NHP Kinarm Exoskeleton Lab

Kinarm supports basic researchers and clinician-scientists with advanced assessment systems to quantify sensorimotor performance and behaviour in awake behaving NHPs.

The NHP Kinarm exactly replicates our Human Kinarm Exoskeleton providing de-risked translation of basic research paradigms from NHP to humans; and basic research (NHP or human) to clinical research – especially important in drug/therapy development.

Features

Specifications & Information Sheets

System Specifications

One or two motorized Kinarm Exoskeleton robot(s).
- each robot has dedicated handedness.
Dexterit-E™ experimental control software and hardware, with computer systems (Win OS and real-time OS)
Virtual reality stand with integrated visual display for presentation of 2D virtual targets in the actual plane of limb motion with 120Hz low latency display
Our “arms-free” NHP restraint chair with adjustable seat, footrest, belly-rest, back-rest, and hip-restraints
- Removable plexiglass enclosures permits free motion of both, one or neither arm
- Ideal for experiments requiring almost complete freedom of movement for one or both arms.
Interface to external data acquisition system (analog and digital outputs)
A library of pre-coded Simulink® blocks to assist with rapid custom task program creation
Available collar sizes:
- Kinarm supplied 5” outside diameter: 2.5in/XS, 3in/S, 3.5in/M and 4in/L; all dimensions are inside diameters
- Primate Product supplied 4” outside diameter collars
Can be configured to work with any neural recording system including:
Fits wide range of NHP sizes (~4.5-14 kg – maximum collar ID of 4″)

Robot Specifications

Real-time control of the experiment is at 4 kHz (with R2015 SP1 and later). Data is saved at either 1 kHz or optionally down-sampled to 200 Hz.
Peak torque pulse of 4Nm at shoulder, 3Nm at elbow (~8N at the hand)
Feedback resolution of 0.0006° (~3microns at the hand) with optional secondary encoders (0.006° and ~25 microns without)
End-point mechanical stiffness of 19,500 N/m with secondary encoders or 7,900 N/m without.
24″ diagonal (4:3 aspect) usable workspace
120Hz LED display
16 or 32 16-bit Digital to Analog channels, plus 24 Digital I/O

Infrastructure Needs

Space requirements
- Option 1 (operator in the same room as NHP): 10ft X 10ft (3 m X 3 m) minimum; 10ft X 12ft (3 m X 3.5 m) provides additional comfort.
- Option 2 (operator in adjacent room to NHP): 6ft X 8ft (2 m X 2.5 m) minimum NHP room; 8ft X 10ft (2.5 m X 3 m) provides additional comfort for NHP room.
Rack is not provided: Both the Power Console and Robot Electronics are rack-mountable.
- A 19in rack is required with enough space for the Power Console (3U) and 1 Robot Electronics per arm (3U)
  - For a bilateral system: 9U required; for unilateral, 6U.
Desk or computer workstation to hold the Operator desktop screen and keyboard.
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 computer, 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.
MATLAB® and Simulink® toolboxes purchased separately to enable custom Task Program development

Documents

A specification sheet summarizing the technical features of the NHP Kinarm Exoskeleton Lab.

Last Updated: October 30, 2019

212.82 KB

Kinarm Overview

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

Kinarm Labs: Enabling research across your entire department

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