Modelling the Component-based Architecture and Safety Contracts of ArmAssist in Papyrus for Robotics

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dc.contributor.authorMartinez, Jabier
dc.contributor.authorRuiz, Alejandra
dc.contributor.authorGarzo, Ainara
dc.contributor.authorKeller, Thierry
dc.contributor.authorRadermacher, Ansgar
dc.contributor.authorTonetta, Stefano
dc.contributor.institutionTecnalia Research & Innovation
dc.contributor.institutionSWT
dc.contributor.institutionQuantum
dc.contributor.institutionMedical Technologies
dc.date.issued2021-06
dc.descriptionPublisher Copyright: © 2021 IEEE.
dc.description.abstractHealthcare robots are increasingly being used and the way they are engineered they still have several challenges regarding reference models and validation. In this experience report we focus on the ArmAssist robotic system and how it can be modelled including safety considerations for validation in early design phases. ArmAssist is an upper-limb robotic system for stroke rehabilitation based on serious games. The open-source tool Papyrus for Robotics was used for modelling the robotic system in close collaboration with neurorehabilitation domain experts. Papyrus for Robotics includes new functionalities that we contributed for contract-based design at component and system level, allowing to make explicit and validate the safety considerations using formal languages. In our case, the assertions are expressed in OCL and Othello. We present the resulting model and a discussion from domain experts.en
dc.description.statusPeer reviewed
dc.format.extent6
dc.format.extent1520356
dc.identifier.citationMartinez , J , Ruiz , A , Garzo , A , Keller , T , Radermacher , A & Tonetta , S 2021 , Modelling the Component-based Architecture and Safety Contracts of ArmAssist in Papyrus for Robotics . in unknown . Proceedings - 2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021 , Institute of Electrical and Electronics Engineers Inc. , pp. 13-18 , 3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021 , Virtual, Online , 2/06/21 . https://doi.org/10.1109/rose52553.2021.00009
dc.identifier.citationconference
dc.identifier.doi10.1109/rose52553.2021.00009
dc.identifier.isbn978-1-6654-4475-0
dc.identifier.isbn978-1-6654-4474-3
dc.identifier.isbn9781665444743
dc.identifier.otherresearchoutputwizard: 11556/1198
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85112867267&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofunknown
dc.relation.ispartofseriesProceedings - 2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsRobotics
dc.subject.keywordsModelling
dc.subject.keywordsSafety
dc.subject.keywordsComponent based architecture
dc.subject.keywordsContract based design
dc.subject.keywordsArmAssist
dc.subject.keywordsHealthcare
dc.subject.keywordsPapyrus for Robotics
dc.subject.keywordsRobotics
dc.subject.keywordsModelling
dc.subject.keywordsSafety
dc.subject.keywordsComponent based architecture
dc.subject.keywordsContract based design
dc.subject.keywordsArmAssist
dc.subject.keywordsHealthcare
dc.subject.keywordsPapyrus for Robotics
dc.subject.keywordsHardware and Architecture
dc.subject.keywordsSoftware
dc.subject.keywordsControl and Optimization
dc.subject.keywordsArtificial Intelligence
dc.subject.keywordsSDG 3 - Good Health and Well-being
dc.subject.keywordsProject ID
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/732410/EU/Composable Models and Software for Robotics Systems/RobMoSys
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/732410/EU/Composable Models and Software for Robotics Systems/RobMoSys
dc.subject.keywordsFunding Info
dc.subject.keywordsThis work has been funded by the SafeCC4Robot Integrated Technical Project which received funding from the European Union’s Horizon 2020 Research and Innovation Programme under grant agreement No. 732410, in the form of financial support to third parties of the RobMoSys Project. We would like to thank Angel Lopez, Elixabete Ostolaza, Matteo Morelli, ´ and Huascar Espinoza for their help during the tool design and development. The authors also would like to thank to Inigo Dorronsoro, Javier Arcas Ruiz-Ruano, Gabriel Gaminde, ˜ Benat Garcia-Mendizabal, Je Hyung Jung, Cristina Rodriguez- ˜ de-Pablo, Joel Perry, Aitor Belloso, David Valencia and Haritz Zabaleta for their contributions to the ArmAssist system development.
dc.subject.keywordsThis work has been funded by the SafeCC4Robot Integrated Technical Project which received funding from the European Union’s Horizon 2020 Research and Innovation Programme under grant agreement No. 732410, in the form of financial support to third parties of the RobMoSys Project. We would like to thank Angel Lopez, Elixabete Ostolaza, Matteo Morelli, ´ and Huascar Espinoza for their help during the tool design and development. The authors also would like to thank to Inigo Dorronsoro, Javier Arcas Ruiz-Ruano, Gabriel Gaminde, ˜ Benat Garcia-Mendizabal, Je Hyung Jung, Cristina Rodriguez- ˜ de-Pablo, Joel Perry, Aitor Belloso, David Valencia and Haritz Zabaleta for their contributions to the ArmAssist system development.
dc.titleModelling the Component-based Architecture and Safety Contracts of ArmAssist in Papyrus for Roboticsen
dc.typeconference output
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