Abstract: Described are various embodiments of a five-bar folding mechanism and method with quick release functionality. In one embodiment, the mechanism is used with a five-bar linkage comprising a first arm and a second arm rotatively coupled to a same joint, the first arm and second arm defining an angle therebetween. The mechanism comprises an energy storage element coupled to the first arm and configured to be engaged by the second arm upon the angle being smaller than a designated angle, and to store mechanical energy upon said first arm and said second arm being brought further into co-alignment. The energy storage element is further configured to release the stored mechanical energy upon the five-bar linkage being unfolded, pushing the first arm and second arm apart.

Abstract: Described are various embodiments of a haptic feedback device and method. In one embodiment, the haptic feedback device comprises a modular section, the modular section comprising an anchor component having a first impedance coupled to the skin of the arm at a first location; a low mass component having a second impedance coupled to the skin of the arm at a second location; and an inertial mass component having a third impedance mechanically coupled to said anchor component and to said low mass component via one or more couplings; and configured to provide actuation thereto. The first impedance is larger than said second and third impedances, so that upon said actuation said low mass component is displaced by a larger amount than said anchor portion, said displacement of the low mass component moving a portion of the skin proximate said second location thereby creating a haptic feedback.