- Do not use ARMin alone. When ARMin is running with a subject, there must be a second person in the room, able to press the emergency stop.
- Do not touch ARMin while starting the Simulink Model. When pressing the “play” button, the calibration is performed. Touching ARMin during this step can lead to dangerous and unwanted behavior.
We use Autodesk Inventor Professional as our CAD software with ARMin. You can get Autodesk products for free as a student. We do not use any version control at the moment, the project files are stored in the Research Drive (U:\3mE MLN Lab\01-Projects\24-ARMinPlus\CAD).
In inventor, if you export a .stl file the unit is automatically changed to cm. This can be solved by using: Save As → Save Copy As → Type (STL) → Options → Unit (mm) → Resolution (High).
You can double check your .stl files using Ultimaker Cura which is the software used by the IWM for 3D printing.
See ARMin Software Documentation
- Start the ARMin desktop pc (ask Alex Ratschat for the password).
- Start MATLAB R 2017b.
- Add folder “/D/git/arminplus” to path including subfolders.
- Double click the Simulink model “BARMinModel.slx”
- Turn on the ARMin main power switch on the front and the pc on the back.
- Build, connect and play the Simulink model.
- Done.
Known Issues:
- ARMin Boot Problems:
The motherboard battery of ARMin seems to be dead, so the boot options are reset after turning off the robot, so it does not boot Simulink real-time. To fix:
- Boot ARMin and enter the boot menu (just mash a bunch of F-keys, Esc, Del, it's one of those).
- Enter the boot menu, change boot mode from UEFI to Legacy, and move USB: Sandisk to the top of the boot order.
- Save changes & Exit. → Done.
TODO: Add GitLab links.
- Open the visualization project in Unity.
- Place a Vive tracker on top of the boom of ARMin close to joint 1. The tracker's position should match “TrackerAnchor (TopFrontUnity)" in Unity.
- Initialize Steam VR.
- If the lighthouses have changed places, do the room setup in Steam VR.
- Make sure the Varjo HMD and the tracker are on and detected by the lighthouses. If the tracker has not been used for some time, it will go on idle, so you need to tap it or move it a bit, so it is detected.
- Start ARMin (ARMin Software section, right above this one.
- Press Start
1. If ARMin doesn’t go to the correct position, like it’s floating or outside the delimited area, check in Unity's Scene: XR Rig -> Trackers - > RobotTracker (TopFront) which device is assigned to this tracker. If the device number has changed because SteamVR restarted or something happened, you need to find the correct device number for this tracker to fix ARMin’s position (don't do these changes in Play Mode, since they will be remove once you stop the program).
2. If an error shows up in the console related to a socket address or not being able to make a connection related to UDP, and the ARMin in Unity isn't moving as you move the real one, close the Unity project and open it again (a very ancient problem solving technique).
3. The Varjo base software does not work, if the second monitor is connected. This can be solved by unplugging the second monitor and the headset, restarting the PC and then restarting the headset.
For a guide on how to do this, see here.
- For information on stroke, check out the EBRSR (Evidence-Based Review on Stroke Rehabilitation) website. In the handbooks there is an overview and description of assessment methods.