of reference points, in particular the position of the head, hands, center of gravity, and / or feet of person 200. Furthermore, based on the movement parameters and the position of the biomechanical movement model, the control unit determines the position of reference points, in particular the position of the head, hands, center of gravity, and / or feet of person 200. Furthermore, control unit 120 determines the position of the vertical projections of the reference points onto the body's standing plane.

[0092] The Figures 5A to 5Cshow, as an example, the vertical projection of the body's center of gravity CM onto the standing plane of person 200. Figures 5A and 5B show the person 200 standing in different positions of the body and the corresponding vertical projection directions of the body center of gravity CM. Fig. 5C shows the position of the body's center of gravity CM of a person 200 in motion compared to standing. The direction of movement is indicated as a horizontal arrow.

[0093] The Figures 6A and 6B show schematic layers of biomechanical movement models, each depicting the two legs (a, b) and the upper body (c) of a person 200. The vertical projection of the body's center of gravity CM onto the standing plane is indicated by an arrow. The positions of the feet define the support base, which is described by an area between the contact points of the feet with the standing plane of the body 200.

[0094] In Fig. 6Athe projection of the body's center of gravity CM is within the support base. Such a position of the movement model in Fig. 6A can be considered "stable". In contrast, the projection of the body's center of gravity of the movement model is in Fig. 6B outside the support base, so that the position of the movement model can be considered "unstable".

[0095] To clarify the definition of the support base, the Figures 7A to 7C the contact surfaces of the feet of a person 200 with the standing surface and the support base defined thereby as the area between and including the contact surfaces of the feet for a person 200 in a standing position. The support base is marked by a dashed line. The Figures 7A and 7B show a two-legged stance, whereas Fig. 7C represents a one-legged stance.

[0096] The Figures 7D and 7EEach shows a support base for a person 200 in motion. Due to the movement of person 200, the support base is extended forward compared to the standing position.

[0097] Based on the movement parameters, the control unit 130 determines the positions of reference points of the person 200 at specific times, as well as the corresponding posture, using the biomechanical movement model. The times can be defined, for example, by a temporally equidistant grid. This means that the positions of the reference points and the posture of the movement model are determined in specific time steps. Based on the previous movement parameters, reference positions, and the posture of the movement model, for example, at a time t i-1 and at the current time t i, the posture of the movement model at a future time t i+1 is determined using the movement model.

[0098] This is done on the basis of a formalization of the movement of the movement model, as exemplified in Fig. 8 shown. Fig. 8 shows the formalization of a motion model of a double inverted pendulum on a spring, as in Fig. 4D Using the mathematical model, the future position is calculated by calculating the positions of the COM of the body or reference points of the body parts, the angles to the plumb line and projection onto the support base, as well as the support base itself by corresponding reference positions of the person 200.

[0099] After calculating the future position of the motion model, the control unit 130 determines whether the future position satisfies a predefined condition. The predefined conditions can be stored, for example, in the form of a database on the storage unit, which the control unit 130 accesses. The predefined conditions define positions of the motion model or positions of the body's reference points that are associated with instability of the person 200 and require intervention by the system 100 to prevent an impending fall.

[0100] For this purpose, each specified condition is linked to a stabilization strategy. A stabilization strategy represents a rule for controlling the actuators 120 to prevent the person 200 from entering an impending unstable position. This means that, based on the determined future position of the motion model and the corresponding reference positions of the person 200, an appropriate stabilization strategy is selected if it has been estimated that the person 200 (the body) will enter an unstable position.

[0101] The stabilization strategies define the actuators to be controlled and the time of their activation. For example, priority control can be defined. This means that a specific actuator 120 or a specific group of actuators is activated first, and only if it is estimated in a subsequent time step that the activation of actuators 120 could not prevent the future unstable position of person 200, a second actuator or a second actuator group is activated.

[0102] The control unit 130 controls the actuators 120 according to the selected stabilization strategy. During the control of the actuators 120, i.e., during the implementation of the stabilization strategy according to the selected stabilization strategy, the current and future position of the person 200 continues to be continuously determined, and if the impending instability has been prevented, the control of the actuators 120 is terminated. A control process for terminating the control of the actuators is performed by the control unit 130.

