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.
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