Robotic Hippotherapy Platform with Integrated Load and Inertial Sensors
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Solution Overview
Problem
Current hippotherapy methods using horses pose risks and challenges in measuring and replicating movements, heat transfer, and assessing cognitive and motor improvements, particularly for patients with disabilities, due to the inherent difficulties in working with animals.
Innovation Solution
A robotic platform with 6 degrees of freedom, incorporating high-torque servomotors, load cells, inertial sensors, temperature control, and visual and auditory stimulation modules, designed to emulate horse movements and provide controlled heat, posture assessment, and cognitive stimulation, enhancing safety and efficacy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robotic platform is used to emulate horse movements, then safety and measurement precision are improved, but device complexity increases
Solution Approach 1:
The robotic platform is divided into multiple independent modules: a base structure with servomotors for movement generation, a seat module with load cells for weight measurement, an articulated mechanism with additional load cells, and a control unit. This segmentation allows each module to be optimized independently while reducing overall system complexity through modular assembly.
Solution Approach 2:
The robotic platform integrates multiple functions into a single system: it generates therapeutic movements through servomotors, measures patient weight and load distribution through load cells, provides temperature control through heating elements, and delivers visual and auditory stimulation. This multi-functionality eliminates the need for separate equipment while maintaining safety and measurement capabilities.
2Measurement precision
If load cells and sensors are integrated into the robotic platform, then measurement precision is improved, but device complexity increases
Solution Approach 1:
Multiple measurement functions are merged into the seat and articulated mechanism structures. Load cells are integrated directly into the seat to measure patient weight and load distribution, while additional load cells in the articulated mechanism measure forces during movement. Inertial sensors are embedded in the articulated mechanism to detect movement parameters. This merging allows precise measurements without adding separate measurement devices.
Solution Approach 2:
The structural components of the robotic platform (seat, articulated mechanism) serve dual purposes: they provide mechanical support and movement while simultaneously housing the measurement sensors. The load cells and inertial sensors automatically record data during therapy operations without requiring separate measurement equipment or additional operational steps.
3Temperature
If temperature control is added to emulate horse heat, then therapeutic effect is improved, but device complexity increases
Solution Approach 1:
A temperature control unit with heating elements is introduced as an intermediary component between the base structure and the seat. This unit regulates temperature to emulate horse body heat, providing therapeutic warmth to the patient during therapy. The temperature control system operates independently through its own controller, integrating thermal therapy without complicating the mechanical movement systems.
4Adaptability or versatility
If visual and auditory stimulation modules are integrated, then cognitive stimulation capability is improved, but device complexity increases
Solution Approach 1:
The robotic platform integrates visual and auditory stimulation modules into the existing control system. These modules deliver cognitive stimulation through screens, speakers, and other output devices while being coordinated by the same control unit that manages mechanical movements and temperature control. This universal control approach provides cognitive therapy capabilities without requiring separate control systems.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robotic platform effectively assesses and improves motor and cognitive functions, providing a safer, more controlled, and cost-effective alternative to traditional hippotherapy, with precise movement emulation and temperature control, improving patient recovery and autonomy.
Implementation Method 1
The heat of the horse is a primary aspect in hippotherapy, and it is also one of the characteristics of rehabilitation which is more difficult to simulate in robotic platforms... the heat irradiated to the patient
Implementation Method 2
one or more load cells situated on the seat to determine the load distribution thereon, thus obtaining a strength vector that is related to weight distribution of patient
Implementation Method 3
at least one inertial sensor of posture aimed to be placed on the patient to determine his/her posture
Data Source
AI summary
A cognitive assessment and stimulation method and a robotic platform for hippotherapy that comprises a structure comprising at least a high torque servomotor, and an articulated mechanism that simulates the horse's head, at least two load cells placed on the articulated mechanism of the structure, for controlling direction and speed, at least one seat module, that comprises at least one inertial sensor of posture intended to be placed on the patient to determine his/her posture, and one or more load cells placed on the seat to determine the load distribution thereon; and at least two pressure sensors for speed control and that further comprises a temperature control module, which allows temperature control, a visual stimulation sub-module and/or an auditory stimulation sub-module, a crane type module coupled to a harness comprising some stirrups which allow the transfer of the patient and also providing control of weight on the platform and give security to the patient, avoiding the risk of falling.