Abstract: A compliant assembly including a remote center compliance device having first and second interconnected compliant sections. The first compliant section is interconnected with a support member; a tool holder mechanism is disposed within the remote center compliance device and is interconnected with the second compliant section; a force sensor system including a plurality of sensor members adjacent to the remote center compliance device extends from a support member to a mounting frame, each sensor member includes one force sensor for sensing the force applied through the tool holder mechanism and remote center compliance device.

Abstract: A lockable remote center compliance (RCC) device is provided including: a deformable support structure and an operator member having a first section attached to the support structure and a second section incorporating the free end of the operator member. A frame proximate the free end of the operator member supports the support structure. Locking is accomplished by first and second parts carried one by the operator member and the other by the frame, for releasably securing the operator member to the frame. The operator member sections are moved relative to one another to engage the first part with the second part to secure the free end of the operator member against compliant action.

Abstract: The machine is for shampooing and cleansing a person's hair and is constructed with a sink in front of which the person preferably sits and means associated with the sink for receiving the head with the face directed substantially downwardly. Once in position a hood is pivotal to cover the hair and has a nozzle array associated therewith. This nozzle array includes individual nozzles for dispensing a shampoo, creme rinse, or rinse water. The machine can be operated manually to apply shampoo, creme rinse or a water rinse, or can be operated automatically in a pre-programmed manner. The machine is provided with control circuitry including a binary counter and associated decoder logic, temperature regulation circuitry and temperature sensors. The shampoo and creme rinse are contained in individual containers at least one of which is provided with a mixing chamber for mixing the incoming hot and cold water prior to dispensing through the nozzle array.