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Bilateral Kinarm Lab Feedback and Loads

This example shows some basics of bilateral Kinarm task control, including hand feedback for both arms, and loading conditions on both arms.  There is a Sample Task provided by a user based on Diedrichsen, 2007.

10.14.1   Simulink Code for Bilateral Kinarm Lab Feedback and Loads Example

In this example, there are two copies of the KINARM_HandInTarget block (where there was only one in 10.5 Loads on the Kinarm Robot). Furthermore, as explained in more detail below, the parameters for the blocks circled in the image below have also changed.

The only difference between the two circled blocks and their uncircled counterparts is the unchecked box for Use arm to be assessed. When a Task Program and Task Protocol are selected in Dexterit-E, the operator has the option of selecting the Arm to be assessed as either the right arm or the left arm. The meaning of Arm to be assessed is Task Program specific, as defined by blocks such as these. The contralateral arm is thus the other arm. Task Programs in Simulink are therefore not defined in terms of right-hand or left-handed, but rather in terms of an “arm to be assessed” and a “contralateral arm”. If the operator selects a Task Protocol in Dexterit-E and checks Right for the Arm to be assessed, that means that the KINARM_HandInTarget is going to output what the right arm is doing, while KINARM_HandInTarget_2 is going to output what the left arm is doing (i.e. the contralateral arm). If the operator chooses a Task Protocol for this same Task Program, but then checks Left for the Arm to be assessed, then KINARM_HandInTarget is going to output what the left arm is doing, while KINARM_HandInTarget_2 is going to output what the right arm is doing.

Figure 10.23: Simulink Code for Bilateral Kinarm Lab Feedback and Loads Example (Note not the same as sample task.)

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Persistent Variables
Persistent variables are ones that hold their value between calls to the embedded MATLAB code they are defined in.
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Custom Control of the Trial Protocol Order
Normally, Dexterit-E manages and controls the order in which Trial Protocols (TPs) execute based on what is defined in the block table of the Task Protocol (see the Dexterit-E User Guide for more details).