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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-08252007-181738


Tipo di tesi
Tesi di laurea specialistica
Autore
Montagner, Alberto
URN
etd-08252007-181738
Titolo
Control and clinical evaluation of an arm exoskeleton system for rehabilitation using Virtual Reality
Dipartimento
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Relatori
Relatore Dott. Avizzano, Carlo Alberto
Relatore Dott. Frisoli, Antonio
Relatore Prof. Bergamasco, Massimo
Parole chiave
  • Arm rehabilitation
  • Exoskeleton
  • Medical robots
  • Rehabilitation robotics
  • Stroke
  • Virtual Reality
Data inizio appello
02/10/2007
Consultabilità
Non consultabile
Data di rilascio
02/10/2047
Riassunto
This thesis presents the application of the L-Exos system, which is a force-feedback exoskeleton for the right arm developed at the Scuola Superiore Sant’Anna, Pisa, for robotic-assisted rehabilitation. After an essential introduction to strokerelated impairments and to existing robotic devices that are currently being employed for post-stroke rehabilitation, many technical details of the developed integrated system will be reviewed. Emphasis will be given to the characteristics that make such structure suitable for robotic arm rehabilitation, to the improvements that have been implemented in order to use the device with stroke patients, to the control architecture and to the VR-aided rehabilitation protocols that have been implemented. In particular, three different schemes of therapy in Virtual Reality are presented in terms of control architecture and description of the task. The experimental results of a clinical evaluation conducted at the Santa Chiara Hospital in Pisa with nine chronic stroke patients are reported and discussed.
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