Abstract: A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state comprising configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module. The method further comprises configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, supporting a valve assembly about the axis of rotation of the joint through the first vane device, and configuring a shunt circuit to facilitate fluid flow between compression and expansion chambers through the valve assembly.

Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Abstract: A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising a first support member, a second support member, and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom. The quasi-passive elastic actuator can comprise a first vane device and a second vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. The system can further comprise a valve assembly, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation, and a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly.

Abstract: A method for operating a robotic joint of a robotic system comprising selectively operating a clutch mechanism of a clutched joint module in an engaged state to cause a quasi-passive elastic actuator to enter an elastic state, the clutched joint module operating about and defining a joint of the robotic system. The method comprising effecting a first rotation of the joint to cause the quasi-passive elastic actuator to store energy during at least a portion of the rotation of the joint. The method comprising effecting a second rotation of the joint and causing the stored energy from the quasi-passive elastic actuator to be released in the form of an augmented torque applied to an output member of the clutched joint module. The method comprising selectively operating the clutch mechanism in a disengaged state to cause the quasi-passive elastic actuator to enter an inelastic state.

Abstract: A clutched joint module comprising an output member and an input member rotatable relative to each other about an axis of rotation; a primary actuator operable to apply a primary torque to rotate the output member about the axis of rotation; and a clutch mechanism operable between an engaged state and a disengaged state to facilitate application of the primary torque. The clutch mechanism can comprise a plurality of plates and an actuator operable to compress the plurality of plates to cause the clutch mechanism to function in the engaged state. The actuator can be a ball-ramp clutch device. A quasi-passive elastic actuator can be coupled to the input member and can be operable, via the clutch mechanism, to release stored energy to apply an augmented torque to assist rotation of the output member. Associated methods and systems are disclosed.

Abstract: An allergy skin test device can include a support strip having a top and bottom face. An allergen can be applied to an area of the bottom face forming an allergen portion. A skin viewing portion can be located proximate or at the allergen portion. An adhesive can be applied to an area of the bottom face forming an adhesion portion. When applied to the skin of a subject, the allergy skin test device can facilitate viewing of a portion of the skin beneath the allergy skin test device through the skin viewing portion. A method of testing a subject for an allergy can include applying an allergy skin test device to the skin of the subject, recording two or more images of the skin of the subject, and electronically comparing the images.

Abstract: A robotic end-effector to provide magnetic and mechanical finger grip. The end-effector has one or more magnets coupled to a palm, each of the one or more magnets having a magnet face to magnetically attach to a ferromagnetic object. The magnet face(s) define(s) a magnetic engagement surface with the magnet and the palm disposed on a proximal side of the magnetic engagement surface. A finger is pivotally coupled to the palm to grip the ferromagnetic object or another object. The finger has a deployed configuration wherein the finger is disposed distally with respect to the magnetic engagement surface and opposes the palm or the magnet face to grip the ferromagnetic object or other object. The finger has a retracted configuration wherein the finger is disposed proximally with respect to the magnetic engagement surface along with the magnet and the palm, and wherein the magnetic face forms an outermost contact surface.

Abstract: A tunable actuator joint module of a robotic assembly comprises an output member and an input member, where the output member is rotatable about an axis of rotation. A primary actuator (e.g., a motor) is operable to apply a torque to rotate the output member about the axis of rotation. A quasi-passive elastic actuator (e.g., rotary or linear pneumatic actuator) comprising an elastic component is tunable to a joint stiffness value and is operable to selectively release stored energy to apply an augmented torque to assist rotation of the output member and to minimize power consumption of the primary actuator. The tunable actuator joint module comprises a control system having a valve assembly controllably operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state during respective portions of movement of the robotic assembly (e.g., a hip or knee joint of an exoskeleton). Associated systems and methods are provided.

Abstract: A tunable actuator joint module of a robotic assembly comprises an output member and an input member, where the output member is rotatable about an axis of rotation. A primary actuator (e.g., a motor) is operable to apply a torque to rotate the output member about the axis of rotation. A quasi-passive elastic actuator (e.g., rotary or linear pneumatic actuator) comprising an elastic component is tunable to a joint stiffness value and is operable to selectively release stored energy to apply an augmented torque to assist rotation of the output member and to minimize power consumption of the primary actuator. The tunable actuator joint module comprises a control system having a valve assembly controllably operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state during respective portions of movement of the robotic assembly (e.g., a hip or knee joint of an exoskeleton). Associated systems and methods are provided.

Abstract: A master robotic system for translating a force at a slave robotic system to the master robotic system comprises a plurality of master brake joints rotatably coupling a plurality of robotic links. Each master brake joint corresponds to a respective slave joint of a slave robotic system. Each master brake joint comprises a first braking component (e.g., sheet disk(s)) coupled to a first robotic link and a second braking component (e.g., sheet disk(s)) coupled to a second robotic link, and an actuator operable to act upon the first braking component and the second braking component, to generate a braking force between the first braking component and the second braking component, in response to a control signal corresponding to a sensed force sensed by the slave robotic system. The actuator can comprise a bi-directional actuator, or a cam, piezoelectric, dielectric, or hydraulic actuator, each having minimal power requirements to maximize the braking force of the master brake joint.

