D2.1 Requirements and Specification - CORBYS

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.
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