Method for generating and / or processing movement data, method for recording and / or analyzing movement sequences, device for carrying out methods of this kind

Abstract

The invention relates to a method for generating and / or processing movement data of a freely movable body (130), in which at least two sensor units (104, 106, 108, 110) which each have an angular velocity sensor and an acceleration sensor are arranged on the body (130) so as to be fixedly mutually spaced, and, on the basis of measurement signals from the at least two sensor units (104, 106, 108, 110) and with application of the laws of general movement of rigid bodies, an angular velocity vector is directly determined. The invention also relates to a method for recording and / or analyzing movement sequences of a freely movable body (130), in which movement data of the body (130) that have been generated and / or processed according to a method of the kind mentioned above are used. The invention also relates to a method for identifying and / or analyzing dynamic instabilities of a freely movable body (130), in which movement data of the body (130) that have been generated and / or processed according to a method of the kind mentioned above are used. The invention also relates to a method for generating and / or optimizing algorithms and / or models for calculating the dynamics of freely movable bodies (130), in which movement data of the body (130) that have been generated and / or processed according to a method of the kind mentioned above are used. The invention also relates to a device (100) for carrying out a method of this kind, comprising at least two sensor units (104, 106, 108, 110) which each have an angular velocity sensor and an acceleration sensor and can be arranged on a freely movable body (130) so as to be fixedly mutually spaced.

Description

METHOD FOR GENERATING AND / OR PROCESSING MOTION DATA, METHOD FOR RECORDING AND / OR EVALUATING MOTION PROCESSES, DEVICE FOR EXECUTING SUCH METHOD Description

[0001] The invention relates to a method for generating and / or processing motion data of a freely moving body. It further relates to a method for capturing and / or evaluating the motion sequences of a freely moving body. The invention also relates to a method for detecting and / or evaluating dynamic instabilities of a freely moving body. Furthermore, the invention relates to a method for generating and / or optimizing algorithms and / or models for calculating the dynamics of freely moving bodies. The invention further relates to a device for carrying out such methods. Finally, the invention relates to a computer program.

[0002] The publication “King, AI (2018). Measurement of Angular Acceleration. In AI King, The Biomechanics of Impact Injury (pp. 153-178). Springer International Publishing.” deals with the measurement of angular acceleration, first describing the traditional method and showing that it is numerically unstable. Then, an alternative method is presented that, while numerically stable, requires more sensors.

[0003] The publication "Martin, PG, Hall, GW, Crandall, JR, & Pilkey, WD (1998). Measuring the Acceleration of a Rigid Body. Shock and Vibration, 5(4), 211-224." deals with the measurement of the acceleration of a rigid body and presents two methods for measuring the acceleration of a point on a rigid body with six degrees of freedom. The first method, the so-called peripheral system, It uses three groups of accelerometers that are mounted orthogonally to each other and aligned with the axes of the point. One of the groups consists of the three accelerometers mounted on a cube-shaped triaxial angular rate sensor (ARS). The second method, called the compact cube scheme, uses a single 3-accelerometer / ARS cluster that can be mounted at any point on the rigid body.

[0004] The publication "Ovaska, SJ, & Valiviita, S. (1998). Angular acceleration measurement: A review. IMTC / 98 Conference Proceedings. IEEE Instrumentation and Measurement Technology Conference. Where Instrumentation is Going (Cat. No. 98CH36222), 2, 875-880." provides an overview of sensors, methods, and algorithms available for measuring angular acceleration. The focus is on delay-sensitive, real-time applications.

[0005] Document WO 2021 / 240567 A1 concerns a method for assessing accelerations or velocities acting on a user's head, comprising the following steps: providing a protective device suitable for being worn on the user's head, comprising one or more sensors installed on the protective device in such a position that they are not in direct contact with the head; capturing a multitude of signals by means of the one or more sensors, each containing data relating to acceleration and / or velocities; analyzing and processing the signals to determine the temporal evolution of the acceleration and / or velocity experienced by the head.In order to enable an evaluation of the entire temporal course of both the linear and rotational accelerations experienced by the head when calculating the linear and rotational accelerations acting on the head in the event of an impact, document WO 2021 / 240567 A1 proposes to carry out the analysis and data processing step with an analysis device that includes at least one artificial intelligence module, consisting of at least one machine learning module, and is configured to perform an initial training step in which it is provided that the at least one machine learning module is used. artificial intelligence inputs data and corresponding outputs data, the data relating to the acceleration experienced by the protective device during an impact, collision or accident.

