Kinova Jaco Rehab Edition User manual

Installation guide
V1.0.9

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TABLE OF CONTENTS
ABOUT THIS DOCUMENT ....................................................................................................... 1
Symbols, definitions and acronyms .......................................................................................................... 1
General Information ................................................................................................................................ 1
DISCLAIMER ................................................................................................................................ 2
MECHANICAL INTEGRATION................................................................................................. 3
Bolt Fastening Requirements ................................................................................................................... 3
Wheelchair Interface ...............................................................................................................................
Main base ................................................................................................................................................ 7
Bracket system ........................................................................................................................................ 8
Mechanical Integration Assembly Validation ......................................................................................... 12
ELECTRICAL INTEGRATION ................................................................................................ 13
CONTROL INTEGRATION ..................................................................................................... 14
Kinova standard joystick ........................................................................................................................ 14
Through the wheelchair controller ......................................................................................................... 1
CONTACT SUPPORT .............................................................................................................. 17
APPENDIX 1: MECHANICAL INTEGRATION – PARTS DESCRIPTION ..................... 18
APPENDIX 2: ASSEMBLING TWO SQUARE EXTRUSION ............................................ 22
APPENDIX 3: CABLE PRO IDED FOR WHEELCHAIR ELECTRICAL INTEGRATION
......................................................................................................................................................... 1
APPENDIX 4: BOLT PATTERN FOR KINO A STANDARD JOYSTICK ......................... 1

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APPENDIX 5: CONTROL INTERFACE FOR HMC ............................................................... 2
The HMC wheelchair controller ............................................................................................................... 2
Connection schematic of the JACO arm.................................................................................................... 3
Accessing the JACO arm control ............................................................................................................... 4

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TABLE OF FIGURES
Figure 1 – Global s hemati of a me hani al integration ............................................................... 3
Figure 2 – Re ommended s rew, Nord-Lo k and torque ................................................................ 4
Figure 3 - Nord-Lo k Assembly ........................................................................................................ 5
Figure 4 - Nord-Lo k Outer Diameter Spe ifi ations ....................................................................... 5
Figure 5 - Tubular seat frame .......................................................................................................... 6
Figure 6- Rail type seat frame ......................................................................................................... 6
Figure 7 - Installation of the tubular adapter .................................................................................. 7
Figure 8 - Main base final assembly ................................................................................................ 8
Figure 9 - Main bra ket spe ifi ations ............................................................................................. 9
Figure 10 - Bra ket system assembly (part I) ................................................................................ 10
Figure 11 - Bra ket system assembly (part II) ............................................................................... 11
Figure 12 - Universal Interfa e Conne tion ................................................................................... 15
Figure 13 - Assembling two square extrusions .............................................................................. 22
Figure 14 - Bolt pattern for Kinova standard joysti k...................................................................... 1
Figure 15 – HMC system, part identifi ation ................................................................................... 2
Figure 16 - Conne tion s hemati with HMC system (part I) .......................................................... 3
Figure 17 - Conne tion s hemati with HMC system (part II) ......................................................... 3

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ABOUT THIS DOCUMENT
Read all instru tions before installing this produ t.
This do ument ontains information regarding the installation of Kinova’s JACO arm. It is
intended for:
Authorized distributor of the JACO arm and their qualified te hni ian field servi e
experts.
For more information about the JACO arm, its use and operating prin iples, please refer the
JACO arm user guide.
Symbols, definitions and acronyms
Important information regarding safe operation of JACO arm.
General Information
The installation of the JACO arm must be se ure and adequately integrated onto the wheel hair.
Do not attempt installation if any of the JACO arm hardware omponent in the part kit
is missing or damaged. Conta t Kinova to report the damage and request a repla ement
kit.
The installation of the JACO arm to the wheel hair in ludes three prin ipal ategories of
integration:
1) Me hani al integration
2) Ele tri al integration
3) Control integration
The information given in this do ument is for a non-intrusive installation, meaning that the
wheel hair omponents are not altered in any way.
The system des ribed in this do ument is subje t to modifi ations. All the figures are not
ne essarily in a ordan e with the latest version of every omponent.

