diff --git a/examples/osd/servo-sensor/Makefile b/examples/osd/servo-sensor/Makefile
index 8a253c40d..0349fc11f 100644
--- a/examples/osd/servo-sensor/Makefile
+++ b/examples/osd/servo-sensor/Makefile
@@ -31,40 +31,9 @@ endif
 # linker optimizations
 SMALL=1
 
-# REST framework, requires WITH_COAP
-ifeq ($(WITH_COAP), 13)
-${info INFO: compiling with CoAP-13}
-CFLAGS += -DWITH_COAP=13
-CFLAGS += -DREST=coap_rest_implementation
-CFLAGS += -DUIP_CONF_TCP=0
-APPS += er-coap-13
-else ifeq ($(WITH_COAP), 12)
-${info INFO: compiling with CoAP-12}
-CFLAGS += -DWITH_COAP=12
-CFLAGS += -DREST=coap_rest_implementation
-CFLAGS += -DUIP_CONF_TCP=0
-APPS += er-coap-12
-else ifeq ($(WITH_COAP), 7)
-${info INFO: compiling with CoAP-08}
-CFLAGS += -DWITH_COAP=7
-CFLAGS += -DREST=coap_rest_implementation
-CFLAGS += -DUIP_CONF_TCP=0
-APPS += er-coap-07
-else ifeq ($(WITH_COAP), 3)
-${info INFO: compiling with CoAP-03}
-CFLAGS += -DWITH_COAP=3
-CFLAGS += -DREST=coap_rest_implementation
-CFLAGS += -DUIP_CONF_TCP=0
-APPS += er-coap-03
-else
-${info INFO: compiling with HTTP}
-CFLAGS += -DWITH_HTTP
-CFLAGS += -DREST=http_rest_implementation
-CFLAGS += -DUIP_CONF_TCP=1
-APPS += er-http-engine
-endif
 
-APPS += erbium
+APPS += er-coap
+APPS += rest-engine
 
 # optional rules to get assembly
 #CUSTOM_RULE_C_TO_OBJECTDIR_O = 1
diff --git a/examples/osd/servo-sensor/er-example-server.c b/examples/osd/servo-sensor/er-example-server.c
index deeb00eab..61df786a9 100644
--- a/examples/osd/servo-sensor/er-example-server.c
+++ b/examples/osd/servo-sensor/er-example-server.c
@@ -42,6 +42,7 @@
 #include <string.h>
 #include "contiki.h"
 #include "contiki-net.h"
+#include "rest-engine.h"
 
 
 /* Define which resources to include to meet memory constraints. */
@@ -52,8 +53,6 @@
 #define REST_RES_TOGGLE 0
 #define REST_RES_BATTERY 1
 
-#include "erbium.h"
-
 #if defined (PLATFORM_HAS_BUTTON)
 #include "dev/button-sensor.h"
 #endif
@@ -74,19 +73,6 @@
 #endif
 
 
-/* For CoAP-specific example: not required for normal RESTful Web service. */
-#if WITH_COAP == 3
-#include "er-coap-03.h"
-#elif WITH_COAP == 7
-#include "er-coap-07.h"
-#elif WITH_COAP == 12
-#include "er-coap-12.h"
-#elif WITH_COAP == 13
-#include "er-coap-13.h"
-#else
-#warning "Erbium example without CoAP-specifc functionality"
-#endif /* CoAP-specific example */
-
 #define DEBUG 0
 #if DEBUG
 #define PRINTF(...) printf(__VA_ARGS__)
@@ -101,12 +87,6 @@
 /******************************************************************************/
 
