As pointed out in the KINARM User Guides, the motion control card the controls the KINARM robots samples the kinematic data at ~1.129 kHz, and that data is then re-sampled and saved at 1 kHz. It is possible that someone might want to re-create the original time-steps. Attached is code that can help with that. However, there are some caveats. Re-creation of the time-steps is done by using the velocity and position signals can calculating what delta-t must have been. This approach is only possible for non-zero velocities. Furthermore, at velocities near zero, there can be some rounding error that give erroneous results. Given that the most likely use for such information is to perform other kinematic analyses (e.g. calculate jerk), small errors when V ~ 0 are unlikely to cause problems in such situations. That attached code is not perfect, but gives a starting point to start performing this calculation, if it were necessary.
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