Controller design for a tethered follower: robot for pulmonary rehabilitation: ALPIBot

"The purpose of this work is to describe the development of a following mechanism for a robotic vehicle that can carry an oxygen tank during pulmonary rehabilitation exercises for Chronic Obstructive Pulmonary Disease (COPD) patients. The mechanism consists of two threads connected to a single...

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Autor principal: Bianchi, Luciano Gustavo
Otros Autores: Ramele, Rodrigo
Formato: Proyecto final de Grado
Lenguaje:Español
Publicado: 2021
Materias:
REHABILITACION
ROBOTS
ENFERMEDADES RESPIRATORIAS
SIMULACION
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/3343
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-3343
record_format dspace
spelling I32-R138-123456789-33432022-12-07T14:33:58Z Controller design for a tethered follower: robot for pulmonary rehabilitation: ALPIBot Bianchi, Luciano Gustavo Ramele, Rodrigo REHABILITACION ROBOTS ENFERMEDADES RESPIRATORIAS SIMULACION "The purpose of this work is to describe the development of a following mechanism for a robotic vehicle that can carry an oxygen tank during pulmonary rehabilitation exercises for Chronic Obstructive Pulmonary Disease (COPD) patients. The mechanism consists of two threads connected to a single point in the followed subject from two reels in the follower robot. A prototype vehicle is built as a platform to test this mechanism. Two different control algorithms, using the same hardware design, are studied and compared using a software simulation and motion capture experiments. This work was done in collaboration with ALPI, an institution dedicated to the rehabilitation of patients with motor-neuron disease. Initial clinical assessments confirmed the effectiveness of the proposed strategies." Proyecto final Ingeniería Informática (grado) - Instituto Tecnológico de Buenos Aires, Buenos Aires, 2020 2021-01-25T18:51:05Z 2021-01-25T18:51:05Z 2020-02-26 Proyecto final de Grado http://ri.itba.edu.ar/handle/123456789/3343 es 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 Español
topic REHABILITACION
ROBOTS
ENFERMEDADES RESPIRATORIAS
SIMULACION
spellingShingle REHABILITACION
ROBOTS
ENFERMEDADES RESPIRATORIAS
SIMULACION
Bianchi, Luciano Gustavo
Controller design for a tethered follower: robot for pulmonary rehabilitation: ALPIBot
topic_facet REHABILITACION
ROBOTS
ENFERMEDADES RESPIRATORIAS
SIMULACION
description "The purpose of this work is to describe the development of a following mechanism for a robotic vehicle that can carry an oxygen tank during pulmonary rehabilitation exercises for Chronic Obstructive Pulmonary Disease (COPD) patients. The mechanism consists of two threads connected to a single point in the followed subject from two reels in the follower robot. A prototype vehicle is built as a platform to test this mechanism. Two different control algorithms, using the same hardware design, are studied and compared using a software simulation and motion capture experiments. This work was done in collaboration with ALPI, an institution dedicated to the rehabilitation of patients with motor-neuron disease. Initial clinical assessments confirmed the effectiveness of the proposed strategies."
author2 Ramele, Rodrigo
author_facet Ramele, Rodrigo
Bianchi, Luciano Gustavo
format Proyecto final de Grado
author Bianchi, Luciano Gustavo
author_sort Bianchi, Luciano Gustavo
title Controller design for a tethered follower: robot for pulmonary rehabilitation: ALPIBot
title_short Controller design for a tethered follower: robot for pulmonary rehabilitation: ALPIBot
title_full Controller design for a tethered follower: robot for pulmonary rehabilitation: ALPIBot
title_fullStr Controller design for a tethered follower: robot for pulmonary rehabilitation: ALPIBot
title_full_unstemmed Controller design for a tethered follower: robot for pulmonary rehabilitation: ALPIBot
title_sort controller design for a tethered follower: robot for pulmonary rehabilitation: alpibot
publishDate 2021
url http://ri.itba.edu.ar/handle/123456789/3343
work_keys_str_mv AT bianchilucianogustavo controllerdesignforatetheredfollowerrobotforpulmonaryrehabilitationalpibot
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