Abstract: Robotic systems for supporting a human in stationary and/or mobile applications and related methods of operation are described.

Abstract: An apparatus includes at least one supernumerary artificial limb and a base structure configured to couple with a human body. The base structure includes a sensor that obtains a measurement regarding load of the human body. The proximal end of the supernumerary artificial limb is coupled to the base structure. The apparatus further includes a processor operatively coupled with the sensor and configured to receive the measurement from the sensor. The processor is also configured to generate a control signal to change at least one of a position of the supernumerary artificial limb and a torque exerted by the supernumerary artificial limb based on the measurement regarding the load.

Abstract: Similar to combustion engines including multiple cylinders engaged with a crankshaft, multiple piezoelectric stack actuators (PSA) engaged with a common output rod can produce smooth, long stroke motion with desired properties. In particular, when equally spaced multiple units are arranged to push sinusoidal gear teeth on the output rod, the system exhibits unique collective behaviors thanks to “harmonic” effects of the multiple units. For example, although the force-displacement characteristics of individual units are highly nonlinear, the undesirable nonlinearity, including singularity, may be eliminated. Here it presents harmonic analysis, design, and control of a class of actuators consisting of multiple driving units engaged with a sinusoidal transmission, termed a harmonic poly-actuator.

Abstract: Vehicles designed to use ground effect forces to control a positioning of the vehicle relative to a surface as well as their methods of use are described.

Abstract: A wearable robotic system assists a wearer in performing manual tasks. One or more robotic arms are mounted to a wearer, and an sensor monitors the orientation(s) (e.g., position and movement) of the wearer's upper body and one or both arms. A controller detects a task being performed by the wearer based on the orientation(s) as indicated by the orientation sensors. In response, the controller causes the robotic arm to perform an action independent of the orientation(s) of the wearer's arms and complementary to the task, thereby aiding the wearer to accomplish the detected task.

Abstract: Provided herein are microfluidic devices that can be used as a 3D bioassay, e.g., for drug screening, personalized medicine, tissue engineering, wound healing, and other applications. The device has a series of channels {e.g., small fluid channels) in a small polymer block wherein one or more of the channels can be filled with a biologically relevant gel, such as collagen, which is held in place by posts. As shown herein, when the device is plated with cells such as endothelial cells, new blood vessels grow in the gel, which is thick enough for the cells to grow in three dimensions. Other channels, e.g., fluid channels, allow drugs or biological material to be exposed to the 3D cell growth. Cells, such as endothelial cells, can be cultured and observed as they grow on the surface of a 3D gel scaffold, where e.g., rates of angiogenesis can be measured, as well as intervascularization and extravascularization of cancerous cells.

Abstract: A propulsion system is provided that includes one or more pumps that form a jet for propulsion. A number of Coanda jet devices (CJDs) are coupled to the one or more pumps. The CJDs are arranged so to allow for a multi-axis underwater control of an underwater robot.

Abstract: A wearable robotic system assists a wearer in performing manual tasks. One or more robotic arms are mounted to a wearer, and an sensor monitors the orientation(s) (e.g., position and movement) of the wearer's upper body and one or both arms. A controller detects a task being performed by the wearer based on the orientation(s) as indicated by the orientation sensors. In response, the controller causes the robotic arm to perform an action independent of the orientation(s) of the wearer's arms and complementary to the task, thereby aiding the wearer to accomplish the detected task.

Abstract: A system includes a driver robot having a body with a pair of spaced apart flux conductors, and a follower robot having an articulated body with a pair of spaced apart magnets. The magnets are coupled to the flux conductors when the articulated body is in an engaged position. One of the magnets is decoupled from one of the flux conductors when the articulated body is in a flipping or stepping position.

Abstract: An underwater robot includes a body, a propeller connected to an end of the body, a controller, and first and second actuation units that output jets of fluid. The propeller propels the robot, and the controller stabilizes the robot using the jets of fluid. The controller determines which actuation unit to activate based on a calculation involving a yaw rate and a yaw angle of the robot.

Abstract: Provided herein are microfluidic devices that can be used as a 3D bioassay, e.g., for drug screening, personalized medicine, tissue engineering, wound healing, and other applications. The device has a series of channels {e.g., small fluid channels) in a small polymer block wherein one or more of the channels can be filled with a biologically relevant gel, such as collagen, which is held in place by posts. As shown herein, when the device is plated with cells such as endothelial cells, new blood vessels grow in the gel, which is thick enough for the cells to grow in three dimensions. Other channels, e.g., fluid channels, allow drugs or biological material to be exposed to the 3D cell growth. Cells, such as endothelial cells, can be cultured and observed as they grow on the surface of a 3D gel scaffold, where e.g., rates of angiogenesis can be measured, as well as intervascularization and extravascularization of cancerous cells.

