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

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

2 Citas (Scopus)

8 Descargas (Pure)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	unknown
Editorial	Institute of Electrical and Electronics Engineers Inc.
Páginas	13-18
Número de páginas	6
ISBN (versión digital)	978-1-6654-4474-3, 9781665444743
ISBN (versión impresa)	978-1-6654-4475-0
DOI	https://doi.org/10.1109/rose52553.2021.00009
Estado	Publicada - jun 2021
Evento	3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021 - Virtual, Online Duración: 2 jun 2021 → …

Serie de la publicación

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

Conferencia

Conferencia	3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021
Ciudad	Virtual, Online
Período	2/06/21 → …

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 3: Salud y bienestar

Palabras clave

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.

Acceder al documento

10.1109/rose52553.2021.00009

SafetyContracts ArmAssist Papyrus4RoboticsVersión publicada final, 1,45 MB

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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. En 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.",

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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. En 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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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. En 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

Resumen

Serie de la publicación

Conferencia

ODS de las Naciones Unidas

Palabras clave

Project and Funding Information

Acceder al documento

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