Abstract: A robot comprising: a chopstick, configured for at least four degrees of freedom of movement, a stiff body of shape and proportions approximate to a pool cue; an electromagnetic actuator, comprising a motor, for each degree of freedom of movement coupled with the stiff body, wherein the functional mapping from each actuator's motor current to torque output along an axis of motion is stored, and used in concert with a calibrated model of the robot for effective impedance control; and a 6-axis force/torque sensor mounted inline between the actuators and each chopstick.

Abstract: A robot comprising a chopstick, configured for at least four degrees of freedom of movement, a stiff body of shape and proportions approximate to a pool cue; an electromagnetic actuator, comprising a motor, for each degree of freedom of movement coupled with the stiff body, wherein the functional mapping from each actuator's motor current to torque output along an axis of motion is stored, and used in concert with a calibrated model of the robot for effective impedance control; and a 6-axis force/torque sensor mounted inline between the actuators and each chopstick.

Abstract: A probe system for measuring fluid flow in a conduit, such as a blood vessel with ultrasound transit time or similar measurement methods. The probe system having a probe body with a space to receive in a secure but detachable fashion a pliable soft insert. The insert has a central lumen or aperture which is sized to securely but detachably fit around a vessel or conduit without squeezing or in any way altering the conduit during application or use. The insert is acoustically matched with the vessel or conduit and fluid flowing therein to thereby minimize distortion or attenuation of ultra sound waves generated to assess flow. In a further aspect a set of inserts with varying sized lumens or apertures are provided to match with vessels or conduits of varying size. The system among other things increases accuracy of flow measurements while minimizing trauma to the vessel or conduit.