Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

Abstract: An example valve includes a sleeve having a plurality of openings configured along a length of the sleeve. A spool is rotatable within the sleeve and includes a respective plurality of openings along a length of the spool corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.

Abstract: An example method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a representation of a gradient of the ground surface; iii) based on the determined representations of the coefficient of friction and the gradient, determining a threshold orientation for a target ground reaction force on the foot of the robot during a step; iv) determining the target ground reaction force, where the target ground reaction force comprises a magnitude and an orientation; v) determining an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and vi) causing the foot of the robot to apply a force on the ground surface equal to and opposing the adjusted ground reaction force during the step.

Abstract: The various embodiments herein relate to systems, devices, and methods for tracking abdominal orientation and activity for purposes of preventing or treating conditions of pregnancy or other types of medical conditions. In certain specific embodiments, the system, device, or method relates to identifying abdominal orientation risk values, calculating and updating a cumulative risk value, comparing the cumulative risk value to a threshold, and outputting a warning when the cumulative risk value crosses the threshold.

Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) determining, for a particular topographical feature of the environment in a direction of travel of the robotic device, a height of the particular topographical feature and a distance between the robotic device and the particular topographical feature, (iii) estimating a ground plane extending from the robotic device in the direction of travel toward the particular topographical feature, the ground plane fitting to the determined distance and height, (iv) determining a grade of the estimated ground plane, and (v) directing the robotic device to adjust pitch in proportion to the determined grade.

Abstract: Method and apparatus for limiting absorption of food products in specific parts of the digestive system is presented. A gastrointestinal implant device is anchored in the pyloric portion of the gastrointestinal system and extends beyond the ligament of Treitz. All food exiting the stomach is funneled through the device. The gastrointestinal device includes an anchor for anchoring the device in the pyloric portion and a flexible sleeve that extents into the duodenum. The anchor is collapsible for endoscopic delivery and removal.

Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.

Abstract: An apparatus, system, and method for a magnetically and releasably attachable trigger for an instrument is provided. The trigger and securing device are disposed on either side of a drumhead or other instrument surface via magnetic force, keeping the instrument surface intact and not deforming the instrument surface. Additionally, the trigger provides for an increased sensitivity of sound by being in direct physical contact with the surface on which it is attached.

Abstract: A wellhead test system comprising: i) a Coriolis mass flow meter configured to receive a flow of a liquid; ii) a water analyzer configured to receive the flow of the liquid; and iii) a controller coupled to the Coriolis mass flow meter and the water analyzer. The controller receives from the Coriolis mass flow meter at least one of: mass flow measurement data, mass density measurement data, and drive gain and also receives from the water analyzer at least one of water frequency measurement data, oil frequency measurement data, and insertion loss measurement data. The controller determines a gas volume fraction (GVF) value and modifies the operation of the Coriolis mass flow meter and the water analyzer based on the GVF value.

Abstract: A robotic device may traverse a path in a direction of locomotion. Sensor data indicative of one or more physical features of the environment in the direction of locomotion may be received. The implementation may further involve determining that traversing the path involves traversing the one or more physical features of the environment. Based on the sensor data indicative of the one or more physical features of the environment in the direction of locomotion, a hydraulic pressure to supply to the one or more hydraulic actuators to traverse the one or more physical features of the environment may be predicted. Before traversing the one or more physical features of the environment, the hydraulic drive system may adjust pressure of supplied hydraulic fluid from the first pressure to the predicted hydraulic pressure.

Abstract: A valve actuator control system, and a related manifold. The control system includes a pneumatic directional valve operable to move the actuator. The manifold has multiple internal channels and is mountable to the pneumatic directional valve in alternative connections so that one internal channel of the manifold is active and the others are non-active, so that the manifold and pneumatic directional valve can provide operability of the actuator in a plurality of different fail modes.

