A control strategy for a tethered follower robot for pulmonary rehabilitation

"Patients that suffer Chronic Obstructive Pulmonary Disease (COPD) undergo a procedure called Pulmonary Rehabilitation that helps them to improve disease prognosis. Pulmonary Rehabilitation consists of different physical exercises and walking activities conducted at medical facilities under su...

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Detalles Bibliográficos
Autores principales: Bianchi, Luciano Gustavo, Buniak, Esteban Alejandro, Ramele, Rodrigo, Santos, Juan Miguel
Formato: Artículos de Publicaciones Periódicas acceptedVersion
Lenguaje:Inglés
Publicado: 2021
Materias:
REHABILITACION
ENFERMEDADES RESPIRATORIAS
ROBOTS
SIMULACION
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/3308
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-3308
record_format dspace
spelling I32-R138-123456789-33082022-12-07T13:06:04Z A control strategy for a tethered follower robot for pulmonary rehabilitation Bianchi, Luciano Gustavo Buniak, Esteban Alejandro Ramele, Rodrigo Santos, Juan Miguel REHABILITACION ENFERMEDADES RESPIRATORIAS ROBOTS SIMULACION "Patients that suffer Chronic Obstructive Pulmonary Disease (COPD) undergo a procedure called Pulmonary Rehabilitation that helps them to improve disease prognosis. Pulmonary Rehabilitation consists of different physical exercises and walking activities conducted at medical facilities under supervision of a physical therapist. In order to perform these procedures, patients require oxygen assistance, but the oxygen tank cannot be carried by the patient due to the musculoskeletal atrophy that characterize this pathology and external assistance is required. The assistance to transport the bulky oxygen tank can be provided by a robotic device that follows the patient while performing the physical activities. This work provides an initial study on the controlling mechanism of a differential tethered robot that implements a leader-follower configuration to carry the oxygen tank for these procedures. Two alternative control strategies are proposed. Results on a simulated and on a real prototype confirms the feasibility of the proposed solution." 2021-01-21T19:35:12Z 2021-01-21T19:35:12Z 2020-12-03 Artículos de Publicaciones Periódicas info:eu-repo/semantics/acceptedVersion 2576-3202 http://ri.itba.edu.ar/handle/123456789/3308 en info:eu-repo/semantics/reference/doi/10.1109/TMRB.2020.3042281 application/pdf
institution Instituto Tecnológico de Buenos Aires (ITBA)
institution_str I-32
repository_str R-138
collection Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA)
language Inglés
topic REHABILITACION
ENFERMEDADES RESPIRATORIAS
ROBOTS
SIMULACION
spellingShingle REHABILITACION
ENFERMEDADES RESPIRATORIAS
ROBOTS
SIMULACION
Bianchi, Luciano Gustavo
Buniak, Esteban Alejandro
Ramele, Rodrigo
Santos, Juan Miguel
A control strategy for a tethered follower robot for pulmonary rehabilitation
topic_facet REHABILITACION
ENFERMEDADES RESPIRATORIAS
ROBOTS
SIMULACION
description "Patients that suffer Chronic Obstructive Pulmonary Disease (COPD) undergo a procedure called Pulmonary Rehabilitation that helps them to improve disease prognosis. Pulmonary Rehabilitation consists of different physical exercises and walking activities conducted at medical facilities under supervision of a physical therapist. In order to perform these procedures, patients require oxygen assistance, but the oxygen tank cannot be carried by the patient due to the musculoskeletal atrophy that characterize this pathology and external assistance is required. The assistance to transport the bulky oxygen tank can be provided by a robotic device that follows the patient while performing the physical activities. This work provides an initial study on the controlling mechanism of a differential tethered robot that implements a leader-follower configuration to carry the oxygen tank for these procedures. Two alternative control strategies are proposed. Results on a simulated and on a real prototype confirms the feasibility of the proposed solution."
format Artículos de Publicaciones Periódicas
acceptedVersion
author Bianchi, Luciano Gustavo
Buniak, Esteban Alejandro
Ramele, Rodrigo
Santos, Juan Miguel
author_facet Bianchi, Luciano Gustavo
Buniak, Esteban Alejandro
Ramele, Rodrigo
Santos, Juan Miguel
author_sort Bianchi, Luciano Gustavo
title A control strategy for a tethered follower robot for pulmonary rehabilitation
title_short A control strategy for a tethered follower robot for pulmonary rehabilitation
title_full A control strategy for a tethered follower robot for pulmonary rehabilitation
title_fullStr A control strategy for a tethered follower robot for pulmonary rehabilitation
title_full_unstemmed A control strategy for a tethered follower robot for pulmonary rehabilitation
title_sort control strategy for a tethered follower robot for pulmonary rehabilitation
publishDate 2021
url http://ri.itba.edu.ar/handle/123456789/3308
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