WO1998007086A1

WO1998007086A1 - Body sensor system

Info

Publication number: WO1998007086A1
Application number: PCT/DE1997/001674
Authority: WO
Inventors: Helge Zwosta
Original assignee: Helge Zwosta
Priority date: 1996-08-09
Filing date: 1997-08-08
Publication date: 1998-02-19
Also published as: DE19632273A1

Abstract

A plurality of processes are disclosed for determining the geometric quantities of a moving human, animal or artificial body. A plurality of new applications depends on the determination of such geometric quantities of a body: medicine, sports, robotics, cyberspace, the arts, school education, training, etc. The concept of 'intelligent geometry sensing systems' is central to the invention. This concept includes the detection, the use-related processing, the conversion into a co-ordinate system, the transformation into any number of other co-ordinate systems, and the data transfer of the most different types of geometric quantities characteristic of a body by the most different measurement methods. This concept is thus capable of establishing a geometric reproduction of a moving body or of selected parts of a moving body with a high detail resolution from a selected number of measurement points.

Description

description

Body Sens

The detection of geometrically large moving bodies takes an important place in a variety of new applications. Such applications range from sport to art. The following are some examples

Sports

In order to improve performance, it is of interest to know the movement sequences in terms of position, speed and acceleration. The entire musculoskeletal system of an athlete or even only parts of it can be of interest

robotics

The remote control of robots or other artificial machines which implement the body actions of a person in inaccessible environments (contaminated areas, underwater, space, vacuum chambers) in order to solve certain tasks. The "teaching" of robots by means of the act tone specification of a suitably equipped human teacher is one Another application A robot also represents a body whose geometry size can be of interest

medicine

Remote-controlled surgery, also minimally inversive interventions are areas of application here

The second area of application concerns the motion control of head extremes, both in the

Rehabilitation as well as in physiotherapy for the disabled

Education, school

In this area, the use of body geometry in the area of interactive learning in virtual environments. Training on a virtual motor, or the operation of a virtual person are examples of this

Cyberspace

The current modern catchphrase encompasses all areas of interactive human interaction

Korpers with a computer system and therefore requires the acquisition of body geometry sizes Art, games, sports

In combination with powerful computers, you can expect completely new forms to emerge here, for example, female tennis across continents, music and video shows through body movements and any kind of interactive games

The first discoveries in the field of body sensors came from Gπmes US Pat ^* 4,414,537 Digital data entry glove Interface filed: 15 Sept 1981 Lanier Europa-Pat 0211 984 B1 Computer data entry and manipultion apperatus filed Aug 19, 1985 Zimmermann US Pat. 4,988,981 Computer data entry and manipulation apparatus and method filed: 28. Feb. 1989 Kuipers U.S. Pat 4,017,858 Apperatus for generating a nutating electromagnetic field filed. Feb. 28 1975 Kuipers U.S. Pat. 3,983,474 Tracking and determination of object using coordinate transformation means, System and process filed Feb. 21, 1975 Raab U.S. Pat. 4,054,881 Remote object locater filed: Apr 26, 1976 Raab US Pat 4,314,251 Remote object Position and opening locater filed 30. Ju! 1979 Zwosta DE-Pat 3422737 C2 electronic body instrument

Filing date 19 6,84 Zwosta US Pat. 4,627,324 Method and Instrument for generating acoustic and / or Visual effects by human body actions filed ^* Jun 17, 1985 The above-mentioned inventions and the prior art reveal the following significant disadvantages:

First: Methods with a high level of detail are limited to the acquisition of parts of the body (e.g. data gloves).

These methods use indirect detection methods, which have the disadvantage of high tolerances (the sensor position slips on a glove) and the inability to provide direct coordinate values

Second: Methods (e.g. external magnetic field techniques) that can capture all parts of the body (extremities) have only a low level of detail. They do not collectively determine the position of the arms and legs, the position of the fingers.

These methods are also limited in their scope

Third, the two methods mentioned are not suitable for the acquisition of body-related coordinate systems

In addition to eliminating the above disadvantages, the present invention has the advantage of being able to use the most suitable detection technology for the most varied of applications. The disadvantages described are eliminated in the present patent specification by the invention of INTELLIGENT GEOMETRY SENSOR SYSTEMS (in the future abbreviated because of the word length IGSS). Definitions:

Geometry size:

Geometry sizes are a. distances. Lengths, vectors (coordinates), angles, strains and the

Derivatives of these sizes to other sizes

A distinction must be made here between direct geometrical quantities: coordinate values (location vectors) and angular quantities (orientation dimensionπ) of bodies or their parts and indirect geometry sizes can be used if one or more bodies (or their

Parts) are in a known geometric relationship (for example, the angle between two articulated arms movable in one plane can be specified by the distance from a known location on each arm, or by the displacement of a flexible band guided over the articulated bearing which fixes on an articulated arm and is linearly displaceable on the second.)

In fact, most of the practical geometry sizing is done indirectly.

Regarding this patent, the term geometry size was chosen because it was another

Like the terms body movement and position of the body part, the scope of meaning has to be interpreted strictly. The geometry size of a body part is, for example, the distance of the thumb from a defined point of the ball of the hand, or the elongation of a flexible band that is guided over the forearm joint when the elbow is bent. In contrast to a geometry sensor whose output signal depends on only a direct or indirect geometry variable, a geometry sensor system (does not have to) consist of several sensor components and their suitable arrangement. Individual components of a geometry sensor system can also be subject to different measurement methods. Examples of geometry sensors are: Ultrasonic distance measuring devices consisting of transmitter and receiver, a direction determination with magnetic field coils, or a combination of ultrasound measurement and angle to the gravitational vector.

The term computer unit was chosen because of the now generally used language and refers to a data processing unit based on the EVA (input processing output) principle. Terms used in this patent, such as computing unit, mean the same functional unit and not the limitation to pure computing functions

INTELLIGENT GEOMETR1ESENSORIKSYSTEME (IGSS), sub-coordinate systems The core of the present invention is the concept of intelligent Geometriesπsoriksyteme for determining geometry sizes. The attribute "intelligent" here refers to the use of data processing means (generally microcomputers) and their programs. An IGSS is an abstract structure that only experiences its specific design through the respective technical application. The description of what such an IGSS is is given in claims 1, 2 and 21 and is explained here again in somewhat different words.

