5.2.4 Padding — Testing & Evaluation
Performance Criteria
The padding subsystem is validated against the following acceptance criteria, cascading from system-level requirement RM-6:
| ID | Criterion | Target | Test Method | Status |
|---|---|---|---|---|
| PAD-AC-1 | IMU strike detection rate | ≥ 95% true positive | 60-punch controlled test across three body zones | Pending |
| PAD-AC-2 | Impact force differentiation | Monotonic: light < medium < heavy | IMU L2 vector norm comparison (3 users) | Pending |
Test Procedures
PAD-AC-1: Strike Detection Rate Test
Equipment: BoxBunny robot (arm stationary at nominal
height), padding assembly with 4× MPU6050 IMUs active, GUI V3 with
IMU Diagnostics Tab, video camera.
Setup: IMU threshold set to 2.0 g. Robot arm
stationary. All four I²C channels verified responsive.
Procedure: Deliver 20 controlled punches per zone
(Head, Celiac Plexus, Liver) = 60 total. Wait 2 seconds between
each punch. Record each punch event manually (tally) and compare
against the /strike_events topic log.
Acceptance: ≥ 57 of 60 punches detected (TP rate
≥ 95%).
Evidence: GUI screenshot showing detection log,
confusion matrix (detected vs actual per zone), video recording of
test session.
PAD-AC-2: Force Differentiation Test
Equipment: Three users of different skill levels,
GUI V3 with L2 norm logging.
Setup: Logging mode enabled in IMU Diagnostics Tab.
Centre Body zone selected for consistency.
Procedure: Each user delivers 10 light, 10 medium,
10 heavy punches. Peak L2 norms recorded per strike via the
scan-window peak detection algorithm.
Acceptance: Mean L2 norms satisfy
mean(Light) < mean(Medium) < mean(Heavy) for all users.
Statistical significance confirmed via one-way ANOVA (p < 0.05).
Evidence: Box plot of L2 norms by force category,
ANOVA summary table.
Subsystem-Level Robustness Test — Mechanical Endurance
Supplementary test; not a formal acceptance criterion. Validates long-term physical durability of the padding assembly.
Criterion: Padding survives repeated high-velocity
strikes without delamination or permanent deformation.
Procedure: 200-punch endurance session, visual
inspection after completion.
Acceptance: No visible delamination, foam returns to
original shape within 5 seconds.
Subsystem-Level Robustness Test — I²C Communication Reliability
Supplementary test; not a formal acceptance criterion. Validates bus stability under the Hard-STOP recovery protocol during active sparring.
Criterion: IMU communication stable during active
sparring with Hard STOP protocol.
Procedure: 5-minute sparring session, monitor
for I²C bus hang events via Teensy debug log.
Acceptance: Zero bus hang events.
Results
- Measured values and pass/fail verdicts for each criterion
- GUI screenshots from the IMU Diagnostics Tab
- L2 norm distribution plots and confusion matrices
- Video evidence of sparring test sessions