Abstract: Disclosed is a buttock support for at least partial load-relief of the body weight of a person, the buttock support having two support regions adapted to receive at least part of a buttock region of the person. Also disclosed is a load-relief system having the aforementioned buttock support. The two support regions are separated from one another by a gap and are rounded. The gap separates the two support regions from one another centrally. The buttock support significantly simplifies the connection of a person to the aforementioned load-relief system to prepare for manual and/or automated physical therapy and also ensures that the thigh region, in particular the inner face of the thigh, and the groin region are accessible for further medical/therapeutic treatment by the medical staff.

Abstract: Disclosed is a foot support system for a foot module of a rehabilitation mechanism, the foot support system having an inner shell for receiving a person's foot, an outer shell for connection to a foot module of a rehabilitation mechanism, and at least one strap for fixing the foot to the foot support system. The inner shell, preferably on its side opposite a receiving region for the foot, has at least one connection for reversibly connecting the inner and outer shells, and wherein the outer shell, preferably at least on its side facing the inner shell when the inner shell and outer shell are connected, has at least one receiver corresponding to the at least one connection of the inner shell. By virtue of its modular set up, it permits simple, quick and comfortable connection to a foot module and advantageously protects and stabilizes the foot in particular during movement.

Abstract: A method for open-loop and closed-loop control of a device having a movement module, in terms of its interaction with a human, is based on an energy-based control process that makes it possible to monitor the amount of an overall energy in the system including the device and the human in dependence on a measured control variable describing the speed at which the device or its movement module moves. The method considers the entire power cycle, in particular the dynamics of the energy or power flow, in the system including the device and the human and takes into account the performance of the human during the closed-loop control. The method also enables the participation state of the human who is using the device to be determined in an iterative learning process without additional sensors. A device for carrying out the method is also provided.

Abstract: A measuring method determines the length conditions, the position and/or the radius of movement of the lower extremities of a bed-bound patient. A knee module of a rehabilitation mechanism is connected to a point of application of a leg of the patient. A measuring device records and determines a trajectory solely of the point of application during a movement of the leg by the knee module. A model generation device creates a kinematic model from the data. This allows a determination of the length conditions, the position and/or the radius of movement during an initializing movement without having to undertake any surgical intervention. This does away with the need for complex sensor technology and provides a kinematic model of the radius of movement of the patient, the parameters of which kinematic model are used for establishing new therapeutic procedures within the patient's physical therapy.

Abstract: A device and a method for reversibly connecting a rehabilitation mechanism to a bed, such as a hospital bed that can be brought to a vertical position. The device has a connection element arranged on the rehabilitation mechanism; a receiving unit, which can be arranged at the side of and/or at the foot end of the bed; the receiving unit corresponds in design to the connection element; and a transport device for transporting the rehabilitation mechanism toward and away from the bed. The transport device and/or the bed is height-adjustable. A method for operating a rehabilitation mechanism connected to a bed by way of the novel device. Easy, fast, reversible connection of a rehabilitation mechanism to a conventional hospital bed is enabled, in particular to a hospital bed that can be brought to a vertical position. Existing beds can be quickly and economically retrofitted with a robot system for kinesiotherapy.

Abstract: A measuring method determines the length conditions, the position and/or the radius of movement of the lower extremities of a bed-bound patient. A knee module of a rehabilitation mechanism is connected to a point of application of a leg of the patient. A measuring device records and determines a trajectory solely of the point of application during a movement of the leg by the knee module. A model generation device creates a kinematic model from the data. This allows a determination of the length conditions, the position and/or the radius of movement during an initializing movement without having to undertake any surgical intervention. This does away with the need for complex sensor technology and provides a kinematic model of the radius of movement of the patient, the parameters of which kinematic model are used for establishing new therapeutic procedures within the patient's physical therapy.

Abstract: A method for controlling a modular multi-level converter comprises the steps of: collecting control input variables from the converter; transmitting the control input variables to a controller of the converter via a first communication medium; determining, in the controller, and actual state of the converter and at least one control output variable based on a model of the converter; and transmitting the control output variable to the converter for controlling the converter via a second communication medium. The model of the converter accounts for the first and/or the second communication medium.

Abstract: A method for controlling a modular multi-level converter comprises the steps of: collecting control input variables from the converter; transmitting the control input variables to a controller of the converter via a first communication medium; determining, in the controller, and actual state of the converter and at least one control output variable based on a model of the converter; and transmitting the control output variable to the converter for controlling the converter via a second communication medium. The model of the converter accounts for the first and/or the second communication medium.

Abstract: An exemplary method for controlling an electrical converter includes receiving an actual electrical quantity relating to the electrical converter and a reference quantity; determining a future state of the electrical converter by minimizing an objective function based on the actual electrical quantity and the reference quantity as initial optimization variables; and determining the next switching state for the electrical converter from the future state of the electrical converter. The objective function is iteratively optimized by: calculating optimized unconstrained optimization variables based on computing a gradient of the objective function with respect to optimization variables; and calculating optimization variables for a next iteration step by projecting the unconstrained optimization variables on constraints. The computation of the gradient and/or the projection is performed in parallel in more than one computing unit.

Abstract: A method, a computer-readable medium for controlling an electrical converter, and a controller are disclosed. The method for controlling an electrical converter can include receiving an actual switching state uk-1 of the electrical converter; determining a scenario tree for future switching states of the electrical converter based on the actual switching state uk-1, the scenario tree defining a plurality of future switching sequences, a switching sequence U being defined by a path from a root node of the scenario tree to a leave node of the scenario tree; calculating a weight w for a switching sequence by evaluating nodes of the scenario tree; and determining the next switching state uk to be applied to the electrical converter from a switching sequence with a best weight. The evaluation of the nodes can be performed by at least two processor cores.