Features
- High-performance robot
- Designed for bilateral studies
- Modular design for expandability
- Integrated Gaze-Tracking (optional)
- 120 Hz CRT-like Subject Display (optional)
- 2D Virtual/Augmented Reality Display (optional)
Specifications & Information Sheets
System Specifications
- 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
- 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
- Standard Chair:
Robot 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
Adjustable Height Configuration Specifications
- 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
Infrastructure Needs
- 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
- 4.25 m (14ft) x 3.65 m (12ft) minimum uncarpeted floor space.
- 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
Documents
Summarizing specifications and features of the Kinarm End-Point Lab, including the Adjustable Height Configuration, for model PN14332 as of Oct-21.
Last Updated: October 27, 2021
400.52 KB
A brochure summarizing how Kinarm experiments, measures, collaborates and trains.
A web-based version of our ‘tri-fold’ brochure.
Last Updated: October 30, 2019
1.14 MB
If you’re preparing a grant for purchasing a Kinarm, you may find this document helpful. We’ve documented our passion, the history of Kinarm and all of the features we developed to ensure a single Kinarm lab can be used by many.
Last Updated: October 30, 2019
930.05 KB
Options
Suite of standardized protocols to provide a broad-based brain function assessment in under an hour. (Limitation: for research use only)
A head-free gaze-tracker solution that simplifies experimental set-up and ensuring nothing interferes with the natural behaviour.
Best Used by
Basic Researchers
The Kinarm End-Point Lab is the system of choice when high stiffness and hand-based haptic feedback is part of the experimental protocol. Studies range from human motor control and learning in altered visual or mechanical environments, to solving complex cognitive problems, to eye-hand coordination. An NHP version is also available.