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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 5 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 4 Going to preset position set position
Button 5 Going to preset position 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