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Categories Sample tasks

Position controller sample

Posted on Jan 1, 2023

This task demonstrates how to move the subject’s arm smoothly while using the Position Controller block. It will move the subject’s arm alternatively between 4 target locations.

Forces/torques will be commanded to the Kinarm as soon as the task starts, and will continue throughout the entire task (i.e. the Position Controller is always on). There is a different sample task “Position controller enable/disable” which demonstrates how to turn the Position Controller on/off smoothly within a trial, for tasks that need to alternate between free movement and positioning the arm.

In the Trajectory subsystem/Create_Trajectory subsystem, a bell-shaped velocity profile is calculated between where the hand was at the start of the trial and the destination target. Using Stateflow, the virtual trajectory is sent point by point to the Position Controller block to create a smooth motion.

This task works on both Endpoint and Exoskeleton Kinarm labs.

Compiled for Dexterit-E 3.7, MATLAB 2013a.

Visuomotor Rotation task

Posted on Nov 23, 2022

This task is provided as a sample to demonstrate how to create a visuomotor rotation task.

This task also provides an example of a “persistent” variable in embedded MATLAB (see the Calculate_Desired_Rotation function with /Visual_Rotation/Triggered Subsystem/)

Task was built using MATLAB 2015a and Dex 3.9

Task Control Button Sample

Posted on May 13, 2022

This sample task shows how to use a task control button.

Reaching Sample Exoskeleton

Posted on May 10, 2022

This sample reaching task comes with protocols for testing curl and viscous fields.

Reaching Sample End-Point

Posted on May 10, 2022

This sample reaching task has protocols that show creating curl and viscous fields.

Image display spring demo

Posted on Feb 7, 2022

This isn’t really a task per se, it’s really just a demonstration of how to dynamically manipulate an image and use forces. When you start the task an image of a spring will be displayed between the hands. As you try to move your hands apart or together you will feel a spring trying to hold you at one distance. The task will work on a KINARM Exoskeleton or EP robot.

The task was built for Dexterit-E 3.9 and MATLAB 2015a.

Note: This is a much improved version of the task. This has been cleaned up substantially since the first version.

*.kinarm reading in Python

Posted on Nov 11, 2021

This is code that allows you to read a .kinarm file in Python 3.

Basic Task

Posted on Jun 3, 2021

In this task, a subject reaches once for a target and then the trial ends. It is used as a starting point in Kinarm Camp and illustrates some simple concepts like showing a target, reaching for a target, and waiting for an event to occur (whether a successful reach of a time out).

Hand In VCode Task

Posted on May 20, 2021

Hand Trail with Input File

Posted on Apr 27, 2021

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