Abstract: This invention relates to personal transportation devices and more specifically to folding bicycles. The invention consists of a folding frame comprised of a main tube with tuned cross section, a folding pivot axis perpendicular to the vehicle axis, and a locking mechanism further comprising a seat post rigidly retained by two clamping sections of a seat tube. The invention also consists of a rear wheel retention element—a “dropout”—with horizontal axle slots and a replaceable derailleur hanger.

Abstract: A scooter has a plurality of wheels, a steerer, a platform, and a steerer support. The steerer support connects the steerer to the platform. The steerer support can rotate with respect to the platform, allowing the scooter to be folded when not in use. The steerer support can nest within the platform, further allowing the scooter to collapse into a compact position. The steering axis, front wheel diameter, and fork geometry are arranged to provide stable steering. Specifically, the steering axis and the front wheel axis of rotation are both located aft of the centerline of the steerer. Further, the contact point between the front wheel and the ground and the axis about which the front wheel rotates are located aft of the steering axis about which the steerer rotates. The trail, measured between the steering axis and the front wheel contact point, is kept relatively small, between 0 and 75 mm. Also disclosed is a collapsing steerer, a parallel-rail support structure, and a compact braking element.

Abstract: An improved robotic end effector is disclosed. The end effector of the present invention possesses a novel breakaway clutch, which is combined with mechanically linked finger joints to significantly reduce control complexity while retaining the ability to accomplish enveloping grasps. In another embodiment, a finger using compliant tendons to accomplish enveloping grasps is disclosed. A novel palm/finger configuration which further increases the versatility of the disclosed end effector without unduly increasing complexity is also disclosed. Methods of manipulating an object are also disclosed.

Abstract: An improved robotic end effector is disclosed. The end effector of the present invention possesses a novel breakaway clutch, which is combined with mechanically linked finger joints to significantly reduce control complexity while retaining the ability to accomplish enveloping grasps. In another embodiment, a finger using compliant tendons to accomplish enveloping grasps is disclosed. A novel palm/finger configuration which further increases the versatility of the disclosed end effector without unduly increasing complexity is also disclosed. Methods of manipulating an object are also disclosed.