Kinova JACO User manual

Jaco® assistive
robot
User guide

Contents
Disclaimer..................................................................................................................................................................1
About this document.............................................................................................................................................2
Symbols, definitions, and acronyms................................................................................................................ 3
Warranty................................................................................................................................................................... 5
Safety / warnings.................................................................................................................................................. 6
Jaco robotic arm..................................................................................................................................................... 9
General information..............................................................................................................................................9
Components.............................................................................................................................................................9
Robot external connectors................................................................................................................................ 9
Specifications........................................................................................................................................................ 10
Robot control modes...........................................................................................................................................11
Home / retract positions...................................................................................................................................12
Installation, configuration, and operation of the robot..........................................................................13
Normal use definition.........................................................................................................................................13
Electromagnetic interference from radio wave sources....................................................................... 14
Operating and controlling the robot............................................................................................................. 15
Kinova joystick controller......................................................................................................................15
Packing materials................................................................................................................................................23
OLED display accessory.....................................................................................................................................24
OLED: General information.............................................................................................................................24
Dimensions............................................................................................................................................................24
Identification of parts........................................................................................................................................24
Specifications........................................................................................................................................................25
Installation guidelines.......................................................................................................................................26
Connecting the display......................................................................................................................................27
The OLED display................................................................................................................................................ 28
Precautions................................................................................................................................................28
Power-up sequence................................................................................................................................29
Screen sections........................................................................................................................................30
Movements display................................................................................................................................ 36
Sleep mode................................................................................................................................................ 37
Major errors...............................................................................................................................................37
Joystick and communication error.................................................................................................... 37
Communication Lost error................................................................................................................... 38

Lift arm accessory..............................................................................................................................................39
Lift arm: General information........................................................................................................................39
Lift arm specifications....................................................................................................................................... 41
Lift arm components..........................................................................................................................................41
Lift arm limit switch.......................................................................................................................................... 42
Controlling tilt back / forward control........................................................................................................43
Using the swing-away mechanism.............................................................................................................. 44
Cleaning, maintenance, and disposal............................................................................................................46
Contacting support............................................................................................................................................. 48

Jaco® assistive robot User guide 1
Disclaimer
Kinova®, Kinova OLED display, and the Kinova logo are trademarks of Kinova inc., herein referred
to as Kinova. 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. 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.
Address any questions or comments concerning this document, the information it contains or the
product it describes through the Kinova website support page:
www.kinovarobotics.com/support
Kinova may use or distribute whatever information you supply in any way it believes appropriate
without incurring any obligations to you.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 2
About this document
This document contains information on the installation and operation of the Jaco® assistive robotic
arm, as well as its accessories, the OLED display (PD 0508 0001) and the Lift Arm.
Read all instructions before using this product.
Read all warnings on the product and in this guide.
Follow all instructions.
Keep these instructions for future reference.
This document contains information regarding product setup and operation. It is intended for:
• Kinova product end users
• Field service, customer support and sales employees of authorized Kinova distributors
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 3
Symbols, definitions, and acronyms
Throughout the manual, icons are used to draw the reader’s attention. Each icon or symbol is
explained.
Important information regarding the safety related to the product and the user
Warning: Safety measure that could lead to injury if ignored
Tip on the maintenance, operation and manipulation of Kinova’s products
Notice: General important information and good practice
Caution: Safety measure that could lead to equipment damage if ignored
Refer to accompanying documents
Pinch point
Medical device
Serial number
Date of manufacturing
Manufacturer Kinova inc.
4333 boulevard de la Grande-Allée
Boisbriand, Québec J7H 1M7
Direct current
Alternating current
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 4
Operating temperature range
Compliance with WEEE2 directive; Waste electrical and electronic equipment
Compliance with ROHS 32 directive; Restriction of hazardous substances
Type BF Applied Part device
European Union (EU) mandatory conformity marking
Kinova assumes no liability of any kind if safety measures are not followed. Please read all the
information concerning this product before using it.
This document is addressed to Kinova’s authorized, certified partners, distributors and end users.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 5
Warranty
This section describes the warranty terms of Kinova inc.
