Jaco Arm - User Guide R1.0.9 released - robotshop.com Arm - User Guide 7 | Page Overview The JACO...

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JACO Arm User guide

V1.0.7

JACO Arm - User Guide

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Table of contents

Table of contents ............................................................................................................................. 2

Table of figures ................................................................................................................................ 4

About This Document ...................................................................................................................... 5

Symbols, definitions and acronyms ............................................................................................. 5

Compliance with ROHS directive ..................................................................................................... 5

Class II electrical device rating ......................................................................................................... 5

Disclaimer ........................................................................................................................................ 6

Overview .......................................................................................................................................... 7

JACO’s Part Identification ................................................................................................................ 7

Normal Use Definition ..................................................................................................................... 8

JACO’s operating principle ............................................................................................................ 10

Important Safety Information ....................................................................................................... 10

General ...................................................................................................................................... 10

Possible effects or electromagnetic interference (EMI) on your JACO arm .............................. 12

EMI INFORMATION ........................................................................................................................ 13

JACO’s marking .............................................................................................................................. 14

JACO’s Interconnect ...................................................................................................................... 15

Pinout ........................................................................................................................................ 15

Installation of the JACO arm .......................................................................................................... 16

Powered wheel chair with “rail” ............................................................................................... 16

Powered wheel chair with “tube” ............................................................................................. 16

Accessories of the JACO arm ......................................................................................................... 17

JACO arm controller feedback ....................................................................................................... 17

Operating the JACO arm ................................................................................................................ 18


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Operating the JACO arm ................................................................................................................ 18

General Use ............................................................................................................................... 18

Controller Feedback ............................................................................ Erreur ! Signet non défini.

Three-Axis mode........................................................................................................................ 19

Two-Axis mode .......................................................................................................................... 22

Custom configuration cross-reference table ................................................................................. 26

Specifications of the arm ............................................................................................................... 27

General ...................................................................................................................................... 27

Purpose .................................................................................................................................. 27

Environment .......................................................................................................................... 27

Electrical .................................................................................................................................... 27

Input Power ........................................................................................................................... 27

Output Power (controller port) ............................................................................................. 27

Mechanical ................................................................................................................................ 27

Firmware................................................................................................................................ 27

Maintenance of the arm ................................................................................................................ 29

Cleaning instruction:...................................................................................................................... 29

Preventive Maintenance Instruction: ............................................................................................ 29

JACO’s disposal .............................................................................................................................. 29

Packing material: ........................................................................................................................... 29

Metal parts: ................................................................................................................................... 29

Electrical parts, circuit boards and carbon fiber: .......................................................................... 29

Contacting Support ........................................................................................................................ 29


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Table of figures Figure 1 - JACO part ID ..................................................................................................................... 7

Figure 2 - JACO Label view ............................................................................................................. 14

Figure 3 - JACO Box Label view ...................................................................................................... 14

Figure 4 - JACO Inter Connect view (fixed base) ........................................................................... 15

Figure 5 – 3-axis Arm Mode Control.............................................................................................. 19

Figure 6 – 3-axis Wrist Mode Control ............................................................................................ 20

Figure 7 – 3-axis Wrist Mode Control with Drinking option .......................................................... 20

Figure 8 – 3-axis Finger Mode Control .......................................................................................... 21

Figure 9 – Joystick’s Buttons Use .................................................................................................. 21

Figure 10 – 2-axis Arm Mode Control (X-Y) ................................................................................... 22

Figure 11 – 2-axis Wrist Mode Control .......................................................................................... 23

Figure 12 – 2-axis Finger Mode Control ........................................................................................ 23

Figure 13 – 2-axis wrist rotation / Z movement Control ............................................................... 24

Figure 14 – 2-axis wrist rotation / Z movement Control ............................................................... 24

Figure 15 – Joystick’s Buttons Use ................................................................................................ 25


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About This Document

This document is intended for:

• Field service, customer support and sales’ employees of authorized distributor of JACO

• End user

It contains information regarding the setup and the operation on Kinova’s JACO arm.

Symbols, definitions and acronyms

Important information regarding safe operation of JACO arm.