[0006] Document WO 201 7 / 1 18610 A1 concerns a procedure for detecting a rollover or rollover hazard, comprising the following steps: determining the position of a person's center of gravity, representing an actual center of mass or an approximation thereof; determining the position of a person's base of support or an approximation thereof; and determining connection information regarding a spatial connection between the center of gravity and the base of support. To detect a rollover hazard or a rollover and trigger the opening of an impact protection bag, the following steps are proposed in document WO 201 7 / 1 18610 A1: recording the angular position of at least one lower leg relative to the corresponding thigh and the angular position of that thigh relative to the torso. Calculating a relative position of an ankle joint or at least part of a foot or footwear of the leg with respect to the center of gravity as connecting information, using angular positions between the lower leg and thigh as well as between the thigh and torso, as well as lengths of the lower leg and thigh, and a relative position between the hip joint of the leg and the center of gravity; deriving a rollover or rollover hazard from the extent to which it is true that the center of gravity and the base of support are located in the direction of the center of gravity acceleration relative to each other.

[0007] The invention is based on the objective of structurally and / or functionally improving the aforementioned methods. Furthermore, the invention is based on the objective of providing and / or structurally and / or functionally improving a aforementioned device. Additionally, the invention is based on the objective of providing and / or structurally and / or functionally improving a aforementioned computer program.

[0008] The problem is solved by a method having the features of claim 1. Furthermore, the problem is solved by a method having the features of claim 1. Furthermore, the problem is solved by a method having the features of claim 12. Furthermore, the problem is solved by a method having the features of claim 13. Furthermore, the problem is solved by a device having the features of claim 14. Furthermore, the problem is solved by a computer program having the features of claim 18. Advantageous embodiments and / or further developments are the subject of the dependent claims.

[0009] The method according to the invention is designed for generating and / or processing motion data of a freely moving body. The method can be implemented in a computer program. Motion data can be data representing physical quantities of kinematics, in particular position, velocity, and / or acceleration. The kinematic quantities can be described by magnitude, direction, and orientation. The kinematic quantities can be described vectorially. The body can be an object distinguishable from its environment, possessing mass and volume. The body can be a physical body. The body can be a human body. The body can be a machine, in particular a mobile machine. The body can be a robot, in particular a humanoid robot.The body can be displaced in three independent directions and rotated about three independent axes. The body can have six degrees of freedom.

[0010] At least two sensor units are arranged at a fixed distance from each other on the body. These at least two sensor units can also be referred to as the first sensor unit and at least one further sensor unit. In particular, four sensor units can be arranged on the body. The four sensor units can be referred to as the first sensor unit, second sensor unit, third sensor unit, and fourth sensor unit. The first sensor unit can be arranged at a first location. The second sensor unit can be arranged at a second location. The third sensor unit can be arranged at a third location. The sensor units can be arranged in such a way that different and independent configurations for evaluating the angular acceleration vector are possible. The fourth sensor unit can be arranged at a fourth location. At least one further sensor unit can be arranged at at least one further location.

[0011] The at least two sensor units can be arranged directly on the body. Alternatively, the at least two sensor units can be arranged on the body using a sensor unit carrier. Each sensor unit comprises at least one angular velocity sensor and at least one acceleration sensor. The at least one angular velocity sensor can be designed for spatial measurement of angular velocities. The at least one acceleration sensor can be designed for spatial measurement of accelerations. Using the at least one angular velocity sensor, rotation can be quantitatively and spatially directed and oriented detected and output as a measurement signal. Using the at least one acceleration sensor, translation can be quantitatively and spatially directed and oriented detected and output as a measurement signal.Using the first sensor unit, a first rotation and a first translation can be detected at the first location and output as a measurement signal. Using the second sensor unit, a second rotation and a second translation can be detected at the second location and output as a measurement signal. Using the third sensor unit, a third rotation and a third translation can be detected at the third location and output as a measurement signal. Using the fourth sensor unit, a fourth rotation and a fourth translation can be detected at the fourth location and output as a measurement signal. Using at least one further sensor unit, at least one further rotation and at least one further translation can be detected at at least one further location and output as a measurement signal.

