Abstract: Devices, methods, and systems for controlling a bladder of a subject are disclosed. For example, an apparatus for controlling the bladder can comprise a garment or accessory configured to be worn at least partially around a lower truncal region of a subject and a compression device coupled to the garment or accessory. The compression device can be configured to pressurize an abdominal wall of the subject when the garment or accessory is worn by the subject. The compression device can comprise a device housing having a contact surface, a device base, and an actuator. The actuator can translate the device housing in relation to the device base in a medial or lateral direction relative to the subject such that the contact surface of the device housing applies compressive forces to the abdominal wall of the subject when translated.

Abstract: This application describes the design of the split-tube flexure, a unique precision revolute joint that exhibits a considerably larger range of motion and significantly better multi-axis revolute joint characteristics than a conventional flexure. The development of this joint enables the implementation of spatially-loaded revolute joint-based precision machines with well-behaved kinematic and dynamic characteristics and without the backlash and stick-slip behavior that would otherwise prevent precision machine control.