An IGSS consists of a geometry sensor system, data processing and a bus connection. Data processing has the tasks of transforming the measurement data into application-related data, transporting it and communicating with other data processing sites. Since the present invention relates to geometrical quantities, a frequent task of data processing will be the conversion of electrical measured values into geometrical quantities. (However, there may also be the task of transforming the measured values directly into application sizes). The concept of the IGSS is definitely suitable for a variety of applications which ultimately only depend on their respective sensor technology and software. A particular advantage of the IGSS concept is the ability to create coordinate systems. (This is just a special form of data acquisition and transformation). The coordinate system of each IGSS can itself be designed as a sensor part of a higher-level IGSS and thus opens up a wide range of geometric determination options. A coordinate size can be related to a wide variety of systems by coordinate transformation. This is also the special value when determining the geometry size of complex joint systems, such as those provided by the human body. The formation of hierarchically structured partial coordinate systems (eg 1st coordinate system "human hand", 2nd coordinate system "shoulder", 3rd coordinate system "hip", main body coordinate system "back" and ultimately an external coordinate system) enables this Acquisition of geometry sizes with respect to each sub-coordinate system, but where necessary also with respect to each superordinate coordinate system. In addition to the analytically exact position and orientation information of the desired body parts, their measuring accuracy also advantageously corresponds to the respective application. (For fine finger movements one will certainly work with a partial coordinate system "hand", for dance or sporty body movements it is sufficient to determine the geometry with regard to the "partial coordinate system" hip "or even" back "or an external coordinate system). Through the concept of the partial coordinate systems All parts of the body can thus be grasped or only selected parts of the body, with regard to the coordinate system that is suitable for the respective application. (Finger movements for a keyboard replacement when entering a PC do not require an external coordinate system, but finger movements for controlling a robot gripper or a surgical intervention )

At the end of this section, it is pointed out that IGSS and partial coordinate systems need not be identical. With suitable sensors and software, an IGSS can form a coordinate system, but it does not have to. It could just as well acquire a single measured value and forward it with a zero transformation.

FIG. 1 shows a person on whose body several intelligent geometry sensor systems (hereinafter referred to as IGSS) are attached in accordance with claim 1. On the stable belt 1.4 are the three correspondingly indicated reference coordinate systems X1, y1, z1 / x2, y2, z2 / x3, y3, z3, the three main IGSS 1 (= back), 2 (= hip-hand left), 3 ( = Hip-hand-right). All three main IGSS in the exemplary embodiment in FIG. 1 are based on the method of body-mounted field generators and field detectors described in claim 7. The sub-coordinate system u2, v2, w2 on the left hand also belongs to IGSS 2 and the sub-coordinate system u3, v3, w3 on the right hand belongs to IGSS 3. The reference coordinate system x1, y1, z1 of IGSS 1 is responsible for both hands when they are in the location shadow of their primary reference coordinate systems. Each of the three reference coordinate systems x1, y1, z1 / x2, y2, z2 / x3, y3, z3 is itself a sub-coordinate system with respect to the external coordinate system xe, ye, ze, according to FIG. 3. Due to the stable belt 1.4 on the position and orientation of all 3 reference coordinate systems are defined, one is sufficient as the current sub-coordinate system with respect to the external coordinate system xe, ye, ze, as shown in FIG. 3. In this regard, the other two serve as redundancy for the case of covering the body of the extemen_ field.

The technical principle of a reference coordinate system, which is based on the method of body-attached field generators and field detectors described in claim 7, is shown in FIG. 1 a as an enlarged detail of the belt part 1.3 of IGSS 3. The three orthogonal coils 1.5, 1.6, 1.7 are flowed through by suitable excitation currents Computer unit 1.8 are formed and generate a nutating magnetic field, which it operates according to the principle of US Pat. No. 4,017,858 (Apparatus for generating a nutating electromagnetic field / Inv.Kuipers) allows the direction of a pointer RZ3 to be specified which points exactly to the origin of the sub-coordinate system u3, v3, w3. This method also enables the orientation angles of the subordinate coordinate system u3, v3, w3 to be determined from the induced voltages of the sensor coils 2.1, 2.2, 2.3 located there (see FIG. 2). The principle of a nutating magnetic field results in a direction indicator RZ but no distance value.

In the exemplary embodiment according to FIG. 1, the distance of the sensor coordinate system u3, v3, w3 is determined from the transit time of an ultrasonic signal, the transmitter 1.9 of which is located in the origin of the reference coordinate system x3, y3, z3 (FIG. 1a) and the receiver 2.10 of which is located in the origin of the sensor coordinate system u2 , v2, w2 sits (see Figure 2)

Aπm .: The terms "field or radiation generator or detector in claim 7 were deliberately chosen in this general form because both magnetic, electrical, electromagnetic DC and AC fields and the intensity distributions of light radiation or sound radiation sources are used can.

At this point in the description, the abstract term "intelligent geometry sensor system" can be clearly explained. The intelligence lies in the hardware and software of the computer unit 1.8. In addition to the field control, this must also carry out the transit time measurement of the ultrasound signal and, as will be shown, other tasks will also be carried out. The receiver 2.10 (FIG. 2) now reports back to the computer unit 1.8 when the ultrasound signal has arrived there (the starting time of the ultrasound signal is communicated by the computer unit 1.8 to the computer unit 2.8 via the bus system 2.9). Now what can be explained under an IGSS is to be understood. The belt unit 1.3 from FIG. 1a - consisting of computer unit 1.8, locating unit 1.10 (= reference coils, 1.5, 1.6, 1.7 and ultrasound transmitter / receiver 1.9) - and part of handheld unit 2.4 in FIG. 2 - namely the three sensor coils 2.1, 2.2, 2.3, the ultrasound receiver 2.10 and the bus system 2.9, which can also be wireless, together form the IGSS 3 (hip-hand on the right). Here it becomes clear that an IGSS is not a unit in the conventional sense related to a precisely defined spatial area, but an abstract functional unit. The IGSS 3 is in data communication with the IGSS3 / 1 (hand-finger-right) via the bus system 2.9; this is the further task of the computer unit 1.8 indicated above.

Now it makes sense to explain the abstract term geometry size again. Depending on the technical design, an IGSS is able to record a wide variety of geometric sizes - this ranges from an articulation of a joint to a simple distance to complete spatial description using six or more variables of a body part. For this reason, the claims speak of "at least one geometry variable". An IGSS can convert sensor-sensed signals into geometric variables, but does not have to if the application does not require it, which is why the claims often refer to "signals associated with the geometry variables" is spoken. FIG. 2 shows an enlarged detail of the right hand and serves to explain the IGSS-3/1 (hand-finger-right), which is subordinate to the 1GSS-3 (hip-hand-right) in the exemplary embodiment. The IGSS-3/1 (hand -Finger-right) is deliberately based on a different sensor principle than the IGSS-3 (hip-hand-right) in order to further illustrate the diverse design options of an IGSS. The IGSS-3/1 (hand-finger-right) therefore uses in contrast to the IGSS-3 (Hufte-Hand-rechts) ultrasound for determining the position of the fingers and is thus at the same time an illustration for claim 8. In the sense of the invention, the sub-coordinate system of the IGSS-3 (Hufte-Hand-rechts) is now the reference coordinate system of the IGSS- 3/1 (hand-finger-right) and this creates a hierarchical order of the IGSS and the coordinate systems, which enables a coordinate transformation of the geometrical sizes on the rigidly connected to the sensor coils 2 1, 2 2, 2 3 Plate 2 4 are in a defined spatial relationship, the two ultrasound transmitters 2 5 and 2 6, and the combined ultrasound transmitter / receiver 2 10. From the three distances that are proportional to the signal propagation time, the coordinates in u3, v3 w3 can be found for each fingertip. Determine the system if each finger carries an ultrasound receiver 27, which "forwards" the time of the signal arrival to the computer unit 2 8 for distance calculation (here by means of a cable). The individual transmitters either clock at such a high frequency that the finger mechanics are against it, or they use different frequencies to distinguish This distinction must of course be done by the software of the computer unit 2 8. In FIG. 2, for clarity, only three rays are drawn to a finger to indicate the three distances. Depending on the complexity of the computer unit 2 8, the signal query of the receivers on the fingertips can be parallel or multiplexed there i It should also be pointed out that in the case of spatial detection of the fingertips it does not make much sense to define an orientation there insofar as the location coordinates of each fingertip are sufficient. These coordinates relating to the subordinate system u3, v3, w3, can now be taken via bus 2 9 to Main coordinate system x3, y3, z3, and if necessary due to the application and transformation due to the position and orientation of the subordinate system u3, v3 w3, are transformed to the main coordinate system x3, y3, z3

