Hippotherapy device

Patent metadata

Field	Value
Publication number	US-11660245-B2
Application number	US-201716321224-A
Country	US
Kind code	B2
Filing date	Jul 19, 2017
Priority date	Jul 28, 2016
Publication date	May 30, 2023
Grant date	May 30, 2023

Abstract

A hippotherapy device includes a saddle for receiving a person thereon, a programmable movement control, and an automatic movement device for automatically moving the saddle according to a movement pattern program. The program specifies a sequence of target values of positions and orientations of the saddle in the locality of the movement device in order to execute the movement pattern. The hippotherapy device further includes a person securing device having a main support on which a body strap is mounted, at least one sensor for detecting at least one physical variable characterizing the body posture of the person on the saddle, and an auxiliary control device configured to compare expected values of the physical variable with current values of the physical variable detected by the sensor, and to trigger an associated safety function, if a deviation of the current values from the expected values exceeds a predetermined tolerance threshold.

First claim

What is claimed is:

1. A hippotherapy device, comprising:
a saddle defining a seat for a person;
a programmable movement controller;
an automatic movement device configured to automatically move the saddle according to a movement pattern program executed by the movement controller and that specifies a sequence of target values of positions and orientations of the saddle in the locality of the automatic movement device in order to execute the movement pattern; and
a person securing device, comprising:
a main support;
a body strap mounted on the main support,
at least one sensor configured to detect at least one physical variable characterizing a body posture of a person on the saddle, and
an auxiliary control device configured to use expected values of the at least one physical variable corresponding to the current position and orientation of the saddle in the movement pattern program, to compare the expected values to current values of the at least one physical variable detected by the at least one sensor, and to trigger an associated safety function if a deviation of the current values from the expected values exceeds a predetermined tolerance threshold.

2. The hippotherapy device of claim 1 , wherein the physical variable characterizing the body posture of the person on the saddle is at least one of a spatial position or a spatial orientation of at least one of the upper body, the head, at least one arm, or at least one leg of the person.

3. The hippotherapy device of claim 1 , wherein the safety function to be triggered is at least one of stopping the movement device or outputting a signal indicating an unsafe state of the person on the saddle.

4. The hippotherapy device of claim 1 , wherein the safety function to be triggered is an activation of at least one actuator that acts on at least one of the spatial position or the spatial orientation of at least one of the upper body, the head, at least one arm, or at least one leg of the person.

5. The hippotherapy device of claim 1 , wherein the at least one sensor is arranged on the body strap.

6. The hippotherapy device of claim 1 , wherein the at least one sensor is connected via a communication connection to the auxiliary control device in such a way that items of information about at least one of the current position or current body posture of the body of the person in space are transmitted to the auxiliary control device such that the current body posture of the person can be automatically determined with the auxiliary control device or the movement controller.

7. The hippotherapy device of claim 1 , wherein:
the body strap is mounted suspended on the main support by a support cable; and
the hippotherapy device further comprises an angle transducer configured to detect an angular position of the support cable.

8. The hippotherapy device of claim 1 , wherein:
the body strap is mounted suspended on the main support by a length-variable support cable; and
the hippotherapy device further comprises a length transducer configured to detect a current length of the support cable.

9. The hippotherapy device of claim 1 , wherein:
the body strap is mounted suspended on the main support by a support cable; and
the hippotherapy device further comprises a force transducer configured to detect a tensile force on the support cable.

10. The hippotherapy device of claim 1 , wherein:
the body strap is mounted suspended on the main support by a support cable; and
the body strap comprises:
at least one first support strap section connecting a body strap section of the body strap, at a first connecting point of the body strap section, to an attachment point of the support cable, and
at least one second support strap section connecting the body strap section, at a second connecting point of the body strap section that is different from the first connecting point, to the attachment point of the support cable;

wherein the first support strap section comprises a first transducer configured to detect at least one physical variable on the first support strap section; and
the second support strap section comprises a second transducer configured to detect at least one physical variable on the second support strap section.

11. The hippotherapy device of claim 1 , wherein the person securing device is adapted to follow a movement of the person on the saddle at least approximately without applying force to the person while the deviation is less than the tolerance threshold.

12. A hippotherapy device, comprising:
a saddle defining a seat for a person;
a programmable movement controller;
an automatic movement device configured to automatically move the saddle according to a movement pattern program executed by the movement controller and that specifies a sequence of target values of positions and orientations of the saddle in the space surrounding of the automatic movement device in order to execute the movement pattern; and
a person securing device, comprising:
a main support;
a body strap mounted on the main support,
at least one sensor configured to detect at least one physical variable characterizing a body posture of a person on the saddle, and
an auxiliary control device configured to use expected values of the at least one physical variable corresponding to the current position and orientation of the saddle in the movement pattern program, to compare the expected values to current values of the at least one physical variable detected by the sensor, and to trigger an associated safety function if a deviation of the current values from the expected values exceeds a predetermined tolerance threshold;

wherein the body strap is adjustably mounted on the main support; and
the hippotherapy device further comprises:
at least one actuator configured to automatically act on the body strap to vary a spatial pose of the body strap;

wherein the auxiliary control device is configured to control the at least one actuator based on a current position and movement of the saddle and a current body posture of the person on the saddle.

13. The hippotherapy device of claim 12 , further comprising:
a bearing mounting the body strap on the main support, the bearing configured to adjust at least one of:
at least one direction of the body strap, or
at least one orientation of the body strap in space;

the bearing comprising a braking device configured to brake a movement of the bearing using selectable braking properties, the braking properties being settable by the actuator controlled by the auxiliary control device.

14. The hippotherapy device of claim 12 , further comprising:
a bearing mounting the body strap on the main support for swinging movement thereon in at least one of:
at least one direction, or
at least one orientation of the body strap in space;

the bearing comprising a vibration damping device configured to damp a movement of the bearing using selectable damping properties, the damping properties being settable by the actuator controlled by the auxiliary control device.

15. The hippotherapy device of claim 12 , further comprising:
a drive device on the main support and configured to drive movement of the body strap in at least one of:
at least one direction, or
at least one orientation of the body strap in space;

wherein the drive device comprises at least one motor that constitutes at least one of the at least one actuator, the drive device configured to move the body strap in an automatically driven manner, controlled by the auxiliary control device.

16. The hippotherapy device of claim 12 , wherein the move

Assignees

• Kuka Deutschland Gmbh

Inventors

• Keibel Andreas

Classifications

• A63B2220/10

  Positions · CPC title

• A63B69/0057

  Means for physically limiting movements of body parts (A63B23/0211 takes precedence) · CPC title

• A61B5/11

  Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb {(A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721)} · CPC title

• A63B2024/0093

  the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed · CPC title

• A61H2201/1633

  Seat (A61H2201/0149 takes precedence) · CPC title