| With a workspace accommodating normal reach, InMotion2 Robot (Interactive Motion Technology, Inc., Cambridge, Massachusetts) moves, guides or perturbs a subject’s arm while it records motions and mechanical quantities such as position, velocity, and forces applied. Researchers may program the subject's video interactions, while therapy clinics have access to libraries of "video games" that engage patients in ways appropriate to their level of impairment. Software is designed to maximize safety, flexibility, and ease of use. The operating system is a Linux Kernel Module with access to a small real-time microkernel, providing robust sampling rates. The RTLinux system provides data portals between kernel and user modes, enabling the LKM to exchange data with normal Linux processes for control input/output, output logging, or output display. |