Data and code accompanying the dissertation "Biomechanics-aware control for robot-assisted physiotherapy: A novel approach to treating shoulder injuries"

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.<br>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 codeused to perform simulations, control our robots, and generate the plots/tables, while the latter collects the data gathered for each study.<br>chapter_2: - readme.txt contains information on how to obtain the data and code from the corresponding Zenodo page.<br>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.<br>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)<br>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<br>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.<br>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.

本数据集配套于代尔夫特理工大学（Delft University of Technology）机械工程学院认知机器人学与生物机械工程系Italo Belli的博士学位论文《面向机器人辅助物理治疗的生物力学感知控制：一种治疗肩部损伤的全新方法》。
针对论文各章节，我们将支撑实验、表格与绘图的代码与数据以.zip压缩包形式发布。每个压缩包均包含"Code"与"Data"两个文件夹：前者收录用于开展仿真、控制机器人以及生成图表与表格的脚本与代码；后者则收集各研究中采集得到的实验数据。

第2章：readme.txt中说明了如何从对应Zenodo（Zenodo）平台获取本章的代码与数据。
第3章：- "Code"文件夹：包含https://github.com/itbellix/baton-robotic-rehab的副本（可通过该仓库获取代码的最新版本）；- "Data"文件夹：包含仿真与实体机器人实验中生成的机器人操作系统（Robot Operating System，ROS）.bag格式数据，并附有绘制相关内容的操作说明。
第4章：- "Code"文件夹：包含https://github.com/ilybeck/Graduation_PTbot/tree/working_CSO的副本（该分支对应生成本章结果所用的脚本）；- "Data"文件夹：包含受试者与机器人交互实验中采集的数据（格式为.npy，并附有数据访问说明）。
第5章：- "Code"文件夹：包含https://github.com/itbellix/biomechanical_safe_deflection仓库的副本，为ROS软件包；- 本研究生成的数据可通过https://data.4tu.nl/datasets/2016260b-d4bb-4b4e-94d5-e2e177913e11获取。
第6章：包含https://github.com/Geblade10/thesis-project仓库的副本，该仓库收录了本章研究所用的全部代码与生成的数据。
各文件夹内的专属readme文件将提供更多详细信息，包括实验运行平台与所需的软件依赖项。