Abstract: A gripper having at least two gripper arms (1, 3) which are arranged mirror-symmetrically around a center line (5) and a first end (7, 9) of which follows approximately a straight line (19) which is perpendicular to the center line (5), while the second end (21, 23) is displaceable along a circular track (33, 35). A gripper arm (1, 3) is supported between the first end (7, 9) and the second end (21, 23) in a rotatable sliding guide (41, 43) occupying a fixed position with respect to the center (29, 31) of the respective circular track (33, 35). The dimensions of the gripper mechanism described are such that a minimum tolerance of the position of the first ends (7, 9) parallel to the center line (5) is obtained. The gripper requires a considerably reduced calculation capability from the processor to be used for positioning the gripper arms (1, 3).

Abstract: A skin electrode, comprising a core provided with a pointed portion which projects through an opening in a jacket which is made of a flexible, non-slipping material and which has an integral flat edge. Because of its shape and the material properties, the electrode can be applied on the skin under a comparatively low pressure without sliding.

Abstract: An electro-therapeutic apparatus for stimulation of the locomotive nerves enables activation of both legs in a locomotive cycle by means of pressure impulses originating from a pressure-sensitive medium provided underneath the ball of one of the feet. A pressure-cell which is closed by a bimorph plate of piezoelectric material is used as the switching element for converting pressure impulses into electric pulses.