Kinarm | Interactive Robotics Brain Injury Research

  • Products
  • Clinical Applications
  • News
  • Support
  • About Us
  • Contact

Mobile nav

Lock and unlock the arm in position controller demo

Lock and unlock the arm in position controller demo

Posted on Aug 25, 2020

DWQA Questions › Category: Kinarm End-Point Lab › Lock and unlock the arm in position controller demo
0 Vote Up Vote Down
Yokhesh Krishnasamy Tamilselvam asked 2 years ago

Hi,
I am using an KINARM endpoint robot. I am using the position controller demo to move the arm passively (KINARM automatically moves the handle) from one point to another. 
After the passive movement, i want the participant to make an active movement manually. But, the arm is locked and cannot make active movement. I tried sending zero as input to force blocks which unlocked the arm after making the passive movement and allowed me to move the arm manually.  But, in the next trial, when the passive movement starts again, i start giving actual output from the position controller block to the force block instead of zeros. This leads to sudden jerk in the arm. This jerk is pretty harsh. How do i avoid this jerk?
To sum it up, I want to make the kinarm do a passive movement as i am holding the handle and then allow me to move handle manually after that and repeat that in the next trial without any jerk between the trials.
Could you please let me know how do i get this working?
Thank you.

1 Answers
0 Vote Up Vote Down
Duncan McLean Staff answered 2 years ago

Hi Yokhesh,
The problem you have encountered is a tricky one. Please look at the sample task called “Position control – Enable/Disable”.
https://kinarm.com/task/control-enable-disable/
That sample task is designed to overcome the exact problems you are seeing. the sample task has the ability to work with either a Kinarm Exoskeleton or EP robot. For your purposes you can ignore the Exoskeleton code and remove it. The important parts of the task you will need to copy are:

  • The Trajectory subsystem block
  • The e_start, e_enable_controller, e_disable_controller signals from Stateflow.

You may need to recompile the sample task to test it depending on the version of MATLAB and Dexterit-E you are using.
All the best,
Duncan
 

Support

  • User Guides & Documentation
  • Software Downloads
  • Install/Maintain Your KINARM Lab
  • Training Videos
  • New User Training
  • Creating Custom Tasks
  • Sample Custom Tasks
  • Q&A Forum
  • Publications by Research Area

Products

  • Platform Comparison
  • Kinarm Exoskeleton Lab
  • Kinarm End-Point Lab
  • Kinarm Standard Tests
  • Dexterit-E
  • Dexterit-E Explorer
  • NHP Kinarm Exoskeleton Lab

Clinical Applications

  • Clinical Applications
    • Stroke and TIA
    • Traumatic Brain Injury (TBI)
    • Neurological Disease
    • Pediatric
    • Primarily Non-Neurological
  • Clinical Research Sites
  • Publications

News

  • Kinarm News
  • Events
    • Neuroscience
    • Kinarm Camp
  • Product Notices
  • @KinarmLab Twitter Feed
  • Open Jobs

Support

  • Kinarm Help & Support
  • User Guides & Documentation
  • Software Downloads
  • Installing & Maintaining Your Kinarm Lab
  • Training Videos
  • New User Training
  • Creating Custom Tasks
  • Sample Custom Tasks
  • Q&A Forum

About Us

  • About Us
  • Our People
  • Quality
  • Supplier Requirements
  • End-User License Agreement
  • Intellectual Property
  • Privacy & Terms

Contact

  • Contact Kinarm
    • International Sales Agents
  • Request an Account
footer-logo

140 Railway St. Kingston, ON K7K 2L9 Canada Toll Free: (888) 533-4393 Phone: (613) 507-4393 info@kinarm.com

© Copyright BKIN Technologies. All Rights Reserved

Quality | Privacy Policy | Web design/development by 1dea Design + Media Inc.