Following the description of an exemplary embodiment, claims 2, 3, 4, 5 are now easier to explain

Claim 2 includes, among other things, the abstract feature for converting geometrical sizes into coordinate values. A detailed description of how geometrical sizes can be converted into coordinate values can be found in claim 20 and the explanation for FIG. 16. Corresponding to claim 3, the signals of the geometrical probes can be found in the exemplary embodiment above "Fingertip ultrasound" (2 5, 2 6, 2 7, 2 10), "hand magnetic field" (2 1, 22, 2 3 and 1 5 1 6, 1 7) and "hand ultrasound" (2 10 and 1 9,) via the bus system (2 9) to the computer unit (1 8) on the belt. The program loaded in this computer unit (1 9) can now transform and linking algorithms contain soft which are matched to the geometry sensors - "fingertips", "hand magnetic field", "hand ultrasound". Based on the program structure, location vectors of the fingertips or location and orientation vectors of the hand can be calculated. These location and orientation vectors can be specified - again due to the program - with respect to the partial coordinate systems "hand" (u3, v3, w3) and "hip-hand-right" (x3, y3, z3). The location vectors of the fingertips in turn can be transformed from the sub-coordinate system "hand" (u3, v3, w3) to the hierarchically higher-level reference coordinate system "hip-hand-right" (x3, y3, z3). Finally, the computer unit (1.8) on the belt can exchange data with any other computer unit on the body or externally. Again, it goes without saying that this data exchange can also involve loading a new program. The method of claim 5 does the same as claim 3, but the concept is somewhat different. While the signals of several geometry sensors are processed by a computer unit in claim 3, the concept of claim 5 describes that each geometry sensor system forms an IGGS together with a computer unit. This also corresponds to FIGS. 1, 1a and 2. In contrast to claim 3, each IGGS has its own computer unit (1.8 or 2.8). The program of each of these computer units is matched to the associated geometry sensors and can form its own coordinate system. Each IGGS (eg IGGS-Ηand ") can be interpreted as a geometry sensor system by a higher-ranking IGGS (eg IGGS-'üüfte-hand-rechts"). In contrast to claim 3, a coordinate transformation now takes place in that the lower-ranking IGGS ("hand") transmits the geometry size values (location vectors fingertips) relating to its coordinate system to the higher-ranking IGGS ("hip-hand-right") via the bus (2.9) The computer unit of the higher-ranking IGGS then carries out the coordinate transformation ("finger tips ->" hip-hand-right ") with the coordinate values of its own IGSS and the received coordinate values. Each of the two methods according to claims 3 and 5 has advantages and disadvantages in the method according to claim 5, the higher costs are due to the larger number of computer units, but it is advantageous that each IGGS can also be attached independently to parts of a body, claim 4 describes the facts of claim 5 at a more abstract level.

FIG. 3 serves to explain the interaction of the body's own and external IGSS according to claim 6, which has already started above. The sensor principle is the same as in FIG. 1. The belt unit 1.1 belonging to the IGSS-1 (back) is constructed as in FIG. 1 only acts for the external coordinate system xe, ye, ze, part 1.9 of FIG. 1a now as an ultrasound receiver for determining the distance to the external ultrasound transmitter 3.7. (With the emitted ultrasound signal, a radio pulse 3.6 is emitted at the same time, which starts the runtime measurement of the belt unit 1.1.). The nutating magnetic field generated by the reference coils 3.1, 3.2, 3.3 of the external coordinate system supplies the direction indicator RZe and the orientation of the axes x1, y1, z1 and corresponds to that Claim 22 of an external Geometπegoßeπ determination is thus the body's own coordinate system x1, y1, z1 with respect to the external coordinate system xe, ye, ze determined, and any coordinate transformation of body positions with respect to x1, y1, z1, on the external coordinate system is possible For the purpose of coordinate transformation must then the data relating to the coordinate system x1, y1, z1 is only preferably wireless 3 5 to the external computer unit

34 The task described can also be performed by one of the other two belt units 1 2 or 1 3 in FIG. 1 as soon as the belt unit 1 1 is covered by the body or its data transmission is interrupted

The determination of the orientation by means of a multiple sensor utilizing the gravitational and geomagnetic fields is used today as standard in data helmets (head mounted dtsplays = HMD) and is therefore not explained in more detail. However, the orientation determination there is limited to the coordinate system which is defined by the gravitational and the geomagnetic field The computation of the values of such multiple sensors for gravitational and magnetic fields (in the future abbreviated GRAMAG sensor) with joint sizes, described in claim 9, enables both the position determination of arbitrary positions of joint members and their orientation determination with respect to freely selected coordinate systems, both body-fixed and body-specific

FIG. 4 shows an articulated head 40 which is mounted with its spherical bearing journal 41 in a bearing not shown here. The GRAMAG sensor is located anywhere on the articulated member

42 attached The GRAMAG sensor 4 2 is constructed in such a way that it forms an orthogonal coordinate system with the axes u, v, w. The relationship of the GRAMAG coordinate axes to the relative vector ^r BR- ^{which shows the GR} AMAG sensor to the movement center BZ1 is shown by the three Angle υ. ζ, ω determines the 9 orientation angles - cos (u, x), cos (uy), cos (uz), cos (vx), cos (v, y), cos (v, z), cos (w, x) , cos (wy), cos (w, z), - the GRAMAG axes u, v, w with the outer coordinate system given by the gravitational axis g (= -z) and the earth's magnetic field axis B _E (= y) are from GRAMAG - Sensor 4 2 detected due to its mode of operation (for the sake of clarity, only the angles cos (w, x) cos (wy) cos (wz) of the w axis are shown in FIG. 4)

The relative vector r _BR points through its fixed angular relationship (angle υ, ζ, ω) to the axes of the GRAMAG sensor 4 2 in every position of the joint member 4 0 from the GRAMAG sensor 4 2 to the movement center BZ1 of the position which has not yet been determined Articulated member 40 In the exemplary embodiment, this movement center BZ1 is the center of the bearing 5 1 of a base body shown in FIG. 5