Refer to accompanied documents

Direct current

Operating temperature range

Compliance with WEEE directive (waste electrical and electronic equipment)

Compliance with ROHS directive

Class II electrical device rating

Type BF Applied Part device


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Disclaimer

Kinova, JACO, and Kinova’s logo are trademarks of Kinova inc. All other brand and product

names are trademarks or registered trademarks of their respective corporations.

The mention of any product does not constitute an endorsement by Kinova Inc. This manual is

furnished under a lease agreement and may only be copied or used within accordance with the

terms of such lease agreement. Except as permitted by such lease agreement, no part of this

publication may be reproduced, stored in any retrieval system, or transmitted, in any form or by

any means, electronic, mechanical, recording, or otherwise, without prior written consent of

Kinova.

The content of this manual is furnished for informational use only, is subject to change without

notice, and should not be construed as a commitment by Kinova. Kinova assumes no

responsibility or liability for any errors or inaccuracies that may appear in this document.

Changes are periodically made to the information herein; these changes will be incorporated

into new editions of this publication. Kinova may make improvements and/or changes in the

products and/or software programs described in this publication at any time.

If you have comments on this manual or the products it describes, address them to:

• Kinova’s publication: [email protected]

Kinova may use or distribute whatever information you supply in any way it believes

appropriate without incurring any obligations to you.

Copyright © 2010 Kinova. All rights reserved.


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Overview

The JACO arm is a light-weight, technical assistance robot which was designed to compensate

for the loss of arm movements. It is composed of six inter-linked segments, the last of which is a

three-fingered hand. Through the controller, the user can move the robot’s hand in three-

dimensional space and grasp or release objects with the hand, using either two or three fingers.

An adapted controller is used to switch between modes of control. The robotic arm JACO can be

fixed to a powered wheelchair, a workstation and to a table.

JACO fits entirely under the armrest of a wheelchair and does not extend the width of the chair.

The JACO arm has a weight of 5 kg, can reach approximately 90 cm in all directions and can lift

objects of up to 1.5kg*. Thus, it is believed that the JACO arm will be able to increase the

performance of activities of daily living in individuals with physical disabilities, without adding

barriers to wheelchair mobility.

*See specification section for more details on JACO

JACO’s Part Identification

Part ID Name

1 Fixed Base

2 Joint #1

3 Base

4 Joint #2

5 Arm

6 Joint #3

7 Forearm

8 Joint #4

9 Wrist #1

10 Joint #5

11 Wrist #2

12 Joint #6

13 Hand

14 Fingers

Figure 1 - JACO part ID


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User’s profile To use the JACO arm, the patient must:

1. Be able to control a powered mobility device OR be able to use the Kinova

standard joystick.

2. Be at least 10 years old

3. Have necessary visuomotor dexterity to operate JACO at minimum speed.

User’s learning period

Since a qualified therapist may determine that JACO is suitable for other people than

specified hereof, Kinova relies on therapist to properly train the patient under controlled

environment to make sure that the patient is perfectly aware of how to operate JACO safely.

As a guideline to minimum requirement, Kinova strongly suggest that the therapist make sure

that.

• Patient understand well the basic function of JACO (translation, rotation, hand)

• Patient know how to safely operate JACO (per example driving wheelchair with the arm

well positioned, to not operate dangerous tool with JACO, etc..)

• Patient has demonstrated a significant control of JACO’s movement related to the

controller....

kinova also strongly suggest that: for youngest persons, the use of JACO should be progressive

and under parental supervision.


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Normal Use Definition The limited warranty offered with JACO (refer to warranty sheet that you will find in

your JACO case for more details) is based on a normal use of 4 hours a day with no continuous

load. (For example, keeping a bottle of 1 Kg with the arm fully extended during 4 hours is not a

normal use of the arm)

The definition of normal uses of JACO also includes that you can lift, push, pull or

manipulate a maximum load of 1.5 Kg from minimum to middle reach and 1Kg from middle to

full reach.

The following table shows you what would be the normal use of JACO regarding the load

you are carrying and the distance between the load and the base of JACO.

Table 1 - JACO use/rest time reference table

Weight \ distance from base d < 0.45 m 0.45m < d < 0,7 m 0.7 < d < 0,9 m

250g 5 min : 0 min 4 min : 1 min 3 min : 2 min

500g 4 min : 1 min 2,5 min : 2,5 min 2 min : 3 min

1kg 2,5 min : 2,5 min 2 min : 3 min 1 min : 4 min

1,5kg 1 min : 4 min

Note: “1min : 4 min” means that you need 4 minutes rest time after 1 minute of use with 1.5kg at full

reach.