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DISCLAIMER
Kinova, JACO, and Kinova’s logo are trademarks of Kinova in . All other brand and produ t
names are trademarks or registered trademarks of their respe tive orporations.
The mention of any produ t does not onstitute an endorsement by Kinova In . This manual is
furnished under a lease agreement and may only be opied or used within a ordan e with the
terms of su h lease agreement. Ex ept as permitted by su h lease agreement, no part of this
publi ation may be reprodu ed, stored in any retrieval system, or transmitted, in any form or by
any means, ele troni , me hani al, re ording, or otherwise, without prior written onsent of
Kinova.
The ontent of this manual is furnished for informational use only, is subje t to hange without
noti e, and should not be onstrued as a ommitment by Kinova. Kinova assumes no
responsibility or liability for any errors or ina ura ies that may appear in this do ument.
Changes are periodi ally made to the information herein; these hanges will be in orporated
into new editions of this publi ation. Kinova may make improvements and/or hanges in the
produ ts and/or software programs des ribed in this publi ation at any time.
If you have omments on this manual or the produ ts it des ribes, address them to:
Kinova’s publi ation: Publi ations@KinovaRoboti s. om
Kinova may use or distribute whatever information you supply in any way it believes
appropriate without in urring any obligations to you.
Copyright © 2011 Kinova. All rights reserved.

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MECHANICAL INTEGRATION
The me hani al integration of JACO on a motorized wheel hair is divided into three phases:
1) Installing the wheel hair interfa e;
2) Building the main base;
3) Joining both with the bra ket system.
Ea h phase is des ribed individually in this se tion. The different parts and items used for to
assure the me hani al integration suggested by Kinova are detailed in Appendix 1. The following
figure presents an overview of an adequate me hani al integration and the required phases.
Figure 1 – Global schematic of a mechanical integration
Bolt Fastening Requirements
To assure the me hani al integrity of the me hani al integration assembly, the following
requirement should be followed.
Ea h s rew should be fastened using the adequate Nord-Lo k.
Ea h s rew should be fastened with two drops of lubri ating oil applied on the s rew’s
threads and the re ommended torque.
For ea h s rew, a minimum of 4 threads should assure the fastening and, when s rewed
to the re ommended torque, there shall be no lose in the assembly.

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The following figure presents the torque and Nord-Lo k re ommendations.
Product Name PN Screw Nord-Lock Torque (Nm)
Angle Bra ket MH 0843 0001 M8x20 NL8 38
1
Slide Plate MH 3575 0001 M8x15 NL8 38
1
Rail Adapter MF 7519 0001 M6 NL6 15.8
Rail Adapter MF 7515 0003 M6 NL6 15.8
Rail Adapter MF 8010 0001 M5 NL5 9.1
Tubular Adapter
2
1000FSMIP M6 NL6 15.9
Tubular Adapter
3
1000FSMIP M6 n/a 11.9
Figure 2 – Recommended screw, Nord-Lock and torque
MAIN BASE
No grade is spe ified for the main base assembly s rews.
The M8x15 s rews shall be used to fasten the slide plate to the main base assembly.
The M8x20 s rews shall be used to fasten the angle bra ket to the main base assembly.
BRACKET SYSTEM
Every bolt used in the bra ket system assembly must be of grade 12.9.
The length of ea h s rew will depend on the spa er onfigurations.
NORD-LOCK FASTENING SYSTEM
The Nord-Lo k fastening system is omprised of a pair of washers that has ams on one side
(inside) and radial teeth on the opposite side (outside). The pre-assembled washers are installed
in pairs, am fa e to am fa e. They are reusable when no signs of wear are visible.
1
Note that the torque applied is defined with the use of the Nord-Lo k system. If standard washers and
lo k washers are used, please revise the torque adequately.
2
Refers to the installation of the main bra ket (with or without spa ers) on the tubular adapter.
3
Refers to the assembly of the tubular adapter unit.

