D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification Table of Tables TABLE 1: WHO‐MONICA PROJECT 6 EU POPULATION. 21 TABLE 2: PREVALENCE (PER 100 000) OF MS IN EUROPE BY AGE (BEST ESTIMATES) 23 TABLE 3: INCIDENCE (PER 100 000/ YEAR) OF MS IN EUROPE 23 TABLE 4: MAIN PLATFORM COMPARISON 153 X
D2.1 Requirements and Specification 1 Abstract Deliverable D2.1 Requirements and Specification formalises the prioritised requirements for the CORBYS Cognitive Control Architectecture and demonstrator domains as exemplars of use cases to be evaluated within the CORBYS project. The focus of CORBYS is on robotic systems that have a symbiotic relationship with humans. Such robotic systems have to cope with highly dynamic environments as humans are demanding, curious and often act unpredictably. CORBYS will design and implement a cognitive robot control architecture that allows the integration of 1) high-level cognitive control modules, 2) a semantically-driven self-awareness module, and 3) a cognitive framework for anticipation of, and synergy with, human behaviour based on biologically-inspired information-theoretic principles. These modules, supported with an advanced multi-sensor system to facilitate dynamic environment perception, will endow the robotic systems with highlevel cognitive capabilities such as situation-awareness, and attention control. This will enable the adaptation of robot behaviour, to the user’s variable requirements, to be directed by cognitively adapted control parameters. CORBYS will provide a flexible and extensible architecture to benefit a wide range of applications; ranging from robotised vehicles and autonomous systems such as robots performing object manipulation tasks in an unstructured environment to systems where robots work in synergy with humans. The latter class of systems will be a special focus of CORBYS innovation as there exist important classes of critical applications where support for humans and robots sharing their cognitive capabilities is a particularly crucial requirement to be met. CORBYS control architecture will be validated within two challenging demonstrators: i) a novel mobile robot-assisted gait rehabilitation system CORBYS; ii) an existing autonomous robotic system. The CORBYS demonstrator to be developed during the project will be a selfaware system capable of learning and reasoning that enables it to optimally match the requirements of the user at different stages of rehabilitation in a wide range of gait disorders. 2 Executive Summary and Report Scope This deliverable document (D2.1) reports the activities, effort and work performed under Work Package 2 (WP2 Requirements and Specifications) of the CORBYS project. This document defines the end-user groups and end-user requirements, elicits requirements with defined priorities, and specifies in detail the list of requirements for all the sub-systems as well as the inter-dependencies. The document also reviews state-ofthe-art achievements in the Science and Technology areas relevant to the project. An introduction is given in Chapter 3, followed by the Requirements Engineering Analysis Base presented in Chapter 4. This includes sections on requirements engineering methodology UREIRF salient features, and knowledge elicitation from clinical partners regarding the first demonstrator, consisting of end-user demographics and gait biomechanics in normal and pathological walking. Requirements for the first demonstrator and the second demonstrator are also given in Chapter 4. Requirements elicitation methodologies employed, together with the involvement of stakeholders, establish a prioritised hierarchy of requirements to be fulfilled by the project during its lifetime; these are also reported in this chapter. This chapter concludes with a state-of-the-market relevant to CORBYS solutions. Chapter 5 focuses on the mechatronic control systems of CORBYS such as human sensing systems, robotic system motor control units, the mobile platform of the gait rehabilitation system, powered orthosis, actuation systems etc. Chapter 6 reports the human control system of CORBYS including non-invasive BCI detection of cognitive process for motor control and learning, cognitive control modules. Chapter 7 deals with the robohumatic systems i.e. graceful robot-human interactive cooperation systems. This includes self-aware realisation, situational response, user responsive learning and adaptation, anticipation etc. 1
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D2.1 Requirements and Specification - CORBYS

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