5 0 in which the articulated member 4 0 is suspended. However, this means that the position of the GRAMAG sensor 42 with respect to the center of the bearing 5 1 = movement center BZ1 is determined if the - from the 9 GRAMAG-42 - positioning angles and the constant angles υ, ζ, ω eσechneten - current vector ^r BR ^enlarged (" ^r BR ^zeι 9 * ^from BZ1 to GRAMAG sensor 4 2) However, the position of GRAMAG sensor 4 2 is still given with respect to the gravitational-magnetic field coordinate system [x, y (= B _E ), z (= -g » As shown in FIG. 5, a further GRAMAG sensor 5 2 is attached in a defined spatial position (vector r) to the movement center BZ1 of the spherical bearing 5 1 on the base body 5 0 (preferably with the base coordinate system [x _B , y _B , z _B ] congruent axes) and determines the orientation angles between the gravitational-magnetic field coordinate system [x, y (= B _E ), z (= -g)] and the base coordinate system [x _B , y _B , z _B ], (The overview Because of the fact that only the three angles p σ τ, the maximum of 9 positioning angles, have been drawn in), the positioning of the GRAMAG sensor 4 2 by coordinate transformation can also be specified with respect to the basic coordinate system [x _B , y _B , z _B ]> Die The position (vector r) of the GRAMAG sensor 4 2 is obtained, as shown in FIG. 5, by adding the constant vector -r to the movement center BZ1 and the current relative vector (-r _BR ) after corresponding coordinate transformation with respect to the base coordinate nate system [x _B , y _B , z _B ]. It is now understood that because of the rigidity of the hinge member 4 0, the position of any other point on the hinge member 4 0 - from the once surveyed relative position - with respect to the movement center BZ1 or Basiskoordinaten- systemes [x _B, y _B, z _B ] can be calculated from the GRAMAG angles. For example, the position of the axis end point E can be obtained by vector addition r ^ = rp £ + (-r _B p). It is known that the 3-dimensional orientation definition has far more formulation options than the position definition In this respect, the opening of the articulated member 40 can take place both through two axes (z B u and v) of the GRAMAG sensor 42 which have been transformed to the basic coordinate system [x _B , y _B , z _B ], and more clearly by specifying the one in FIG. 4 eiπge drawn vectors r _E (identifies the joint axis) and - r _RE . (points from axis end point E to GRAMAG sensor 2

It should also be mentioned that, in accordance with FIG. 3 and claim 18, the base coordinate system [x _B , y _B , z _B ] is now also detected with respect to a coordinate system external to the body and thus the position of the GRAMAG sensor 4 2 on this coordinate coordinate is determined by a further coordinate transformation. perexteme coordinate system can be related

¹ ) Orientation transformation of the GRAMAG sensor 4 2-axes on the base coordinate system

[x _B , y _B , Zß] (Figure 5a)

For the sake of simplicity, it is assumed that the GRAMAG sensor 5 2 is attached so that its

Axes are congruent with the basic body axes x, y, z _B.

Each of the GRAMAG sensors 4 takes 2 axes u, v, w and each of the basic body axes x, y _B , z

3 angles with the gravitational vector -z (= -g), the earth magnetic field vector y (= B _E ), and a fictitious arithmetic vector x (perpendicular to -z (= -g)] and y (= B _E ), one of these Axes can be used as

Direction vectors (length 1) z B u = (cos (x, u), cos (B. =, U), cos (-g, u)) for GRAMAG 4 2 and x _B = (cos (x, x _B ) , cos (B _E , x _B ), cos (-g, x _B )) for GRAMAG 5 2, whose angular sizes are known by measurement Then there is an angle z B cos (gu) = x _B u / lx _B l lul between each GRAMAG-4 2 and each GRAMAG 5 2 axis

(s Bronstein / Semendjajew "Taschenbuch der Mathematik" S 146 or 230) This operation can now be carried out with every GRAMAG 4 2-axis and for all three GRAMAG 5 2-axes

Analogously, this naturally also applies to the angles of the current relative vector r _j ; and the basic body axes x _B , y _B , z _B.

While FIGS. 4 and 5 served to a very large extent to explain claim 9, FIG. 6 shows a simple, practical arm system with 2 joints of different degrees of freedom. Each of the joint members 6 1 and 62 carries a GRAMAG sensor 6 3 and 6 4 position and on its surface The orientation of the GRAMAG sensor 6 3 are measured with respect to the bearing center BZ1, the longitudinal axis L1-L1 of the joint member 6 1 and the axis of rotation DD of the pivot bearing 6 5. The position and the orientation of the GRAMAG sensor 6 4 are with respect to the bearing center BZ2 (= intersection of G The longitudinal axis L2-L2 and axis of rotation DD), the longitudinal axis L2-L2 of the articulated member 6 2 and the axis of rotation DD of the pivot bearing 6 5 are measured. Thus two relative vectors ^r BR1 ^{and (} * ^r BR2 with respect to the GRAMAG coordinate systems u1, v1, w1 and u2 , v2, w2 defined On the basis of the axis angle values supplied by GRAMAG sensor 6 3 and the relative vector TQ ^ **, a vector TQ ** can be calculated for each position of the joint member 6 1 that points from the bearing center BZ1 to the bearing center BZ2 and defines the position of BZ2. At the same time, this vector r _G ** of course also defines the axial position L1-L1 of the joint member 6 1 in space The current position of the bearing center BZ2 (= vector r 2) with respect of the base coordinate system [x _B , y, z _B ] belonging to the base body 6 0 is obtained from the addition of the current vector Γ -J and the constant vector r ₁ which from the base coordinate system [xg, y _B , z _B ], to Center point BZ1 of the spherical joint bearing 6 6 shows and is known

The axis DD defines the rotational orientation of both articulated links and, due to the rigidity of the parts, can be determined as a rotary axis vector r _D due to the structural design of the rotary bearing. The position and orientation of articulated link 6 1 is completely covered by the described sizes The exemplary embodiment of FIG. 6 shows the orientation of its axis L2-L2 and the position of its end point E2 in space. Both sizes are obtained from the measured axis angle values of the GRAMAG sensor 6 4 by mathematical reshaping in the same manner as for joint member 6 1. The difference is only in the position of the bearing center BZ2, which is now dependent on the joint member 6 1, for the passages

"- and if necessary the acceleration" and "- in some cases the movement possibilities of a joint member," in claim 9 the following should be noted The part of the GRAMAG sensor that detects the direction of the gravitational vector g consists of masses and their different force effects on supports when the angle is rotated with respect to the vertical. Rapid movements now lead to additional mass forces in these supports. However, these inertial forces are dependent on the movement geometry and can be compensated for if the movement geometry is known, if further GRAMAG sensors are attached to a suitable location (base body or joint members) in a clearly defined spatial relationship and their measured values are included accordingly in the evaluation. Since these are generally swivel joints, the additional mass forces are caused by centripetal accelerations and are therefore distance-proportional, which explains the compensation concept. This also applies to claim 19. The detection of the angle that the two joint members enclose with one another is part of the prior art and is mainly achieved by means of analog or digital incremental encoders built into or attached to the joint bearings.

Claim 10 describes the combination of methods of claims 7, 8, 9 with sensor systems which detect the kinking of joints. The detection of the articulation of the joint is only a partial aspect in the acquisition of geometry sizes. The deliberately introduced concept of articulation also clarifies the range of execution of the senorik, which is extended via the angle detection. The buckling of a joint can also be detected, for example, by means of the relative path of a flexible elastic band attached above the joint bearing (see in claims 11, 12, 13, 14). Other methods for detecting the articulation of the joints come from the field of data gloves. An exemplary embodiment is given below for each combination in claim 10.

It should be pointed out again that "assigned signals" also fall under claim 10 and thus the geometric variables are not required for every application. Applications are quite conceivable that utilize the sensor signals without converting them into geometric sizes. For the sake of simplicity of illustration and description, two-dimensional exemplary embodiments are selected in the following FIGS. 7 and 8.

