| 摘要 |
The invention relates to a method for digitizing a desired therapeutic movement (1) with the aim of controlling a therapy robot (2) which is stationary while the movement is carried out, the desired therapeutic movement (1) carried out by a human (3) or an animal (4) being detected electronically and the three-dimensional position and/or movement information of at least three measurement points (8) of the moving object (9) being detected at defined measurement times. After checking and optionally completion and/or correction of the measured data (10) by interpolation of the measured data (10), a uniform movement portion in the measured data (12; 13) is eliminated along every of the three spatial coordinate axes. The measured data (17) so obtained are then used to calculate trajectory data points (18) so that a three-dimensional trajectory according to the desired therapeutic movement (1) is described by sequentially moving an effector of the therapy robot (2) to said trajectory data points (18). The invention devises a digitization method which allows the desired therapeutic movement (1) carried out by a human (3) or an animal (4) to be reflected in digital form as faithfully and efficiently as possible. |
