The Kinarm End-Point Lab is a versatile research facility to study sensory, motor and cognitive function.
BKIN’s standard system includes:
• One or two hand-graspable, end-effector Kinarm robots
• Vertical display or 2D virtual/augmented reality display
• Optional Deluxe Chair for neurologically impaired subjects *NEW*
• Optional Adjustable Height Configuration with integrated force plates and gaze-tracking.
• Dexterit-E™ experimental control software and hardware
Key features include:
High Performance Robot
The Kinarm End-Point robot is a stiff, graspable robot that can create highly complex mechanical environments. High-resolution secondary encoders and force/torque sensors provide outstanding feedback signals. Handle is exchangeable for grip force studies.
Designed for Bilateral Studies
The Lab was designed to be bilateral, ensuring simultaneous control of both KINARM End-Point robots which is essential for comparison of inter-arm performance and the study of bimanual coordination. Any unilateral system can be upgraded to bilateral post purchase (subject to component availability).
2D Virtual/Augmented Reality
Optional 2D virtual reality display for natural, intuitive presentation of visual stimuli. For vision scientists requiring low latency display, we are also able to provide a customized DLP projection with PROPixx.
Kinarm End-Point Labs are modular in design, providing a simple way to build a lab over time as needs and funds expand. Start with a single, robot and data acquisition system and upgrade later to a deluxe lab with two robots and integrated virtual/augmented (subject to component availability).
Standing or Sitting Use (optional)
An Adjustable Height configuration is available for postural research to enable use of the robots while the subject is standing on force plates or sitting; compatible with subject sizes ranging from 38″ (96.5 cm) (~5 yrs old) to 84″ (2.1 m) tall.
Any existing Kinarm End-Point Lab can be upgraded to the AHC.
Integrated Gaze-Tracking (optional)
A head-free gaze-tracker solution (customized EyeLink1000+) that: simplifies experimental set-up, ensuring nothing interferes with the head which is especially important in clinical research; and is easily accommodated in the Kinarm Virtual Reality System where space is limited. Any existing KINARM Lab can be upgraded to include gaze-tracking. Download tech sheet.
Deluxe Chair (upgrade)
Our new Deluxe chair, sourced from Mercado of Sweden, provides superior torso support and usability with powered height adjustment and single lever locking.
Easy To Use and Powerful
System includes Dexterit-E behavioural control and data acquisition software, which combines the power of a real-time operating system with the ease of a Windows™-based interface. Kinarm Standard Tests can be used to enable immediate data collection, analysis and reporting, without the need for programmers.
Standard Unilateral or Bilateral Robots &
A good starter configuration includes a robot with secondary encoder, data acquisition system with Dexterit-E, Virtual Reality Display, robot stand and locking chair
Adjustable Height Configuration with Gaze-Tracking
This fully featured option is a highly flexible research platform to study upper limb voluntary control and its integration with whole body postural control.
Deluxe Unilateral or Bilateral Robots, Dexterit-E & Integrated Virtual Reality
Our most popular configuration adds integrated virtual reality and options such as 6-degree of freedom force/torque sensors in the end-points. The configuration includes: 1 or 2 robots, secondary encoders, force/torque sensors, robot stand and chair, virtual reality display, data acquisition system with Dexterit-E and optional gaze-tracker.
Unilateral Robot & Dexterit-E
Our lowest price option includes a single Kinarm End-Point Robot, and data acquisition system with Dexterit-E and desktop display.
Select from these components of Kinarm End-Point Lab
- One or two Kinarm End-Point robots
- High-resolution secondary encoders are now standard (Jul-19)
- 6 degree-of-freedom force/torque sensors
- Workstation to support Kinarm End-Point robots and subject display
- Desktop display or integrated virtual/augmented reality presentation of 2D virtual targets in the workspace plane
- Standard Chair or Deluxe Chair
- Dexterit-E™ experimental control software and hardware
- A library of Simulink® blocks to assist with rapid custom task program creation (MATLAB® and Simulink® must be purchased separately)
- Kinarm Standard Tests
- Control hardware to run Dexterit-E (including a real-time computer for precise and safe action)
- Data acquisition hardware, including up to 32 channels of analog input, 4 channels of analog output and 30 channels of digital input/output.
