Development of a patient behavior model for an adaptive medical robot

Soavi, Giovanni (2023) Development of a patient behavior model for an adaptive medical robot. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270], Documento full-text non disponibile
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The thesis focuses on the development and evaluation of a patient behavior model, which is to be used to quantify the patient’s contribution to the generation of the movements performed during robot-assisted lower limb mobilization. This study allows adaptation of the robot’s behaviour based on the patient’s capabilities in order to guarantee a therapy progression. The work will provide a strategy based both on I st principle and data-driven approaches. Our best performing model includes a cooperation between those strategies, which is able to predict the required torques for the mobilization of a completely passive subject during different therapy’s configurations. The model only uses data available from the robot’s system without exploiting additional sensors. Validation is conducted with real human data for a total of 10 healthy subjects.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Soavi, Giovanni
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
Mechanical model,Rehabilitation robotics,Physical robot- human interaction,Lagrangian equations,Gradient descent,data-driven approach,neural networks
Data di discussione della Tesi
14 Ottobre 2023

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