• One or two Kinarm End-Point robots with single controller for absolute synchronization
• Dexterit-E™ experimental control software and hardware, with computer systems and a library of Simulink® blocks to assist with rapid custom task program creation (MATLAB® and Simulink® must be purchased separately)
• Fixed or Adjustable Height workstation to support Kinarm End-Point robots and subject display in seated or standing position
• Subject display of visual stimuli options:
  • vertical display (fixed workstation only); or
  • integrated 2D VR/AR display for presentation of 2D virtual targets in the workspace plane
    • standard 60 Hz may be upgraded to custom 120 Hz LCD display from VPixx
• A library of pre-coded Simulink® blocks to assist with rapid custom task program creation 
• Data acquisition hardware that includes 16 channels of analog input (expandable to 32 channels), 4 channels of analog output and 30 channels of digital input/output
  • data from the external systems can be acquired in real-time for online use and for data synchronization.  Examples include: EMG, EEG, TMS – any technology that accepts digital or analog inputs/outputs. See Torrecillos et al. 2014
    
• Choice of subject chair:
  • Standard Chair: 
    • rollable no swivel with manual height adjustment and locking casters rated to 280 lb/127 kg
  • Deluxe Chair:
    • 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
  • Unlimited Dexterit-E Explorer™ downloads for data visualization

Download Full Specifications

• Maximum continuous end-point force 19 N
• Maximum intermittent (<5 s duration) end-point force: 58 N
• Feedback/spatial resolution of 2 microns
• End-point stiffness (mechanical planar) of ~40,000 N/m
• 76 cm x 44 cm elliptical workspace per robot
• Effective inertia of 0.8/1.1 kg (minor/major axes)
• Lightweight mechanical design of the robot, and use of torque motors, negate the need for inertial compensation or impedance/admittance control. All robots are back-driveable.
• Optional 6 DOF force/torque sensor: maximum range (x/y): 80 N; resolution: 0.02N
• Real-time control of experiment at 4 kHz (with R2015a SP1 and later); data acquisition at 1 kHz or optionally down-sampled to 200 Hz.
• Handle can be exchanged for Kinarm-provided handle with wrist support or a third party grip force handle

• 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 (1 or 2) capture postural information.
• Virtual reality display can retract or swing “up and away” to enable use of force plates without interference from the display
• Optional integrated gaze-tracking completes the whole-body behaviour suite.
• Subject sizes:
  • Fixed height: Can support a range of body sizes and weights covering the 5th-95th percentile of the general population from 12 years old and up (younger children will need to kneel on the chair)
  • Adjustable Height Configuration: 
    • height from 38″ (96.5 cm; ~5 yrs old) to 84″ (211 cm) tall seated or standing
    • weight < 400 lb (182 kg). 
• Platform Details
  
  • 8″ (20 cm) platform rests on existing lab-floor 
  • Platform width (6′-6″/200 cm) is sufficient to enable use of the Lab in “stand-up” or “sit-down” mode with the chair remaining on the platform
  • One or two  multi-axis force plates from Bertec are mounted in the platform 
  • Plates may be optionally set into an existing floor by the customer

Download Full Specifications

• Minimum suggested lab size for fixed height VR configuration: 3m x 3m (10ft x 10ft)
• Adjustable Height configuration:
  • 4.25 m (14ft) x 3.65 m (12ft) minimum uncarpeted floor space. 
    • This includes space for a desk for the operator to use the computer control system.
  • 2.7 m (8ft-10in) minimum ceiling height
• The customer is required to submit a floor plan to Kinarm of the target installation room, noting room dimensions, location of services, door openings and any door/hallway constraints between the shipping dock and the lab, at least one month prior to delivery to ensure that the lab and building can receive the equipment.    
• A desk/table at least 90cm (36in) long or 120cm (48in) long if a Kinarm Gaze-Tracker is selected
• Electrical requirements: one 20 A, 110-120 VAC, 50/60 Hz circuit with 2 outlets (NEMA 5-20R).
  • For North America: a surge protector is provided for each of the computers, gaze and AHC Lift assemblies.
  • For Europe: one 10 A, 220-240 VAC, 50/60 Hz circuit with 2 outlets
  • For Japan: one 20 A, 100 VAC, 50/60 Hz circuit with 2 outlets (NEMA 5-20R). 
• An Ethernet port to the external internet is recommended to enable on-line support and software upgrades. The Kinarm Lab does not require an internet connection for its function.
• Laminate/rolled/solid-surface flooring preferred for fixed height VR; mandatory for AHC configuration
• MATLAB® and Simulink® toolboxes must be purchased separately to enable custom Task Program development