Subject to the terms of this clause, Kinova inc., warrants to End User that the Products are free
of defects in materials and workmanship that materially affect their performance for a period
of two (2) years from the date Kinova ships the Products to the End User ("Delivery Date"). The
exception of this warranty is the Lift arm, which has a 1 year protection against defects in materials
or workmanship.
Kinova agrees to repair or replace (at Kinova's option) all Products that fail to conform to the
relevant warranty provided that:
1. Notification of the defect is received by Kinova within the warranty period specified above.
2. Allegedly defective Products are returned to Kinova, at the End User’s expense, with Kinova's
prior authorization within thirty (30) days of the defect becoming apparent.
3. The Products have not been altered, modified or subject to misuse, incorrect installation,
maintenance, neglect, accident or damage by excessive current or used with incompatible parts
4. The End User is not in default under any of its obligations under this Agreement.
5. Replacement Products must have the benefit of the applicable warranty for the remainder of
the applicable warranty period.
If Kinova diligently repairs or replace the Products in accordance with this section, it will have no
further liability for a breach of the relevant warranty.
Allegedly defective Products returned to Kinova in accordance with this contract will, if found by
Kinova on examination not to be defective, be returned to End User and Kinova may a charge a fee
for examination and testing.
The warranty cannot be assigned or transferred and is to the sole benefit of the End User.
Where the Products have been manufactured and supplied to Kinova by a third party, any warranty
granted to Kinova in respect of the Products may be passed on to the End User.
Kinova is entitled in its absolute discretion to refund the price of the defective Products in the
event that such price has already been paid.
Warranty claims shall be voided if:
• Conditions specified in the user manual are ignored.
• The device is used outside the normal use definition.
• Any part of the appliance is modified or opened.
• Repairs or replacements are carried out by anyone other than a certified and approved
professional.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 6
Safety / warnings
Follow basic safety rules when working with the Jaco, OLED display, and Lift Arm to avoid injury or
damage to the equipment.
Jaco and OLED display considerations
It is not recommended to use the robot under heavy rain or snow.
Be careful not to hit the robot on a doorframe. The impact could damage the inner components
or break the frame of the robot, which would create an electrical shock hazard. Always ensure there
is sufficient space for the robot to go through the door; also ensure the door cannot close on the
robot.
Never use the Home / Retract function when carrying liquid. The home position is preset and
the wrist may rotate and drop the liquid.
Do not manipulate cutting, very sharp or any dangerous tools or objects with the robot.
When the power is turned off, the robot will fall down and may cause damage to itself,
depending on its position at the time of disconnection. Be sure to support its wrist before turning
the power off.
Do not force the fingers beyond their maximal opening. This could damage some internal
components.
Do not immerse any part of the robot under water or snow.
When lifting weight near the maximum load and reach, and you receive a warning, put down
the object in the gripper, bring the robot back to the Home or Retract position and wait until the
warning goes away before using it again.
The wheelchair mode (wheelchair / seat motorization / arm) must never be switched while
operating the robot. There is a risk of user contact with the moving robot associated with switching
the mode during operation.
Do not block the robot movement when it is performing a Retract position trajectory.
Any adjustment (mechanical, electrical or programming) done to a wheelchair already
equipped with a robotic arm may have a critical impact on the robot functionality or safety. Always
instruct the personnel or company that will be responsible for servicing your wheelchair to contact
the local Kinova representative before doing any changes.
When reinstalling Jaco at home, verify the retract position is still properly adjusted; that is,
make sure the robot gripper, and elbow if possible, is resting on some fixed part of the wheelchair,
so that the motor power is used minimally to maintain this position. Contact Kinova Support if the
retract position needs to be adjusted.
Lift arm considerations
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 7
The lift arm should only be installed by a trained and certified Kinova-approved professional.
No parts should be repaired or replaced by the end user. If any problem with the device occurs,
repairs are to be made only by a Kinova-certified technician.
Do not open the internal mechanisms of the lift arm or lift arm controller. This should only be
performed by the manufacturer. Opening the lift mechanism will void the warranty and could result
in improper functioning of the device that endangers the user.
If the device is not responding properly to controls, do not use the device until it has been
verified by a trained and certified technician. Contact Kinova support for more details.
After using the lift arm, you need to allow time for the electromechanical actuator inside the
unit to cool down properly before using the lift arm again. Allow 10 minutes of rest after each
minute of use. The maximum period of continuous use should not exceed 2 minutes. Failure to
follow these limits may result in damage to the lift arm mechanism.
