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.