D2.1 Requirements and Specification - CORBYS

D2.1 Requirements and Specification
Requirement No. HSS1
Name: Sensors implemented in the CORBYS system
Description: The actual sensors selected will be defined in the detailed specification
Reason / Comments: Comment
Anticipated sensors:
� Heart rate
� EMG (muscular activity)
� EDR and/or humidity/sweat sensors
� Inertial measurement units (3 axis accelerometer, gyroscope and magnetometer)
� The requirements for mechanical sensing (force, torque, angular joint movements,
force/pressure distribution) need to be discussed with the consortium
Indicative priority Mandatory
Requirement No.: HSS2
Name: Sensor locations
Description: The actual sensors selected will be defined in the detailed specification.
Reason / Comments: Comment:
A complete discussion on the physical/mechanical patient-robot interface configuration is
required here. Some aspects related to sensing:
� Homing positions of inertial sensors
� Positions of robot mechanical support to the patient (such as limb fixation) and
patient movement actuators
� Actuator position movement vs. limb position movement: Both the robot and the
body sensors can be used to find e.g. the position and angle of a knee. Which is
best, or is redundancy required?
� Can certain sensing components be integrated in the robot itself, rather than being
mounted on the patient?
Indicative priority Mandatory
Requirement No.: HSS3
Name: Patient user size
Description: Adult users. Height, weight circumferences will be discussed with clinical partners
Reason / Comments: Comment:
� A complete discussion on the physical/mechanical patient-robot interface
configuration is required here. Some aspects related to sensing:
� Homing positions of inertial sensors
� Positions of robot mechanical support to the patient (such as fixing on of limb) and
patient movement actuators
� Actuator position movement vs. limb position movement: Both the robot and the
body sensors can be used to find e.g. the position and angle of a knee. Which is
best, or is redundancy required?
� Can certain sensing components be integrated in the robot itself, rather than being
mounted on the patient?
Indicative priority Mandatory
Sensor Output
Requirement No.: HSS4
Name: Sensor output of primary parameter values
Description: Definition on how human sensor parameters are shared with the rest of the CORBYS
system, as well as in export to log files: Details are to be defined.
Reason / Comments: (Example:
Heart rate will be in [beats/minute], based on integration of values during the past 5 seconds.
The value will be updated every second)
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