[0103] For stability analysis, the following geometric data can be used, for example: height, weight of the person (200), length of the legs and arms, height of the body center above the ground and its respective position projected as a perpendicular onto the standing surface, the support base, the head center position, and / or the positions of joints such as ankles, knees, hips, shoulders, elbows, or wrists. Reference points are the points on the body that, when projected onto the ground plane, determine the area within which the center of gravity of a body must be located in order to remain stable (see also Fig. 6 A-6 B , and Figs 7A - 7E ) or points that may only change within a certain range (see Table 1) to keep the body stable. They are therefore stability-determining

[0104] The following Table 1 shows some examples of predefined conditions for determining impending instability of person 200. Table 1: Example predefined conditions for determining impending instability of person 200. position Area / cm Change / cm Body center 10-40 5-15 right hip 10-15 5-10 shoulder right 10-60 5-20 left shoulder 10-60 5-20 Distance body center-support base 5-35 5-20 ... ... ...

[0105] In Table 1, the person's reference points are listed under the column name "Position." The range specifies the permissible range of the reference point relative to the corresponding resting position. Table 1 provides a range of values ​​for each range (e.g., 10–40 cm for the body center). This reflects that the permissible range can be individually set for each wearer within the specified range, depending, for example, on the person's height, weight, age, or other characteristics.

[0106] If the control unit 130 determines that a future position of a reference point, for example the body center, lies outside the specified range, a corresponding stabilization strategy is executed.

[0107] The expected change in Table 1 indicates a permissible change in the position of the reference point within the permissible range. Similar to the permissible range, a range of values ​​is also specified here, within which the permissible change can be individually adjusted for the wearer of system 100. If the estimated change in the position of a reference point exceeds the expected (permissible) change, an appropriate stabilization strategy is selected and implemented.

[0108] This means that not only is the future position monitored to determine whether it is within the permissible range, but also whether the expected change in position exceeds the permissible change. In both cases, a stabilization strategy is selected and the actuators 120 are controlled accordingly.

[0109] Alternatively, or in addition to monitoring the positions of the reference points, the speed, acceleration, angle, or rotation rate of the reference points can also be monitored. If these parameters exceed a predetermined threshold, a stabilization strategy is selected and executed. For example, future instability can be detected if the acceleration measured on the back of the person 200 exceeds a value of 2 cm / s.

[0110] Furthermore, instead of or in addition to the positions of the reference points, rotation rates or angles can be monitored and linked to corresponding stabilization strategies.

[0111] The present invention is not limited to the predetermined conditions described above. Rather, further conditions may be defined that define a permissible range or a permissible change in a position, velocity, or acceleration of a reference point of the body 200.

[0112] If the control unit 130 determines that instability of the body is imminent, using the predetermined conditions, a corresponding stabilization strategy is selected and the actuators 120 are activated accordingly.

[0113] Possible stabilization strategies linked to the definitions of impending instability may include: bracing the back and neck, stiffening the arms to reduce uncontrolled movements, or stiffening the hips, knees, and ankles for stabilization.

[0114] For example, if a person 200 falls forward (head and hands outside the permissible ranges), a stabilization strategy is selected in which the arms and wrists are stiffened by controlling appropriate actuators to prevent the arms or hands from rowing or rotating. Furthermore, the back is stiffened.

[0115] As a further example, if a person 200 sitting down moves too quickly (detected, for example, by a hip speed and angular velocity of the knee joints outside the permissible range), the movement is slowed down by activating the actuators 120 attached to the knee joints.

[0116] However, the present invention is not limited to the described stabilization strategies. Rather, a stabilization strategy linked to a predetermined condition represents a control rule for controlling the actuators 120. This rule specifies which actuators are controlled at what time if the corresponding condition is met.

[0117] Fig. 9 schematically shows the steps of a motion-dependent stabilization assistance method for maintaining the stability of a moving body 200 according to one embodiment.

[0118] After startup, system 100 is initialized in step S110. Initialization includes, for example, defining parameters of the motion model, such as pendulum lengths, masses, and spring stiffness. Furthermore, initialization may include defining sensor positions on body 200. The parameters may also be predetermined and stored on a memory unit.