[0012] Based on measurement signals from at least two sensor units and applying the laws of general rigid body motion, an angular acceleration vector is directly determined. An angular velocity vector can also be determined based on a measurement signal from an angular velocity sensor. Based on a measurement signal from an angular velocity sensor of a sensor unit, an angular acceleration vector can be determined. Based on a measurement signal from an accelerometer of a sensor unit, a linear acceleration vector can be determined. The linear acceleration vector, the angular velocity vector, and the angular acceleration vector can be described in a Cartesian coordinate system. The linear acceleration vector, the angular velocity vector, and the angular acceleration vector can be described by coordinates. The linear acceleration vector, the angular velocity vector, and the angular acceleration vector can be described three-dimensionally.

[0013] Laws of general motion of rigid bodies, which are used to directly determine the angular acceleration vector, are the fundamental equations of translational and rotational dynamics in rigid body mechanics, in particular Newton's laws and Euler's equations, especially equations that combine translational and rotational dynamics of a rigid body, in particular Newton-Euler equations.

[0014] In this context, "direct" determination of the angular acceleration vector means, in particular, that the angular acceleration vector is not calculated "indirectly" by numerical differentiation of measurement signals. However, numerical differentiation of measurement signals can be performed additionally and taken into account when determining the angular acceleration vector.

[0015] A body can have at least one body part. A body can be a multi-body system and / or be representable as a multi-body system. A body can have a first body part and at least one further body part. A body part can also be called a body segment or segment. The body parts can be individual bodies and / or be representable as individual bodies. A body part can be an object that is distinguishable from its surroundings and possesses mass and volume. A body part can be a physical body. A body part can be a human body part, such as head, neck, torso, shoulder, arm, etc. A body part can be an upper arm, forearm, hand, finger, leg, thigh, lower leg, or foot. It can also be a machine part, such as a robot part. A robot part can be a robot base, a robot limb, and / or a robot effector. A body part can be movable in three independent directions and rotatable about three independent axes. A body part can have six degrees of freedom.

[0016] Two or more body parts can be coupled to each other. Two or more body parts can be coupled to each other by joints and / or force elements. A force element can include a spring and / or a damper. The at least one additional body part can be movably connected to the first body part. The at least two sensor units can be arranged on the first body part. At least one additional sensor unit can be arranged on the at least one additional body part. The at least one additional sensor unit can be a sensor unit corresponding to the at least two sensor units. The at least one additional sensor unit can include at least one angular velocity sensor and at least one acceleration sensor. The angular acceleration vector can be determined taking into account measurement signals from the at least one additional sensor unit.

[0017] The body and / or at least one part of the body can be moved by means of an actuator device. The actuator device can include at least one actuator. The at least one actuator can include a motor and / or a gearbox. The motor can be electric, hydraulic, or pneumatic. The at least one actuator can be controllable. In this context, "controllable" is to be understood in particular as control engineering and / or regulation engineering. The at least one actuator can be designed and / or arranged to apply an actuator force and / or an actuator torque. The actuator force, the actuator torque, and / or a quantity representing the actuator force and / or the actuator torque can be measured and / or determined. "Measuring" can be done in particular by measuring. "Determining" can be done in particular by calculation.

[0018] The sensor units can generate redundant measurement signals. A measurement signal is redundant if a corresponding signal for determining the angular acceleration vector already exists. Redundant measurement signals can be fused. This can be done by first determining the coordinates of the angular acceleration vector in several independent ways and then calculating the values ​​of these coordinates by averaging them. Separate angular velocity vectors and measured three-dimensional linear acceleration vectors at different locations, particularly at four different locations, can be used to determine the angular acceleration vector.

