Abstract: A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Abstract: A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Abstract: A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Abstract: The present invention provides methods and systems for integrating a procedural computational model with a declarative computational model. For example, in one aspect, the present invention provides a method for integrating a plurality of procedural instructions in a procedural computational system with a plurality of declarative rules in a declarative computational system. In such a method, for each of the procedural instructions operating on one or more variables, a hash table indexed by variable names is utilized to determine whether any of these variables participate in at least one of the declarative rules. Upon execution of a procedural instruction that changes a variable participating in a declarative rule, other variables associated with the rule are updated so as to maintain a relationship imposed by the rule among the variables. The updating of the other variables is performed prior to execution of other procedural instructions.

Abstract: A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Abstract: The present invention provides methods and systems for integrating a procedural computational model with a declarative computational model. For example, in one aspect, the present invention provides a method for integrating a plurality of procedural instructions in a procedural computational system with a plurality of declarative rules in a declarative computational system. In such a method, for each of the procedural instructions operating on one or more variables, a hash table indexed by variable names is utilized to determine whether any of these variables participate in at least one of the declarative rules. Upon execution of a procedural instruction that changes a variable participating in a declarative rule, other variables associated with the rule are updated so as to maintain a relationship imposed by the rule among the variables. The updating of the other variables is performed prior to execution of other procedural instructions.

Abstract: Methods and apparatus for service-level based and/or skills-based assignment of a work item to one (or more) of a plurality of resources based on fitness, for example, of skills required by the former to those provided by the latter. Assignment takes into account the level of stress on the work item and/or resources, such that the number of resources fit for assignment varies as the level of stress varies. Systems according to the invention can be used, by way of example, to route a call or other request made by a customer to a service center. The requirements for processing the call (determined, for example, by an incoming call operator) are matched against the skill sets of available customer service agents, taking call and/or resource stress levels into account.

Abstract: A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Abstract: The present invention provides methods and systems for integrating a procedural computational model with a declarative computational model. For example, in one aspect, the present invention provides a method for integrating a plurality of procedural instructions in a procedural computational system with a plurality of declarative rules in a declarative computational system. In such a method, for each of the procedural instructions operating on one or more variables, a hash table indexed by variable names is utilized to determine whether any of these variables participate in at least one of the declarative rules. Upon execution of a procedural instruction that changes a variable participating in a declarative rule, other variables associated with the rule are updated so as to maintain a relationship imposed by the rule among the variables. The updating of the other variables is performed prior to execution of other procedural instructions.

Abstract: Methods and apparatus for service-level based and/or skills-based assignment of a work item to one (or more) of a plurality of resources based on fitness, for example, of skills required by the former to those provided by the latter. Assignment takes into account the level of stress on the work item and/or resources, such that the number of resources fit for assignment varies as the level of stress varies. Systems according to the invention can be used, by way of example, to route a call or other request made by a customer to a service center. The requirements for processing the call (determined, for example, by an incoming call operator) are matched against the skill sets of available customer service agents, taking call and/or resource stress levels into account. For example, some implementations may match an incoming call having a low stress factor (e.g.

Abstract: A method of automated workflow processing includes transforming an object, A1, which is of class X, into an object which is of class Y. The method includes the steps of separating existing data elements of A1 from the object itself, generating new data elements corresponding to class Y, inserting the new data elements into object A1, and computing values for the new data elements, possibly based on values of the old data elements. Other objects that referred to A1 before the transformation continue to do so afterwards. Values of data elements prior to transformation can be preserved, e.g., to facilitate review, to facilitate further transformation, and/or to facilitate back transformation.

Abstract: The present invention provides methods and systems for integrating a procedural computational model with a declarative computational model. For example, in one aspect, the present invention provides a method for integrating a plurality of procedural instructions in a procedural computational system with a plurality of declarative rules in a declarative computational system. In such a method, for each of the procedural instructions operating on one or more variables, a hash table indexed by variable names is utilized to determine whether any of these variables participate in at least one of the declarative rules. Upon execution of a procedural instruction that changes a variable participating in a declarative rule, other variables associated with the rule are updated so as to maintain a relationship imposed by the rule among the variables. The updating of the other variables is performed prior to execution of other procedural instructions.

Abstract: The present invention provides methods and systems for integrating a procedural computational model with a declarative computational model. For example, in one aspect, the present invention provides a method for integrating a plurality of procedural instructions in a procedural computational system with a plurality of declarative rules in a declarative computational system. In such a method, for each of the procedural instructions operating on one or more variables, a hash table indexed by variable names is utilized to determine whether any of these variables participate in at least one of the declarative rules. Upon execution of a procedural instruction that changes a variable participating in a declarative rule, other variables associated with the rule are updated so as to maintain a relationship imposed by the rule among the variables. The updating of the other variables is performed prior to execution of other procedural instructions.

Abstract: Systems for controlling the motion of multiple articulated elements connected by one or more joints in an artificial appendage system. Four different embodiments includes a controller that reduces the dimension of joint state space by utilizing biomechanically inspired motion primitives; a quadratic proportional-derivative (PD) controller which employs a two-stage linearization method, applies constraints to variables for dynamic stability, and employs a corrective “sliding control” mechanism to account for errors in the linear model used; a non-prioritized balance control approach that employs enforced linear dynamics in which all control variables are truncated to linear terms in joint jerks; and a biomimetic motion and balance controller based on center of mass (CM) energetic and biomimetic zero moment conditions.

Abstract: A method of automated workflow processing includes transforming an object, A1, which is of class X, into an object which is of class Y. The method includes the steps of separating existing data elements of A1 from the object itself, generating new data elements corresponding to class Y, inserting the new data elements into object A1, and computing values for the new data elements, possibly based on values of the old data elements. Other objects that referred to A1 before the transformation continue to do so afterwards. Values of data elements prior to transformation can be preserved, e.g., to facilitate review, to facilitate further transformation, and/or to facilitate back transformation.