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

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2020-02-26
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Bianchi, Luciano Gustavo
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"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."
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