Eurobench protocols

Re-transcription of the Protocol template sheet into YAML structure, for easing the insertion into the Eurobench Database

Objective of such structure:

• Perform systematic checking of the information collected
• Enable more automatic protocol insertion in the database

Relevant links:

• eurobench documentation
• github eurobench
• Generic template sheet

Scripting functionality

Check eurobench_tooling/README.md. 2 scripts are implemented. check_template makes a sanity check on the yaml information. check_synchro compares commits in the dev and eurobench fork of all PI repositories.

General view on embedded protocols

Wearable

Name	Who	protocol uploaded	PI uploaded
Walking/Standing on a moving surface	beat	7	yes
Walking on treadmill	Bestable and treadmill	1	yes
Walking with crutches	Bullet	2 (missing pdf)	yes
Ascending/Descending slopes	Eurobench UDBenchmark	2	yes
Kinematics of inclined walking of non-impared individuals	RRD	1	yes
Characterization of the effects of the exoskeleton over muscle coordination	Pepato	1	yes
Moving in narrow spaces	tested	3 (no pdf)	yes
Opening closing doors	Eurobench-CSIC	0
Overcoming obstacles	Eurobench-CSIC	0
Straight walking	Eurobench-CSIC	0
Ascending/Descending stairs	stepByStep	6 of 7	yes
Kinematics of stair walking of non-impared individuals	RRD	1	yes
Sit-to-Stand, Stand-to-Sit	Bench	2	yes
Walking/Standing during pushes	benchbalance	1	yes
Standing during manipulation	Eurobench-CSIC	2	under dev
Walking over irregular terrains	Eurobench-CSIC	1	yes
Characterization of user experience during exoskeleton-assisted walking	Experience	2	yes
Robot Actuation characterization system	Forecast	under progress	no

Humanoid

Name	Who	protocol uploaded	PI uploaded
Pushing a shopping trolley or walker	BEAST	1	yes
Opening/Closing doors Madrob	madrob	1	yes
Walking on flat ground	Eurobench-UHEI	1	yes
Sit-to-Stand, Stand-to-Sit	Eurobench-UHEI	2	yes
Ascending/Descending slopes	Eurobench-UHEI	3	yes
Ascending/Descending stairs	Eurobench-Waterloo	5	yes
Walking over irregular terrains	Eurobench-PAL	3	no
Walking over soft terrains	discarded
Overcoming obstacles	Eurobench-PAL	3	no
Standing during manipulation	Eurobench-Waterloo	3	no
Picking and carrying objects	Eurobench-Waterloo	4	yes
Walking on a treadmill	Eurobench-IIT and Treadmill	3	yes
Walking on laterally inclined surfaces	Eurobench-IIT	1	yes
Moving in narrow spaces	discarded
Standing on a moving surface	comtest	3	yes
Walking/Standing during pushes	Dysturbance	4	yes

Code integration status

The hyperlinks refer to:

• code: the code repository owned by the test-bed developers
• Eurobench repo: fork of the code repository, managed by Eurobench (for deployment purposes)
• docker: link to the docker image of the code, to be used by the Eurobench server
• excel: protocol description, following the Eurobench template
• yaml: re-transcription of the excel sheet in computed-friendly format to ease insertion in database.

Embedded in database

bench

• code, Eurobench_repo, docker, template, yaml, manual
• Discussion on the input data (calib file per user, not in the current options)
• Integrated 2 protocols:
  • 5 sit to stand
  • 30 seconds sit to stand
  • manual uploaded

bestable

• code, Eurobench repo, docker image, excel, yaml, data_set manual
• integrated:
  • 1 protocol: Bestable: Visually-cued stepping perturbations on a treadmill.
  • Manual uploaded.

bullet

• Eurobench repo, docker, yaml,
• excels:
  • walking
  • walking_complete
• discussion opened on the inter-intra aggregation
• Integrated:
  • 2 protocols, no pdf available
    • Walking on straight lines with instrumented crutches
    • Walking on straight lines with instrumented crutches, mocap and force platforms

csic_irregular_terrain

• code, Eurobench fork, docker, template, yaml, manual
• current state (26/01):
  • various issue opened, but the docker image is uploaded
• integrated: 1 protocol.
  • Walking over irregular terrains
  • manual uploaded.

madrob

• code, Eurobench repo, docker image, excel, yaml, manual
• Missing: indication on data collected files.
• A protocol: Madrob: using a door
• documentation: PDF available. Available from the github repo. Image available

pepato

• code, Eurobench_repo, docker, template, yaml, dataset, manual
• integrated: 1 protocol
  • Walking on a treadmill at 3 speeds

rrd

• code,
• current state: pending on validating the Docker images
• integrated protocol:
  • Kinematics of stair walking of non-impared individuals
  • Kinematics of inclined walking of non-impared individuals
  • PDF uploaded.

udbenchmarking

• code, Eurobench repo, docker, template, yaml, manual
• integrated: 2 protocols
  • UDBenchmarking - "Walking on Slopes"
  • Walking on an inclined treadmill
  • Manual uploaded.

