Setting Joint or Motion Speed Limits
Rev. 1.5 -- Use or Disclosure of Data Contained on this Page is Subject to the Copyright Restrictions on the Inside Title Page of this Document
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Input Gains
When setting Input Gains note the following:
•
Mobius Bionics recommends an IMU range of motion of +/- 35 degrees from
zero reference. Note that any client inputs above 45 degrees will be ignored.
•
Set input gains based on comfortable exertion levels.
•
The input gains should be adjusted so that the client can reach 100% input
signal at comfortable exertion levels.
Input Thresholds
When setting Input Thresholds note the following:
•
Start with an input threshold setting of 15 to 20 above the resting signal level
when the axes are configured independent or coupled.
•
Only decrease these settings as the client develops proficiency in using the arm.
Output Gains
The output signal level represents a fraction of the maximum joint speed the client is
allowed to use. The output gain is the final control you should use to define the
output speed.
When setting Output Gains note the following:
•
Adjust the output gains so that the output signal at the client’s comfortable
maximum exertion level produces the desired joint or motion output speed.
•
Mobius Bionics recommends starting with an output signal level of 30 to 50%.
•
Only increase these settings as the client develops proficiency in using the arm.
Performing the steps above for Input Gains caps the maximum input signal at
these exertion levels.