[0019] One of the at least two sensor units can be defined and / or used as a hierarchically superior sensor unit. The remaining sensor units can be defined and / or used as hierarchically subordinate sensor units. Connection vectors emanating from the hierarchically superior sensor unit to the hierarchically subordinate sensor units can be linearly independent. The definition and / or use of the sensor units can be changed. The definition and / or use of the sensor units can be changed regularly and / or continuously.

[0020] Motion data based on the measurement signals from the sensor units and / or the angular acceleration vector can be processed immediately. Motion data based on the measurement signals from the sensor units and / or the angular acceleration vector can be processed in real time. Motion data based on the measurement signals from the sensor units and / or the angular acceleration vector can be stored for separate processing. Motion data based on the measurement signals from the sensor units and / or the angular acceleration vector can be processed separately in terms of time and / or location.

[0021] Based on the measurement signals from the sensor units and / or the Angular acceleration vectors can / may provide a spatial orientation, a Angular velocity and / or linear acceleration of the body are determined A spatial orientation, angular velocity and / or linear acceleration of the body can be determined as a rigid body approximation.

[0022] When generating and / or processing motion data, at least one additional piece of motion-based information can be considered, in addition to the measurement signals from the sensor units and / or the angular acceleration vector. This additional piece of motion-based information can be provided by a sensor device, such as a force plate or a magnetometer. Alternatively, it can be provided by calculation. For example, this additional piece of motion-based information could be a calculated and / or estimated spatial orientation, a calculated and / or estimated angular velocity, and / or a calculated and / or estimated linear acceleration.

[0023] Based on the measurement signals from the sensor units and / or the angular acceleration vector, a reaction force, in particular a ground reaction force, and / or its point of application can be determined.

[0024] When determining the reaction force and / or its point of application, a force and / or moment of at least one actuator can be taken into account. A reaction force, in particular a ground reaction force, and / or its point of application can be determined using sensor units and with knowledge of actuator moments and / or actuator forces, for example, by measuring an applied torque via a torque sensor or an applied force via, for example, hydraulic pressures. The sensor units can be arranged on body parts or segments of a multi-part body or multi-body system, such as a platform, vehicle, or humanoid robot. A force and / or torque sensor for determining a reaction force, in particular a ground reaction force, and / or its point of application may be omitted.Determining a reaction force, in particular a ground reaction force, and / or its point of application is therefore also possible if other body parts or segments of the multi-part body or multi-body system are also mechanically affected. contact with the environment. Determining a force and / or moment exerted by an end effector on the environment or an object is possible if the kinematic data measured by the sensor units and the measured actuator moments / forces are evaluated together.

[0025] Body motion data generated and / or processed according to such a method can be used to record and / or evaluate the movement sequences of a freely moving body. A method according to the invention is designed for recording and / or evaluating the movement sequences of a freely moving body. Body motion data generated and / or processed according to such a method can be used to detect and / or evaluate dynamic instabilities of a freely moving body. A method according to the invention is designed for detecting and / or evaluating dynamic instabilities of a freely moving body. The motion data can be used in the field of medical rehabilitation, in particular for the qualitative evaluation of adaptation phenomena after training, including under the influence of external perturbations.The movement data can be used to determine stability / instability, safety, joint loads, movement effectiveness and / or movement coordination, for example during walking, running, sprinting, jumping, carrying, lifting, etc., and / or to determine movement kinematics and load on both the upper and lower body.

[0026] According to such a method, motion data of the body generated and / or processed can be used to generate and / or optimize algorithms and / or models for calculating the dynamics of freely moving bodies. A method according to the invention is designed for generating and / or optimizing algorithms and / or models for calculating the dynamics of freely moving bodies. Discrepancies between models and real systems (machine or human) can be reduced by optimizing the underlying structure and mass distribution.

[0027] The device according to the invention is designed for carrying out such a method. The device can be designed as a mobile device. The device has at least two sensor units. The at least two sensor units can also be referred to as the first sensor unit and at least one further sensor unit. In particular, the device can have four sensor units. The four sensor units can be referred to as the first sensor unit, second sensor unit, third sensor unit, and fourth sensor unit. The sensor units each have at least one angular velocity sensor and at least one acceleration sensor. The at least one angular velocity sensor can be designed for spatially measuring angular velocities. The at least one acceleration sensor can be designed for spatially measuring accelerations.The at least one accelerometer can have three uniaxial sensor elements. The at least two sensor units can each have a sensor housing. The at least two sensor units can be arranged at a fixed distance from each other on a freely movable body.

