Method for controlling a robot device, robot device and computer program product

A method for controlling a robot device having a movable manipulator or effector comprising monitoring a speed or direction of the movement of the manipulator or effector depending on medical injury parameters and on dynamics of the robot, and adapting the speed or direction as a function of the monitoring, wherein the manipulator or effector is characterized by a group of geometrically coupled primitive objects and wherein a set of relevant points POI is defined for each of the primitive objects, comprising the steps of:

• providing a relationship between a scalar mass m, a maximum velocity vmax(m) depending on the mass m and a medical injury for each of the primitive objects and for a certain part of a human body;
• providing a target movement for the manipulator or effector;
• depending on the target movement of the manipulator or effector, determining, for each of the relevant points POI of the primitive objects, a reflected mass mu of the manipulator or effector;
• depending on the target movement of the manipulator or effector and on the determined reflected masses mu and based on the relationship provided, determining a maximum velocity vmax(mu) for each of the relevant points POI;
• and
• comparing, for each of the relevant points POI, a POI target velocity, which result from the target movement of the manipulator or effector, and the determined maximum velocity vmax(mu) dedicated to the respective POI, and in case a POI target velocity exceeds the dedicated maximum velocity vmax(mu), preventing the respective POI target velocity from exceeding the relevant maximum velocity vmax(mu).

A robot device comprising:

• a movable manipulator or effector;
• and
• a control unit having a computing unit and a memory unit, the computing unit monitoring a speed or direction of the movement of the manipulator or effector depending on medical injury parameters and on dynamics of the robot, and adapting the speed or direction as a function of the monitoring, wherein the manipulator or effector is characterized by a group of geometrically coupled primitive objects and wherein a set of relevant points POI is defined for each of the primitive objects, the computer unit being programmed to execute the following steps:
• providing a relationship between a scalar mass m, a maximum velocity vmax(m) depending on the mass m and a medical injury for each of the primitive objects and for a certain part of a human body,
• providing a target movement for the manipulator or effector,
• depending on the target movement of the manipulator or effector, determining, for each of the relevant points POI of the primitive objects, a reflected mass mu of the manipulator or effector,
• depending on the target movement of the manipulator or effector and on the determined reflected masses mu, and based on the relationship provided, determining a maximum velocity vmax(mu) for each of the relevant points POI, and
• comparing, for each of the relevant points POI, a POI target velocity, which result from the target movement of the manipulator or effector, and the determined maximum velocity vmax(mu) dedicated to the respective POI, and in case a POI target velocity exceeds the dedicated maximum velocity vmax(mu), preventing the respective POI target velocity from exceeding the relevant maximum velocity vmax(mu).