Kinarm End-Point Lab

Home Solutions Kinarm End-Point Lab

A high-performance robot that can create complex mechanical environments

This versatile research facility allows researchers to study sensory, motor and cognitive functions. 


Specifications & Information Sheets

  • 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

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

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

Clinical Applications

End-Point Lab helps researchers better their findings in:
Traumatic Brain Injury, Sport Concussion
Parkinson’s Disease
Chronic Stroke
Mild-moderate Multiple Sclerosis
Transient Ischemic Attack
Kidney Disease
Cardiac surgery & Critical Illness

Published Research

Kinarm’s sophisticated technology labs have been used in more than 350 basic and clinical research publications.