Abstract: A system, method, and apparatus are provided for a robotic system effecting autonomous therapy or treatment of a body having soft and/or hard tissue. A system, method, and apparatus are provided for a robotic control system having a fused sensing stream for predicting the deformation of a robotic end effector and the tissue that the end effector is in contact with using, e.g., a Finite Element Analysis (FEA) model. The model updates provide adjustment parameters for the control system to compensate for changes in the mechanical nature of the robotic end effector and the characteristics and/or movement of the tissue being treated by the robotic end effector.

Abstract: A system, method, and apparatus for a robot system that manipulates the surface of an object effect programmed manipulation goals such as reaching specific locations on the surface of the object, displacing the surface of the object, applying a predetermined force and torque to the surface of the object, dynamically changing the contact point between the robot and the object, and applying force to structures below the surface of the object. The system and method determine the state of the object through a sensing method that includes, without limitation: torque and force measurement, visible light sensors, range and depth sensors, ultrasound sensors, thermographic sensors, and worktable force measurement.

Abstract: An apparatus includes a base and a robotic arm operatively coupled to the base via a connector. The robotic arm includes a set of links interconnected by a set of joints. A first link from the set of links is operatively coupled to the connector. Each joint from the set of joints includes a brake from a set of brakes, each brake from the set of brakes configured to be enabled or disabled. The apparatus further comprises an end effector operatively coupled to the robotic arm via a second link from the set of links different from the first link. The apparatus further comprises a controller, communicably coupled to at least one of the base, the robotic arm, or the end effector. The controller is configured to cause the robotic arm to perform a task, and determine, during the task, that movement of the robotic arm is to be restricted.

Abstract: A device is disclosed for use in a chromatographic system wherein a component of a mixture is partitioned between a liquid phase and an immobile phase. The device comprises at least one strip of a bibulous material. In the chromatographic system the component traverses at least a portion of the strip. The strip generally has a longitudinal edge substantially corresponding to the direction of traverse of the component. The longitudinal edge has the characteristic of substantially the same rate of traversal by the component along this edge when compared to the rate of traversal of the component along the body of the strip. The strips are prepared from a sheet of a bibulous material by non-defomative or non-compressive cutting of the sheet. The preferred cutting means is a laser beam.

Abstract: A device is disclosed for use in a chromatographic system wherein a component of a mixture is partitioned between a liquid phase and an immobile phase. The device comprises at least one strip of a bibulous material. In the chromatographic system the component traverses at least a portion of the strip. The strip generally has a longitudinal edge substantially corresponding to the direction of traverse of the component. The longitudinal edge has the characteristic of substantially the same rate of traversal by the component along this edge when compared to the rate of traversal of the component along the body of the strip. The strips are prepared from a sheet of a bibulous material by non-deformative or non-compressive cutting of the sheet. The preferred cutting means is a laser beam.