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Figure 3 - Nord-Lock Assembly
Kinova re ommends the use of stainless steel (ss) Nord-Lo k. For one hole size (e.g. NL6ss), you
may have two different flange sizes. Kinova re ommends the use of enlarged outer diameter
(NL6spss) for the assembly of the bra ket system and regular outer diameter (NL6ss) for the
assembly of every other system. The large flange optimises the load distribution.
Figure 4 - Nord-Lock Outer Diameter Specifications
Wheelchair Interface
The me hani al integration of the JACO arm onto the wheel hair is done through the wheel hair
seat frame. To install the wheel hair interfa e, you must:
1) Identify the seat frame type;
2) Identify and install the adequate adapter;
SEAT FRAME TYPE.
Generally, one may en ounter two different type of wheel hair seat frame (tubular or rail type)
whi h are illustrated in the following figures.

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Figure 5 - Tubular seat frame
Figure 6- Rail type seat frame
SEAT FRAME TUBULAR ADAPTER
For a tubular type seat frame, Kinova suggests the use of the tubular adapter (1000FSMIP). The
tubular adapter must be installed around the tubular seat frame with the opened side up and
the large golden part (5 holes visible) fa ing outside. The installation of the tubular adapter
normally won’t require the uninstallation on any wheel hair a essory. If it does, please refer to
the relevant do ument supplied by the wheel hair manufa turer.
To install the tubular adapter, you must:
1) Remove all s rews that are part of the tubular adapter assembly;
2) Pla e the small, narrow part (3 holes visible) on the inner side of the wheel hair seat frame
with the open tubular side up as shown in the following figure;
3) Pla e the large golden part on the outer side of the wheel hair seat frame, with the open
tubular side up as shown in the following figure;
4) Insert two M6x35 in the 2 horizontal outer holes as shown in the following figure and
tighten to the required torque. Please note that those s rews are the only one whi h will
not require the installation of Nord-Lo k washers.

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Figure 7 - Installation of the tubular adapter
SEAT FRAME RAIL TYPE ADAPTER
If the wheel hair is equipped with a rail type seat frame, Kinova suggests the use of a rail
adapter (MF 7515 0003, MF 7519 0001 or MF 8010 0001). The hoi e of the rail adapter is
dependent of the wheel hair seat frame profile.
Those rail adapters must be sled through the rail until the desired position is rea hed. In order
to insert the rail, one may have to uninstall several wheel hair omponent and a essories.
Please refer to the relevant do ument supplied by the wheel hair manufa turer.
The MF 8010 0001 rail adapters ome in pair of two and must be installed as a pair
to assure the me hani al integrity of the system.
Main base
The main base is built with the following items:
1 x square extrusion (MF 4040 0003), length of 120 mm
1 x square extrusion (MF 4040 0001), length to be determined
1 x angle bra ket (MH 0843 0001)
1 x slide plate (MH 3575 0001)
4
4 x bolts (M8x15)
4 x nuts (MH 0809 0001)
4 x flat washers (MF 0008 0002)
4 x spring washers (MF 0008 0001)
4
The installation of one slide plate, using 2 bolts (M8x15) and 2 nuts (MH 0809 0001) is a minimum
requirement to assure the me hani al integrity of the main base. You may install a se ond slide plate,
using the same additional quantity of hardware as mentioned previously, on the other side.

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The length of the horizontal square extrusion (MF 4040 0001) will define the length of the
me hani al integration assembly and the forward position of the JACO arm. The length of the
square extrusion provided may be shortened by utting the square extrusion to the desired
length. In some ase, it may be ne essary to join two square extrusions together to assure the
adequate length. In this ase, please refer to Appendix 2 for the adequate assembly pro edures.
You need to file all edges of the square extrusion if you need to ut it to the desired
length.
The fasting of every s rew must respe t the torque re ommendations presented in
figure 2.
The main base final assembly should look as shown in the following figure:
Figure 8 - Main base final assembly
Bracket system
The bra ket system will define the final height of the JACO arm and the total width of the
wheel hair on e the me hani al integration is ompleted. The installation of the bra ket system
must respe t the following requirements:

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The JACO hand may easily rea h the ground, on a surfa e of about one squared foot, in
an area where the user may have a good visual appre iation of the a tions done with
the JACO hand;
The JACO arm may a hieve most of the basi movements without interfering with the
user, the wheel hair or its a essories;
The JACO arm and its me hani al integration assembly don’t expand the wheel hair
width beyond 2 to 3 in hes;
There is no loose in the me hani al integration assembly.
The fasting of every s rew must respe t the torque re ommendations presented in
figure 2.
The lateral spa ing of the main base may be done by pla ing spa ers (MF 7515 0004 or MF 6015
0001) on the main bra ket (MF 8010 0002). The following figure shows the appellation of the
rows lo ated on the main bra ket.
Figure 9 - Main bracket specifications

