RT Conference Proceedings
T1 Modelling the Component-based Architecture and Safety Contracts of ArmAssist in Papyrus for Robotics
A1 Martinez, Jabier
A1 Ruiz, Alejandra
A1 Garzo, Ainara
A1 Keller, Thierry
A1 Radermacher, Ansgar
A1 Tonetta, Stefano
AB Healthcare 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.
PB Institute of Electrical and Electronics Engineers Inc.
SN 978-1-6654-4475-0
SN 978-1-6654-4474-3
SN 9781665444743
YR 2021
FD 2021-06
LA eng
NO Martinez , 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
NO conference
NO Publisher Copyright: © 2021 IEEE.
DS TECNALIA Publications
RD 1 jul 2024