experience

• code, active fork, template, yaml, manual
• current state:
  • Matlab, with specific licences. Not likely to be Octave compatible
  • Information about the protocols can be consulted but the algorithms are not callable at this moment.
• implemented field set to False
• integrated: 2 protocols, documentation uploaded
  • User-centered assessment of exoskeleton-assisted treadmill-based walking
  • User-centered assessment of exoskeleton-assisted overground walking

beat

• code, Eurobench repo, manual docker, excel, yaml,
• integrated: 7 protocols
  • Static Balance - uneven surface
  • Step perturbation - uneven surface
  • Static Balance - even surface
  • Stepping on platform - uneven surface
  • Step perturbation - even surface
  • Stepping on place - even surface
  • Sinusoidal perturbation - even surface

beast

• code, github repo, docker image, excel, yaml
• integrated: 1 protocol. No pdf, but reference to repository
  • BEAST: operating wheeled devices. This protocol has two variants, employing two different active devices (trolley and walker)

benchbalance

• code, active fork template yaml manual
• current state:
  • Matlab code
  • uploaded as a docker image
• integrated : 1 protocol, PDF inserted
  • BenchBalance -Perturbated balance assessment

tested

• code, Eurobench code, docker, excel, yaml
• current state:
  • ready to be tested?
• integrated: 1 protocol, NO PDF
  • TestEd - Industrial Use-Cases in Narrow Spaces

comtest

• code, eurobench repo, template, yaml, docker, documentation
• integrated: 3 protocols:
  • Transient Test of Standing Balance with Moving Support Surface
  • Body Sway Response characterization with frequency response functions (FRFs) to Support Surface moving with Pseudorandom (PRTS) profile
  • Test of Standing Balance with Moving Support Surface with Sinusoidal profile

stepByStep

• old code, biomechanics PI, HF PI, emg protocol, second emg protocol, template, yaml manuals

• current state:

  • HF metrics implemented (dual task, lpp, uei).

• Integrated: 7 protocols:

  • Walking on stair: biomechanical analysis

  • Walking on stairs: dual task protocol

  • Walking on stair: User Exoskeleton Interaction Observation

  • Walking on stairs: Local Perceived Pressure Questionnaire

  • Combined protocol

    • This one may not be yet functional

  • Walking on stairs: emg analysis

  • Walking on stairs: ground and handrail reaction forces

    • No information on this one

  • Biomechanical protocol (60) has manual and code implemented.

  • Human factors protocols (61, 62, 63) have manual

• integrated: NO PROTOCOL

dysturbance

• code, template, yaml_file, original_repo, eurobench repo, docker image,
• Integrated: 4 protocols for now, a 5th to be added, NO PDF
  • Dysturbance -Reaction to Impulsive Disturbance
  • Dysturbance - Reaction to Sinusoidal Force Disturbance
  • Dysturbance - Reaction to Sinusoidal displacement Disturbance
  • Dysturbance - Reaction to external Quasistatic Disturbance

waterloo

Related to humanoid

• Protocols uploaded based on Eurobench data

• Using code provided by uhei for the stair and picking scenarios

• No code for the manipulation scenario

• Ascending // Descending stairs with Humanoids

  • Ascending / Descending stairs: standardized steps
  • Ascending / Descending stairs: endurance steps
  • Ascending / Descending stairs: maximum step
  • Ascending / Descending stairs: fast steps
  • Ascending / Descending stairs: varying steps up

• standing during manipulation

  • Standing during manipulation: PLace in box
  • Standing during manipulation: Place on shelf
  • Standing during manipulation: Max weight and height
  • NO CODE

• Picking and carrying objects

  • Picking and Carrying objects: basic carrying
  • icking and Carrying objects: increasing weight carrying
  • Picking and Carrying objects: increasing weight at given velocity
  • Picking and Carrying objects: endurance carrying

uhei

• old code, new code, github version
• no Excel sheet available
• 20.12.2021:
  • issue for optional parameters.
• integrated: NO PROTOCOL details. Protocols uploaded based on Eurobench data

Several yaml files handled

• Walking on slope
  • Ascending / descending slope: basic slope walking
  • Ascending / descending slope: maximum angle
  • Ascending / descending slope: maximum velocity
• Flat Ground Walking
  • Flat Ground walking: I3SA - Increased Step Size Stability Assessment
• Sit to stand (Humanoid)
  • Sit to stand: Decreasing chair height assessment
  • Sit to stand: Foot Placement Handicap

iit

Related to humanoid

• Protocols uploaded based on Eurobench data
• Using code provided by uhei
• Walking on a treadmill
  • Long time walking on level ground
  • Long time walking on a slope with pitch angle
  • Long time walking on a slope with roll angle
• Walking on laterally inclined surface
  • Walking on inclined terrain

Ready to be tested for insertion in database

Very early stage

csic_manipulation

• code, template yaml
• current state:
  • 22/12: very early stage.
  • 25/06: update to revise
• Contains 2 protocol
• Status:
  • under revision.

forecast

• code
  • other source: https://gitlab.com/altairLab/elasticteam/forecastnucleoframework
• template
• current state:
  • Matlab code. Not likely to be Octave-compatible.
  • Not following the global spirit for metric computation.
• integrated: NO PROTOCOL

pal

Related to humanoid

• Irregular scenario
  • yaml file
  • Contains 3 protocols
  • Status: protocols uploaded based on Eurobench data
  • NO PROTOCOL, NO CODE
• Overcoming obstacle
  • yaml file
  • Contains 3 protocols
  • Status: protocols uploaded based on Eurobench data
  • NO PROTOCOL, NO CODE

Acknowledgements

Supported by Eurobench - the European robotic platform for bipedal locomotion benchmarking. More information: Eurobench website

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 779963.

The opinions and arguments expressed reflect only the author‘s view and reflect in no way the European Commission‘s opinions. The European Commission is not responsible for any use that may be made of the information it contains.