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The management of a large neuromechanics facility is a complex task, that requires the selection of the appropriate software to control system operations, activate various subsystems, integrate sensory data, contextualise it temporally and geometrically, and store all relevant information. This work proposes the use of ROS as a base control and data collection system for large-scale neuromechanics laboratories. In the proposed solution, ROS and ROS 2 work together: the first one being responsible for data transmission and the second one for synchronisation through a trigger card. In addition, mass storage of the obtained data is addressed. To test the capabilities of the system, tests have been carried out simulating the normal operation of the installation using 3 test benches of the Eurobench project, which include many of the most commonly used sensors in a laboratory of this type such as IMU, force platforms, load cells and robotic systems.

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ROS as Framework for the Management of Large Neuromechanics Facilities

  • 会议论文

  • 发表日期：

    2025年

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  • Javier Castilla,
  • Alberto Cantón,
  • Francesca Lunardini,
  • Alejandro Mayorga,
  • Rodrigo Pérez,
  • Francisco Martín,
  • Jesús Tornero

摘要

The management of a large neuromechanics facility is a complex task, that requires the selection of the appropriate software to control system operations, activate various subsystems, integrate sensory data, contextualise it temporally and geometrically, and store all relevant information. This work proposes the use of ROS as a base control and data collection system for large-scale neuromechanics laboratories. In the proposed solution, ROS and ROS 2 work together: the first one being responsible for data transmission and the second one for synchronisation through a trigger card. In addition, mass storage of the obtained data is addressed. To test the capabilities of the system, tests have been carried out simulating the normal operation of the installation using 3 test benches of the Eurobench project, which include many of the most commonly used sensors in a laboratory of this type such as IMU, force platforms, load cells and robotic systems.