Regarding the use of the hand, you should give a minimum rest time of 10 seconds on every

“open-close” cycle of fingers.

Please note that the rules of utilization have been established with users in normal environment

and shall not represent any limitation.


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JACO’s operating principle JACO operating principle is to make the control as intuitive as possible. This goal is

achieved by limiting the number of operation to do by patient to execute a movement or task.

Effectively, the human interface only controls the hand position and the arm auto-adjust

every other part to reach the position asked by the patient.

In “translation mode”, the operator control the position of the hand and JACO will make

sure to always keep the hand parallel to the chair base.

In “rotation mode”, the operator controls the position of the arm around the center

point of the hand and JACO makes sure that this point is not moving.

Important Safety Information

General

• Read the instructions for all components before using this product

• Keep these instructions for future reference

• Heed all warnings on the product and in this guide

• Follow all instruction

Wait JACO to reach room temperature prior starting using it

This equipment is not designed to be used in presence of flammable mixture. (Not AP or

APG rated)

This equipment is not designed to act as patient lift

Do not attempt installation if any JACO hardware component in the part kit is missing or

damaged. Contact your distributor to report the damage and request a replacement kit.

JACO contains parts that are deemed to be hazardous waste at the end of their life. For

further information on handling and recycling contact your local recycling authority or

local JACO distributor. In any way, always dispose of product through a recognized agent.

Do not immerse any part of arm under water or snow.

Protect the cords from being walked on or pinched.

Do not eat directly with fingers, always use utensil.


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Refer all services to qualified service personnel. A service is required when the apparatus

has been damaged in any way: such as power-supply cord or plug is damaged, does not

operate normally or has been dropped.

Do not install JACO near any heat sources, such as radiators. Do not use it to directly take

hot things. (Fingers support a maximum temperature of 80ºC)

Do not defeat the safety purpose of the polarized or grounding type plug. If the provided

cable does not fit in your outlet, consult an electrician for replacement of obsolete outlet.

(For table mounted unit only)

To prevent risk of fire or electric shock, avoid overloading wall outlets and extension. (For

table mounted unit only)


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Possible effects or electromagnetic interference (EMI) on your JACO arm

Electromagnetic Interference (EMI) From Radio Wave Sources

Even if JACO complies with all relevant standards, your arm may still be susceptible to

electromagnetic interference (EMI), which is interfering electromagnetic energy (EM) emitted

from sources such as radio stations, TV stations, amateur radio (HAM) transmitters, two way

radios, and cellular phones. The interference (from radio wave sources) can cause the JACO stop

moving for a period of 10 seconds. In this case, your JACO will simply re-init and you will be able

to continue to use it. In extremely rare case, it can also permanently damage the JACO control

system. The intensity of the interfering EM energy can be measured in volts per meter (V/m).

JACO can resist EMI up to certain intensity. This is called its “immunity level”. The higher the

immunity level is, the greater is the protection. At this time, current technology is capable of

achieving at least a 20 V/m immunity level, which would provide useful protection from the

more common sources of radiated EMI.

There are a number of sources of relatively intense electromagnetic fields in the everyday

environment. Some of these sources are obvious and easy to avoid. Others are not apparent and

exposure is unavoidable. However, we believe that by following the warnings listed below, your

risk to EMI will be minimized.

The sources of radiated EMI can be broadly classified into three types:

1) Hand-held portable transceivers (transmitters-receivers with the antenna mounted directly

on the transmitting unit. Examples include: citizens band (CB) radios, “walkie talkie”, security,

fire and police transceivers, cellular telephones, and other personal communication devices).

*NOTE: Some cellular telephones and similar devices transmit signals while they are ON, even

when not being used.

2) Medium-range mobile transceivers, such as those used in police cars, fire trucks, ambulances

and taxis. These usually have the antenna mounted on the outside of the vehicle.

3) Long-range transmitters and transceivers, such as commercial broadcast transmitters (radio

and TV broadcast antenna towers) and amateur (HAM) radios.

