Proper control and usage of the upper extremities is fundamental to the natural accomplishment of many activities of daily living (ADL), such as feeding, self-care and leisure. Impairments in upper extremity movements often have a detrimental effect on ADL. In addition, the same individuals may often be wheelchair bound, which may cause additional difficulties in terms of upper extremity activities due to environmental barriers. Because of the presence of obstacles such as furniture, and of the restricted ">

Presently, there exists a significant amount of assistive devices that can compensate for a loss of mobility in the upper extremities. However, these existing assistive devices may be limited in terms of functionality and few studies have demonstrated their efficacy. A novel approach for the development of assistive devices, by allowing more functionality, can be provided through robotics.

Launched in 2009, the JACO arm system is a light-weight (6 kg) robotic manipulator designed to compensate for upper limb impairments. It is very quiet, unobtrusive, safe and even weatherproof. It has low energy consumption and is energized by the powered wheelchair battery or wall outlet.

See video on Youtube: http://www.youtube.com/watch?v=e65PLikG1lk

THE ARM

JACO moves smoothly and silently around 6 degrees of freedom with unlimited rotation on each axis. The axes are aluminum compact actuator discs (CADs) of a unique design. Each JACO robot arm consists of 2 distinct sets of 3 identical, interchangeable, and easy-to-replace CADs linked together by a ZIF (zero insertion force) cable. Its main structure, entirely made of carbon fibre, delivers optimal robustness and durability as well as a cutting-edge look-and-feel. The arm is mounted on a standard aluminum extruded support structure that can be affixed to almost any surface.

THE GRIPPER

The gripper consists of 3 under actuated fingers that can be individually controlled. Their unique bi-injected plastic structure (patent pending) endows them with great flexibility and unrivalled grip. JACO technology allows the fingers to adjust to any object whatever its shape; as a result, they can gently pick up an egg or firmly grasp a jar.

CONTROL

JACO can be controlled with a computer (see the “Software” section below) or Kinova’s 3-axis, 7-button joystick. Control is intuitive and allows users to navigate using 3 different modes: translate, rotate, and grip. Also, Kinova’s Intelligent Singularity Avoidance System always keeps JACO safely away from unwanted locations. JACO is highly flexible and can adapt to all user needs.

SOFTWARE

JACO features an advanced application programming interface (API), enabling programmers to raise their experience to another level. The API, linked to JACO through a USB 2.0 connector, allows programmers to configure advanced parameters and integrate the robot to their own systems. In addition, JACO can be controlled with any one of many navigation systems, providing a broad range of applications from analyzing central system data to programming automated paths.

The API comes with complete documentation and several code examples. It is compatible with Windows (XP, Vista, 7) and Ubuntu (end 2010). In addition, new and exciting updates are available on a regular basis.

UNIVERSAL ADAPTER

The universal adapter enables the user to control the JACO arm system via its wheelchair’s controller.

Target Group

The JACO arm system has been designed to help powered wheelchair users or any subject suffering from impairment of the upper body. Impairments in upper extremity movements may occur as a consequence of conditions such as neuromuscular diseases, spinal cord injuries or other diseases. Although it is normally mounted on a wheelchair frame, near the armrest, it can also be fitted on a table, a bed or a work station. JACO is devoted to follow the user in all of his daily displacement and to be used for daily living activities.