Abstract: An example implementation includes determining a force allocation for at least one foot of a legged robotic device, where the legged robotic device includes two feet coupled to two legs extending from a body of the legged robotic device. The implementation also includes determining a change in mass distribution of the legged robotic device, and based on the determined change in mass distribution, determining a force and a torque on the body of the legged robotic device with respect to a ground surface. The implementation also includes updating the determined force allocation for the at least one foot of the two feet based on the determined force and torque. The implementation also includes causing the at least one foot to act on the ground surface based on the updated force allocation.

Abstract: A venous access catheter shaft and method of using and manufacturing such a catheter is provided. In one aspect of the invention, a catheter is provided comprising a base polymer having a Shore A durometer of 85A or lower, with 2.0% percent by weight of surface modifier, and a radiopaque filler comprising between 20-40 percentage by weight. In another aspect of the invention, a method reducing thrombus accumulation on a venous access catheter is provided wherein the catheter surface's resistance to thrombus formation is enhanced during indwell time by lowering the durometer rating of the base polymer of the catheter without increasing the amount of surface modifier additive. In another aspect of the invention, a method of manufacturing a catheter shaft is provided, wherein the shaft is formed comprising a base polymer having a Shore A durometer of 85A or lower, with 2.0% percent by weight of surface modifier, and a radiopaque filler comprising 30% by weight barium sulfate, and optionally a colorant of 0.

Abstract: The disclosed apparatus, systems and methods relate to tracking abdominal orientation and activity for purposes of preventing or treating conditions of pregnancy or other types of medical conditions. In certain specific embodiments, the system, device, or method relates to identifying abdominal orientation risk values, calculating and updating a cumulative risk value, comparing the cumulative risk value to a threshold, and outputting a warning when the cumulative risk value crosses the threshold.

Abstract: An apparatus, system, and method for a magnetically and releaseably attachable trigger for an instrument is provided. The trigger and securing device are disposed on either side of a drumhead or other instrument surface via magnetic force, keeping the instrument surface intact and not deforming the instrument surface. Additionally, the trigger provides for an increased sensitivity of sound by being in direct physical contact with the surface on which it is attached.

Abstract: Method and apparatus for limiting absorption of food products in specific parts of the digestive system is presented. A gastrointestinal implant device is anchored in the stomach and extends beyond the ligament of Treitz. All food exiting the stomach is funneled through the device. The gastrointestinal device includes an anchor for anchoring the device to the stomach and a flexible sleeve. When implanted within the intestine, the sleeve can limit the absorption of nutrients, delay the mixing of chyme with digestive enzymes, altering hormonal triggers, providing negative feedback, and combinations thereof. The anchor is collapsible for endoscopic delivery and removal.

Abstract: A gastrointestinal implant device is anchored in the duodenum and extends beyond the ligament of Treitz. All food exiting the stomach is funneled through the device. The gastrointestinal device includes an anchor for attaching the device to the duodenum and an unsupported flexible sleeve. The anchor can include a stent and/or a wave anchor and is collapsible for catheter-based delivery and removal.

Abstract: A vertical raising safety rail having a moveable top rail, a base, a movable center rail assembly positioned above the base and below the top rail, a drive shaft, and a motor that provides rotational power to the drive shaft. The safety rail further includes a pair of spaced apart lower linkage arm assemblies that is operatively connected to the base and to the center rail assembly and configured to raise or lower the center rail assembly relative to the base when a rotational force is applied to the drive shaft. The safety rail also includes a pair of spaced apart upper linkage arm assemblies that is operably connected to the center rail assembly and to the top rail. The upper linkage arm assemblies are operably connected to corresponding lower linkage assemblies and are configured to move the upper rail relative to the center rail assembly. When the rotational force is reversed, the safety rail collapses into a compact footprint.

Abstract: The present invention provides catheter compositions that provide anti-thrombogenic properties while not adversely impacting mechanical properties. All embodiments of the present invention comprise a catheter that comprises a fluoropolymer additive with specific compositions and/or purity levels.