Abstract: Improved robotic fingers are disclosed. The present invention provides a novel three joint, two actuator robotic finger. The finger disclosed is self-contained, lighter and requires less computational overhead than designs requiring one actuator for each joint, while providing greater versatility than simple grippers. The fingers of the present invention are constructed using a series of pulleys and tendons to couple the motion of two joints. In a preferred embodiment, a novel tendon configuration is disclosed which provides human-like enclosure and grasping capabilities. Also, other useful tendon configurations are disclosed. Robotic hands comprised of a group of one or more of the fingers of the present invention and methods of utilizing them to manipulate objects are also disclosed.

Abstract: A priority selector includes a plurality of interface circuits (16) each connected to a corresponding data element (13) and operatively connected in common with a priority identification signal generator (15) to selectively interface the data elements (13) with a common control, i.e. computer (12). The priority selector generates a dynamic code to select a data element (13) in response to the priority significance of its assigned code being at least as great as the priority significance of the assigned codes associated with other data elements (13) seeking priority recognition.

Abstract: A catheter includes an elongated tubular member having a closed distal end, an open proximal end and a maximum outer diameter of 2 mm; exactly two longitudinally extending slits of unequal lengths in the tubular member adjacent the distal end thereof, which form two distortable strands; a flexible wire secured to the distal end and extending inside the tubular member towards the proximal end thereof for retracting the distal end with respect to the proximal end; and an obturator secured to the free end of the wire for actuating the wire to retract the distal end with respect to the proximal end so as to outwardly bias the two distortable portions to anchor the distal end in the bladder of a patient, and for providing a fluid impervious seal to the open proximal end when the distal end is in its unretracted position with respect to the proximal end.