ETD

Digital archive of theses discussed at the University of Pisa

 

Thesis etd-09162016-104531


Thesis type
Tesi di laurea magistrale
Author
ERCOLINI, GIORGIA
URN
etd-09162016-104531
Thesis title
Development of novel control strategies for robotic upper-limb rehabilitation of patients with orthopedic injuries
Department
INGEGNERIA DELL'INFORMAZIONE
Course of study
INGEGNERIA BIOMEDICA
Supervisors
relatore Prof. Dario, Paolo
correlatore Prof. Laschi, Cecilia
correlatore Prof. Vitiello, Nicola
correlatore Crea, Simona
Keywords
  • exoskeleton
  • rehabilitation
  • orthopedic
Graduation session start date
07/10/2016
Availability
Withheld
Release date
07/10/2019
Summary
The principal purpose of this thesis was to develop and validate a new exercises’ library for the upper-limb rehabilitation of orthopedic patients to implement on platform NEUROExos, a robotic elbow exoskeleton developed at The BioRobotics Institute, Scuola Superiore Sant’Anna.
In the first part, a study of the anatomy of the upper-limb and of the most common injuries at the elbow and shoulder has been done. Then the attention was focused on the existing rehabilitation techniques, especially on robotic ones.
Starting from the current set of passive rehabilitation exercises, that have been tested with neurologic patients on the platform, and after a couple of brainstorming meetings with medical doctors from the Versilia Hospital, the rehabilitation program has been developed. The entire library is able to follow the patient in all the phases of the rehabilitation: from the passive mobilization, to the specific muscle training to the error enhancing techniques. The code, developed in Labview environment, has been tested on 7 healthy subjects. After the experimental session, the data have been analyzed with a Matlab code and the results listed in the Chapter 4.
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