Figure 7 shows the combination of a nutating magnetic field according to claim 7 with the articulation. The two orthogonal field generator coils 7.2 and 7.3 are attached to a base body 7.0 at a defined distance A from the articulated bearing 7.1. On the basis of the above-described method of the nutating magnetic field, these, together with the field detector coils 7.4 and 7.5 attached to the joint member 7.6 and suitable evaluation means, allow the determination of the angle φ of a directional pointer RZ pointing towards the field detector coils. In this example, the geometry size to be recorded is the position of the field detector coils. The position can be clearly determined if, at a constant distance A, in addition to the angle φ, the angle α of the articulation is recorded in a known manner. Knowledge of the field detector location on the joint member 7.2 is not necessary. The embodiment shown in Figure 8 combines the distance measurement by means of ultrasound (according to claim 8) with the articulation. Here too, the position of a joint link point is determined as the geometry variable. The detecting position of the ultrasound receiver 8.2 fastened on the hinge member 8.1 is determined from the distance R from the ultrasound transmitter 8.3, the hinge angle α and the constant distance A from the ultrasound transmitter 8.3 and hinge bearing 8.4. The distance from R is determined as usual via the signal transit time. Here, too, it is not necessary to know the location of the ultrasound receiver on the joint member 8.1. The position determination in the two exemplary embodiments in FIGS. 7 and 8 can of course also take place in coordinates. For the third combination example - a GRAMAG sensor according to claim 9 with a joint kink, reference is made to FIG. Knowing the length of articulated link 6.2 and because of the restriction to a plane rotation (normal plane to the current rotary axis vector Γ), the spatial position of the end point E of articulated link 6.2 can be determined from the detection of the articulation angle α in combination with the geometry sizes of the articulated link 6.1 described in FIG. 6 be determined.

Figure 9 shows an embodiment according to claim III. Over the body surface of a finger joint 9.1, the floating bearing 9.4 is indirectly attached to a glove 9.5, in that the flexurally elastic part 9.2 can move. The part 9.2 in the exemplary embodiment is a partially transparent, thin ribbon which is fastened to the fixed bearing 9.3. ("Fixed bearing" here means the function and not the execution. That means that part 9.2 can also be attached directly to the glove.) The geometric change between fixed 9.3 and floating bearing 9.4 (here kinking of the finger joint) results from the double arrow in the figure 9.a (Draufscht) symbolized relative displacement of part 9.2 in the floating bearing 9.4. The measuring method for determining the relative displacement consists of a light source 9.6 in the loose bearing 9.4 above and a photosensitive receiver 9.7 in the loose bearing 9.4 under the partially transparent part 9.2. The end of part 9.2 movable in movable bearing 9.2 is now provided with a light-permeable triangular surface, as can be seen in the plan view (FIG. 9.a). As a result, the penetration depth - that is, the relative displacement - of the part 9.2 determines the amount of light reaching the photosensitive receiver 9.7.

FIG. 10 shows an exemplary embodiment according to claim 12. On the surface of a glove 10.5, an expandable sensor means 10.2 is attached at two points 10.3 and 10.4 of a finger joint 10.1. This stretchable sensor means consists of a thin, translucent rubber film, which is specifically coated with non-stretchable opaque parts in the area of the optical sensor. 10a shows a stripe pattern 10.8 in the unstretched state, ie when the finger is stretched as shown in FIG. The stretchable sensor means 10.2 is passed between a light emitter 10.6 and a photo-sensitive receiver 10.7. When the finger is bent (FIG. 10.b), the expandable sensor means 10.2 undergoes an elongation which causes a greater distance between the light-permeable strips (FIG. 10.c) and thus controls the amount of light reaching the photosensitive receiver 10.7. FIG. 11 shows an exemplary embodiment according to claim 13. A magnet 11 2 and a magnetic field sensor 11 3 are attached to the surface of a glove 11 6 in the area of the finger joint 11 1. Such a magnetic field sensor can be of a magnetoresistive type or also a Hall sensor. The kinking of the finger joint changes the field strength of the field detected by the magnetic field sensor 11 3 (FIG. 11 a). A particular advantage of this embodiment is that it can also be used in the "interior" of kinks, as the positions 11 4 and 11 5 on the underside of the finger illustrate

FIG. 12 shows an exemplary embodiment according to claim 14. On the surface of a glove 12 5, a tubular connecting means 12 2 is fastened at the two joint locations 12 3 and 12 4. A Manget field sensor 12 6 is located inside the tube and the distance a _{s is closed} when the fingers are extended externally attached magnet 12 7 occupies. When the finger is bent (FIG. 12 a), the tubular connecting means 12 2 deforms such that the distance between sensor 12 6 and magnet changes to a ^ and causes a corresponding signal change

Figure 13 shows an exemplary embodiment according to claim 15 above the joint 13 1, the two bearings 13 3 and 134 are mounted on a glove 13 5 bearing 13 4 is designed as a floating bearing for the flexible connection part 13 2 The distance between the connection part 13 2 and the surface the joint is determined here by means of an ultrasound reflex sensor 13 6 and is dependent on the buckling, as the comparison of FIGS. 13 and 13 a shows

FIG. 14 shows an exemplary embodiment of claim 16. It is a combination of field sizes (claim 7) and distance (claim 8). A field generator 14 1 formed from three orthogonal coils is attached to the bass body 14 0. This field generator is together with the one on the articulated arm 14 3 attached field detector 14 2 and data processing capable of determining a direction indicator (3 angles) RZ with respect to a coordinate system defined by the field generator. The direction indicator RZ points to the attachment location of the field detector 14 2 on the articulated arm 14. The position of the likewise three orthogonal ones Coil-built field detector 14 2 in this case is the desired geometry-sized field generator 14 1 and field detector 14 3 function according to the principle of the nutating field in accordance with US Pat. No. 4,054,881. In order to obtain the size still missing for position determination, there is still a base body 14-0 Ultrasound transmitter 14 5 in the origin of the coordinate system of field generator 14 1 placed. Together with an ultrasound receiver 14 4 placed at the intersection of the field detector coils 142, the distance R still missing for position determination is obtained. The distance measurement with ultrasound is carried out according to one of the standard methods described earlier FIG. 15 shows a combination example for claim 17, where the method of field generator and field detector is combined with a GRAMAG sensor in accordance with the position determination of a location on the articulated arm 15 1. The field generator 15 2 on the base body 15 0 delivers, together with that, due to its nutating field at the destination on the articulated arm 15 1, a field line 15 3 attached to the articulated arm 15 1 provides a second straight line RG2, which passes through the center MG of the articulated bearing 15 5, is supplied by the GRAMAG sensor 15 4, which is also attached to the articulated arm 15 1 (see description of claim 9 ) From the knowledge of the constant vector ΓQ that shows from the field generator 15 2 to the articulated bearing 15 5, the desired position can then be determined. In addition to the position of an articulated arm location, the orientation of the articulated arm 15 1 can also be determined using the determined geometry size π is in the exemplary embodiment just described el a body-related field size (direction RG1) with a size assigned to the gravitational field and the external geomagnetic field (direction RG2 by GRAMAG sensor) and the joint size (bearing position r _Q ) for determining the geometnal sizes "position of the field detector 15 3" and "direction of the articulated arm axis "combined

