Browsing by Author "Bianchi, Luciano Gustavo"

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    A control strategy for a tethered follower robot for pulmonary rehabilitation
    (2020-12-03) Bianchi, Luciano Gustavo; Buniak, Esteban Alejandro; Ramele, Rodrigo; Santos, Juan Miguel
    "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."
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    Controller design for a tethered follower: robot for pulmonary rehabilitation: ALPIBot
    (2020-02-26) Bianchi, Luciano Gustavo; Ramele, Rodrigo
    "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."