The software in the Kinova arm that governs the protection zones around the user and the
defined trajectories of the arm assumes that the base of the arm is stationary in relation to the
wheelchair and user. The software does not take into account the tilt movements of the lift arm.
Be cautious and attentive when using the robotic arm with the lift arm lowered, to avoid collisions
between the arm and your body and/or the wheelchair.
Ensure when lowering the lift arm that the gripper on the end of the robotic arm does not make
contact with the floor or ground.
The arm still holds up the full weight of any object, so attempting to lift a heavier object may
cause damage to the robotic arm or the lift arm. Such damage would fall outside the limitations of
the warranty.
Do not use the lift arm in heavy rain or snow. Do not immerse it in water or other liquids. Wipe
off the device after exposure to water or liquids.
Do not use the robotic arm or tilt the lift arm when the swing-away mechanism is engaged.
The swing-away action of the lift arm should only be activated when the wheelchair is
stationary. Do not move the wheelchair while the lift arm is swung out to the side. There is a risk
of the arm hitting an object and damaging the robotic arm or lift arm. Be cautious when driving the
wheelchair forward while the lift arm is lowered and the gripper of the robotic arm is close to the
floor / ground. Driving the wheelchair while the robotic arm is in contact with the floor / ground
could damage the robotic arm or the lift arm and /or cause serious injury.
When the lift arm is swung out to the side, do not apply extra weight on the robotic arm and lift
arm. This will put stress on the mounting connectors attaching the lift arm to the wheelchair, as well
as to the mounting rail of the wheelchair.
Make sure that the swing-away mechanism is latched and that the lift arm is level when passing
through narrow areas. This includes, but is not limited to, doorways, narrow hallways, or aisles in
shops.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 8
The lift arm has potential pinch points. These are labeled on the lift arm. The risk is low for
users, but you should ensure that bystanders, particularly children, have their fingers clear of the
lift mechanism before engaging the lift arm.
Buttons should not be disconnected from the lift arm controller except by a Kinova-approved
professional.
The limit switch should only be adjusted by a Kinova-approved professional.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 9
Jaco robotic arm
General information
Jaco is a medical device intended to be used on wheelchairs for people with functional limitations
or upper body disabilities. The robot is designed to support in eating and drinking tasks, personal
hygiene, medication management, leisure and active life, work, school, and personal safety.
The Jaco is a light-weight robot composed of six inter-linked segments. Through the controller, the
user can move the robot in three-dimensional space and grasp or release objects with the gripper.
Do not modify equipment without the authorization of the manufacturer.
It is not recommended to use the arm under heavy rain or snow.
Components
This section shows the components of the robot.
Figure 1: Robot components
Robot external connectors
This section describes the external connectors on the base of the robot.
The following figure shows the external connectors located on the base of the robot.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 10
Figure 2: Robot external connectors
The panel at the back of the base has several connectors and a power on / off switch.
The power on/off switch is used to power up or power down the robotic arm.
The four-pin power connector is used to connect the robotic arm to electrical power.
The eight-pin joystick / controls / expansion port is used to connect the Kinova Joystick or the
Universal Interface Control Box for the arm.
The USB port is used to connect a computer for maintenance and configuration purposes.
The control port and power connector are intended to be connected only with a Kinova-
approved device. Connecting other devices may result in poor performance, electrical shock, or fire;
it could also make the arm inoperable and void your warranty.
To prevent risk of fire or electric shock, avoid using extension cords.
Protect the cords from being walked on or pinched.
Specifications
This section describes the specifications of Jaco.
Table 1: Specifications
5.2 kg with 2 finger gripperTotal weight
5.4 kg with 3 finger gripper
Reach 90 cm
1.6 kg (mid-range continuous)
Maximum payload 1.3 kg (full-reach peak / temporary)
Materials Carbon fiber (links), Aluminum (actuators)
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 11
Joint range (software limitation) ± 27.7 turns
Maximum linear robot speed 20 cm / s
Power supply voltage 24 VDC
Average power 25 W (5 W in standby)
Peak power 100W
Water resistance IPX2
Operating temperature -10 °C to 40 °C
Operating humidity (no condensation) 15% to 90%
Operating environment Do not use in corrosive environment
2 fingers: 25NGripper force
3 fingers: 40N
Expected life span 5 years
Robot control modes
This section describes control modes for the robot.
