Abstract: A leg mechanism includes an articulated leg system, a passive device and a cable. The articulated leg system has a leg portion. The passive device is coupled to the articulated leg system and is configured to apply a first force to a portion thereof. The cable is coupled to the articulated leg system and is configured to apply a second force, in opposition to the first force, to a portion thereof. When the cable is drawn away from the articulated leg system, the second force moves the leg portion in a first direction. When tension is released from the cable, the passive device exerts the first force so as to move the leg portion a second direction that is opposite the first direction.

Abstract: A leg mechanism includes an articulated leg system, a passive device and a cable. The articulated leg system has a leg portion. The passive device is coupled to the articulated leg system and is configured to apply a first force to a portion thereof. The cable is coupled to the articulated leg system and is configured to apply a second force, in opposition to the first force, to a portion thereof. When the cable is drawn away from the articulated leg system, the second force moves the leg portion in a first direction. When tension is released from the cable, the passive device exerts the first force so as to move the leg portion a second direction that is opposite the first direction.

Abstract: A leg mechanism includes an articulated leg system (100), a passive device (130) and a cable (134). The articulated leg system (100) has a leg portion (128). The passive device (130) is coupled to the articulated leg system and is configured to apply a first force to a portion thereof. The cable (134) is coupled to the articulated leg system (100) and is configured to apply a second force, in opposition to the first force, to a portion thereof. When the cable (134) is drawn away from the articulated leg system (100), the second force moves the leg portion (128) in a first direction. When tension is released from the cable (134), the passive device (130) exerts the first force so as to move the leg portion (128) a second direction that is opposite the first direction.

Abstract: A one-time flare mechanism system for use with an aerial payload system is describe which uses minimal actuation force to produce a reliable flare with minimal shock to the payload, parafoil and rigging.

Abstract: A sensing device includes a pressure sensor and a deformable cover. A fluid cavity engineered between the deformable cover and the pressure sensor changes shape and ultimately collapses as force is applied to the sensing device. The shape and collapse of the engineered cavity, along with the entire structure of deformable cover and the pressure sensor, govern the force vs. pressure behavior of the sensing device and can be tailored as desired. A first benefit includes providing tailored properties of the sensing device by varying the structure of the deformable cover. A second benefit includes that if too much force is applied, excess force—beyond that which is required to collapse the engineered cavity—does not produce excess pressure which would cause damage to the pressure sensor. As such the sensing device is protected from accidental, or intended, over loading.

Abstract: A leg mechanism includes an articulated leg system (100), a passive device (130) and a cable (134). The articulated leg system (100) has a leg portion (128). The passive device (130) is coupled to the articulated leg system and is configured to apply a first force to a portion thereof. The cable (134) is coupled to the articulated leg system (100) and is configured to apply a second force, in opposition to the first force, to a portion thereof. When the cable (134) is drawn away from the articulated leg system (100), the second force moves the leg portion (128) in a first direction. When tension is released from the cable (134), the passive device (130) exerts the first force so as to move the leg portion (128) a second direction that is opposite the first direction.

Abstract: The present invention relates to robotic landing gear for a rotorcraft that is designed to allow for landing on sloped and irregular surfaces. The robotic landing gear consists of articulated legs with contact sensors. Once the contact sensor touches a landing surface, the articulated leg in which contact is detected retracts to maintain a certain amount of contact pressure with the surface. Each articulated leg does this independently until contact is detected on the sensors of all of the robotic legs, at which point the legs lock in position and the rotorcraft can safely land.

Abstract: An exemplary embodiment of the present invention provides a sensing device comprising a pressure sensor, a sensor housing, and a deformable cover. The sensor housing comprises a sensor cavity disposed within the sensor housing. The pressure sensor is disposed within the sensor cavity. The deformable cover is disposed adjacent to the sensor housing. The deformable cover comprises a deformable cavity. The deformable cavity is in fluid communication with the sensor cavity. The deformable cavity and the sensor cavity contain a fluid, such that when an external force is applied to a surface of the deformable cover, the deformable cavity deforms and alters a volume of the deformable cavity to alter a pressure sensed by the pressure sensor.

Abstract: A one-time flare mechanism system for use with an aerial payload system is described which uses minimal actuation force to produce a reliable flare with minimal shock to the payload, parafoil and rigging.

Abstract: A system is described to control the flight path of a parafoil. The physical control mechanism is a series of actuators embedded within the parafoil canopy that open a series of meshed venting systems in the upper surface of the parafoil canopy. Opening and closing the meshed venting system changes the forces and moments acting on the parafoil canopy in a consistent manner such that it can be used for flight control. The meshed venting system includes an internal sealing flap and a mesh member.

Abstract: A system is described to control the flight path of a parafoil. The physical control mechanism is a series of actuators embedded within the parafoil canopy that open a series of holes via slits in the upper surface of the parafoil canopy. Opening and closing the holes changes the forces and moments acting on the parafoil canopy in a consistent manner such that it can be used for flight control. The embedded actuator is attached to a structural cell wall of the parafoil canopy. A control line from the actuator extends through a ring attached to the leading edge of the slit in the upper surface of the parafoil canopy and back down to the lower surface of the parafoil canopy along the opposite side non-structural cell wall.