*NOTE: Other types of hand-held devices, such as cordless phones, laptop computers, AM/FM

radios, TV sets, CD players, cassette players, and small appliances, such as electric shavers and

hair dryers, so far as we know, are not likely to cause EMI problems to your JACO.


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EMI INFORMATION Because EM energy rapidly becomes more intense as one move closer to the transmitting

antenna (source), the EM fields from hand-held radio wave sources (transceivers) are of special

concern. It is possible to unintentionally bring high levels of EM energy very close to the JACO’s

control system while using these devices. Therefore, the warnings listed below are

recommended to prevent possible interference with the control system of JACO.

Electromagnetic interference (EMI) from sources such as radio and TV stations, amateur radio

(HAM) transmitters, two-way radios, and cellular phones can affect your JACO.

Following the warning listed below should reduce the chance of having problem caused by EM.

Do not operate hand-held transceivers (transmitter’s receivers), such as citizens band

(CB) radios, or turn ON personal communication devices, such as cellular phones, while

the JACO is turned ON;

Be aware of nearby transmitters, such as radio or TV stations, and try to avoid coming

close to them;

Be aware that adding accessories or components, close to JACO’s base, may make it

more susceptible to EMI (There is no easy way to evaluate their effect on the overall

immunity of the powered wheelchair and/or your JACO)

Report all incidents of unintended shut down to your local distributor, and note

whether there is a source of EMI nearby.


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JACO’s marking

Here’s more info about label on your JACO arm

Figure 2 - JACO Label view

And the one on the box

Figure 3 - JACO Box Label view

*Note that these labels may slightly differ from the one on your device depending of your

country.


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JACO’s Interconnect

Figure 4 - JACO Inter Connect View (fixed base)

Pinout

Power Connector

Control Port

Pin Signal

1 24V OUT

2 #SLEEP

3 CANH

4 CANL

5 GND

6 GND

7 EXP0

8 EXP1

Control Port and Power Connectors are intended to be connected only with Kinova

approved device. Connecting other device may result in bad performance or even make

your JACO inoperable and cancel or voided (as shown next page) your warranty.

Pin Signal

1 24V_IN

2 24V_IN

3 GND

4 GND


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Installation of the JACO arm

*Note: Kinova strongly recommend that installation of your JACO arm be entrusted by a

certified technician since your warranty may be voided if JACO is not installed the proper way.

Powered wheel chair with “rail”

1. Remove all elements and accessories from the rail.

2. If the armrest blocks the rail, remove it.

3. Insert screw anchors into the JACO arm’s mounting.

4. Insert the JACO arm’s mounting into the rail.

5. Reinstall the armrest and/or elements to ensure proper positioning of the JACO arm’s

mounting.

6. Tighten the screws of the JACO arm’s mounting.

7. Reinstall the accessories on the JACO arm’s mounting.

8. Install and connect the power cable on the battery of the wheelchair.

9. Install the joystick cable.

10. Place JACO arm in the mounting.

a.Connect the power cable on the JACO arm’s power connector.

b.Connect the joystick cable on the JACO arm’s joystick connector.

c.Turn on JACO.

Powered wheel chair with “tube”

1. Remove all elements and accessories from the tube.

2. Insert screw anchors into the JACO arm’s mounting.

3. Place the JACO arm’s mounting on the tube.

4. Reinstall the armrest and/or elements to ensure proper positioning of the JACO arm’s

mounting.

5. Tighten the screws of the JACO arm’s mounting.

6. Reinstall the accessories on the JACO arm’s mounting.

7. Install and connect the power cable on the battery of the wheelchair.

8. Install the joystick cable.

9. Place JACO arm in the mounting.

a. Connect the power cable on the JACO arm’s power connector.

b. Connect the joystick cable on the JACO arm’s joystick connector.

c. Turn on JACO.


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Accessories of the JACO arm Since the JACO arm is an accessory itself it can be used with the most common external part

such external button provided with “Jack interconnect”. If you need more specific information

about the use of any optional accessories and/or system, please contact your local distributor or

Kinova directly by mail at [email protected].

