Nowadays, robotic devices take advantage of more or less complex control systems, but all of them are provided with some Graphical User Interface (GUI) allowing for a complete feedback and monitoring of the therapy progress over the time, even adjusting the degree of robot assistance based on the progress of the patient. Moreover, has emerged more and more the need to save the patient's clinical history, to be able to personalize her/his therapy. All this today is facilitated by the possibility of customizing robotic therapy, also due to an essential element of robotic devices which is modularity. This master thesis is based on these reasons, indeed its aim is to develop and test a cockpit to drive the interface between the user and an upper limb multi-modal exoskeleton. Three scenarios have been considered two for rehabilitation (S1 and S2 ) and one for daily life assistance (S3). A central role in the development of this work is represented by the final end-users of the system. The first step was in fact represented by the identification of the needs of the clinicians in rehabilitation, as the importance of having accessible data, the ability to manage a rehabilitative session therapy in an easy way, and the demands of patients to have clear and stimulating guidance in accomplishing exercises. The design of the back-end ,i.e. the database, of the cockpit was common for the three scenarios and was integrated with the front-end, i.e. graphical user interface. Moreover the cockpit and the rest of the modules was integrated of the system through ROS. The front end, i.e. the graphical user interface, was implemented for all scenarios but validations with end-users (therapists and patients) was designed and carried out only for the rehabilitation context.
Oggigiorno i dispositivi robotici si avvalgono di sistemi di controllo più o meno complessi, ma tutti sono dotati di una GUI (Graphical User Interface) che consente un completo feedback e monitoraggio dell'andamento della terapia nel tempo, anche regolando il grado di assistenza del robot in base al progresso del paziente. Inoltre, è sempre più emersa la necessità di salvare la storia clinica del paziente, per poter personalizzare la sua terapia. Tutto questo oggi è facilitato dalla possibilità di personalizzare la terapia robotica, anche grazie ad un elemento essenziale dei dispositivi robotici, che è la modularità. Questa tesi di laurea si basa su questi motivi, infatti il suo scopo è quello di sviluppare e testare un cockpit per pilotare l'interfaccia tra l'utente e un esoscheletro multimodale di arto superiore. Sono stati considerati tre scenari due per la riabilitazione (S1 e S2) e uno per l'assistenza alla vita quotidiana (S3). Un ruolo centrale nello sviluppo di questo lavoro è rappresentato dagli utenti finali del sistema. Il primo passo è stato infatti rappresentato dall'individuazione delle esigenze dei clinici in ambito di riabilitazione, come l'importanza di avere dati accessibili, la capacità di gestire una seduta terapeutica riabilitativa in modo semplice, e le richieste dei pazienti di avere istruzioni chiare e feedback stimolanti nella realizzazione degli esercizi. Il design del back-end, cioè. il database, del cockpit, era comune per i tre scenari ed era integrato con il front-end, ovvero l'interfaccia utente grafica. Inoltre, il cockpit e il resto dei moduli sono stati integrati nel sistema tramite ROS. Il front end, ovvero l'interfaccia utente grafica, è stato implementato per tutti gli scenari ma le validazioni con gli utenti finali (terapisti e pazienti) sono state progettate e realizzate solo per il contesto riabilitativo.
Design and development of a cockpit for an upper limb exoskeleton
Morosini, Alice
2019/2020
Abstract
Nowadays, robotic devices take advantage of more or less complex control systems, but all of them are provided with some Graphical User Interface (GUI) allowing for a complete feedback and monitoring of the therapy progress over the time, even adjusting the degree of robot assistance based on the progress of the patient. Moreover, has emerged more and more the need to save the patient's clinical history, to be able to personalize her/his therapy. All this today is facilitated by the possibility of customizing robotic therapy, also due to an essential element of robotic devices which is modularity. This master thesis is based on these reasons, indeed its aim is to develop and test a cockpit to drive the interface between the user and an upper limb multi-modal exoskeleton. Three scenarios have been considered two for rehabilitation (S1 and S2 ) and one for daily life assistance (S3). A central role in the development of this work is represented by the final end-users of the system. The first step was in fact represented by the identification of the needs of the clinicians in rehabilitation, as the importance of having accessible data, the ability to manage a rehabilitative session therapy in an easy way, and the demands of patients to have clear and stimulating guidance in accomplishing exercises. The design of the back-end ,i.e. the database, of the cockpit was common for the three scenarios and was integrated with the front-end, i.e. graphical user interface. Moreover the cockpit and the rest of the modules was integrated of the system through ROS. The front end, i.e. the graphical user interface, was implemented for all scenarios but validations with end-users (therapists and patients) was designed and carried out only for the rehabilitation context.| File | Dimensione | Formato | |
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https://hdl.handle.net/10589/166360