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

Jabier Martinez; Alejandra Ruiz; Ainara Garzo; Thierry Keller; Ansgar Radermacher; Stefano Tonetta

doi:10.1109/rose52553.2021.00009

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

Jabier Martinez
, Alejandra Ruiz
, Ainara Garzo
, Thierry Keller
, Ansgar Radermacher
, Stefano Tonetta

List
Fondazione Bruno Kessler

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

8 Downloads (Pure)

Abstract

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.

Original language	English
Title of host publication	unknown
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	13-18
Number of pages	6
ISBN (Electronic)	978-1-6654-4474-3, 9781665444743
ISBN (Print)	978-1-6654-4475-0
DOIs	https://doi.org/10.1109/rose52553.2021.00009
Publication status	Published - Jun 2021
Event	3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021 - Virtual, Online Duration: 2 Jun 2021 → …

Publication series

Name	Proceedings - 2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021

Conference

Conference	3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021
City	Virtual, Online
Period	2/06/21 → …

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Robotics
Modelling
Safety
Component based architecture
Contract based design
ArmAssist
Healthcare
Papyrus for Robotics

Project and Funding Information

Project ID
info:eu-repo/grantAgreement/EC/H2020/732410/EU/Composable Models and Software for Robotics Systems/RobMoSys
Funding Info
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.

Access to Document

10.1109/rose52553.2021.00009

SafetyContracts ArmAssist Papyrus4RoboticsFinal published version, 1.45 MB

Cite this

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 (pp. 13-18). (Proceedings - 2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/rose52553.2021.00009

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abstract = "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.",

keywords = "Robotics, Modelling, Safety, Component based architecture, Contract based design, ArmAssist, Healthcare, Papyrus for Robotics, Robotics, Modelling, Safety, Component based architecture, Contract based design, ArmAssist, Healthcare, Papyrus for Robotics",

author = "Jabier Martinez and Alejandra Ruiz and Ainara Garzo and Thierry Keller and Ansgar Radermacher and Stefano Tonetta",

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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

Modelling the Component-based Architecture and Safety Contracts of ArmAssist in Papyrus for Robotics. / Martinez, Jabier; Ruiz, Alejandra ; Garzo, Ainara et al.
unknown. Institute of Electrical and Electronics Engineers Inc., 2021. p. 13-18 (Proceedings - 2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Tonetta, Stefano

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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.

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KW - Component based architecture

KW - Contract based design

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ER -

Martinez J, Ruiz A , Garzo A, Keller T, Radermacher A, Tonetta S. Modelling the Component-based Architecture and Safety Contracts of ArmAssist in Papyrus for Robotics. In unknown. Institute of Electrical and Electronics Engineers Inc. 2021. p. 13-18. (Proceedings - 2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021). doi: 10.1109/rose52553.2021.00009

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

Abstract

Publication series

Conference

UN SDGs

Keywords

Project and Funding Information

Access to Document

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Cite this