D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification Description: MATLAB, Program Code, Documentation Reason / Comments: The form of the input will be determined in discussion with the partner responsible Indicative priority Mandatory Requirement No. RSM6 Name: Reflection modules Description: MATLAB, Program Code, Documentation Reason / Comments: The form of the input will be determined in discussion with the partner responsible Indicative priority Mandatory Requirement No. RSM7 Name: SOIAA architecture Description: MATLAB, Program Code, Documentation Reason / Comments: The form of the input will be determined in discussion with the partner responsible Indicative priority Mandatory Requirement No. RSM8 Name: BCI architecture Description: MATLAB, Program Code, Documentation Reason / Comments: The form of the input will be determined in discussion with the partner responsible Indicative priority Mandatory Requirement No. RSM9 Name: Patient motion data Description: Motion data files Reason / Comments: The form of the input will be determined in discussion with the partner responsible Indicative priority Mandatory Outputs: The output of this task is not a functional sub-system, rather appropriate simulation environment where functionality of all other sub-systems will be tested using realistic models of robotic systems and their environment. Requirement No. RSM10 Name: Training data Description: Output of the modelling and simulation process will be training data in the form of kinematics and dynamics data of the modelled robotic system and interaction with its environment. Reason / Comments: The form of the input will be determined in discussion with the partner responsible Indicative priority Mandatory Processing: Requirement No. RSM11 Name: Modelling of the walking in the rehabilitation system Description: The model of human body will be coupled with the model of the rehabilitation system and walking in the system will be modelled. Simple position controller will be used to “guide” the patient walk. Reason / Comments: Indicative priority Mandatory Requirement No. RSM12 Name: Modelling of different behaviours of the system 36
D2.1 Requirements and Specification Description: More complex control algorithms will be simulated and behaviour of the controllers will be observed as well as interaction forest and torques between human body model and the rehabilitation system. Reason / Comments: Indicative priority Mandatory Requirement No. RSM13 Name: Cognitive control Description: The higher control structures will be modelled and the behaviour of the system will be observed when system is controlled by cognitive modules. Reason / Comments: Indicative priority Mandatory Data flow: Requirement No. RSM14 Name: Software inter-module communication Description: Since several software modules will be used in this task (cognitive modules, sensor modules and other), it is necessary to agree with the responsible partners about the communication protocols. Reason / Comments: The form of the input will be determined in discussion with the partner responsible Indicative priority Mandatory 5.3.1.2 Interfaces Requirement No. RSM15 Name: Hardware in the loop simulation Description: It is possible to include mechatronical sub-systems of the robotic system directly in the simulation in order to prove concepts and test algorithms. Reason / Comments: Will be discussed with partners. Indicative priority Optional 5.3.1.3 Goals and expectations Requirement No. RSM16 Name: Sub-system evaluation Description: Help in evaluating the concepts, algorithms and performance of the researched robotic system. Results will be used for improvements of simulated sub-systems. Reason / Comments: Indicative priority Mandatory 5.3.1.4 Operating environment Requirement No. RSM17 Name: MATLAB and MSC Adams Description: The robotic system and all other software modules will be modelled using MATLAB and MSC Adams software on Windows platform. Reason / Comments: Indicative priority Mandatory 37
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D2.1 Requirements and Specification - CORBYS

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