Experimental data complementing the paper "A Shared Control Approach to Safely Limiting Patient Motion Based on Tendon Strain During Robotic-Assisted Shoulder Rehabilitation" (IEEE ICORR 2025)

This dataset contains the experimental data collected during the experiments that were performed at the Cognitive Robotics department of TU Delft, to test the algorithms presented in the paper "A Shared Control Approach to Safely Limiting Patient Motion Based on Tendon Strain During Robotic-Assisted Shoulder Rehabilitation". The dataset, in form of ROS bags (recorded during the experiments with a human subject interacting with a KUKA robot controlled via impedance control in ROS 1) is made by:"reactUnsafe_0.bag", containing the results of the low-authority shared controller presented in the paper. A portion of the data was employed to generate Figure 4 in the paper."deflection_interpTraj.bag", containing the results of the high-authority shared controller. A portion of the data is visualized in Figure 5."impact.bag" was recorded when the controller from a previous publication ("Enabling patient-and teleoperator-led robotic physiotherapy via strain map segmentation and shared-authority"), and supports the results in section III.B.<br>An example of how to extract the data from each .bag file can be found in the GitHub repository of the project (https://github.com/itbellix/biomechanical_safe_deflection) under scripts/plot_results.py

本数据集包含代尔夫特理工大学（TU Delft）认知机器人学系开展试验时采集的实验数据，用于验证论文《机器人辅助肩部康复中基于肌腱应变的患者运动安全限制共享控制方法》（A Shared Control Approach to Safely Limiting Patient Motion Based on Tendon Strain During Robotic-Assisted Shoulder Rehabilitation）中提出的算法。
本数据集采用ROS包（ROS bag）格式存储，数据采集于人类受试者与在ROS 1环境下通过阻抗控制（impedance control）驱动的库卡（KUKA）机器人交互的试验过程，包含以下文件：
1. reactUnsafe_0.bag：包含论文中提出的低权限共享控制器的试验结果，其中部分数据用于生成论文中的图4。
2. deflection_interpTraj.bag：包含高权限共享控制器的试验结果，其中部分数据用于可视化论文中的图5。
3. impact.bag：录制自此前发表的论文《基于应变图分割与共享权限实现患者与遥操作者主导的机器人物理治疗》（Enabling patient-and teleoperator-led robotic physiotherapy via strain map segmentation and shared-authority）中的控制器，用于支撑论文第三章B部分的实验结果。
如何从每个.bag文件中提取数据的示例，可在项目的GitHub仓库（https://github.com/itbellix/biomechanical_safe_deflection）的scripts/plot_results.py路径下找到。