Loading...
A control strategy for a tethered follower robot for pulmonary rehabilitation
Bianchi, Luciano Gustavo Buniak, Esteban Alejandro Ramele, Rodrigo Santos, Juan Miguel
Bianchi, Luciano Gustavo
Buniak, Esteban Alejandro
Ramele, Rodrigo
Santos, Juan Miguel
Type
Artículo de publicación periódica
Citations
Altmetric:
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."
Description
Date
2020-12-03
Journal Title
Journal ISSN
Volume Title
Publisher
Collections
Files
Loading...
Artículo_Bianchi
Adobe PDF, 5.67 MB
Research Projects
Organizational Units
Journal Issue
Keywords
REHABILITACION, ENFERMEDADES RESPIRATORIAS, ROBOTS, SIMULACION