 #if REST_RES_INFO
-/*
- * Resources are defined by the RESOURCE macro.
- * Signature: resource name, the RESTful methods it handles, and its URI path (omitting the leading slash).
- */
-RESOURCE(info, METHOD_GET, "info", "title=\"Info\";rt=\"text\"");
-
 /*
  * A handler function named [resource name]_handler must be implemented for each RESOURCE.
  * A buffer for the response payload is provided through the buffer pointer. Simple resources can ignore
@@ -114,7 +94,7 @@ RESOURCE(info, METHOD_GET, "info", "title=\"Info\";rt=\"text\"");
  * If a smaller block size is requested for CoAP, the REST framework automatically splits the data.
  */
 void
-info_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
+info_get_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
 {
   char message[100];
   int index = 0;
@@ -132,11 +112,17 @@ info_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_
   REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
   REST.set_response_payload(response, buffer, length);
 }
+
+/*
+ * Resources are defined by the RESOURCE macro.
+ * Signature: resource name, the RESTful methods it handles, and its URI path (omitting the leading slash).
+ */
+RESOURCE(res_info, "title=\"Info\";rt=\"text\"", info_get_handler, NULL, NULL, NULL);
+
 #endif
 
 #if defined (PLATFORM_HAS_SERVO)
 /*A simple actuator example. read the servo status*/
-RESOURCE(servo, METHOD_GET | METHOD_PUT , "actuators/servo",  "title=\"Servo\";rt=\"servo\"");
 void
 servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
 {
@@ -187,10 +173,10 @@ servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred
     REST.set_response_status(response, REST.status.BAD_REQUEST);
   }
 }
+RESOURCE(res_servo, "title=\"Servo\";rt=\"servo\"", servo_handler, servo_handler, NULL, NULL );
 #endif
 
 #if defined (PLATFORM_HAS_T4_SERVO)
-RESOURCE(t4_servo, METHOD_GET | METHOD_PUT , "actuators/t4_servo",  "title=\"Timer4Servo\";rt=\"t4_servo\"");
 void
 t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
 {
@@ -266,6 +252,7 @@ t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t prefer
     REST.set_response_status(response, REST.status.BAD_REQUEST);
   }
 }
+RESOURCE(res_t4_servo,"title=\"Timer4Servo\";rt=\"t4_servo\"", t4_servo_handler, te4_servo_handler, NULL, NULL );
 #endif
 
 
@@ -274,8 +261,6 @@ t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t prefer
 /******************************************************************************/
 #if REST_RES_LEDS
 /*A simple actuator example, depending on the color query parameter and post variable mode, corresponding led is activated or deactivated*/
-RESOURCE(leds, METHOD_POST | METHOD_PUT , "actuators/leds", "title=\"LEDs: ?color=r|g|b, POST/PUT mode=on|off\";rt=\"Control\"");
-
 void
 leds_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
 {
@@ -319,17 +304,18 @@ leds_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_
     REST.set_response_status(response, REST.status.BAD_REQUEST);
   }
 }
+RESOURCE(res_leds, "title=\"LEDs: ?color=r|g|b, POST/PUT mode=on|off\";rt=\"Control\"", NULL, leds_handler, leds_handler, NULL);
 #endif
 
 /******************************************************************************/
 #if REST_RES_TOGGLE
 /* A simple actuator example. Toggles the red led */
-RESOURCE(toggle, METHOD_GET | METHOD_PUT | METHOD_POST, "actuators/toggle", "title=\"Red LED\";rt=\"Control\"");
 void
 toggle_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
 {
   leds_toggle(LEDS_RED);
 }
+RESOURCE(res_toggle, "title=\"Red LED\";rt=\"Control\"", toggle_handler, toggle_handler, toggle_handler, NULL);
 #endif
 #endif /* PLATFORM_HAS_LEDS */
 
@@ -338,7 +324,6 @@ toggle_handler(void* request, void* response, uint8_t *buffer, uint16_t preferre
 /******************************************************************************/
 #if REST_RES_TEMPERATURE && defined (PLATFORM_HAS_TEMPERATURE)
 /* A simple getter example. Returns the reading from light sensor with a simple etag */
-RESOURCE(temperature, METHOD_GET, "sensors/cputemp", "title=\"Temperature status\";rt=\"temperature-c\"");
 void
 temperature_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
 {
@@ -368,41 +353,37 @@ temperature_handler(void* request, void* response, uint8_t *buffer, uint16_t pre
     REST.set_response_payload(response, msg, strlen(msg));
   }
 }
+RESOURCE(res_temperature, "title=\"Temperature status\";rt=\"temperature-c\"", temperature_handler, NULL, NULL, NULL);
 #endif /* PLATFORM_HAS_TEMPERATURE */
 
