Abstract: An easily sterilizable glove system for use for performing work within a glove box or similar sealed enclosure within which operations are carried out under sterile conditions. The shoulder end of an elongated arm-length impermeable leak-proof flexible sleeve having a flexible impermeable leak-proof glove at the wrist end is held clamped between a smooth surfaced annular lip in a port in the wall of the enclosure and a compressed O-ring. The minimal area of sealing contact between two smooth surfaces is easily sterilized by the vaporous sterilants commonly used. Preferably the glove is separable and replaceable and similarly held between a smooth surfaced annular lip in a port at the wrist end of the sleeve and the compressed bead at the cuff of the glove, defining another easily sterilizable minimal area of sealing contact.

Abstract: A sealed system for facilitating the safe transfer of hazardous material through a port in the floor of a containment enclosure to an open topped storage container positionable in precise axial alignment below the port and supported on a lift cart for vertical movement toward and away from the port. The port is defined by a vertically depending flange or enclosure ring in the floor of the containment enclosure and is closeable by a seal cover within said containment enclosure positionable for sealing engagement with the periphery of the port. The port is also closed alternately by a sturdy plastic bag supported from a seal ring engageable in leak-proof sealed relation with the port and partially contained within the storage container supported on the lift cart. A succession of bags are positioned under the port, elevated into sealed relation with the port, filled, sealed shut, severed from the sealed port and lowered and removed for permanent storage.

Abstract: A sealed system is provided for facilitating the transfer of material through a port in a barrier wall separating two different environments without contamination of the cleaner of the two environments by the dirtier. The system includes a door closing a port in the barrier wall in leak-proof sealed engagement. A transfer medium for containing or receiving the material to be transferred through the port is provided with a removable cover in leak-proof sealed engagement within a transfer medium ring connectable in leak-proof sealed engagement with a stationary ring defining the passage through the barrier wall which is closed by the door. Sealing rings are provided between the door and transfer medium cover, and between the transfer medium ring and stationary ring to ensure against passage of contaminants from one environment to the other. For certain pharmaceutical applications, a heating element is provided in the stationary ring to sterilize the interfaces between abutting parts.

Abstract: A system for remotely controlled performance of unmanned extravehicular activity in outer space, such as satellite maintenance and repair. The system comprises an orbitable space vehicle having a worksite accessible from the exterior of the vehicle and remotely controlled means associated with the space vehicle worksite for securing at the worksite the equipment in space upon which extravehicular activity is to be performed. At least one servo actuated manipulator slave subsystem is located adjacent to the worksite for performing work there. That slave subsystem is operatively interconnected to a remote manipulator master subsystem. A bilateral force reflective position control subsystem provides the hand of the operator of the master subsystem in a natural way with a sense of feel which is proportional to the loads applied by the operator through the slave subsystem and to loads imposed by the remote environment through the slave subsystem.

Abstract: A mechanized power assisted apparatus for flattening and stretching wet tanned hides on a smooth flat horizontal bed of a vacuum hide drier preparatory to drying in the course of leather manufacture. The apparatus includes a support holding a squeegee-type slicker element for positioning closely adjacent to a hide-carrying drier bed. The slicker element has a smooth straight edge which is rotatable in a plane parallel to the surface of the plate. The slicker support is associated with a power travel drive system for moving the support in a plane parallel to and spaced from the surface of the hide-carrying bed and over a hide supported on that bed. A power thrust system is associated with the slicker element for moving the element into and out of contact with the wet hide and for exerting force on the slicker element. Spaced apart controls are provided for actuating the power assist systems for manipulating the slicker element over the surface of a hide in simulation of manual hide application.

Abstract: A mechanized power assisted apparatus for flattening and stretching wet tanned hides on a smooth flat plate preparatory to drying in the course of leather manufacture. The apparatus comprises support means holding a squeegee-type slicker element for positioning closely adjacent to a hide-carrying plate. The slicker element has a smooth straight edge which is rotatable in a plane parallel to the surface of the plate. The slicker support means is associated with a powered travel means for moving the support means in a plane parallel to and spaced from the surface of the hide-carrying plate and over a hide supported on that plate. Powered thrust means are associated with the slicker element for moving the element into and out of contact with the wet hide and for exerting force on the slicker element. Spaced apart control means are provided for actuating the power assist means for manipulating the slicker element over the surface of a hide in simulation of manual hide application.

Abstract: A clamp for securing a loop in the end of a flat metallic tape of the type used for transmitting linear motion in remote control master-slave manipulators and securing the clamp to another manipulator element which transmits motion to the tape or is moved by force transmitted by the tape. The clamp is characterized by independence of the tape loop from variations in tensile load. The disclosed clamp includes an elongated tubular frame having an intermediate open section in which an anchoring pin or roller is mounted. The free end of the tape being secured is introduced into the end of the frame, passed around the pin or roller in partial peripheral engagement therewith and brought back out through the end of the frame. A tape clamping mechanism adjacent the frame end forces the abutting tape surfaces together against the inside surface of the frame to rigidly secure the tape loop. The clamp may be used to join two tape ends, or to connect a tape to a cable, or to anchor a tape to another manipulator part.