The control of the robot is said to be Cartesian as the user only controls movements of the robot
hand. The different joints are piloted automatically following the given command. The robot is
capable of different movements which may be divided into four control modes:
• translation mode
• wrist mode
• drinking mode
• finger mode
In translation mode, the user controls the position of the hand in space. The hand will always keep
its parallelism to the wheelchair seat frame. The possible movements are left/right, front/back, and
up/down of the hand.
In wrist mode, the user controls the position of the arm around the center point of the hand
(reference point) which will not move (or move slightly) when operating this mode. Lateral
orientation refers to a thumb/index circular movement of the wrist around the reference point.
Vertical orientation refers to a top/bottom circular movement of the wrist around the reference
point. Wrist rotation refers to a circular movement of the hand around itself.
Drinking mode is to be used with the wrist rotation only. While operating the robot in drinking
mode, the reference point (normally set in the middle of the hand), is offset in height and length to
produce a rotation that will compensate when user drinks from a glass or bottle without a straw.
In finger mode, the user controls the opening and closing of two or three fingers.
Note: The robot will sometimes respond differently to a given command than described
in this section. This may be due to the singularity (impossible robot position) avoidance
algorithms embedded in the kinematics. It is a normal protective behaviour of the robot and
is position dependent.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 12
Table 2: Robot control modes
Translation mode
Left / right Front / back Up / down
Wrist mode
Lateral orientation Vertical orientation Wrist rotation
Finger mode
Home / retract positions
This section describes the Home and Retracted positions of the robotic robot.
The robot comes with two configurable factory default pre-set positions:
• Home position and
• Retract position.
Home and retract positions are configured using the Kinova Assistive Robotic Arm Configurator
utility.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 13
The Home position refers to the position of the robot when it is ready to be used. In the Home
position, the robot is awaiting commands from a control device.
The Retract position refers to the position of the robot when it is not used. The user should always
place the robot in the Retract position when it is unused as it decreases the physical volume
occupied by the robot. In the Retract position, the robot is in standby mode; control device features
are disabled and power consumption is much lower.
Never use the Home / Retract function when carrying liquid. The Home and Retract positions
are pre-set and if the wrist rotates, it may spill some liquid.
Installation, configuration, and operation of the robot
A qualified technician certified by Kinova installs the robot by following the instructions in the
Installation Guide. Contact Kinova directly to validate whether your contact is a technician
approved by Kinova.
When your robot arrives, a Kinova approved installer will help you to get set up and started with
your robot. This includes:
• Physical installation of the robot on your powered wheelchair and integration with the
wheelchair power supply and controls
• Configuration of the robot using the Kinova Assistive Robotic Arm Configurator utility. This
includes:
º Configuring safety settings for the robot, including speed limits and no-go zones around your
body
º Mapping controls of the robot to the wheelchair controller
º Setting up home and retract positions
The process may take several hours and the installer will make sure that the robot installation is
customized to the specifics of your equipment and needs.
The details of how to operate the robot in different modes of control and how to activate these
controls will depend heavily on the specific controls available with your wheelchair setup. The
details are beyond the scope of this user guide.
You will be provided with training during the installation and configuration process on how to move
and operate the robot to perform various tasks.
Normal use definition
The Normal Use definition contains some information fundamental to the proper operation of the
robotic arm.
Use only approved accessories with Jaco. For a list of compatible wheelchairs and approved Jaco
accessories, please contact your Kinova representative.
Normal use of the robot means that you can lift, push, pull or manipulate a maximum load of:
•Continuously 1.6 kg from minimum to middle reach (45 cm distance between actuator #2 and
the load).
•Temporary 1.3 kg from middle to full reach (90 cm distance between the actuator #2 and the
load).
The robot is designed to be able to hold objects in the environment of the user, but it is a
manipulator that in some positions and loads near the maximum reach and maximum loads holds
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 14
for a long period, it can heat. When this occurs, before overheating and being dangerous for either
the user or the robot, red lights on the joystick will blink. This is a warning. Simply put down any
object in the gripper, and bring back the robot to the HOME or RETRACTED positions and wait
until the warning goes away before using the robot.