[0119] In step S120, the movement parameters are recorded by the sensors 110 and transmitted to the control unit 130. In step S130, the control unit 130 uses the movement parameters to determine positions of the biomechanical movement model and, in step S140, extrapolates them over time in order to estimate impending instability of the body.

[0120] For this purpose, in step S150, it is checked whether the future positions satisfy predetermined conditions, as defined, for example, in Table 1. If one or more conditions are met (yes in step S150), a corresponding stabilization strategy is selected in step S160 and implemented in step S170 by controlling corresponding actuators 120.

[0121] The recording of movement parameters and the detection of impending instability is carried out continuously, so that movement parameters continue to be recorded and evaluated after / during the control of the actuators.

[0122] If the temporally extrapolated positions do not satisfy any of the predetermined conditions (no in step S150), the control of the actuators is terminated in step S180. Termination of the control is only performed if actuators 120 are being controlled at the time of estimation of the impending instability in step S150.

[0123] In step S190, a check is carried out to determine whether stabilization support should be terminated. This can be done, for example, by an input from the wearer of system 100. If stabilization support should not be terminated (no in step S190), further recording and evaluation of movement parameters takes place. If stabilization should be terminated (yes in S190), the stabilization support method is terminated accordingly.

[0124] In a first modification of the above-described embodiment, at least one of the sensors 110 includes a detection unit 111, a storage unit 112 and a calculation unit 113, as shown in Fig. 10 shown.

[0125] The acquisition unit 111 is designed to acquire sensor data, which is subsequently stored by the storage unit 112. The computing unit 113 processes previous and current sensor data and forwards the result of the processing as a movement parameter of the body to the control unit 130.

[0126] As a result, part of the data processing is performed by the sensors 120 themselves, rather than by the control unit 130. For example, instead of sensor data such as acceleration or yaw rate, the change in acceleration or yaw rate can be recorded as a motion parameter and transmitted to the control unit 130.

[0127] Furthermore, the memory unit 112 can also contain one or more predetermined conditions, which the computing unit 113 accesses to determine whether a motion parameter satisfies one of the conditions, so that the control unit 130 must control corresponding actuators 120 to prevent an impending instability. For this reason, such sensors are also referred to as MEM-SSC (memory stability control and monitoring).

[0128] According to a second modification of the described embodiment, the system 100 comprises, in addition to the plurality of sensors 110, the plurality of actuators 120 and the control unit 130, a plurality of second actuators 140, which are also referred to as active actuators 140.

[0129] Fig. 11 shows an example of such a modified embodiment of the stabilization support system 100, which additionally comprises second actuators 140 that perform an active movement.

[0130] The active actuators 140 are mounted here in the area of ​​the neck, back, hips, knees, shoulders as well as the elbows and ankles and wrists of the person 200.

[0131] In the second modification of the stabilization system 100, the stabilization strategies further include control instructions for controlling the second actuators 140, in addition to controlling the stiffenable actuators 120. This makes it possible not only to restrict the freedom of movement of the person 200, but also to actively influence the movement of the person 200, and thus to restabilize a body that is already in the process of falling.

[0132] The second actuators can be implemented, for example, as hydraulic or pneumatic cylinders, piezoelectric drives or classic electromagnetic drives.

[0133] According to a further modification, not only movement parameters recorded by corresponding sensors are used to estimate the future stability of the body, but also other parameters and / or measured values. The entire set of parameters used to estimate the future instability of the body 200 can be referred to as influencing parameters or environmental parameters that influence a movement.

[0134] Environmental parameters that influence movement include the surface condition, such as its slip resistance, for example, on icy or slippery surfaces. Furthermore, the surface condition can be taken into account. For example, a distinction can be made between flat and uneven, hard, rocky, or soft.

[0135] The aforementioned ground conditions can be defined as an additional parameter in the specified conditions. For example, the permissible ranges, speeds, or accelerations can be reduced on slippery ground. Furthermore, a ground slope can be taken into account, so that, for example, the permissible angles of the motion model to the vertical are reduced or increased depending on the ground slope.

