Kinarm: Learning and Task Programming Resources

This page brings together useful resources for learning how to use the Kinarm Exoskeleton system, especially if you’re developing custom tasks. Since Kinarm tasks are created using MATLAB, Simulink, and Stateflow, this guide includes beginner-friendly tutorials and official documentation to help you get started.

Kinarm Overview

If you're new to Kinarm, this short video provides a good overview of the system and its capabilities:

• Kinarm Introduction Video

Learn the Tools: MATLAB, Simulink, and Stateflow

Kinarm tasks are programmed using a combination of MATLAB scripts, Simulink models, and Stateflow charts. These free interactive courses from MathWorks are a great way to get started:

• MATLAB Onramp
• Simulink Onramp
• Stateflow Onramp

Task Programming with Kinarm

To familiarize yourself with Dexterit-E (task execution platform) and the Kinarm Standard tests:

• Dexterit-e User Guide (Create a free account on their website to download the document)
• Helps to understand all the logic implemented in Stateflow with dexterit-E

Then to create your own experimental tasks in the Kinarm environment, you'll need to follow their custom task programming framework. Start here:

• Kinarm Custom Task Program Guide (Use your free account on their website to download the document)
• This guide outlines how to structure your task code, set up the timing and logic, and interface with Kinarm hardware.

Then build on your knowledge using these recommended help sections:

Suggested Simulink Help Sections

• Getting Started with Simulink
• Modeling Basics
• Tutorial: Create a Simple Model
• MATLAB Function Block

Suggested Stateflow Help Sections

• Getting Started with Stateflow
• Chart Simulation Semantics
• Stateflow Syntax
• Data Specification Basics
• Interface with Simulink
• Control Chart Execution Using Temporal Logic

Additional MATLAB Tutorials (optional)

After the Onramps, you can explore more in-depth tutorials offered by MathWorks to strengthen your skills:

• Learn with MATLAB Tutorials

These cover topics like data analysis, visualization, programming techniques, and working with external devices.

Suggested Learning Path

1. Watch the Kinarm introduction video.
2. Complete the MATLAB, Simulink, and Stateflow Onramp courses.
3. Refer to the Dexterit-E user guide and Kinarm Custom Task Program Guide.
4. Read through the Simulink and Stateflow help sections listed above.
5. Explore the general MATLAB tutorials (optional).

Contributing

If you come across other helpful resources, tutorials, or tips while working with the Kinarm, feel free to add them to this page!