Abstract: Caps for beverage containers having an upper body defining a first drinking aperture and a first vent aperture and a lower body defining a second drinking aperture and a second vent aperture, where the lower body is couplable to the upper body. In a first configuration of the cap the first drinking aperture is not in fluid communication with the second drinking aperture. In a second configuration the first drinking aperture is in fluid communication with the second drinking aperture, and the first vent aperture is in fluid communication with the second vent aperture, permitting fluid to pass through the combined drinking aperture. The first configuration and the second configuration of the caps being related by rotation of the upper body relative to the lower body.

Abstract: Actuation systems and methods are disclosed. Such systems may comprise a motor having a drive shaft, one or more modules coupled to the drive shaft, each module comprising one or more energy storage elements and one or more actuating members connecting the one or more energy storage elements to one or more degrees of freedom, which are configured to actuate in response to a discharge of energy from the one or more energy storage element, and a plurality of clutches associated with each module to couple the energy storage element of the module to the drive shaft of the motor and to control an energy state of the energy storage element independent of energy storage elements of other modules.

Abstract: Actuation systems and methods are disclosed. Such systems may comprise a motor having a drive shaft, one or more modules coupled to the drive shaft, each module comprising one or more energy storage elements and one or more actuating members connecting the one or more energy storage elements to one or more degrees of freedom, which are configured to actuate in response to a discharge of energy from the one or more energy storage element, and a plurality of clutches associated with each module to couple the energy storage element of the module to the drive shaft of the motor and to control an energy state of the energy storage element independent of energy storage elements of other modules.