D5.3 - Full AH test report

Deliverable D5.3 aims at summarizing all the activities carried out to develop the Active Headframe, the novel robotic six degrees-of-freedom (DoFs) head support whose function is to actively control the patient's head position and orientation. The development of the robot was entirely in charge of CNR-ITIA, starting from the architecture conception, to mechanical and electrical design, to the actual prototype realization, control and assessment. The activities were carried out in WP5.1 (AH conception and design), WP5.2(control drivers development) and WP5.3 (assembly and start-up) of the ACTIVE project. Contributions of these work-packages have been collected and organized in this deliverable. This document is split into a number of chapters, each dedicated to a part of the project, in order to go through all the phases of the project in a logic sequence, starting from the actual requirements to be fulfilled to the prototype assembly and validation.