FIG. 16 shows a further embodiment of claim 13. Due to the possibility of movement of the articulated arm 16 4 determined by the type of the articulated bearing 16 5 (here ball joint) and the known distance Rs of the location S to be determined on the articulated arm 16 4 from the articulated bearing location GM, it is also sufficient the field detector 16 3 already has a plumb sensor 166 to determine the position. With knowledge of the possibility of movement and the position of the spherical plain bearing, it is therefore not necessary to give a direction to the earth's magnetic field

The angle et to the perpendicular (= direction to the gravitational vector -g) determined with the plumb sensor 16 6 defines the only possible geometrical location of the articulated arm 16 4 is a cone with a tip in the center of the joint GM. Knowing the distance R _{s of} the selected location S from the center of the joint is GM then find its position on a clearly determined circle. The second necessary position size is then provided by the direction pointer RZ determined by field generator 162 and field detector 16 3 (by means of a nutating field). The third necessary size is again the constant vector r _G from the field generator 16 2 to the center GM of the articulated clamp 16 5

In the sense of claim 17, in the exemplary embodiment mentioned, the body-related field size (direction RZ) with the joint sizes R _s (= distance from the center of the joint GM / field detector 16 3), position of the gel bearing ΓQ and "ball joint" as well as the measurement size assigned to the gravitational field "Angle .alpha. To the perpendicular" combined to determine the geometry-sized "position of the field detector 16 3"

FIG. 17 shows a simple exemplary embodiment of claim 18. The geometry size to be determined is the position of an ultrasound receiver 17 4 fastened on the articulated arm 17 1 (= sigπal- receiving the distance-detecting means). For this purpose, the two distances r _s1 and r _s2 combined between the ultrasonic transmitters 17.2 and 17.3 and the ultrasonic receiver 17.4 with the joint sizes r _G (= storage location), r _E (= distance of the ultrasonic receiver 17.4) and "ball joint". The position of the ultrasound receiver 17.4 is the intersection of three spheres (r _s1 , r _s2 , r _E ), whose center points are given in the XQ, yg, z _B system, which is based on the base body 17.0. Regarding the exemplary embodiments claims 12, 13, 14, it should also be noted together that they can, of course, also be applied to a plurality of hinged joints. and thus, for example, can capture the geometry sizes of an entire hand.

The geometry sizes described in claim 20 can be of various types, depending on the method with which they were determined.

Examples of this are: The relative position determination which was determined from a magnetic field measurement (claim 3) according to US Pat. No. 4,054,881 (Raab); Distance values from a sound signal transit time measurement (claim 6), kink angle of phalanges; (Claim 15); Angle between an articulated arm and the gravitational vector (claim 9), etc. In order to describe the geometry of a body or its parts in a uniform form, the concept of coordinate systems is an advantageous and manageable method. Another advantage of a coordinate system concept, however, is that it offers the possibility of transforming geometry size values from one to another coordinate system. It is therefore advantageous to convert the geometry size values into coordinate values. The conversion algorithm depends entirely on the type of geometry size determined. If, for example, the kink angles of phalanxes 18.1, 18.2, 18.3 in FIG. 18 have been recorded as geometry variables and their lengths are known, the position of the fingertip 18.4 with respect to a defined point 18.12 (= coordinate origin) on the back of the hand 18.8 can be calculated in coordinate values. The prerequisite for this is the definition of the coordinate axes, with regard to their surroundings and with each other. In Figure 18, a coordinate system is defined on the back of the hand, which has its origin in the extension of the axis 18.5 of the first middle finger member 18.1 at the distance a from the first middle finger link 18.6. The y axis is parallel to the axis 18.5 of the middle finger member, 18.1, the x axis is perpendicular to the y axis, the z axis is perpendicular to the x y plane which is defined by a surface 18.7 on the back of the hand. It is sensible to place a small real surface on the back of the hand in order to be able to observe the position of the coordinate system from "outside". In a practical embodiment, this coordinate surface is formed by part of the housing 18.9 of a measuring device and data processing. In addition to specifying the position of a body part, its orientation can also be of interest. An example of this in FIG. 18 is the directional arrow R, which points in the axial direction of the last phalange 18.3. There are many ways to define the orientation of a body in space. The direction arrow R can be indicated, for example, by its three direction cosines (λ, Φ, Θ) with respect to the coordinate axes. In this special case, not all the orientation options that a body generally has are required, since the finger joints do not Allow rotation around the limb axis As is known, there are a whole series of possibilities for forming coordinate systems, orthogonal coordinate systems, schweis-wwnklιge coordinate systems, polar coordinate systems, cylinder coordinate systems. if they only clearly define the orientation The last statements were the explanation for the concept of the orientation concept introduced in claim 22, which is necessary if the orientation of a body position is also to be described

The kink sensors 18 10 supply signals which can be converted into coordinate values by means of the data processing 18 11 and the conversion algorithm stored there with respect to the coordinate system of the housing attached to the handprint 18 8. The conversion algorithm is different for each method. For the example in FIG he will be outlined below

The fixed spatial position between the coordinate origin and the first joint GZ1 of the index finger is determined by the constant vector r _zo. The vector r _{z1 can be} rotated about the joint GZ1 in a plane perpendicular to the joint axis A1-A1. The articulation angle α QI is the only variable on which r _z1 depends (its length and plane of movement are known) The second index finger joint GZ2 can thus be indicated by a vector r ^ = * ZQ ^{+ r} Zl ( ^{α 01} ). The other joints up to the fingertip r _zs then result in ^r ZS ^{= r} Z0 ^{+ r} Zl (° ^{, 01} ) ^{+ r} Z2 ( ^σ12 ) ⁺ 'ZS ^ ⁰ - ²³ ) • This shows an example of a conversion ^algorithm of measured angle values into Cartesian coordinates

In the selected “orthogonal system” orientation concept, the orientation is formed from the cosine of the directional arrow R ^* _{z of} the fingertip axis

(R ^* Z = ^r ZS - ^r ZG3 ( ^α23 V ' ^r ZS - ^r ZG3 (* ²³ >')

FIG. 3 with the associated description shows a first exemplary embodiment of claim 22. The method of the nutating field used there in combination with an ultrasound distance measurement allows the position and orientation of a sensor coordinate system to be determined. In the following, an exemplary embodiment that is almost identical in description is described, which is based on the principle of US Pat. No. 4,054,881 (Remote object position locater / Inv Raab). Only the position-determining aspect is considered which is achieved by 3 mutually orthogonal learning loops in FIG. 19. The three conductor loops 19 1, 19 2, and 19 3 are excited with alternating current in short succession (multiplexed). They thus generate an electromagnetic field, the power components of which are detected by the three orthogonal receiving loops 194, 19 5, and 196 on a body 19 7 Each of these power components is dependent on the location coordinates with respect to the coordinate system formed by the reference loops 19 1, 19 2, 19 3 and on its distance (see US Pat. No. 4,054,881 column 9). Grinding can be determined on the body if the distance R between reference conductor loops and receiving loops is detected in a known manner by means of an ultrasound transmitter 19.8 and an ultrasound receiver 19.9.

