Abstract: A fingerprint optical input apparatus comprises a contact image sensor for viewing a moving finger and providing a high contrast image. A narrow strip of the fingerprint touching a transparent platen is illuminated by sheet of collimated light normal to or at an oblique angle to the surface. The fingerprint image is viewed at an oblique angle by partially scattered light or by frustrated total internal reflection by a GRIN rod lens array and projected onto a linear array sensor. Various embodiments of the platen provide a compact design by using TIR or mirror reflections of the fingerprint image.

Abstract: A fingerprint optical input apparatus comprises a contact image sensor for viewing a moving finger and providing a high contrast image. A narrow strip of the fingerprint touching a transparent platen is illuminated by sheet of collimated light at an oblique angle to the surface. The fingerprint image is viewed by frustrated total internal reflection by a GRIN rod lens array and projected onto a linear array sensor. Various embodiments of the platen provide a compact design by using TIR or mirror reflections of the fingerprint image.

Abstract: A tentacle-like manipulator has a resiliently longitudinally extensible, laterally bendable elongate member, e.g. an inflatable bellows or a helical compression spring-like member, with an end effector mounting on one end thereof. Tendon-like tension members extend along said elongate member and are spaced apart from one another around said elongate member, one end of each of said tension members being to said elongate member at said one end thereof. Guides spaced apart along and secured to said elongate member and slidably engage said tension members for guiding said tension members relative to said elongate member. Further tension members extend along only a portion of the length of the elongate member and are secured to the elongate member at a location intermediate the ends of the elongate member. Winches are used to wind and unwind the tension members to correspondingly control the length and the bending of the elongate member.

Abstract: A bellows actuator has at least one bellows chamber comprising at least three chamber segments arranged around an axis. Each of the chamber segments forms a radially outwardly extending protrusion comprising four chamber wall portions, which merge with one another along fold lines which extend peripherally and radially of the bellows chamber and converge radially outwardly to meet at radially outermost apexes of the chamber segments. The bellows actuator is expansible and contractible along the axis by flexure of the wall portions relative to one another about the fold lines in response to pressure changes within the bellows chamber.