- Kinarm Gaze-Tracker (requires integrated virtual reality)
Robot & System Specifications
- Peak torque pulse of 58 N
- Feedback resolution of 3 microns with secondary encoders (pre Sep-19 systems had resolution of 15 microns without SE)
- End-point stiffness (mechanical planar) of ~40,000 N/m with secondary encoders (older systems without had a stiffness of 16,000 N/m without)
- 76 cm x 44 cm elliptical workspace per robot; 118 cm x 44 cm combined elliptical workspace for bilateral system.
- Effective inertia of 0.8/1.0 kg (minor/major axes)
- Real-time control and data acquisition at 1 kHz
- Handle can be exchanged for Kinarm provided handle with wrist support or third party grip force handle
- Minimum suggested lab size 10’x10′ (3 m x 3m)
Deluxe Chair Specifications
- Rechargeable electric seat height adjustment
- 4-point locking system
- Harness and lap belt for subject torso support
- Non-swivel, rollable chair rated to 330 lb/150 kg
Kinarm Gaze-Tracker Specifications
- Sampling Rate: 500 Hz.
- Subject Setup: requires a quick 13 point calibration
- Resolution: 0.05°RMS; saccade resolution of 0.25°
- Accuracy: ~0.5° with minimal head movement; up to ~1° with extreme head motion
- Workspace Area: elliptically shaped of ~50 cm x ~30 cm (~55° in the horizontal; ~40° in the vertical). The range does not cover the entire Virtual Reality workspace which is 76 cm x 44 cm. The gaze-tracker is centered in the middle of the KINARM Lab workspace to optimize the range.
- Recovery from Loss of Tracking: fast recovery through use of target sticker.
- Download Tech Sheet.
Adjustable Height Configuration (AHC)
Subjects can sit or stand in the lab and interact with 1 or 2 robots at any height. Safety is assured with a fall arrest system. Integrated force-plates capture postural information. The retracting virtual reality display allows use of the plates on their own. Optional integrated gaze-tracking completes the whole-body behavior suite.
Supported Subject Sizes
Range of Heights & Weight: The AHC electronically adjusts the Kinarm End-Point Robot heights to enable comfortable use of the robot standing or sitting. Subjects can range in height from 38″ (96.5 cm; ~5 yrs old) to 84″/7′ (2.1 m) tall; and weight < 400 lb (182 kg). Space requirements: 15′ x 12′ (4.6 m x 3.7 m) and 8′-10″ (2.7 m) ceiling height for unrestricted operation.
Required Room Dimensions
It is recommended that the room dimensions are at least:
- 15′ x 12′ (4.6 m x 3.7 m) uncarpeted floor space. This includes space for a desk for the operator to use the computer control system.
- 8′-10″ (2.7 m) ceiling height for unrestricted operation.
- Robot lift only
- Lift, platform and force plate(s)
- Lift, platform, force plates and gaze-tracker
- One or two Kinarm End-Point Robots
- Robot upgrades of secondary encoders and force-torque sensors (both highly recommended)
- Kinarm Gaze-Tracker (optional)
- Kinarm Standard Tests (Note available tests do not use, or report, gaze-tracking or force plate data in the analyses. This data is available for external analysis through the data export feature in Dexterit-E.)
- Multi-axis force plates are mounted in a platform that rests on existing lab-floor (1 or 2 plate configuration available)
- Platform is 8″ (20 cm) above the floor
- Plates may be optionally set into an existing floor by the customer
- Platform width (6′-6″/2 m) is sufficient to enable use of the Lab in “stand-up” or “sit-down” mode with the chair remaining on the platform.
- Virtual Reality Display can retract or swing “up and away” to enable use of force plates without interference from the display.
- Subject Fall Arrest system is standard on all systems ensuring subject safety during experiments.