Abstract: A variable-stiffness mechanism may include racks, pinion gears, spring elements, a cable, and a pulley. The variable-stiffness mechanism may be based on a variable-lever principal using the racks as a lever and the pinion gears as a variable pivot point. The pinion gears may be fixed in position relative to the pulley and coupled together by a gear-to-gear mesh. Alternatively, the pinion gears may be configured to translate relative to the pulley using a central drive rack and drive motor.

Abstract: A surgical instrument may include a tool handle that includes a tool control, and a tool shaft. The tool shaft may include a proximal end mechanically coupled to the tool handle, a distal end disposed opposite to the proximal end; and a plurality of shaft segments. The surgical instrument may include a tool disposed on the distal end of the tool shaft and mechanically coupled to the tool control. The surgical instrument may include a plurality of joints configured to couple at least two shaft segments of the plurality of shaft segments, one or more joints of the plurality of joints including a male connector and a female connector configured to couple to a mating interface, wherein a rotation of the male connector relative to the female connector causes an articulation of the tool relative to the tool handle.

Abstract: A suspension for traversing different terrains. A suspension having adaptive stiffness behavior and multiple locomotion modes for traversing a range of different types of terrain. The suspension may include a 2-segment leg with a wheel at the end of the distal segment, collectively referred to as a wheel-leg. A motor drives the wheel relative to the leg, providing propulsion.

Abstract: A variable stiffness mechanism for robotic applications. A robotic arm segment comprising two bodies pivotably coupled together at one end and having a generally elongate form factor. A spring-loaded carriage moves longitudinally along one of the two bodies and is in contact with the other body, such that the effective rotational stiffness of the pin joint is equal to the stiffness of the carriage spring multiplied by the distance between the pin joint and the spring. The distance between the pin joint and the spring can be varied using a motor and belt drive arrangement. A stopper may be coupled to the belt drive to lock the relative motion of the two bodies.

Abstract: A pipe inspection robot includes first and second bodies connected by a connection mechanism, at least two legs connected to the first body, and at least two additional legs connected to the second body, each of the at least two legs and the at least two additional legs including a linkage connected at one end to the first or second body, and a pipe engaging member connected at another end of the linkage; wherein each linkage is configured to operate between a stowed position, in which the pipe engaging member is disposed adjacent the first or second body, and an extended position, in which the linkage is adapted to cause the pipe engaging member to slide against an inner surface of a pipe.

Abstract: A variable-stiffness mechanism may include racks, pinion gears, spring elements, a cable, and a pulley. The variable-stiffness mechanism may be based on a variable-lever principal using the racks as a lever and the pinion gears as a variable pivot point. The pinion gears may be fixed in position relative to the pulley and coupled together by a gear-to-gear mesh. Alternatively, the pinion gears may be configured to translate relative to the pulley using a central drive rack and drive motor.

Abstract: Embodiments of the present disclosure allow user equipments (UEs) to independently determine and communicate their location within a designated coverage area. Each UE can be equipped with RF transmitters and a GPS module, allowing it to obtain signals from RF beacons deployed throughout the coverage area to determine its location. The UEs can transmit location data to a communications platform server (CPS) when a change in location is detected. User profiles associated with each UE can define geographical boundaries, including compliance zones and non-compliance zones. The CPS can identify non-compliance events based on the location data by determining if the UE is outside a compliance zone or within a non-compliance zone, and issue notifications accordingly.

Abstract: The present disclosure is directed to a system and method for surgical training with low cost, reusable materials and a highly customizable virtual environment for skill-building. According to various embodiments, a surgical training tool is usable in conjunction with a support structure configured to at least partially constrain the tool movement. Meanwhile, the tool is tracked in real-time with off-tool detectors to generate a tool path driving a virtual rendering of the surgical training tool in an operative environment. The virtual rendering may be visually observable via a display device and may include a customizable and/or selectable operative environment with one or more structures that can be operated on by the virtual surgical training tool. By tracking the virtual tool interaction with the virtual structures, a task path may be established for documenting and/or objectively assessing the performance of one or more operative tasks.

Abstract: An autonomous sailing vessel may include a hull, a mast, a sail, and a sail release device. The mast may be mechanically coupled to the hull. The sail may be mechanically coupled to the mast. The sail release device may be operably coupled to the sail and may be configured to automatically release the sail to spill excess wind. Alternatively or additionally, the sail may include a fore sail element coupled to the mast and an aft sail element rotatably coupled at a fore of the aft sail element to an aft of the fore sail element. In this and other embodiments, the autonomous sailing vessel may further include a camber control assembly to automatically set a camber angle between the fore and aft sail elements.