 /******************************************************************************/
 #if REST_RES_BATTERY && defined (PLATFORM_HAS_BATTERY)
 /* A simple getter example. Returns the reading from light sensor with a simple etag */
-RESOURCE(battery, METHOD_GET, "sensors/battery", "title=\"Battery status\";rt=\"battery-mV\"");
 void
 battery_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
 {
   int battery = battery_sensor.value(0);
 
-  const uint16_t *accept = NULL;
-  int num = REST.get_header_accept(request, &accept);
+  unsigned int accept = -1;
+  REST.get_header_accept(request, &accept);
 
-  if ((num==0) || (num && accept[0]==REST.type.TEXT_PLAIN))
-  {
+  if(accept == -1 || accept == REST.type.TEXT_PLAIN) {
     REST.set_header_content_type(response, REST.type.TEXT_PLAIN);
-    snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "%d", battery);
-
-    REST.set_response_payload(response, (uint8_t *)buffer, strlen((char *)buffer));
-  }
-  else if (num && (accept[0]==REST.type.APPLICATION_JSON))
-  {
-    REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
-    snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "{'battery':%d}", battery);
+    snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "%d.%02d", battery/1000, battery % 1000);
 
     REST.set_response_payload(response, buffer, strlen((char *)buffer));
-  }
-  else
-  {
+  } else if(accept == REST.type.APPLICATION_JSON) {
+    REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
+    snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "{'battery':%d.%02d}", battery/1000, battery % 1000);
+
+    REST.set_response_payload(response, buffer, strlen((char *)buffer));
+  } else {
     REST.set_response_status(response, REST.status.NOT_ACCEPTABLE);
     const char *msg = "Supporting content-types text/plain and application/json";
     REST.set_response_payload(response, msg, strlen(msg));
   }
 }
+RESOURCE(res_battery, "title=\"Battery status\";rt=\"battery-mV\"", battery_handler, NULL, NULL, NULL);
 #endif /* PLATFORM_HAS_BATTERY */
 /******************************************************************************/
 
@@ -448,31 +429,31 @@ PROCESS_THREAD(rest_server_example, ev, data)
 
   /* Activate the application-specific resources. */
 #if REST_RES_INFO
-  rest_activate_resource(&resource_info);
+  rest_activate_resource(&res_info, "info");
 #endif
 #if defined (PLATFORM_HAS_LEDS)
 #if REST_RES_LEDS
-  rest_activate_resource(&resource_leds);
+  rest_activate_resource(&res_leds, "actuators/leds");
 #endif
 #if REST_RES_TOGGLE
-  rest_activate_resource(&resource_toggle);
+  rest_activate_resource(&res_toggle, "actuators/toggle");
 #endif
 #endif /* PLATFORM_HAS_LEDS */
 #if defined (PLATFORM_HAS_TEMPERATURE) && REST_RES_TEMPERATURE
   SENSORS_ACTIVATE(temperature_sensor);
-  rest_activate_resource(&resource_temperature);
+  rest_activate_resource(&res_temperature, "sensors/cputemp");
 #endif
 #if defined (PLATFORM_HAS_BATTERY) && REST_RES_BATTERY
   SENSORS_ACTIVATE(battery_sensor);
-  rest_activate_resource(&resource_battery);
+  rest_activate_resource(&res_battery, "sensors/battery");
 #endif
 #if defined (PLATFORM_HAS_SERVO) && REST_RES_SERVO
   SENSORS_ACTIVATE(servo_sensor);
-  rest_activate_resource(&res_servo);
+  rest_activate_resource(&res_servo, "actuators/servo");
 #endif
 #if defined (PLATFORM_HAS_T4_SERVO) && REST_RES_T4_SERVO
   SENSORS_ACTIVATE(t4_servo_sensor);
-  rest_activate_resource(&resource_t4_servo);
+  rest_activate_resource(&res_t4_servo, "actuators/t4_servo");
 #endif
 
   /* Define application-specific events here. */