D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification Glossary Term Definition CORBYS Roles CORBYS User ANY user interacting with the CORBYS system, for example, in case of gait rehabilitation system, users with the following roles: a patient, a practitioner or an engineer; In case of a mobile robotic system, users with the following role: a hasardous area examination officer. CORBYS End-user The companies/entities that use/exploit (aspects of) CORBYS technology in their commercial products or services. CORBYS Expert / Professional user A professional dealing with the CORBYS system based on a need to do technical maintenance, repairs or system configurations. For example: a Practitioner, a Developer, an Engineer. Operators/Tester/Assessor/Configurer/ Expert/ Practitioner user/end-user/ CORBYS Patient The person receiving gait rehabilitation therapy aided by the CORBYS system CORBYS Practitioner The medical professional configuring and assessing rehabilitation therapy aided by the CORBYS system. CORBYS Domain Knowledge Sensor Fusion Method used to combine multiple independent sensors to extract and refine information not available through single sensors alone. Situation Assessment Estimation and prediction of relation among objects in the context of their environment. Cognitive Control Capability to process variety of stimuli in parallel, to “filter” those that are the most important for a given task to be executed, to create an adequate response in time and to learn new motor actions with minimum assistance. Human-Robot Interaction Ability of a robotic system to mutually communicate with humans. Neural plasticity Ability of neural circuits, both in the brain and the spinal cord, to reorganise or change function. Security Robots Mobile platforms equipped with different sensors (cameras, laser, scanners, etc.) which allow autonomous or teleoperated navigation. Cognitive Processes Processes responsible for knowledge and awareness, they include the processing of experience, perception and memory. BCI Brain Computer Interface CORBYS Technology Components CORBYS User Interface User interface which suits the needs of the patient/therapists/developers/cognitive modules Environmental Sensors Sensors measuring the (physical) environment of the human-robot system, e.g. collision avoidance sensors. SAWBB Situation Awareness Blackboard SOIAA Self-Organising Informational Anticipatory Architecture Smart Actuators Highly integrated Mechatronic units incorporating a motor and the complete motion control electronics in one single unit. CORBYS Patient Sensors The sensor systems taking measurements on the patient CORBYS Physiological Sensors Sensors measuring physiological parameters on the patient, for example heart rate, EEG, muscle tension CORBYS Patient mechanical sensors Sensors measuring movements, forces, torques, joint angles and similar at any given position on the patient. Patient Inertial Measurement Units Sensors providing inertia information for specific parts of the human body. IV
D2.1 Requirements and Specification Table of Contents 1 ABSTRACT ..................................................................................................................................................... 1 2 EXECUTIVE SUMMARY AND REPORT SCOPE ................................................................................................... 1 3 INTRODUCTION ............................................................................................................................................. 2 4 REQUIREMENTS ENGINEERING ANALYSIS BASE .............................................................................................. 5 4.1 KNOWLEDGE ELICITATION FROM CLINICAL EXPERTS FOR DEMONSTRATOR I ...................................................................... 5 4.2 ENVIRONMENT OF THE DEMONSTRATOR I: GAIT REHABILITATION USER‐ROBOT INTERACTION ............................................. 11 4.3 REQUIREMENTS FOR DEMONSTRATOR I .................................................................................................................. 13 4.4 REQUIREMENTS FOR DEMONSTRATOR II ................................................................................................................. 16 4.5 REQUIREMENTS ENGINEERING METHODOLOGY (UI‐REF) SALIENT FEATURES ................................................................ 17 4.6 STATE‐OF‐THE‐MARKET ...................................................................................................................................... 21 5 MECHATRONIC CONTROL SYSTEMS ............................................................................................................. 28 5.1 CANONICAL SUB‐SYSTEMS .................................................................................................................................... 28 5.2 HUMAN SENSING SYSTEMS (TASKS 3.1, 3.2; SINTEF) .............................................................................................. 28 5.3 ROBOTIC SYSTEM MODELLING AND INTEGRATION OF MOTOR CONTROL UNITS (TASK 6.2, UB) ......................................... 35 5.4 DESIGN AND DEVELOPMENT OF THE MOBILE PLATFORM (TASK 7.1, OBMS).................................................................. 38 5.5 DESIGN AND DEVELOPMENT OF THE POWERED ORTHOSIS (TASK 7.2, OB) ..................................................................... 39 5.6 DESIGN AND INTEGRATION OF ACTUATION SYSTEM (TASK 7.3, SCHUNK) .................................................................... 42 5.7 DEVELOPMENT OF LOW‐LEVEL CONTROL UNITS (TASK 7.4, VUB) ................................................................................ 43 5.8 REALIZATION OF THE ROBOTIC SYSTEM (TASK 7.5, SCHUNK) .................................................................................... 45 6 HUMAN CONTROL SYSTEM .......................................................................................................................... 46 6.1 CANONICAL SUB‐SYSTEMS .................................................................................................................................... 46 6.2 BCI DETECTION OF COGNITIVE PROCESSES THAT PLAY KEY ROLES IN MOTOR CONTROL AND LEARNING (TASK 3.3, UB) ........... 47 6.3 BCI SOFTWARE ARCHITECTURE (TASK 3.4, BBT) ..................................................................................................... 48 6.4 ARCHITECTURE DECOMPOSITION AND DEFINITION (TASK 6.1, UH) .............................................................................. 50 6.5 INTEGRATION OF COGNITIVE CONTROL MODULES (TASK 6.3, UB) ................................................................................ 51 6.6 EXPERIMENTING AND EVALUATING SIMULATIONS (TASK 6.4, VUB) ............................................................................. 54 6.7 ARCHITECTURE REVISION AND IMPROVEMENT (TASK 6.5, UH) ................................................................................... 55 6.8 FINAL ARCHITECTURE INTEGRATION AND FUNCTIONAL TESTING (TASK 6.6, UB) ............................................................. 55 7 ROBOHUMATIC SYSTEMS (GRACEFUL ROBOT‐HUMAN INTERACTIVE‐COOPERATIVE SYSTEMS) .................... 59 7.1 CANONICAL SUB‐SYSTEMS .................................................................................................................................... 59 7.2 BCI COGNITIVE INFORMATION (TASK 3.5, BBT) ...................................................................................................... 59 7.3 DEVICE ONTOLOGY MODELLING (TASK 4.1, UR) ..................................................................................................... 63 7.4 SELF‐AWARENESS REALISATION (TASK 4.2, UR) ...................................................................................................... 64 7.5 ROBOT RESPONSE TO A SITUATION (TASK 4.3, UR) ................................................................................................... 68 7.6 SOIAA: SELF‐ORGANIZING INFORMATIONAL ANTICIPATORY ARCHITECTURE (TASKS 4.4, 5.1, 5.2, 5.3, 5.4; UH)............... 74 7.7 USER RESPONSIVE LEARNING AND ADAPTATION FRAMEWORK (TASK 5.5, UR) .............................................................. 81 7.8 COGNITIVE ADAPTATION OF LOW LEVEL CONTROLLERS (TASK 5.6, UB) ......................................................................... 82 8 SYSTEM INTEGRATION AND FUNCTIONAL TESTING (WP8, SINTEF) ............................................................... 85 8.1 CONFORMANCE TESTING ON SUB‐SYSTEM AND SYSTEM LEVEL ..................................................................................... 85 8.2 INTEGRATION OF SUB‐SYSTEMS ............................................................................................................................ 90 9 EVALUATION (WP9, IRSZR) .......................................................................................................................... 94 V
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D2.1 Requirements and Specification - CORBYS

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