Abstract: A quasi-passive elastic actuator operable within a robotic system comprising a housing comprising an output member operable to couple to a first support member of a robotic system, a first vane device supported by the housing and comprising an input member operable to couple to a second support member of the robotic system, a second vane device coupled to the housing and interfaced with the first vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. A valve assembly is located and operable at the joint of the robotic system, and is operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state, the valve assembly comprising a valve device disposed through an opening of the first vane device along an axis of rotation of the first vane device.

Abstract: A clutched joint module of a robotic system comprising an output member operable to couple to a first support member; an input member operable to couple to a second support member; a primary actuator operable to apply a primary torque to the output member to rotate the first and second support members relative to one another about an axis of rotation of the clutched joint module; a quasi-passive elastic actuator coupled to the input member and operable to apply an augmented torque to the output member that combines with the primary torque to rotate the output member about the axis of rotation; and a clutch mechanism operably coupled to the primary actuator and the quasi-passive elastic actuator operable in an engaged state or a disengaged state to actuate and deactivate the quasi-passive elastic actuator and to facilitate application or removal of the augmented torque.

Abstract: A technology is described for managing and securing a software version history for a device using a blockchain. An example method can include receiving device information for a device configured to receive software updates, where a device history for the device can be contained in a blockchain distributed among multiple network nodes. The device information can be validated against the device history contained in the blockchain to confirm an identity of the device, and a software update can be initiated for the device. An indication that the software update was installed on the device can be received and a block can be generated to include information for the software update installed on the device. The block can be sent to the network nodes configured to determine acceptance of the block and append the block to the blockchain when the block is accepted.

Abstract: A method of advancing a guidewire having an imaging device disposed thereon within a cavity of a body includes placing a guidewire into a cavity of a body, said guidewire having an image sensor disposed about a guide member on a distal end of the guidewire and a plurality of power lines operatively coupled to the guide member and the image sensor. At least two power lines of the plurality of power lines are disposed on opposing sides of the guide member and extend from the distal end of the guidewire to a proximal end of the guidewire. As the guidewire is advanced through the body cavity, the distal end of the guidewire is positioned by pulling one of the at least two power lines while maintaining the position of the other of the at least two power lines.

Abstract: An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.

Abstract: A tunable actuator joint module of a robotic assembly comprises an output member and an input member, where the output member is rotatable about an axis of rotation. A primary actuator (e.g., a motor) is operable to apply a torque to rotate the output member about the axis of rotation. A quasi-passive elastic actuator (e.g., rotary or linear pneumatic actuator) comprising an elastic component is tunable to a joint stiffness value and is operable to selectively release stored energy to apply an augmented torque to assist rotation of the output member and to minimize power consumption of the primary actuator. The tunable actuator joint module comprises a control system having a valve assembly controllably operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state during respective portions of movement of the robotic assembly (e.g., a hip or knee joint of an exoskeleton). Associated systems and methods are provided.

Abstract: A legged robotic device is disclosed. The legged robotic device can include a mechanism formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of a human leg. The legged robotic device can also include a primary drive actuator operable to apply a force or a torque to the support members in a first of the plurality of degrees of freedom. In addition, the legged robotic device can include a second actuator operable to apply a force or a torque to the support members in a second of the plurality of degrees of freedom. The mechanism can be configured to move in a gait-like motion that emulates human gait. The primary drive actuator can be sufficient to actuate the mechanism to move the mechanism in the gait-like motion. The mechanism can be dynamically modified by actuating the second actuator.

Abstract: A robotic end-effector to provide conformal object interaction. The end-effector has at least one finger with an inner portion or engaging side and one or more degrees of freedom. A jamming conformal pad is on the inner portion of the at least one finger. The jamming conformal pad has a compliant configuration in which the jamming conformal pad is compliant and configured to distribute across a surface of an object and, if contoured, infiltrate into any variations (e.g., indentations) in the surface, defining a conformal engaging surface configured to match and mate with the surface. The jamming conformal pad has a stiff configuration in which the jamming conformal pad is stiff or relatively stiff as compared to the jamming conformal pad in the compliant configuration, and which substantially maintains a shape of the conformal engaging surface.

Abstract: A robotic end-effector to provide both magnetic and mechanical finger grip. The end-effector has one or more magnets coupled to a palm, each of the one or more magnets having a magnet face to magnetically attach to a ferromagnetic object. The magnet face(s) define(s) a magnetic engagement surface with the magnet and the palm disposed on a proximal side of the magnetic engagement surface. A finger is pivotally coupled to the palm to grip the ferromagnetic object or an other object. The finger has a deployed configuration in which the finger is disposed distally with respect to the magnetic engagement surface and opposes the palm or the magnet face to grip the ferromagnetic object or the other object. The finger has a retracted configuration in which the finger is disposed proximally with respect to the magnetic engagement surface along with the magnet and the palm, and in which the magnetic face forms an outermost contact surface.

Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.