Abstract: A leg mechanism includes an articulated leg system, a passive device and a cable. The articulated leg system has a leg portion. The passive device is coupled to the articulated leg system and is configured to apply a first force to a portion thereof. The cable is coupled to the articulated leg system and is configured to apply a second force, in opposition to the first force, to a portion thereof. When the cable is drawn away from the articulated leg system, the second force moves the leg portion in a first direction. When tension is released from the cable, the passive device exerts the first force so as to move the leg portion a second direction that is opposite the first direction.

Abstract: A leg mechanism includes an articulated leg system, a passive device and a cable. The articulated leg system has a leg portion. The passive device is coupled to the articulated leg system and is configured to apply a first force to a portion thereof. The cable is coupled to the articulated leg system and is configured to apply a second force, in opposition to the first force, to a portion thereof. When the cable is drawn away from the articulated leg system, the second force moves the leg portion in a first direction. When tension is released from the cable, the passive device exerts the first force so as to move the leg portion a second direction that is opposite the first direction.

Abstract: In a joint (100) for a structure that includes at least one rod (104) and a plurality of cables (102), each cable (102) having an outside diameter, a rod end (160) is affixable to the rod (104) so that the rod has a rod (104) centerline that passes through the rod end (160). The rod end (160) includes a mechanism (166) that allows the rod end (160) to pivot about a center point that is on the rod centerline. A cable attachment device (150) is couplable to each cable (102) and to the rod end (160). The cable attachment device (150) holds each cable (102) coupled thereto in a relationship to the rod end (160) so that each cable (102) has a cable centerline that intersects the center point so as to minimize any moments from the rod (104) or the cables (102) on the joint (100).

Abstract: A leg mechanism includes an articulated leg system (100), a passive device (130) and a cable (134). The articulated leg system (100) has a leg portion (128). The passive device (130) is coupled to the articulated leg system and is configured to apply a first force to a portion thereof. The cable (134) is coupled to the articulated leg system (100) and is configured to apply a second force, in opposition to the first force, to a portion thereof. When the cable (134) is drawn away from the articulated leg system (100), the second force moves the leg portion (128) in a first direction. When tension is released from the cable (134), the passive device (130) exerts the first force so as to move the leg portion (128) a second direction that is opposite the first direction.

Abstract: Tensegrity structures and methods of constructing tensegrity structures of three-dimensional tensegrity lattices formed from truncated octahedron elementary cells. Space-tiling translational symmetry is achieved by performing recursive reflection operations on the elementary cells. This topology exhibiting unprecedented static and dynamic mechanical properties.

Abstract: A sensing device includes a pressure sensor and a deformable cover. A fluid cavity engineered between the deformable cover and the pressure sensor changes shape and ultimately collapses as force is applied to the sensing device. The shape and collapse of the engineered cavity, along with the entire structure of deformable cover and the pressure sensor, govern the force vs. pressure behavior of the sensing device and can be tailored as desired. A first benefit includes providing tailored properties of the sensing device by varying the structure of the deformable cover. A second benefit includes that if too much force is applied, excess force—beyond that which is required to collapse the engineered cavity—does not produce excess pressure which would cause damage to the pressure sensor. As such the sensing device is protected from accidental, or intended, over loading.

Abstract: In a joint (100) for a structure that includes at least one rod (104) and a plurality of cables (102), each cable (102) having an outside diameter, a rod end (160) is affixable to the rod (104) so that the rod has a rod (104) centerline that passes through the rod end (160). The rod end (160) includes a mechanism (166) that allows the rod end (160) to pivot about a center point that is on the rod centerline. A cable attachment device (150) is couplable to each cable (102) and to the rod end (160). The cable attachment device (150) holds each cable (102) coupled thereto in a relationship to the rod end (160) so that each cable (102) has a cable centerline that intersects the center point so as to minimize any moments from the rod (104) or the cables (102) on the joint (100).

Abstract: A leg mechanism includes an articulated leg system (100), a passive device (130) and a cable (134). The articulated leg system (100) has a leg portion (128). The passive device (130) is coupled to the articulated leg system and is configured to apply a first force to a portion thereof. The cable (134) is coupled to the articulated leg system (100) and is configured to apply a second force, in opposition to the first force, to a portion thereof. When the cable (134) is drawn away from the articulated leg system (100), the second force moves the leg portion (128) in a first direction. When tension is released from the cable (134), the passive device (130) exerts the first force so as to move the leg portion (128) a second direction that is opposite the first direction.

Abstract: An exemplary embodiment of the present invention provides a sensing device comprising a pressure sensor, a sensor housing, and a deformable cover. The sensor housing comprises a sensor cavity disposed within the sensor housing. The pressure sensor is disposed within the sensor cavity. The deformable cover is disposed adjacent to the sensor housing. The deformable cover comprises a deformable cavity. The deformable cavity is in fluid communication with the sensor cavity. The deformable cavity and the sensor cavity contain a fluid, such that when an external force is applied to a surface of the deformable cover, the deformable cavity deforms and alters a volume of the deformable cavity to alter a pressure sensed by the pressure sensor.

Abstract: Tensegrity structures and methods of constructing tensegrity structures of three-dimensional tensegrity lattices formed from truncated octahedron elementary cells. Space-tiling translational symmetry is achieved by performing recursive reflection operations on the elementary cells. This topology exhibiting unprecedented static and dynamic mechanical properties.

Abstract: An exemplary embodiment of the present invention provides a method of achieving a desired attenuation pattern in a material when a force is applied incident at least a portion of the material. The method comprises providing a multiphase material in a decompressed state, the multiphase material comprising a matrix material, a first periodic lattice of first inclusions positioned with the matrix material, and a second periodic lattice of second inclusions positioned within the matrix. The first periodic lattice of first inclusions can have a first set of lattice characteristics, and the second periodic lattice of second inclusions can have a second set of lattice characteristics different than the first set of lattice characteristics. The method can further comprise selecting the first and second sets of lattice characteristics based on a desired stress wave attenuation pattern when a force is applied incident to at least a portion of the multiphase material.