Martinez, JabierRuiz, AlejandraGarzo, AinaraKeller, ThierryRadermacher, AnsgarTonetta, Stefano2021-06Martinez , 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/rose52553.2021.00009conference978-1-6654-4475-0978-1-6654-4474-39781665444743researchoutputwizard: 11556/1198Publisher Copyright: © 2021 IEEE.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.61520356enginfo:eu-repo/semantics/openAccessconference output10.1109/rose52553.2021.00009RoboticsModellingSafetyComponent based architectureContract based designArmAssistHealthcarePapyrus for RoboticsRoboticsModellingSafetyComponent based architectureContract based designArmAssistHealthcarePapyrus for RoboticsHardware and ArchitectureSoftwareControl and OptimizationArtificial IntelligenceSDG 3 - Good Health and Well-beingProject IDinfo:eu-repo/grantAgreement/EC/H2020/732410/EU/Composable Models and Software for Robotics Systems/RobMoSysinfo:eu-repo/grantAgreement/EC/H2020/732410/EU/Composable Models and Software for Robotics Systems/RobMoSysFunding InfoThis 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.This 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.http://www.scopus.com/inward/record.url?scp=85112867267&partnerID=8YFLogxK