Kinarm Exoskeleton Lab

Owned by Don Wilson
Last updated: Sept 27, 2023
2 min read

Device use type: Self Serve / Collaboration

Location: 5-032 Katz Group Centre

 

 

Description: Kinarm Exoskeleton Lab uses a complex linkage to permit planar movements of the arm in the horizontal plane involving flexion and extension movements at the shoulder and elbow joints. The Lab was extensively redesigned in 2016 to enhance stiffness and enable full access to the head for TMS, and other neuro-stimulation techniques. Torque motors record the motion of the arm in the horizontal plane and apply loads to each joint independently. The design provides feedback from, and control of, the shoulder and elbow joints thus permitting loads to be applied to the shoulder and/or elbow joints. Patterns of joint motion are recorded; muscular torques are computed by the system. The hand is free to interact with objects in the environment.

Manufacturer Link: Kinarm Exoskeleton Lab

Features:

Two motorized Kinarm™ Exoskeleton robots for simultaneous right and left-handed investigation; unilateral robot optional

Workstation and visual display for presentation of 2D virtual targets in the actual plane of limb motion

System-integrated chair with wheelchair-style seating (including removable foot, arm and head rests)

Dexterit-E data acquisition and experimental control software

Control hardware to run Dexterit-E (including a real-time computer for precise and safe action)

Data acquisition hardware, optionally including up to 32 channels of analog input, 4 channels of analog output and 30 channels of digital input/output.

Real-time control of experiment at 4 kHz (with R2015 SP1 and later); data acquisition at 1 kHz or optionally down-sampled to 200 Hz.

Peak torque pulse of 16.5 Nm; 5.5 Nm continuous

Feedback resolution of 0.0006 degrees (~4 microns at the hand)

Vertical out-of-plane stiffness of 8,500 N/m; end-point in-plane mechanical stiffness of 16,400 N/m

Minimum 47" visual display/workspace; optional 120Hz CRT-like LED display

Fits children as young as 5 – 6 years old (with optional child-size arm troughs) and adults up to approximately 6’6” (2 m)

Hourly fees for use:

SMART Network: $30

Academic: $60

Industry: $90