Abstract: A mobile robot for traversing any surface consisting of a number of interconnected segments, each interconnected segment having a first "U" frame member, a second "U" frame member, a compliant joint between the first "U" frame member and the second "U" frame member, a number of linear actuators between the two frame members acting to provide relative displacement between the frame members, a foot attached to the second "U" frame member for adherence of the segment to the surface, an inter-segment attachment attached to the first "U" frame member for interconnecting the segments, a power source connected to the linear actuators, and a computer/controller for independently controlling each linear actuator in each interconnected segment such that the mobile robot moves in a caterpillar like fashion.

Abstract: A compliant walker for humans having limited use of their legs and lower back includes an upright wheeled frame which at least partially surrounds an upright user wearing a partial body harness which is attached to the frame by means of cable compliant apparatus consisting of sets of cable segments and angle bracket members connected between opposite side members of the frame and adjacent side portions of the harness. The type of partial body harness utilized takes two forms, the first being a torso harness which encircles the waist or rib cage of the user, while the second type of harness is a hip harness which fits around the hips and buttocks. The frame itself lends itself to several embodiments, one of which completely surrounds the user, while the other consists of a frame open at the front end including a pair of upright side members which attach to the cable support apparatus and which is vertically adjustable to accommodate the user's height.

Abstract: A device for holding reading materials for use by readers without arm mobility adapted to hold the reading materials in position for reading with the pages displayed to enable turning by use of a rubber tipped stick held in the mouth having a pair of rectangular frames for holding and positioning the reading material opened in reading posture with the pages displayed at a substantially unobstructed sighting position for reading with the pair of rectangular frames connected to one another by a hinge so the angle between the frames may be varied thereby varying the inclination of the reading materials.

Abstract: A joystick control device having a lower U-shaped bracket, an upper U-shaped bracket, a handle attached to the upper U-shaped bracket, with the upper U-shaped bracket connected to the lower U-shaped bracket by a compliant joint allowing six degrees of freedom for the joystick. The compliant joint consists of at least one cable segment affixed between the lower U-shaped bracket and the upper U-shaped bracket. At least one input device is located between the lower U-shaped bracket and the upper U-shaped bracket.

Abstract: A compliant joint is provided for prosthetic and robotic devices which permits rotation in three different planes. The joint provides for the controlled use of cable under motion. Perpendicular outer mounting frames are joined by swaged cables that interlock at a center block. Ball bearings allow for the free rotation of the second mounting frame relative to the first mounting frame within a predetermined angular rotation that is controlled by two stop devices. The cables allow for compliance at the stops and the cables allow for compliance in six degrees of freedom enabling the duplication or simulation of the rotational movement and flexibility of a natural hip or knee joint, as well as the simulation of a joint designed for a specific robotic component for predetermined design parameters.