[0028] The device can include a sensor unit carrier. The sensor unit carrier can be rigid, at least in sections and / or at least in directions. The sensor unit carrier can be arranged on the body. The sensor unit carrier can be arranged on a human torso and / or be designed like a vest. The at least two sensor units can be arranged on the sensor unit carrier at a fixed distance from each other.

[0029] The device may include a computer. The computer may be designed to execute a computer program. The computer may include a processor, main memory, at least one signal input, at least one signal output, and / or data storage. The sensor units may be connected to the computer via signal conductors. The device may include an electrical power supply. The electrical power supply may be a battery or rechargeable battery.

[0030] The sensor units can each have a predetermined maximum mass relative to the body or a body part. The predetermined maximum mass of all sensor units of the device can be 100%, in particular 80%, in particular 60%, in particular 40%, in particular 20%, of the weight of the body or body part. The sensor units can each have a predetermined minimum distance from one another. The predetermined minimum distance can correspond to the size of the smallest possible two-point measurement of the dimensions of a sensor unit.

[0031] The computer program includes code sections that enable such a method to be executed when the computer program is run using such a device. The method may be implemented in the computer program.

[0032] In summary, and in other words, the invention thus provides, among other things, an evaluation of instabilities in movements of a living object and a more precise analysis of dynamics in real machines / humans using sensors for the additional measurement of the angular velocity vector for segments movable arbitrarily in space, or an "instability detection" for a human and dynamic calculation in real machines using sensors to measure the kinematic state, including the angular acceleration vector, of arbitrarily movable body segments.

[0033] Instabilities in human movement can be evaluated under arbitrarily acting external perturbations. Adaptation phenomena through training can be demonstrated. A more precise evaluation of the dynamics of living beings and real-world systems, approximated as rigid bodies, can be enabled. An angular acceleration vector can be generated for bodies / body segments moving arbitrarily in space. Measurement can be based on a combination of angular velocity sensors. Their measurement signals can be processed using fundamental equations of rigid body mechanics. The necessary physical quantities can include an angular velocity vector and The acceleration vector must be linear. Only physical quantities measured at a specific point in time by the angular velocity sensors can be used. Sampling can be performed at a rate high enough to determine the body's angular acceleration vector in real time. The method can be executed without filtering. The method can be performed without any numerical differentiation of the measurement signals.

[0034] Dynamics can be determined. Derived quantities, such as center of pressure, reaction force (especially ground reaction force), and / or stability criteria, can be determined. One sensor can be mounted per moving segment. Measurement signals for linear acceleration, angular velocity, and / or spatial orientation can be generated redundantly. Sensor fusion can be enabled.

[0035] Four angular velocity sensors can be mounted on a rigid mounting fixture. One sensor can be defined as the root sensor. This can be chosen arbitrarily and cyclically swapped for sensor fusion. The connection vectors between the root sensor and the three other angular velocity sensors should be linearly independent. This ensures three-dimensional measurement of the angular acceleration. The angular velocity sensors can have predetermined minimum distances from each other. Using a variably designed mount, the sensors can be securely attached to a body or body segment to prevent slippage.

[0036] The method and / or device can be used to detect instabilities during locomotion, to qualitatively assess the severity of the instability, and to observe adaptation phenomena after training, even under the influence of external perturbations. The resulting measurement signals, such as spatial orientation, angular velocity and linear acceleration vectors, and the angular acceleration vector calculable by the sensors, can provide a basis for further analysis. The method can be used for a more precise calculation of the dynamics of real-world systems and living beings. With this method and in Combined with an optimization algorithm and a force plate, models of objects, especially those containing structure, inertial data, and / or biomechanical data, can be optimized. The sensor can be worn on relevant body segments thanks to a non-slip mounting system.

