Posted on May 10, 2022
This is a very basic reaching task that could be used as a starting point to create a more sophisticated reaching experiment. This version of the task is for a Kinarm Exoskeleton Lab. The protocols can produce curl and viscous fields.
The task was built for Dexterit-E 3.9 and MATLAB 2015a.
Posted on May 10, 2022
This is a very basic reaching task that could be used as a starting point to create a more sophisticated reaching experiment. This version of the task is for a Kinarm End-Point Lab.
The task was built for Dexterit-E 3.9 and MATLAB 2015a.
Posted on Jun 3, 2021
In this task, a subject reaches once for a target and then the trial ends. It is used as a starting point in Kinarm Camp and illustrates some simple concepts like showing a target, reaching for a target, and waiting for an event to occur (whether a successful reach of a time out).
Compiled with MATLAB 2015aSP1 and Dexterit-E 3.9. The task will run on 2019b without recompiling.
Posted on Aug 6, 2020
New in Dexterit-E 3.7, are three target types: polygon, path, and repeat. Polygons are targets that can specify up to 25 vertices. Paths are lines that connect up to 25 vertices. Repeat targets are targets that specify a circle, ellipse, rectangle, triangle, or line and draw it at up to 25 different locations.
In this task, the “Make VCODES” embedded MATLAB function block creates one example Vcode of each of the above target types to show what the new vcodes in Dexterit-E 3.7 can look like. Details on using the new Vcodes can be found in Section 10.7 VCodes – Programming Visual Stimuli of the Creating Task Programs for Dexterit-E™ 3.7 guide.
The task was compiled in Dexterit-E 3.7 and MATLAB 2013a.
Posted on Aug 6, 2020
Note: This task has been updated and cleaned up significantly from the first version.
Note 2: I have just updated this again so that there are different force values applied for primary vs. secondary encoder systems.
Note 3: The update I have just added allows the task to be run on the Exoskeleton (not the classic). I have also done some further clean up.
This is a sample task that implements a force channel similar to what is described here:
Scheidt et al. (2000), Persistence of Motor Adaptation During Constrained, Multi-Joint, Arm Movements. J. Neurophys., 84(2): 853-862 (https://www.physiology.org/doi/full/10.1152/jn.2000.84.2.853)
This sample is just a modified reaching task that implements a force channel between the reaching targets. The supplied protocol has 8 targets 10cm from the center. The configurable parameters are:
Some other key concepts here are:
This is compiled for Dexterit-E 3.6 and MATLAB 2013a.
Please note that this task is only possible to run on the Kinarm EP and Exoskeleton (not classic!) lab. The Kinarm Exoskeleton Classic Lab and Kinarm NHP Labs do not provide appropriate stiffness to make a force channel useful.
Posted on Aug 6, 2020
This is an example of a simple reaching task. This is not the same as the standard task used by Dexterit-E.
Compiled for Dexterit-E 3.8, MATLAB 2013a.
Posted on Aug 6, 2020
This is a sample reaching task that could be used on an NHP system.
Compiled for Dexterit-E 3.5, MATLAB 2013a.
Posted on Jul 14, 2020
This task demonstrates how to move the subject’s arm smoothly while using the Position Controller block. It will move the subject’s arm alternatively between 4 target locations.
Forces/torques will be commanded to the Kinarm as soon as the task starts, and will continue throughout the entire task (i.e. the Position Controller is always on). There is a different sample task “Position controller enable/disable” which demonstrates how to turn the Position Controller on/off smoothly within a trial, for tasks that need to alternate between free movement and positioning the arm.
In the Trajectory subsystem/Create_Trajectory subsystem, a bell-shaped velocity profile is calculated between where the hand was at the start of the trial and the destination target. Using Stateflow, the virtual trajectory is sent point by point to the Position Controller block to create a smooth motion.
This task works on both Endpoint and Exoskeleton Kinarm labs.
Compiled for Dexterit-E 3.7, MATLAB 2013a.
Posted on Jul 14, 2020
This task is a slightly more complex version of the position control demo. In the original position control demo the position controller comes on at the start of the task and remains on throughout. This version of the position controller demo shows how to enable and disable the position controller smoothly – i.e. no sudden jerks as the controller goes on and off. This demo is a good place to start if you plan to have a task where you drag the subject back to a starting location after they have completed a movement.
Each trial in this task starts with the position controller off (i.e. free movement). Once the initial target is reached and held for a short time the position controller is ramped on. Once the position controller is at full strength you will be moved to a destination target. After the destination is reached the position controller is ramped off.
This task is saved as MATLAB 2013a and compiled for Dexterit-E 3.6.2
Posted on Jul 14, 2020
You can change the size of the dominant hand circle by changing the value in row 1 and column 3 of the target table. The Show target block is using the columns [4 4 3 3]. This is a simple task which shows how to change the hand feedback from the default white circles.
Compiled for Dex 3.5 with MATLAB 2013a.
Technically this could be switched to [4 0 0 3] and it would look the same. If you look at the help for the show target block you can see that for a circle the values here mean: fill color column, stroke color column, stroke width column, radius column.