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Please note that:
Upper spa ing refers to spa ers used between the main bra ket and the rail adapter
(wheel hair).
Lower spa ing refers to spa ers used between the main base and the main bra ket.
The square spa ers (MF 7515 0004) are used for lower spa ing of the main base and the
upper spa ing when used with rail adapters (MF 7519 0001, MF 7515 0003 or MF 8010
0001).
The round spa ers (MF 6015 0001) are only used for upper spa ing of the main base
when used with tubular adapter (1000FSMIP).
The quantity of lower and upper spa er will vary depending on the required
onfiguration.
S rew lengths shall adjust with the spa ing requirements of the bra ket system
assembly.
To assure the me hani al integrity of the bra ket system assembly, the following steps are
re ommended. As there exists a multitude of onfigurations for the bra ket system spa ing, the
following steps and figures present an example of a bra ket system assembly using one upper
spa er and one lower spa er.
Figure 10 - Bracket system assembly (part I)

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1) Insert the rail adapter (MF 7519 0001) in the square extrusion (MF 4040 0001) as defined in
the following figure;
2) Pla e the appropriate quantity of square spa er (MF 7515 0004 - if needed) on the square
extrusion with bolt holes aligned;
3) Pla e main bra ket (MF 8010 0002) on the square spa er. The bolt row hosen will define
the final height of the JACO arm. Chose the appropriate length of s rews (M6) and lubri ate
the threads with the pres ribed oil. Insert the s rews in the holes and fasten them to the rail
adapter inserted in the square extrusion with the required torque.
4) Pla e the appropriate spa er (quantity and type) on the main bra ket upper side.
5) Reverse the assembly and insert the adequate s rews (type and length) and Nord-Lo k in
the appropriate holes. The following figure shows the installation of a spa er for tubular
adapter (left) and rail adapter (right):
Figure 11 - Bracket system assembly (part II)

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6) Fasten the bra ket system assembly to the adapter (already installed on the wheel hair seat
frame) with the required torque.
Please note that the bra ket system requires s rews of two different lengths to allow adequate
fastening to the tubular adapter. The middle s rew should be about 15 to 20 mm longer than
both extremities s rews, as shown in the pre eding figure.
Mechanical Integration Assembly alidation
The following validation should be made to the me hani al integration assembly before
installing the JACO arm:
Verify there is no lose in the me hani al integration assembly by shaking it in all
dire tion. If a loose is noti ed, please verify the torque applied to all s rews and s rew
length.
You may now install the JACO arm on the main base.
Verify the JACO arm may be easily installed and uninstalled by a aregiver.
Assure that there is a suffi ient learan e between the JACO fixe base and any part of
the wheel hair to allow easy a ess to every onne tors, buttons and s rews lo ated on
the JACO fixed base.
On e the JACO arm is installed, you should verify the hand may tou h the ground on an
appropriate surfa e and in an appropriate area for easy obje t pi k up by the user.
Before finalizing the installation, the following points should be he ked with the user to assure
that the me hani al integration respe ts his/her daily a tivities:
The user may enter his/her adapted transport, se ure the wheel hair in pla e and lose
all doors without interfering with JACO;
The user may slide his/her wheel hair under the tables (only appli able if the user still
needs to slide the wheel hair under the tables);
The user may move the wheel hair around his/her home and pass through every
doorway.
The retra ted position does not interfere with either the wheel hair or the bra ket
system.
The onfiguration respe ts the installation system and the user may lose together only
2 fingers.