(The emitted ultrasound signal simultaneously sends out a radio pulse 19.13, which starts the runtime measurement of the communication computing unit 19.12 on the belt). The conversion of the field measurement values in the geometry variables can already be carried out on the body 19.7 using a microcontroller or the measurement data are used for external communication computing unit 19.11 for further processing headed. In FIG. 19, digital radio 19.10 is used and it is assumed that both the body-mounted communication computing unit 19.12 and the external communication computing unit 19.11 each have a corresponding transmitter / receiver.

FIGS. 20 and 20a serve to illustrate claims 23 to 25. The position detection of a body site described in claim 25 is carried out by determining the three distances of the receiving unit 20.6 attached to the body 20.5 from the three ultrasound emitters 20.1, 20.2 and 20.3, which are in a defined spatial relationship to stand by each other. These distances are obtained from the signal transit time of the ultrasound pulses provided with different identifiers (frequency or code f1, f2, f3) and converted by means of analytical geometry into position data of the receiving unit 20.6 in relation to the coordinate system x, y, which is defined by the ultrasound emitter . The transit time of the individual ultrasound pulses is measured in the data acquisition of the receiving unit 20.6. In the present example, the three ultrasound pulses are started together, but can also be multiplexed one after the other. When it starts, an electromagnetic trigger signal (radio pulse, IR pulse, etc.) is emitted by the emitter 20.4. This electromagnetic trigger signal is received by the detector 20.10 in one millionth of the sound propagation time and starts the sound propagation time measurement in the receiving unit 20.6. (Figure 20.a). The detector 20.10 can be a photodiode, an antenna, etc., depending on the type of electromagnetic radiation used. After a while, the ultrasound signals then arrive at the ultrasound receivers 20.7 (f3), 20.8 (f2) and 20.9 (f1). Each ultrasound receiver is followed by a filter, a frequency count or a decoding and i.a. realized by means of a microcontroller. In this way, a specific ultrasound receiver only determines the distance between a specific ultrasound emitter. The position can then also be calculated in the microcontroller and transmitted as a digital code 20.13 to an external computing unit 20.12. In the exemplary embodiment according to FIG. 20, the radio path with the antenna 20.11 was selected as data transmission. However, the data can also be transmitted by infrared or ultrasound. Several types 20.6 receivers can also be attached to the body if it is appropriate; the external effort is not affected.

Claims

claims

1 An intelligent geometric sensor system characterized in that

- That any number of body-related geometry sensors and at least one computer unit is attached to a body, and that the computer unit receives the signals from at least one geometry sensor, adapts them on a case-by-case basis, by means of an interchangeable one to the respective geometry sensor (s) and the application Programs processed and exchanged both body-related and body-specific data via a bus system

2 A method for acquiring, processing and transporting geometrical sizes or their associated signals from body locations characterized in that

that at least one intelligent geometric sensor system is attached to a body, and

-that the execution and geometπsche arrangement of the Geometπesensoπk (s) together with a coordinated - loaded in the computer unit - program defines a body-related coordinate system, and thus the signals belonging to Geometπ¬ can be converted into coordinate values

3 A method for the formation of body-related coordinate systems and for the implementation of coordinate transformations of geometrical sizes of a body, characterized in that

"that on a body any number of Geometπesensoπken each of which is formed

"that coordinate values can be calculated from their signals and at least one computer unit is attached, and

"that, based on the knowledge of the geometric data of the geometric sensors and a program loaded in the computer unit, which is capable

to calculate coordinate values (= location vectors and occasionally directional vectors) from the signals received by the geometry sensors using a transformation algorithm that is matched to the respective geometry sensors with respect to an associated basis,

-hereachπsch ordered partial coordinate systems in that each base of a Geometπesensoπk defined as subordinate is also considered as part of a Geometπesensoπk defined as superordinate

to carry out coordinate transformations in a known manner under these subordinate sub-coordinate systems

"and that the computer unit can exchange its data with other body-related or external computer units

4. A method for acquiring, processing and transporting geometry-sized or associated signals from Körperstelleπ, according to claim 1, characterized in that the execution, geometπsche arrangement and geometric relationship between the arbitrary number of Geometπesensoπksystemen geoπgen Geometπesensoπken and by the loaded in the computer units Programs a hierarchical ranking under the intelligent Geometπeseπsoπksystemeπ is built for the purpose of coordinate transformation

5. A method for emitting body-related coordinate systems and for carrying out coordinate transformations of geometry sizes of a body according to claim 4 and 2 characterized

-that the coordinate values (= location vectors and occasionally directional vectors) based on the coordinate system (according to claim 2) of a subordinate intelligent geometry sensor system are transmitted from its computer unit to the computer unit of a hierarchically higher-defined intelligent geometry sensor system

that the basis of the hierarchically subordinate intelligent geometric sensor system (based on known geometric data of the geometric sensor system) is treated as part of the higher-ranking geometric sensor system in the program of the hierarchically higher-ranking intelligent geometric sensor system.

that the program of the superordinate intelligent geometry sensor system has, in addition to the transformation algorithm for its geometry values, a transformation algorithm for integrating the coordinate values supplied by the subordinate intelligent geometry sensor system into its coordinate system,

-that the previous superordinate intelligent geometric sensor system can now be defined as subordinate to a further intelligent geometric sensor system and can therefore be continued in the described method in the form of a cascade

6. A method for determining at least one geometry variable or a signal associated therewith from at least one location of a body with respect to a coordinate system external to the body, characterized in that the location vector and the direction vectors of the base of the coordinate system are based on at least one intelligent geometry sensor system attached to the body (according to claim 2) relative to the coordinate system of an external intelligent geometry sensor system is detected and this, from the intelligent geometry sensor system attached to the body, the geometry size values of any selected geometric systems or coordinate systems associated with its coordinate system are transmitted, and thus the external intelligent geometry sensor system determines the position and any body-related geometry from coordinate systems of other intelligent geometnesensoπksysteme can) to its (external) coordinates system can convert using coordinate transformation

7. A method for detecting at least one geometry variable or a signal associated therewith from at least one location of a body, characterized in that at least one field or radiation generator and at least one field or radiation detector are attached to the body, and that provided by the field or radiation detector Signal can be assigned to a geometric size of its location and / or its orientation in relation to the field or radiation generator, the assignment being able to be carried out by means of data processing optionally attached to the body.

8. A method for detecting the distance or a distance-dependent signal at least two points of a body, characterized in that at least one signal emitter (transmitter) and at least one signal receiver are attached to the body, and the transit time of the signal, the distance of the signal receiver or the reflection location from the signal emitter (Sender) can be assigned, which can be done by means of an optional data processing attached to the body.

9. A method for determining the position and orientation of articulated members of a body with respect to a freely selected coordinate system, characterized in that a multiple sensor detects measured variables on each articulated member and the freely selected coordinate system which detects the angular deviations from the gravitational field and an external, artificial or natural, homogeneous magnetic field , -and if necessary the acceleration- are assigned, and from the arithmetic link

- its position of the articulation and orientation with regard to the freely chosen coordinate system,

- The orientation of the freely selected coordinate system with respect to the gravitational magnetic field coordinate system

- A relative vector from the mounting location of the multiple sensor to the center of movement of the joint member

- The orientation angle which the said relative vector includes with the coordinate axes of the multiple sensor and

- In some cases, the movement possibilities of the joint member, by means of associated data processing means, the desired position and / or orientation with respect to the freely selected coordinate system is determined

10. A method for detecting at least one geometry variable or a signal associated therewith from at least one point of a body having joints, characterized in that from at least one sensor that detects the joint kink and one of the methods according to claim 7, 8 or 9 and occasionally knowledge of at least one joint size (joint storage location, possibility of movement, relative vector on joint member), optionally using data processing, the desired geometry size is formed.