Abstract: An autonomous sailing vessel may include a hull, a mast, a sail, and a sail release device. The mast may be mechanically coupled to the hull. The sail may be mechanically coupled to the mast. The sail release device may be operably coupled to the sail and may be configured to automatically release the sail to spill excess wind. Alternatively or additionally, the sail may include a fore sail element coupled to the mast and an aft sail element rotatably coupled at a fore of the aft sail element to an aft of the fore sail element. In this and other embodiments, the autonomous sailing vessel may further include a camber control assembly to automatically set a camber angle between the fore and aft sail elements.

Abstract: The present disclosure is directed to a system and method for surgical training with low cost, reusable materials and a highly customizable virtual environment for skill-building. According to various embodiments, a surgical training tool is usable in conjunction with a support structure configured to at least partially constrain the tool movement. Meanwhile, the tool is tracked in real-time with off-tool detectors to generate a tool path driving a virtual rendering of the surgical training tool in an operative environment. The virtual rendering may be visually observable via a display device and may include a customizable and/or selectable operative environment with one or more structures that can be operated on by the virtual surgical training tool. By tracking the virtual tool interaction with the virtual structures, a task path may be established for documenting and/or objectively assessing the performance of one or more operative tasks.

Abstract: The present disclosure is directed to a system and method for surgical training with low cost, reusable materials and a highly customizable virtual environment for skill-building. According to various embodiments, a surgical training tool is usable in conjunction with a support structure configured to at least partially constrain the tool movement. Meanwhile, the tool is tracked in real-time with off-tool detectors to generate a tool path driving a virtual rendering of the surgical training tool in an operative environment. The virtual rendering may be visually observable via a display device and may include a customizable and/or selectable operative environment with one or more structures that can be operated on by the virtual surgical training tool. By tracking the virtual tool interaction with the virtual structures, a task path may be established for documenting and/or objectively assessing the performance of one or more operative tasks.

Abstract: A pipe inspection robot includes first and second bodies connected by a connection mechanism, at least two legs connected to the first body, and at least two additional legs connected to the second body, each of the at least two legs and the at least two additional legs including a linkage connected at one end to the first or second body, and a pipe engaging member connected at another end of the linkage; wherein each linkage is configured to operate between a stowed position, in which the pipe engaging member is disposed adjacent the first or second body, and an extended position, in which the linkage is adapted to cause the pipe engaging member to slide against an inner surface of a pipe.

Abstract: A shock absorbing device having at least one nautilus spring disposed between two members is described. When the members move toward each other, the one or more nautilus coil springs are canted and compressed. The shock absorbing device takes advantage of the unique force-displacement curve of canted springs and reduces bounce back.

Abstract: A shock absorbing device having at least one nautilus spring disposed between two members is described. When the members move toward each other, the one or more nautilus coil springs are canted and compressed. The shock absorbing device takes advantage of the unique force-displacement curve of canted springs and reduces bounce back.

Abstract: An autonomous sailing vessel may include a hull, a mast, a sail, and a sail release device. The mast may be mechanically coupled to the hull. The sail may be mechanically coupled to the mast. The sail release device may be operably coupled to the sail and may be configured to automatically release the sail to spill excess wind. Alternatively or additionally, the sail may include a fore sail element coupled to the mast and an aft sail element rotatably coupled at a fore of the aft sail element to an aft of the fore sail element. In this and other embodiments, the autonomous sailing vessel may further include a camber control assembly to automatically set a camber angle between the fore and aft sail elements.

Abstract: A shock absorbing device having at least one canted spring disposed between two members is described. When the members move toward each other, the one or more canted coil springs are canted and compressed. The shock absorbing device takes advantage of the unique force-displacement curve of canted springs and reduces bounce back.

Abstract: A probe for traversing a tubular passage includes an introducer to be supported at an entrance to the tubular passage. The probe also includes a probe tip to traverse the tubular passage, and a tube with an inflatable tube segment. In some embodiments, the inflatable tube segment is storable in the probe tip. The inflatable tube segment is configured to be inflated to push the probe tip away from the introducer toward an end of the tubular passage. In some embodiments, the probe includes a sealing mechanism, where the sealing mechanism can be positioned between the inflatable tube segment of the tube and the introducer to maintain the inflatable tube segment in a deflated configuration until inflation of the inflatable tube segment.

Abstract: A latching connector having a pin, a housing, and a canted coil spring is disclosed. The housing has an opening that slidably receives the pin. The housing and the pin each have a groove that is sized and dimensioned to receive a portion of the canted coil spring. The pin groove and housing groove have a curved surface with a radius that is equal to or larger than the major axis of the canted coil spring. The canted coil spring has an outer diameter that is equal to or larger than the diameter of the housing groove. Together, the pin, housing, and canted coil spring provide a latching connector with a reliable and consistent connect force and disconnect force. The latching connector provides improved electrical conductivity from the pin to the housing by providing multiple contact points with the canted coil spring.

Abstract: This disclosure describes compliant graspers for use in endoscopic surgeries.