Dexterit-E 3.5.2 has several important bug fixes for usability, stability and maintenance. This is considered a highly recommended update.

Of special note for KINARM Exoskeleton owners is DEX-2400. A bug has been identified where current subject mass has not been written to the position control block. This error affects the feed forward model used by the position control block only if feed forward with subject mass is specified. This bug is present in all versions of Dexterit-E since 3.0. This error has the effect of making the feed forward model used in the position control block sub-optimal. Exam files write the subject mass correctly.

There are no safety concerns with the sub-optimal position control. Trajectory end points are not affected, only trajectory velocity profiles are affected.

Under Options-> Dexterit-E 3.5.2 mass update… there is a check box available to optionally fix this error. Leaving this box unchecked will allow your models to work as they have since Dexterit-E 3.0.

Checking this box will allow the subject’s mass to be used correctly with the feed forward model when it is requested. If you have instances where you need some tasks to behave exactly as they always have and some tasks need the updated feed forward this can be accomplished by:

1. Checking the below box to apply the fix to models that need it.
2. Open models that do not need the fix, in the position control block select that the feed forward model does not include subject mass and recompile the model.

Note: As of Dexterit-E 3.6.0 this option will not be available and the mass will always be properly applied when requested.

Of note for MATLAB 2007b users is DEX-2388. If you have trouble building your tasks or you experience CPU Overloads with your rebuilt tasks please contact us for help, you may need to change some settings in your model.

For more details please see the release notes.