|Tipo di tesi||Tesi di laurea magistrale|
|Titolo||Progettazione di soluzioni di robotica collaborativa per la riabilitazione di arti superiori basata sull’analisi e l'ottimizzazione dello spazio operativo|
|Titolo in inglese||Design of collaborative robotics solutions for upper limb rehabilitation based on the analysis and optimization of the workspace|
|Struttura||Dipartimento di Ingegneria "Enzo Ferrari"|
|Corso di studi||Ingegneria Meccanica (D.M.270/04)|
|Data inizio appello||2022-04-11|
|Data di rilascio||2062-04-11|
Nell’attuale scenario della riabilitazione post-operatoria il terapeuta e il paziente sono gli attori fondamentali per il recupero delle funzionalità essenziali. Il terapeuta valuta la mobilità residua e identifica gli esercizi necessari al recupero della stessa, mentre il paziente si deve impegnare nello svolgere gli esercizi rispettando le indicazioni date.
In the current scenario of post-operative rehabilitation, the therapist and the patient are the key players for the recovery of essential functions. The therapist evaluates the residual mobility and identifies the exercises necessary for its recovery, while the patient must undertake to carry out the exercises respecting the given indications. In this context, the use of collaborative robots, or cobots, can improve the efficiency of the therapeutic action. Thanks to the interaction between the cobot and the patient's limb, in addition to objectifying the mobility of the limb itself, it is possible to define both the trajectories of movement and the resistance to motion in a unique way. At the state of the art, however, there are no solutions that exploit this potential. The present thesis therefore intends to propose an approach for the design of collaborative robotics solutions for the rehabilitation of the upper limbs. In particular, the analysis and optimization of the workspace is proposed to identify the optimal cobot/patient configuration for carrying out certain exercises. In this way, starting from the therapist's indications, the designer can determine the optimal solution for the gripping of the limb and the position of the cobot for an effective exercise. To achieve the intended goal, the main characteristics of the kinematics of cobots with seven degrees of freedom were initially studied, identifying the theoretical tools for analyzing the workspace in the Jacobian matrix and in the manipulability index. Subsequently, the theoretical model was implemented considering Franka Emika's Panda manipulator as a case study, a collaborative robot with seven degrees of freedom, to which a workspace analysis was applied to identify the areas in which the manipulator moves with greater ease and maximizes resistance to movement, i.e. where the manipulability index is highest. Within the aforementioned volumes, indices have been introduced for the characterization of the trajectories to be performed. In this way it was possible to understand where to go to precisely position the trajectories themselves, or where the user will have to carry out the rehabilitation exercise. Finally, simple End Effectors were designed to be mounted on the end flange of the robot to perform preliminary tests and experimentally verify that what is proposed by the theoretical analysis is reflected in practice.