artículo de publicación periódica.page.titleprefix
A control strategy for a tethered follower robot for pulmonary rehabilitation

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dc.contributor.authorBianchi, Luciano Gustavo
dc.contributor.authorBuniak, Esteban Alejandro
dc.contributor.authorRamele, Rodrigo
dc.contributor.authorSantos, Juan Miguel
dc.date.accessioned2021-01-21T19:35:12Z
dc.date.available2021-01-21T19:35:12Z
dc.date.issued2020-12-03
dc.description.abstract"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."en
dc.identifier.issn2576-3202
dc.identifier.urihttp://ri.itba.edu.ar/handle/123456789/3308
dc.language.isoenen
dc.relationinfo:eu-repo/semantics/reference/doi/10.1109/TMRB.2020.3042281
dc.subjectREHABILITACIONes
dc.subjectENFERMEDADES RESPIRATORIASes
dc.subjectROBOTSes
dc.subjectSIMULACIONes
dc.titleA control strategy for a tethered follower robot for pulmonary rehabilitationen
dc.typeArtículos de Publicaciones Periódicases
dc.typeinfo:eu-repo/semantics/acceptedVersion
dspace.entity.typeArtículo de Publicación Periódica
itba.description.filiationFil: Buniak, Esteban Alejandro. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiationFil: Ramele, Rodrigo. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiationFil: Santos, Juan Miguel. Instituto Tecnológico de Buenos Aires; Argentina.

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