[0037] The invention enables an increased sampling rate. Real-time determination of an angular acceleration vector is made possible. The method can be executed without delay. Filtering methods and numerical differentiation are eliminated. Resistance to white noise is increased. Noise is reduced. Online evaluation of instabilities caused by, for example, external perturbations is enabled. Training effects and / or adaptation phenomena in humans can be quantitatively assessed. Statements about the severity of an instability caused by a perturbation can be made individually for each subject. The accuracy of dynamic calculations can be increased. The failure of individual sensor units can be compensated for. Measurement results can be improved. Location-independent use is enabled. The transfer from simulation to reality can be improved.A discrepancy between the model and reality can be reduced. Independent functionality without additional equipment can be enabled.

[0038] Exemplary embodiments of the invention are described in more detail below with reference to the figures, which show schematically and by way of example: Fig. 1 shows a device with a sensor unit carrier and four sensor units for generating and / or processing motion data and Fig. 2 shows an arrangement of four sensor units on a body for generating and / or processing motion data.

[0039] Fig. 1 shows a device 100 with a sensor unit carrier 102 and four sensor units 104, 106, 108, 110 for generating and / or processing motion data. The sensor unit carrier 102 serves to hold the sensor units 104, 106, 108, 110 in a fixed arrangement relative to each other and to attach them to a human torso. to be arranged. For this purpose, the sensor unit carrier 102 is designed as a vest and has a rigid sensor mounting section. The sensor mounting section can, for example, be manufactured using a 3D printing process.

[0040] The sensor units 104, 106, 108, and 110 each comprise an angular velocity sensor and an acceleration sensor, the angular velocity sensor serving to spatially measure angular velocities and the acceleration sensor serving to spatially measure accelerations. The sensor units 104, 106, 108, and 110 are fixedly spaced apart from one another at a predetermined minimum distance on the sensor mounting section of the sensor unit carrier 102 such that, starting from sensor unit 104, the sensor units 106, 108, and 110 lie on axes 112, 114, and 116 that are approximately perpendicular to each other.

[0041] The device 100 also includes a computer 118, in this case a single-board computer such as a Raspberry Pi, and a power bank 120 as an electrical power supply. The sensor units 104, 106, 108, 110 are connected to the computer 118 via USB connections 122, 124, 126, 128.

[0042] Fig. 2 shows an arrangement of the four sensor units 104, 106, 108, 110 on a body 130 for generating and / or processing motion data. One of the sensor units, for example sensor unit 104, is defined and used as the hierarchically superior sensor unit. The remaining sensor units 106, 108, 110 are defined and used as hierarchically subordinate sensor units. The definition and use of the sensor units 104, 106, 108, 110 are regularly changed.

[0043] Starting from an origin O of a Cartesian coordinate system, the hierarchically superior sensor unit 104 is located at position 0, and its position is described by a position vector r0. The hierarchically subordinate sensor units 106, 108, and 10 are located at positions 1, 2, and 3, respectively, and their positions are described by the connecting vectors r, r, and r.

[0044] The sensor units 104, 106, 108, 1 10 are arranged such that, regardless of which of the sensor units 104, 106, 108, 1 10 is defined and used as the hierarchically superior sensor unit, the connection vectors r from the superior sensor unit to the hierarchically subordinate sensor units are linearly independent.

[0045] Computer 118 has a computer program installed that includes code sections which, based on measurement signals from sensor units 104, 106, 108, and 110, and applying the laws of general rigid body motion, can directly determine an angular acceleration vector when the computer program is executed. Using the angular acceleration vector, the spatial orientation, angular velocity, and / or linear acceleration of the body are determined. This allows the body's motion sequences 130 to be recorded and / or dynamic instabilities of the body 130 to be detected and evaluated.

[0046] The term "may" refers in particular to optional features of the invention. Accordingly, there are also further developments and / or embodiments of the invention that additionally or alternatively include the respective feature(s).

[0047] From the combinations of features disclosed in the description, features can, if necessary, be selected and used alone or in combination with other features to define the subject matter of the claim, thereby dissolving any structural and / or functional relationship that may exist between the features. Reference numeral 0 Device 02 Sensor unit carrier 04 Sensor unit 06 Sensor unit 08 Sensor unit 10 Sensor unit 12 Axis 14 Axis 16 Axis 18 Computer 20 Power supply 22 USB connection 24 USB connection 26 USB connection 28 USB connection 30 Body

Claims

Patent claims 1 . Method for generating and / or processing movement data of a freely movable body (130), wherein at least two sensor units (104, 106, 108, 110), each having at least one angular velocity sensor and at least one acceleration sensor, are arranged on the body (130) at a fixed distance from one another, and an angular acceleration vector is directly determined on the basis of measurement signals from the at least two sensor units (104, 106, 108, 110) and using laws of general motion of rigid bodies.

