Abstract: This invention provides a system and method for reliably interconnecting a native gladhand on a trailer with an AV truck, in which the gladhand can vary in placement and type on the trailer front. A visually guided robot manipulator arm accesses the trailer front. The arm includes an end effector assembly that is arranged to visually navigate to the gladhand and engage the gladhand by latching onto a gladhand using a connection tool that includes a hinged gladhand/wedge capture assembly and a pressurized clamping connection plate that selectively engages the trailer gladhand seal. The capture assembly is arranged to accommodate different gladhand geometries in latching thereonto. The connection tool includes a hinge that is spring-loaded in both a locked and unlocked bistable state, and sensors monitor the state. The system can include passive or active compliance elements that accommodate moderate misalignment between the engaged gladhand and the robotic arm/connection tool.

Abstract: A portable system for dynamometry, exercise, and rehabilitation comprises a base, a detachable servomotor assembly, an embedded control system, and a physical human-machine interface for securing a human limb into a stabilized position for use in a repeatable and ambidextrous manner. In another embodiment, the portable system includes a power source and a user interface subsystem for selecting operative modes and input parameters and for real-time processing, display, and storage of the values collected by the system during operation. In another embodiment, a method for determining strength of an isolated muscle group of a human joint is disclosed. The method includes the steps of mounting and securing a detachable servomotor assembly of a portable dynamometer upon a surface and securing the human joint to be tested into a stable position with an adjustable, ambidextrous distal limb attachment assembly for use of the portable dynamometer in a readily repeatable manner.

Abstract: A tendon actuator unit comprises a housing; a pulley disposed within the housing, the pulley comprising a screw-like groove about a predetermined portion of an outer surface of the pulley configured to accept a predetermined length of a cable; a motor disposed in or proximate to the housing and operatively in communication with the pulley; one or more online cable sensors; one or more sensor rollers; and one or more conduit force sensors.

Abstract: A tendon actuator unit comprises a housing; a pulley disposed within the housing, the pulley comprising a screw-like groove about a predetermined portion of an outer surface of the pulley configured to accept a predetermined length of a cable; a motor disposed in or proximate to the housing and operatively in communication with the pulley; one or more online cable sensors; one or more sensor rollers; and one or more conduit force sensors.