Ramele, RodrigoBianchi, Luciano Gustavo2021-01-252021-01-252020-02-26http://ri.itba.edu.ar/handle/123456789/3343"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."esREHABILITACIONROBOTSENFERMEDADES RESPIRATORIASSIMULACIONProyecto final de Grado