[0136] Additionally, the system can take noise into account, both when selecting the stabilization strategy and in its implementation. For this purpose, the system 100 can additionally be equipped with a microphone that detects noise and transmits it to the control unit 130. The control unit processes the detected noise signal and selects an appropriate stabilization strategy. For example, the cracking of joints or the intensity of a breathing noise from the wearer of the system 100 can indicate their current physical performance, which is taken into account in the selection of the stabilization strategy.

[0137] In addition, the system can be equipped with additional sensors whose measured values ​​can be used to infer the wearer's emotion. For example, sensors for measuring skin resistance, pulse, blood pressure, and / or noise are suitable for this purpose. The control unit 130 can determine the wearer's emotion based on the recorded measured values ​​and estimate the future stability situation taking the determined emotion into account. For example, the predetermined conditions can include the determined emotion as an additional parameter, so that, for example, in the event of excitement, the wearer is granted increased freedom of movement, which would lead to an estimation of instability in the event of a calm emotion.

[0138] In particular, the predetermined conditions for defining an impending unstable body situation, the biomechanical movement model, and the stabilization strategies can be defined / initialized taking individual parameters into account. This can include, for example, gender, physical condition, age, known physical movement limitations (e.g., due to pain), or existing medication.

[0139] During stabilization, the body is therefore subject to the evaluation of two types of influencing parameters. First, the evaluation is based on real-time data from various sensors and other signaling devices, and second, the evaluation is based on existing profile data.

[0140] All influencing parameters can play a different role individually, in groups or in total in the predetermined conditions as well as in the corresponding stabilization strategies.

[0141] The overall concept of the present invention can thus be described as an adaptive safety cage in which an impending fall of the movable body is prevented by targeted interventions by controlling the actuators 120 by restricting the freedom of movement of the body in such a way that further movement in the direction of the impending unstable state is prevented or inhibited.

[0142] The actuators can be designed in two stages. Joints and the back area can be equipped with overlapping structures with separately actuated chambers of magnetofluidic stabilizers to provide situation-dependent passive stabilization through precise, situation-dependent stiffening. A second stage enables the counteraction of a fall and the uprighting of the body when stabilization through stiffening is insufficient, for example, using hydraulic or pneumatic cylinders, piezoelectric actuators, or conventional electromagnetic actuators.

[0143] For example, a distributed power supply system, such as a battery system, can be used to supply energy to system 100. Distributing the energy storage increases comfort and improves passive stability compared to a centralized power supply.

[0144] The system 100 can further comprise a programming interface (API) through which current data describing the impending instability can be transmitted, allowing it to be used for later optimization of the personalized parameters. In particular, the effect of a performed stabilization can be determined and stored, and then transmitted via the API to an external device that optimizes the predetermined conditions and the corresponding stabilization strategies. The movement-dependent stabilization support system 100 can be embedded in a smart textile.

[0145] In summary, the present invention relates to a movement-dependent stabilization support system for stabilizing a moving body, comprising a plurality of sensors and actuators, as well as a control unit. The plurality of sensors continuously detect movement parameters of the body, based on which the control unit determines whether instability of the body is imminent. If it is determined that instability is imminent, the control unit selects a stabilization strategy according to which the actuators are controlled. When controlled, the actuators attached to the body stiffen and restrict the body's freedom of movement, so that movement toward the impending unstable state is prevented or suppressed. This supports the body in its stabilization and prevents an impending fall.

Claims

1. Motion-dependent stabilization support system (100) for maintaining the stability of a moving body (200), comprising: a plurality of sensors (110) designed to detect motion parameters of the body (200); a plurality of actuators (120); and a control unit (130) that is designed to detect whether instability of the body (200) is imminent based on the motion parameters and a mathematical motion model, to select a stabilization strategy from a plurality of predefined stabilization strategies when it is detected that instability of the body (200) is imminent and to control the actuators (120) according to the selected stabilization strategy, wherein the actuators (120) are flexibly deformable and stiffen when actuated by the control unit (130) wherein the control unit (130) is designed in such a manner that it also defines a support base using contact points of the feet of the body (200) and a respective stance plane of the body (200); the mathematical motion model comprises a position of a centre of mass (CM) of the body (200) relative to the support base; the control unit (130) is designed to determine positions of predetermined reference points of the mathematical motion model based on the motion parameters of the body received and to detect the impending instability of the body based on trajectories of the reference points of the mathematical motion model.