JACO arm controller feedback

Table 2 – JACO’s mode of operation Table

Red Leds Meaning

Flashing slowly Jaco is in force protection

(you try to lift something too heavy)

Fast Flashing

JacoPower is running low

(you need to bring him in home

position and recharge the batteries)

Solid Red JACO is in fault

(need to restart or need a service call)

Table 3 – JACO Warning Table

Led Mode of operation

3-A

xis

Translation (X-Y-Z)

Rotation

Fingers

Drinking mode (to use with rotation mode)

Disabled controller

2-A

xis

Translation (X-Y)

Rotation

Elevation / wrist rotation

Fingers

Drinking mode (to use with wrist rotation mode)

Disabled controller

1

2

3 4 5

Mode of Operation

Arm Powered

Error


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Operating the JACO arm *Note: This section explains how to operate the JACO arm with factory configuration, contact

your reseller for operation instruction with your adapted configuration.

General Use

After proper installation, turn on the JACO arm and hold Button 2. The arm will slowly reach the

HOME position.

In the HOME position, JACO is awaiting a command from the joystick. JACO is stable for

wheelchair displacements and non-intrusive.

In the RETRACT position, JACO is in standby mode. The joystick features are disabled and

power consumption is much lower.

At any time, you can reach the HOME position by holding the Button 2. Holding the Button 2

again will bring JACO back in RETRACT position.

At any time, if you want to disable JACO’s joystick, press Button 1 once. At this time, the arm

will not respond to any command and will stay in position. (It will also keep in hand any object

you grabbed). When you want to use the joystick again, just press Button 1 once to re-activate

it.


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Three-Axis mode

At JACO’ startup, you are in “3-axis arm controlling” mode, meaning that any movement of the

joystick will translate the center of hand parallel to the floor.

Figure 5 – 3-axis Arm Mode Control


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One hit on Button B will bring you in “3-axis wrist controlling” mode, meaning that any

movement of the joystick will result in a rotation around the center of hand.

Figure 6 – 3-axis Wrist Mode Control

*Note: Another hit on Button B will bring you back in “3-axis arm controlling” mode

One hit on Button 3 when already in “3-axis wrist controlling” mode will activate the drinking

mode. This will make the arm compensate the height for you when you use a glass.

Figure 7 – 3-axis Wrist Mode Control with Drinking option

*Note: Another hit on Button 3 will deactivate the “Drinking” option.


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One hit on Button A will bring you in “hand” mode, meaning that all fingers will move

accordingly to the “left-right” movement on joystick.

Figure 8 – 3-axis Finger Mode Control

All Buttons will act as listed in table below

Buttons Click Hold 2 sec

1 De-activate / Activate Joystick Change joystick operating mode (2-axis Vs 3-axis)

2 --- Retract / Home position (hold until reaching position)

3 De-activate / Activate Drinking ---

4 --- Set Position

5 --- Going to preset position(hold until reaching position)

A Hand mode Decrease speed

B Arm / Wrist Increase speed

Ext 1 Hand mode Decrease speed

Ext 2 Arm / Wrist Increase speed

Figure 9 - Joystick Buttons Use


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Two-Axis mode

To change the operating mode of the Joystick, hold Button 1 for 2 seconds. At this point, the 3rd

axis is not effective anymore (stick rotation).

You are now in “2-axis arm controlling” mode, meaning that any movement of the joystick will

translate the center of hand parallel to the floor.

Figure 10 – 2-axis Arm Mode Control (X-Y)


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One hit on Button 4 will bring you in “2-axis wrist controlling” mode, meaning that any

movement of the joystick will result in a rotation around the center of hand.

Figure 11 – 2-axis Wrist Mode Control

Another hit on Button 4 will bring you in “hand” mode.

Figure 12 – 2-axis Finger Mode Control

*Note: Another hit on Button 4 will bring you back in “2-axis wrist controlling” mode.


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From initialisation, a click on Button 5 will bring you in “wrist rotation / Z movement” mode.

Figure 13 – 2-axis wrist rotation / Z movement Control

*Note: Another hit on Button 5 will bring you back in “2-axis arm controlling” mode.

When already in “wrist rotation / Z movement” mode, pressing Button 3 will activate the

“Drinking Mode”. This will make the arm compensate the height for you when you use a glass.

Figure 14 – 2-axis wrist rotation / Z movement Control

*Note: Another hit on Button 3 will desactivate the “Drinking” option.


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With Factory configuration, all Buttons will act as listed in table below.