Abstract: A harmonic buckling actuator includes buckling units engaged to a rotational track/gear. Each buckling unit includes two input actuators. One end of each input actuator is constrained to rotate about a rotational joint that is rigidly attached to a common ground. The other end of each input actuator is constrained to move with the other actuator of the same buckling unit along a single output axis via another rotational joint that is the output of the buckling unit. The inactivated, unforced configuration of each buckling unit is such that the input actuators are nearly collinear with the line segment connecting the unit's grounded rotational joints. The buckling units are arrayed around the track/gear such that their outputs are spatially phased within the groves of the track/gear. Harmonic activation of the buckling units generates torque on the track/gear about its output axis.

Abstract: A system includes a driver robot having a body with a pair of spaced apart flux conductors, and a follower robot having an articulated body with a pair of spaced apart magnets. The magnets are coupled to the flux conductors when the articulated body is in an engaged position. One of the magnets is decoupled from one of the flux conductors when the articulated body is in a flipping or stepping position.

Abstract: A propulsion system is provided that includes one or more pumps that form a jet for propulsion. A number of Coanda jet devices (CJDs) are coupled to the one or more pumps. The CJDs are arranged so to allow for a multi-axis underwater control of an underwater robot.

Abstract: An inspection robot for inspecting a nuclear reactor that includes a hull and an on-board control mechanism that controls the operation of the inspection robot. The on-board control mechanism controls one or more sensors used to inspect one or more structures in the nuclear reactor as well as the movement by the inspection robot. A gimbal mechanism rotates the inspection robot hull by shifting the center-of-mass so that gravity and buoyancy forces generate a moment to rotate the hull in a desired direction. A camera is coupled to the gimbal mechanism for providing visual display of the one or more structures in the nuclear reactor. The camera is allowed to rotate about an axis using the gimbal mechanism. The inspection robot communicates its findings with respect to the inspection tasks using the wireless communication link.

Abstract: A harmonic buckling actuator is comprised of numerous buckling units engaged to a rotational track/gear. Each buckling unit includes two input translational actuators. One end of each input actuator is constrained to rotate about a rotational joint that is rigidly attached to a common ground. The other end of each input actuator is constrained to move with the other actuator of the same buckling unit along a single output axis via another rotational joint that is the output of the buckling unit. The inactivated, unforced configuration of each buckling unit is such that the input actuators are nearly collinear with the line segment connecting the unit's grounded rotational joints. This line segment is parallel to the output axis of the track/gear. The buckling units are arrayed around the track/gear such that their outputs are spatially phased within the groves of the track/gear. Harmonic activation of the buckling units generates torque on the track/gear about its output axis.

Abstract: A harmonic buckling actuator is comprised of numerous buckling units engaged to a rotational track/gear. Each buckling unit includes two input translational actuators. One end of each input actuator is constrained to rotate about a rotational joint that is rigidly attached to a common ground. The other end of each input actuator is constrained to move with the other actuator of the same buckling unit along a single output axis via another rotational joint that is the output of the buckling unit. The inactivated, unforced configuration of each buckling unit is such that the input actuators are nearly collinear with the line segment connecting the unit's grounded rotational joints. This line segment is parallel to the output axis of the track/gear. The buckling units are arrayed around the track/gear such that their outputs are spatially phased within the groves of the track/gear. Harmonic activation of the buckling units generates torque on the track/gear about its output axis.

Abstract: A multi-layer strain-amplification device includes at least one first amplifying layer unit and a second amplifying layer unit positioned about the at least one first amplifying layer unit. A strain of the at least one first amplifying layer unit is amplified by the second amplifying layer unit.

Abstract: A broadcast feedback method is presented for distributed stochastic control of an actuator system consisting of many cellular units. The method can be implemented for an artificial cellular actuator, consisting of many units of smart actuator material with a random signal generator. The output of the actuator system is an aggregate effect of numerous cellular units, each taking a bi-stable ON-OFF state. A central controller broadcasts the error between the aggregate output and a reference input. The central controller broadcasts the overall error signal to all the cellular units uniformly. In turn, each cellular unit makes a stochastic decision with a state transition probability modulated in relation to the broadcasted error. Even in the absence of deterministic coordination, the ensemble of the cellular units can track a given trajectory stably.