2. Motion-dependent stabilization support system according to Claim 1, wherein the control unit is further designed to execute a control process for terminating the actuation of the actuators for stabilization based on the motion parameters.

3. Motion-dependent stabilization support system according to Claim 1 or 2, wherein the mathematical motion model is based on a formalization of the movement of a simple inverted pendulum or double inverted pendulums.

4. Motion-dependent stabilization support system according to Claim 1 or 2, wherein the mathematical motion model is based on a formalization of the movement of a simple inverted pendulum on a spring or double inverted pendulums on a spring.

5. Motion-dependent stabilization support system according to any one of Claims 1 to 4, wherein the mathematical motion model is an extended mathematical motion model of the body that models a human body muscle system for people of different ages using a system of inverted pendulums connected to elastic springs.

6. Motion-dependent stabilization support system according to Claim 1, wherein the control unit detects the impending instability of the body by calculating future positions based on changes between previous and current positions of the reference points in the mathematical motion model and recognizes that instability of the body is imminent when the future positions meet at least one condition from a plurality of predefined conditions.

7. Motion-dependent stabilization support system according to any one of Claims 1 to 6, wherein the sensors each comprise a detection unit (111), a storage unit (112) and a computing unit (113), wherein the detection unit (111) is designed to capture sensor data, the storage unit (112) is designed to store the sensor data and the computing unit (113) is designed to process previous and current sensor data and capture the result of the processing as motion parameters of the body.

8. Motion-dependent stabilization support system according to any one of Claims 1 to 7, wherein the control unit, after detecting the impending instability of the body based on motion parameters of the body, determines whether the instability of the body persists or not and controls the actuators accordingly.

9. Motion-dependent stabilization support system according to any one of Claims 1 to 8, wherein the actuators have a tube-like shape and are filled with a magnetically-sensitive or electrically-sensitive medium that stiffens when actuated by the control unit.

10. Motion-dependent stabilization support system according to any one of Claims 1 to 9, wherein the actuators contain a magnetorheological fluid that stiffens when a magnetic field is applied and the actuators each comprise a magnetic field generator which, when actuated by the control unit, generates a magnetic field to stiffen the magnetorheological fluid.

11. Motion-dependent stabilization support system according to any one of Claims 1 to 10, wherein the sensors are inertial measurement units that detect accelerations or rotational rates as motion parameters of the body.

12. Motion-dependent stabilization support system according to any one of Claims 1 to 11 wherein the moving body is a person or a humanoid robot.

13. Motion-dependent stabilization support system according to Claim 12, wherein the plurality of sensors are designed to be attached at least to the hips, shoulders, hands and head of the person or humanoid robot.

14. Motion-dependent stabilization support system according to Claim 12 or 13, wherein the plurality of actuators are designed to be attached in the region of the joints and / or torso of the person or humanoid robot, in order to restrict the range of motion of the joints and / or torso by stiffening when actuated by the control unit.

15. Motion-dependent stabilization support system according to any one of Claims 1 to 14, further comprising a plurality of second actuators which are designed to perform an active movement when actuated by the control unit, wherein the control unit is further designed to actuate the second actuators according to the selected stabilization strategy.

16. Motion-dependent stabilization support method for maintaining the stability of a moving body, comprising: detecting motion parameters of the body (200); using a plurality of sensors (110); defining a support base through a control unit (130); detecting whether instability of the body (200) is imminent based on the motion parameters and a mathematical motion model; selecting a stabilization strategy from a plurality of predefined stabilization strategies when it is detected that instability of the body (200) is imminent; and stiffening flexibly deformable actuators (120) according to the selected stabilization strategy, characterized in that the support base is defined using the contact points of the feet of the body (200) and the respective stance plane of the body (200); the mathematical motion model includes the position of the centre of mass (CM) of the body (200) relative to the support base; positions of predetermined reference points in the mathematical motion model are determined based on the motion parameters of the body (200) detected by the sensors and the impending instability of the body is modelled in real-time based on trajectories of the reference points of the mathematical motion model and this predicted instability is prevented by selecting an appropriate stabilization strategy.