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Using KINdata_bus on a Bilateral Lab

The KINdata_bus From tag contains most of the real-time kinematics required to dynamically control a Task Program. KINdata_bus contains named fields for all of the available kinematics. When creating a task that will run on either arm of a bi-lateral Kinarm Lab it is necessary to pull out fields for the correct arm from KINdata_bus. Figure: 10.34 shows the procedure one can use to dynamically extract data from KINdata_bus. The idea is to use the active arm field and the switch block to determine whether arm 1 (right) data is output or arm 2 data (left).

Figure 10.34: Getting information from KINdata_bus

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