When lifting weight near the maximum load and reach, if the red lights of the controller blinks,
put down the object in the gripper, and bring back the robot to HOME or RETRACTED position and
wait until the warning goes away before using it.
Note: During normal operation, the joints are subject to heating. The joints are normally
covered with plastic rings which will protect the user from any danger that may be occurred
by the heating of the metal parts.
The fingers of the robot are made flexible in order to protect the internal mechanism. When using
the fingers to push on objects, the user must take special care not flex the fingers beyond their
maximal opening as this could damage the internal mechanism.
Do not force the fingers beyond their maximal opening as this could damage some internal
components.
Electromagnetic interference from radio wave sources
This section describes electromagnetic interference considerations for the robot.
Even if the product complies with all relevant standards, your robot 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 product to stop moving
for a period of 10 seconds. In this case, the device will simply re-initialize and you will be able to
continue to use it. In extremely rare case, it can also permanently damage the control system.
The intensity of the interfering EM energy can be measured in volts per meter (V/m). The product
can resist EMI up to certain intensity. This is called “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. Gripper-held portable transceivers (e.g. transmitters-receivers with the antenna mounted
directly on the transmitting unit, including citizens band (CB) radios, walkie-talkie, security,
fire and police transceivers, cellular phones, and other personal communication devices). Some
cellular phones and similar devices transmit signals while they are ON, even if not being actively
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. Other types of gripper-held devices,
such as cordless phones, laptop computers, AM/FM radios, TV sets, CD players, cassette players,
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 15
and small appliances, such as electric shavers and hair dryers, so far as we know, are not likely to
cause EMI problems to your device.
Because EM energy rapidly becomes more intense as one move closer to the transmitting antenna
(source), the EM fields from gripper-held radio wave sources (transceivers) are of special concern. It
is possible to unintentionally bring high levels of EM energy very close to the control system while
using these sorts of devices. Therefore, the warnings listed below are recommended to reduce the
effects of possible interference with the control system.
Do not operate gripper-held transceivers (transmitter-receivers), such as citizens band (CB)
radios, or turn ON personal communication devices, such as cellular phones, while the device 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 the device may make it more
susceptible to EMI.
Report all incidents of unintended shut down to your local distributor, and note whether there
is a source of EMI nearby.
Operating and controlling the robot
Jaco is meant to be connected and controlled through the joystick on a power wheelchair joystick.
The Jaco is meant to be connected and controlled through the power wheelchair's joystick. Operate
the Jaco through the power wheelchair menu. The Jaco functions are featured on the OLED display;
the section "OLED display accessory".
To control the Jaco, options other than the power wheelchair joystick are available. The Kinova
joystick controller is one option; its functions are detailed in the section "Kinova joystick
controller". For more options to control the Jaco through other joysticks, please refer to your
Kinova-certified contact.
Another option that gives more flexibility in operating the Jaco is the Kinova Lift arm. The Lift arm
accessory is explained in the section "Lift arm accessory".
Related topics
Kinova joystick controller
Operating the robot via joystick
OLED: General information
Lift arm: General information
Kinova joystick controller
The Kinova standard controller is a three-axis (left/right, forward/back, and twist) joystick mounted
on a support. The controller includes five independent push buttons and four external auxiliary
inputs (on the back side).
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 16
Joystick movements and modes
The Kinova joystick allows you to control the robot in a 2-axis or 3-axis mode. 2-axis mode will
disable the joystick twist rotation.
The following table shows the button default factory settings for using the joystick in a 2-axis and 3-
axis modes.
Table 3: Default joystick button settings
Buttons One click Hold 2 sec (Hold until
position is reached)
Deactivate / Activate Joystick Change joystick operating
mode (2-axis Vs 3-axis)
--- Home / Retracted function
3-Axis
1 Deactivate / Activate Drinking mode ---
2 --- Set Position
3 --- Go to pre-set position
A Reach Finger mode Decrease speed
B Reach Translation & Wrist mode Increase speed
Ext1 Reach Finger mode Decrease speed
Ext2 Reach Translation and Wrist mode Increase speed
Ext3 -- Home / Retracted function
Ext4 Deactivate / Activate Drinking mode --
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.