11. Sensor system for recording measured variables which depend on the mutual spatial relationship of locations on a body surface, characterized in that a fixed and a floating bearing are attached to the body surface directly or indirectly (on or in a body covering) and by a flexurally elastic, length-constant part are connected, by means of which geometric changes in the fastening locations are converted into a relative displacement between the flexurally elastic, length-constant part and the floating bearing, and this relative displacement is determined using suitable measuring methods.

12. Sensor system for recording measured variables, which depend on the mutual spatial relationship of locations on a body surface, characterized in that a stretchable sensor means connecting them is attached to the body surface directly or indirectly (on or in a body cover) at at least 2 fastening points. so that geometric changes in the fastening locations cause changes in the elongation of the connecting part, which can be sensed.

13. Sensor system for the detection of measured variables, which depend on the mutual spatial relationship of locations on a body surface, characterized in that on the body surface directly or indirectly (on or in a body cover) at least one field or signal-emitting part and a field - or signal-sensitive part are attached, so that geometric changes in the attachment locations cause a change in the received field or signals.

14. Sensoπk for detection of the measured quantities, which depend on the mutual spatial relationship of locations on a body surface, characterized in that a hollow elastic connecting means is attached directly or indirectly (on or in a body covering), thereby changing geometrical changes in the attachment locations Change the shape of the compound, which can be detected with suitable sensor means, and the hollow, elastic connecting means can also be designed as a closed, pressurized bladder

15. Sensor technology for measuring quantities which depend on the buckling of a joint, characterized in that two bearings are mounted directly or indirectly (on or in a body covering) for receiving a flexible, elastic, constant-length connecting part, so that the distance between the connecting part and the joint - or the surface of the body is structurally associated with the articulation of the joint, and is detected by suitable sensor means, one of the two bearings being designed as a floating bearing

16. A method for determining at least one geometry size of a body of a body in relation to at least one other body-specific location, characterized in that the detection of the desired geometry size by a suitable combination of the type and number of individual methods according to claims 7, 8, 9, 10 , 12, 13, 14, 15 takes place

17. A method for determining a geometrical size of at least one location of a body, consisting of at least one body-fixed field generator and at least one body-fixed combination sensor, characterized in that, in addition to the field-detecting means, the combination also occasionally with sensor and data processing means for detecting at least one the gravitational field or a (natural or artificial) external magnetic field assigned to the measurement variable and the determination of the desired geometry size by a suitable combination of the additional measurement variables mentioned with at least one body-related field size or by an additional combination with at least one suitable joint size or only by a combination of at least one body-related field size with at least one joint size

18. A method for determining a geometry size of at least one position of a body, consisting of at least one body-fixed signal emitter and at least one body-fixed combination sensor, characterized in that. that, in addition to signal-receiving and distance-detecting means, the combination sensor system is also occasionally provided with sensor and data processing means for detecting at least one measurement variable associated with the gravitational field or a (natural or artificial) external magnetic field, and the determination of the desired geometry variable by a suitable combination of the additional measurement variables mentioned with at least one transmitter-related distance size or by additional combination with at least one suitable joint size or only by combining at least one transmission-related distance size with at least one joint size.

19. A method for determining the geometry size of at least one point of a body, according to one of claims 9, 10 or 16, 17 or 18, characterized in that in a spatially defined position relative to the gravitationally sensitive part of a multiple sensor (according to claim 9) or a combination sensor ( in accordance with one of the claims 9, 10, 16, 17, 18) an acceleration sensor for at least one component is attached. With its measured values and a suitable algorithm, the measured values of the gravitationally sensitive part of the multiple or combination sensor, which are falsified by acceleration, are corrected.

20. A method for converting geometry size values into coordinate values, characterized in claim 2 that geometry size values which, for example, correspond to those described in claims 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19 Methods were determined by a conversion algorithm - stored in a data processing system - to coordinate values with respect to a defined body location (coordinate origin) and, if necessary, with an orientation concept, whereby the conversion algorithm contains the geometric relationship between the detected geometry size values, a body position assigned to them and the defined one Coordinate origin and the orientation concept exist.

21. An intelligent Geometπesensoπksystem characterized in that a) that it is able to acquire and convert or convert geometπegrdßen or associated signals using one of the methods described in claims 7,8,9,10,16,17 18,19 b ) that it is capable of forming a coordinate system by means of the method described in claim 16 c) that it has the possibility of using existing or additionally to be sensed sensors

Means to capture at least one of those geometry sizes that the spatial situation of his

Define coordinate systems with respect to a further coordinate system - which belongs to another intelligent geometric sensor system d) that it can exchange data with other intelligent geometric sensor systems

22. A method for determining the position of a body position in relation to a coordinate system external to the body, characterized in that a) kθφerextem is generated by a rotating magnetic direct current or an alternating electromagnetic or radiation field radiating in three directions, b) by means of the selected one Koφerstelle attached field detection means a direction vector to the origin of the coordinate system belonging to the external field source can be determined c) the distance to the external coordinate origin is determined from the signal propagation time of at least one external ultrasound transmitter to an ultrasound receiver firmly connected to the body-attached field detection means

23. A method for detecting the distance or an assigned value between at least one point of a body and at least one point outside the body, characterized in that a) that outside the body a combined sound and electromagnetic signals (also light z B IR) emitting transmitter is set up and sound signal receivers are attached to the body parts to be detected, and at least one receiver for electromagnetic signals is attached to any body parts b) that the combination external emitter always emits a pair of sound and electromagnetic signals, the electromagnetic signals being due to the significantly shorter transit time c) that the distance between the desired body point and the external combination emitter from the running time of the sound signal with data processing means attached to the body is used as a pure trigger signal for the transit time measurement of the sound signal d) the distance values can be transmitted to external data processing

24. A method for determining the distance or an assigned value between at least one point of a body and at least one point outside the body, characterized in that, the method works as in claim 23, however, in contrast, the combination is attached to the body and the Receivers for sound and electromagnetic signals are outside the body

25. A method for determining coordinate positions of body positions with respect to a body-coordinate system, characterized in that a) that outside the body there are three ultrasound emitters in a defined spatial relationship to one another, each of which emits signals with its own code or frequency in pulses b) that one Emitter for electromagnetic radiation is started together with the ultrasonic pulses and the signal emitted by it serves as a trigger for the transit time measurement c) that there is a receiving unit at the desired body location, which consists of at least one ultrasonic receiver and one receiver for electromagnetic radiation d) that each the body-attached ultrasound receiver is provided with decoding or filtering means which allow the incoming sound signals to be distinguished e) that the data processing is connected to the receiver unit Coordinates of the receiver unit with respect to the coordinate system defined by the external ultrasound emitter are calculated f) that both the distances and the position of the body location can be transmitted to external data processing