The DOI displayed above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
DOI: 10.4121/011863e8-86d0-4894-91f5-d580c5cade27

Belli, Italo (2025): Data and code accompanying the dissertation "Biomechanics-aware control for robot-assisted physiotherapy: A novel approach to treating shoulder injuries". Version 2. 4TU.ResearchData. dataset. https://doi.org/10.4121/011863e8-86d0-4894-91f5-d580c5cade27.v2

Version 1 - 2025-10-14

Categories

• Mechanical Engineering
• Biomedical Engineering
• Engineering

Keywords

Muscle Redundancy Musculoskeletal Modeling Optimal Control Optimization Physical Human­ Robot Interaction Rehabilitation Robotics Rotator Cuff Shoulder Physiotherapy

Licence

Apache-2.0

Interoperability

• RO-Crate Metadata

Export as...

RefWorks BibTeX Reference Manager Endnote DataCite NLM DC CFF

by Italo Belli

Code and data associated with the Ph.D. thesis titled "Biomechanics-aware control for robot-assisted physiotherapy: A novel approach to treating shoulder injuries" by Italo Belli,

at the Departments of Cognitive Robotics and BioMechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology.

For each chapter, we release the code and data underlying our experiments, tables, and plots, as .zip archives. Each archive contains a "Code" and a "Data" folder, where the former contains scripts and code

used to perform simulations, control our robots, and generate the plots/tables, while the latter collects the data gathered for each study.

chapter_2:

- readme.txt contains information on how to obtain the data and code from the corresponding Zenodo page.

chapter_3:

- Code: contains a copy of https://github.com/itbellix/baton-robotic-rehab (refer to this repository for the most recent version of the code).

- Data: contains the data generated during our simulations and real-robot experiments, in the form of ROS .bags, with indications on how to plot the relevant contents.

chapter_4:

- Code: contains a copy of https://github.com/ilybeck/Graduation_PTbot/tree/working_CSO (where the branch is specific to the scripts used to generate the results in this chapter)

- Data: contains the data collected during experiments with our participant interacting with the robot (in .npy format, with indications on how to access them)

chapter_5:

- Code: contains a copy of the repository available at https://github.com/itbellix/biomechanical_safe_deflection, as a ROS package.

- Data produced during this study can be accessed at https://data.4tu.nl/datasets/2016260b-d4bb-4b4e-94d5-e2e177913e11

chapter_6:

- Contains a copy of the repository available at https://github.com/Geblade10/thesis-project, featuring both the code and the data generated for this study.

More information is provided to the user in dedicated readme files inside the various folders, together with the platforms used to run our experiments and the software dependencies needed.

History

• 2025-10-14 first online, published, posted

Publisher

4TU.ResearchData

Format

Data is provided in .bag, .npy, .xslx formats, while code is available as .mat, .py, .cpp files.

Funding

• Chan Zuckerberg Initiative (grant code 2020­218896) Chan Zuckerberg Initiative DAF, an advised fund of Silicon Valley Community Foundation
• Chan Zuckerberg Initiative (grant code 2022­252796) Chan Zuckerberg Initiative DAF, an advised fund of Silicon Valley Community Foundation
• FRAIM [more info...] transdisciplinary research and innovation centre FRAIM

Organizations

TU Delft, Faculty Mechanical Engineering, Department of Cognitive Robotics (Human-Robot interaction section) and BioMechanical Engineering (Biomechatronics and Human-Machine Control section, Computational Biomechanics lab).