Abstract: A controller for a surface haptic device that generates haptic waveforms and a method of generating desired haptic waveforms on a touch interface having a substrate and one or more electrodes connected to a front surface of the substrate are disclosed. The controller has a signal generator and a low pass filter, and automatically determines an on/off state of each of one or more surface haptic actuators such that a low pass filtered version of the on/off state closely approximates a desired waveform.

Abstract: A haptic interface device, said device comprising a substrate, a first conducting layer deposited on the substrate, with the first conducting layer being patterned to provide a first axis of individually-addressable conductive electrodes, a first insulating layer deposited on the first conducting layer, with the insulating layer having a uniform thickness, a second conducting layer deposited on the first insulating layer, with the second conducting layer being patterned to provide a second axis of individually-addressable conductive electrodes, and a dielectric layer deposited on the second conducting layer, with the dielectric layer having a uniform thickness and hardness and being scratch resistant.

Abstract: Touch interface devices having systems and methods for producing multi-point haptics utilizing simultaneous sensing and actuation are disclosed. In a first configuration, two layers of electrodes are used, including a top layer for haptics near a touch surface of an insulating substrate and a bottom layer for sensing at the bottom surface of the insulating substrate, with the two electrode sets have substantially the same pattern as one another. In a second configuration, a single array of electrodes is used near a touch surface of an insulating substrate and serves as both surface haptic devices and sensing devices.

Abstract: An apparatus and method for direct physical interaction between a person and a general purpose manipulator controlled by a computer. The apparatus, known as a collaborative robot or "cobot," may take a number of configurations common to conventional robots. In place of the actuators that move conventional robots, however, cobots use variable transmission elements whose transmission ratio is adjustable under computer control via small servomotors. Cobots thus need few if any powerful, and potentially dangerous, actuators. Instead, cobots guide, redirect, or steer motions that originate with the person. A method is also disclosed for using the cobot's ability to redirect and steer motion in order to provide physical guidance for the person, and for any payload being moved by the person and the cobot. Virtual surfaces, virtual potential fields, and other guidance schemes may be defined in software and brought into physical effect by the cobot.

Abstract: A passive constraint device for implementing a programmable virtual constraint surface, comprises one or more non-holonomic kinematic transmission element for coupling velocities of motion and having a steering angle. A user moves the handle of the passive constraint device relative to the virtual surface. A steering motor sets the steering angle of the non-holonomic element in response to the proximity of the handle to the virtual surface. When in contact with the virtual surface, the steering angle is set so as to prohibit any motion which would penetrate the surface. When not in contact with the virtual surface, the steering motor adjusts the steering angle in response to the user's applied forces, to provide apparent freedom of motion to the user.

Abstract: A body-implantable device for controlling the size of a fluid flow passageway within the body, typically for use in a Fenestrated Fontan operation. A housing is provided and secured within the body, typically to the artificial septum sutured into place in the Fontan operation. A flow passageway extends through the housing. An antenna is responsive to electromagnetic signals emitted from outside the body and conveyed through the body without wires to the antenna. Means are provided for varying the cross-section of the flow passageway in a manner responsive to signals received by the antenna.

Abstract: Miniaturized linear electrostatic motor comprising a plurality of parallel stators and a flexible rotor disposed between adjacent stators. The stators may be fabricated by depositing a plurality of conductive electrodes on each facing surface of the stator or the electrodes may alternatively be placed on the flexible rotor element. The electrodes are selectively energized by a commutating circuit in a manner to effect movement of the rotor relative to the stator in a perpendicular to parallel motion. The electrostatic motor is particularly suitable for fabrication using photo-lithographic techniques and the formation of multi-layered, concatenated motor structures.