Abstract: An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.

Abstract: An apparatus having at least one processor and at least one memory, the apparatus configured to display a first element associated with content, the memory having computer-readable code stored therein which when executed causes the at least one processor to cause a plurality of second elements to be displayed in response to an input, wherein each second element is associated with a part of the content associated with the first element. The code, when executed may further cause editing of one or more of the second elements in response to an action in relation to one of the plurality of second elements, wherein said action comprises a sliding input.

Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.

Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

Abstract: Catheter shaft handles and deflection actuators are disclosed. The actuators include at least one pull wire guide wall and a means for anchoring the proximal portion of a pull wire or of a fiber attached to a pull wire. Each actuator is pivotable relative to the catheter handle housing, and may comprise at least one boss for pivoting the actuator relative to the catheter handle housing. The actuators transfer rotational motion based upon user input on a boss into longitudinal motion of a pull wire. The actuators may include a tensioning mechanism comprising a tension adjustment pin and a pin block, wherein the tension adjustment pin is rotatably attached to the pin block to enable adjustment of tension in a pull wire (e.g., during assembly of the catheter handle).

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: Catheter shaft handles and deflection actuators are disclosed. The actuators include at least one pull wire guide wall and a means for anchoring the proximal portion of a pull wire or of a fiber attached to a pull wire. Each actuator is pivotable relative to the catheter handle housing, and may comprise at least one boss for pivoting the actuator relative to the catheter handle housing. The actuators transfer rotational motion based upon user input on a boss into longitudinal motion of a pull wire. The actuators may include a tensioning mechanism comprising a tension adjustment pin and a pin block, wherein the tension adjustment pin is rotatably attached to the pin block to enable adjustment of tension in a pull wire (e.g., during assembly of the catheter handle).

Abstract: An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.

Abstract: The present invention relates to a device for insertion into a human or animal cavity, the device comprising an internally wearable plug comprising a pharmaceutically active composition; an externally wearable anchor element; and a sheath joining the plug to the anchor element such 5 that a wearer's finger can be received in the sheath to assist insertion

Abstract: An apparatus having at least one processor and at least one memory, the apparatus configured to display a first element associated with content, the memory having computer-readable code stored therein which when executed causes the at least one processor to cause a plurality of second elements to be displayed in response to an input, wherein each second element is associated with a part of the content associated with the first element. The code, when executed may further cause editing of one or more of the second elements in response to an action in relation to one of the plurality of second elements, wherein said action comprises a sliding input.

Abstract: A dialysis system includes a disposable cassette including a flexible sheet and a plurality of dialysis fluid pathways, a plurality of actuators operable with the flexible sheet to direct dialysis fluid through the plurality of dialysis fluid pathways, and a controller configured to (i) determine at least one limitation of the plurality of dialysis fluid pathways, (ii) generate a flow schedule indicating how dialysis fluid should be directed through the plurality of dialysis fluid pathways in accordance with the at least one limitation, and (iii) control the plurality of actuators so that dialysis fluid is pumped through the plurality of dialysis fluid pathways according to the flow schedule.

Abstract: Apparatus, the apparatus having at least one processor and at least one memory having computer-readable code stored therein which when executed controls the at least one processor to perform a method comprising: causing a first element to be displayed, the first element associated with content; in response to an input in relation to the first element, causing a plurality of second elements to be displayed, each second element associated with one of a plurality of parts of the content, wherein the number of second elements is dependent upon a property of the input; and, in response to an input in relation to one or more of the plurality of second elements, carrying out an action.

Abstract: A peritoneal dialysis system includes a disposable cassette including a flexible sheet; a hardware unit including (i) at least one pump actuator and piston head moved by the pump actuator, (ii) at least one valve actuator, (iii) at least one sensor, and (iv) a disposable cassette interface for interfacing with the disposable cassette, the disposable cassette interface including: (a) at least one pump aperture, the at least one piston head moveable out of and retractable into the at least one pump aperture to move a corresponding pumping portion of the flexible sheet of the disposable cassette, the piston head moving within a vacuum chamber, the vacuum chamber enabling a vacuum to be pulled around the piston head to the flexible sheet of the disposable cassette; (b) at least one valve aperture, at least a portion of the at least one valve actuator located in the valve aperture to move a valve portion of the flexible sheet of the disposable cassette; and (c) at least one sensor aperture, the at least one sensor

Abstract: Apparatus, the apparatus having at least one processor and at least one memory having computer-readable code stored therein which when executed controls the at least one processor to perform a method comprising: causing a first element to be displayed, the first element associated with content; in response to an input in relation to the first element, causing a plurality of second elements to be displayed, each second element associated with one of a plurality of parts of the content, wherein the number of second elements is dependent upon a property of the input; and, in response to an input in relation to one or more of the plurality of second elements, carrying out an action.

Abstract: Catheter shaft handles and deflection actuators are disclosed. The actuators include at least one pull wire guide wall and a means for anchoring the proximal portion of a pull wire or of a fiber attached to a pull wire. Each actuator is pivotable relative to the catheter handle housing, and may comprise at least one boss for pivoting the actuator relative to the catheter handle housing. The actuators transfer rotational motion based upon user input on a boss into longitudinal motion of a pull wire. The actuators may include a tensioning mechanism comprising a tension adjustment pin and a pin block, wherein the tension adjustment pin is rotatably attached to the pin block to enable adjustment of tension in a pull wire (e.g., during assembly of the catheter handle).