2. Method according to claim 1, characterized in that the body (130) has a first body part and at least one further body part movably connected to the first body part, the at least two sensor units (104, 106, 108, 110) are arranged on the first body part, at least one further sensor unit having at least one angular velocity sensor and at least one acceleration sensor is arranged on the at least one further body part, and the angular acceleration vector is determined taking into account measurement signals from the at least one further sensor unit.

3. Method according to at least one of the preceding claims, characterized in that redundant measurement signals are generated and / or redundant measurement signals are fused with the aid of the sensor units (104, 106, 108, 110).

4. Method according to at least one of the preceding claims, characterized in that one of the at least two sensor units (104, 106, 108, 110) is defined and / or used as a hierarchically superior sensor unit (104) and the remaining sensor units (106, 108, 110) are defined and / or used as hierarchically subordinate sensor units (106, 108, 110).

5. The method according to claim 4, characterized in that a definition and / or use of the sensor units (104, 106, 108, 110) is changed.

6. Method according to at least one of the preceding claims, characterized in that movement data based on the measurement signals of the sensor units (104, 106, 108, 110) and / or the angular acceleration vector are processed directly and / or stored for separate processing.

7. Method according to at least one of the preceding claims, characterized in that a spatial orientation, an angular velocity and / or a linear acceleration of the body (130) is / are determined on the basis of the measurement signals of the sensor units (104, 106, 108, 110) and / or the angular acceleration vector.

8. Method according to at least one of the preceding claims, characterized in that when generating and / or processing movement data, at least one further movement-based information is taken into account in addition to the measurement signals of the sensor units (104, 106, 108, 110) and / or the angular acceleration vector.

9. Method according to at least one of the preceding claims, characterized in that a reaction force and / or its point of application is / are determined on the basis of the measurement signals of the sensor units (104, 106, 108, 110) and / or the angular acceleration vector.

10. Method according to claim 9, characterized in that when determining the reaction force and / or its point of application, a force and / or a moment of at least one actuator is / is taken into account. 1 1. Method for detecting and / or evaluating movement sequences of a freely movable body (130), characterized in that movement data of the body (130) generated and / or processed according to a method according to at least one of claims 1 to 10 are used.

12. A method for detecting and / or evaluating dynamic instabilities of a freely moving body (130), characterized in that movement data of the body (130) generated and / or processed according to a method according to at least one of claims 1 to 10 are used.

13. A method for generating and / or optimizing algorithms and / or models for calculating dynamics of freely moving bodies (130), characterized in that movement data of the body (130) generated and / or processed according to a method according to at least one of claims 1 to 10 are used.

14. Device (100) designed to carry out a method according to at least one of the preceding claims, characterized in that the device (100) has at least two sensor units (104, 106, 108, 110) which can be arranged on a freely movable body (130) at a fixed distance from one another and each having at least one angular velocity sensor and at least one acceleration sensor.

15. Device (100) according to claim 14, characterized in that the device (100) has a sensor unit carrier (102) which is rigid at least in sections and / or at least in a direction-dependent manner and which can be arranged on the body (130), and the at least two sensor units (104, 106, 108, 110) are arranged on the sensor unit carrier (102) at a fixed distance from one another.

16. Device (100) according to at least one of claims 14 to 15, characterized in that the device (100) comprises a computer and / or an electrical power supply. 1 7. Device (100) according to at least one of claims 14 to 16, characterized in that the sensor units (104, 106, 108, 1 10) each have a predetermined maximum mass relative to the body (130) or a body part and / or a predetermined minimum distance from one another.

18. Computer program, characterized in that the computer program Program code sections with which a method according to at least one of claims 1 to 13, if the computer program is executed using a device (100) according to at least one of claims 14 to 17.

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