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ELECTRICAL INTEGRATION
The power supply to the arm must be 24V D.C. The ele tri al power provided to the JACO arm,
when used on a motorized wheel hair, will ome from both wheel hair batteries. The JACO arm
power able provided by Kinova is presented in Appendix 3. At one end, it is equipped with the
ne essary onne tor for the JACO base and the other end is equipped with no onne tor. The 4
free wires at this end are devoted to be joined to the adequate onne tor to a quire the 24V
D.C. ne essary for powering the JACO arm.
It is the responsibility of the te hni ian to assure that the 24V ele tri outlet is safe for both
JACO and the wheel hair.
On e the able is adequately prepared, and to assure an adequate ele tri al integration, please
pro eed with the following steps:
1) Find the adequate 24V D.C. outlet on the wheel hair;
2) From the 24V D.C. outlet on the wheel hair to the JACO arm fixe base, define the path that
the power able will follow;
3) Rout the power able in a way that it will not interfere with normal wheel hair or swinger
movements and so it is not visually intrusive;
4) Se ure the power able in pla e.
Assure that the onne tor is se urely onne ted and will not ome out with
wheel hair vibrations.

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CONTROL INTEGRATION
There are two prin ipal ways of a hieving the ontrol over JACO when it is installed on a
motorized wheel hair. You may ontrol JACO with
The Kinova standard joysti k;
The wheel hair ontrol system.
Both methods ne essitate spe ial re ommendation that will be explained in the following
se tions. Note that the ontrol may be ustomized. Please refer to the Ja osoft User Guide for
detailed information on the onfiguration methods.
Kinova standard joystick
In order to allow the user to a hieve a suitable ontrol over the JACO arm with the Kinova
standard joysti k, you must:
1) Define an adequate lo ation
5
for the Kinova standard joysti k.
2) Install the Kinova standard joysti k and se ure it in pla e. You will find a detailed bolt
pattern for the joysti k in Appendix 4 to help you design a joysti k support.
3) Rout the joysti k able in a way that it will not interfere with normal wheel hair or swinger
movements and so it is not visually intrusive;
4) Se ure the joysti k able in pla e.
Depending on the user’s physi al apa ities, additional push buttons may need to be onne ted
to the joysti k. In this ase, the empla ement of those push buttons must be studied arefully
and advi es of a therapist are re ommended.
For more information on the Kinova standard joysti k and its fun tionalities, please refer to the
JACO User Guide.
5
An adequate lo ation refers to a pla e that won’t interfere with normal user movements, or his ontrol
over the wheel hair. Refer to a therapist for help and approval of the joysti k lo ation.

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Through the wheelchair controller
In order to allow the user to a hieve a suitable ontrol over the JACO arm with the wheel hair
ontrol interfa e, you must:
Conne t an auxiliary ommuni ation system to the wheel hair ontroller;
Conne t the Universal Interfa e to the auxiliary ommuni ation system;
Conne t JACO to the Universal Interfa e;
Rout all ables in a way that they will not interfere with normal wheel hair or swinger
movements and so they are not visually intrusive;
Se ure all ables in pla e.
The following figure presents a s hemati of the onne tion between systems.
Figure 12 - Universal Interface Connection
6
AUXILIARY COMMUNICATION SYSTEM
The auxiliary ommuni ation system allows JACO to be re ognized as an auxiliary by the
ontroller. Depending on the wheel hair manufa turer and the available option, the
environmental ontrol may take the form of, but not ex lusively:
Ele troni Control Unit (ECU);
6
Note that the Auxiliary Communi ation System, the wheel hair ontroller and its interfa e may be
repla ed by a DB9 ompatible external ontrol devi e. Please refer to the Universal Adapter User Guide
for ECU onne tor pinout.

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Input/Output Module (IOM)
7
;
Mouse Emulator;
Bluetooth module.
This auxiliary ommuni ation system will transfer the ontroller output to the Universal
Interfa e. The auxiliary ommuni ation system must be onne ted to the ontroller. Please refer
to the do uments provided by the wheel hair manufa turer for detailed pro edure.
UNIVERSAL INTERFACE
The Universal Interfa e is an ele troni devi e whi h translates the output of the auxiliary
ommuni ation system into an adequate ommand to JACO.
Additional push buttons must be onne ted to the Universal Interfa e to allow rea hing Home
and Retra t positions and toggling between modes of operation. In this ase, the empla ement
of those push buttons must be studied arefully and advi es of a therapist are re ommended.
7
See Appendix 5 for detailed information on how to onne t the JACO arm to an HMC system.