Buttons Click Hold 2 sec

1 De-activate / Activate Joystick Change joystick operating mode (2-axis Vs 3-axis)

2 --- Retract / Home position (hold until reaching position)

3 De-activate / Activate Drinking ---

4 Hand mode Decrease speed

5 Arm / Wrist Increase speed

A --- ---

B --- ---

Ext 1 Hand mode Decrease speed

Ext 2 Arm / Wrist Increase speed

Figure 15 - Joystick Buttons Use

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Custom configuration cross-reference table

Quick click Hold 2 sec

Button 1 De-activate / Activate controllerChange Controller operating mode (3-

axis Vs 2-axis)

Button 2 N/A Go to Retract / Home position

Button 3 De-activate / Activate Drinking set position

Button 4 Going to preset position set position


Button A Hand Mode Decrease Speed

Button B Arm/Wrist Mode Increase Speed

JACO's default Configuration JACO's custom ConfigurationKinova Standard

Controller Custom Controller

3-Axis Mode

Quick click Hold 2 sec

Button 1 De-activate / Activate controllerChange Controller operating mode (3-

axis Vs 2-axis)

Button 2 N/A Go to Retract / Home position

Button 3 De-activate / Activate Drinking set position



Button A N/A N/A

Button B N/A N/A

External 1 Hand Mode Decrease Speed

External 2 Arm/Wrist Mode Increase Speed

2-Axis Mode

Kinova Standard

Controller

JACO's default Configuration JACO's custom Configuration

Custom Controller

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Specifications of the arm

General

Purpose

o JACO is intended to compensate the loss of mobility to the upper body for severely

disabled people.

Environment

Operating:

o Ambient temperature from 0ºC to 30ºC

o Can be used under rainfall for limited period (IPX2 rating)

Storage

o Ambient temperature from 0ºC to 50ºC

o Relative Humidity : 50% max

Electrical

Input Power

o Voltage: 24V +/- 10% d.c.

o Powered by your wheelchair or external power supply

o Current : 2A in normal use, 10A max (less than 15 seconds)

Output Power (controller port)

o Voltage: 24V +/- 10% d.c.

o Current : 1.5A continuous (3A less than 2 seconds)

Mechanical o Total weight: 5Kg

o Maximum Load : 1.5kg at mid-range (45cm)

o Maximum Load : 1.0kg at end-range (90cm)

o Reach : 90cm

o Maximum linear arm speed : 15cm/sec

o 3 fingers or 2 fingers utilisation

o Finger force limited to 7N (1.54 lbf )

o Flexible fingers for durability

Firmware

o Each axis controlled independently

o Redundant security on each axis / fingers

o Redundant error check in joints and in control system

o Position and error calculation every 0.01 second


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o Automatic recovery on system fault


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Maintenance of the arm

Cleaning instruction:

• Use slightly damp (not wet) cloth with light detergent as soap dishes to clean external

surface of JACO.

Do not immerse in water.

JACO is not intended to be sterile. No sterilization process should be applied to the arm.

Preventive Maintenance Instruction:

• The JACO Arm is designed to not require any maintenance during its lifetime.

There is no “home serviceable” part inside JACO, do not open.

JACO’s disposal

Packing material:

The JACO arm packing material can be disposed as recyclable material

Metal parts:

The JACO arm metal part can be disposed as recyclable scrap metal.

Electrical parts, circuit boards and carbon fiber:

The JACO arm contains important amount of these material that can be damageable for

environment if not disposed the proper way. Please contact your local distributor to

have information regarding disposal of such parts. You can also address question

directly to Kinova through our website (www.kinovarehab.com)

Contacting Support


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If you need help or have question about the start-up of your JACO arm, please contact your local

distributor:

If you need help or have question about this document, contact Kinova by:

o Using e-mail links [email protected]

To help us assist you more effectively with problem reports, the following information will be required

when contacting Kinova or your distributor support

o JACO serial number

o This will allow the support agent to have all info regarding your JACO configuration (Per

example, the software version your JACO’s running on)

o Date/Time of the problem

o Environment where the problem occurred (per example 30 Celcius, raining...)

o Actions performed immediately before the problem occurred

If you have any comments with this or any other Kinova product, please call or e-mail technical support,

we value your comments.

www.kinovarehab.com

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