Abstract: A link extends between a distal member and a proximal member of a wearable device, such as an exoskeleton, orthosis or prosthesis for a human lower limb. One or other of the distal member and the proximal member includes a crossing member. The link extends from the crossing member of the distal member or the proximal member, to the other of the distal member or the proximal member. Actuation of the link translates to a force at the distal or proximal member that is normal to a major longitudinal axis extending through the distal and proximal members. In one embodiment, a sliding link of a device configured for use with a human joint tracks two degrees of freedom of the joint.

Abstract: Dynamic systems with moving parts, such as printers and image forming apparatuses, for example, can shake as a result of reaction forces related to carriage movement. The characteristics of the shake are related to the particular usage environment and, therefore, can be different for the same dynamic system used in different environments. When the shake of a dynamic system is characterized while the dynamic system is in its particular usage environment, the shake can be reduced, for example, based on a degree of control specified by an operator, for every use in that same environment through adjustments based on the characterization.

Abstract: Dynamic systems with moving parts, such as printers and image forming apparatuses, for example, can shake as a result of reaction forces related to carriage movement. The characteristics of the shake are related to the particular usage environment and, therefore, can be different for the same dynamic system used in different environments. When the shake of a dynamic system is characterized while the dynamic system is in its particular usage environment, the shake can be reduced, for example, based on a degree of control specified by an operator, for every use in that same environment through adjustments based on the characterization.

Abstract: A tissue examination apparatus particularly useful for automated breast palpation is provided. The apparatus includes an actuator having an extendable probe for contacting the tissue and an electronic control module that controls extension and retraction of the probe. The electronic control module determines displacement distances of the probe and forces exerted on the probe at each displacement distance when the probe is extended so as to contact the tissue. The apparatus also has a drive assembly secured to a frame. The drive assembly includes a movable carriage and a corresponding drive motor. The actuator is mounted on the movable carriage. The drive motor receives motion control signals from the electronic control module and thereby moves the actuator over a patient's body. At different locations, the probe is extended into the patient's tissue and force and displacement readings are obtained and sent to the electronic control module.

Abstract: A self contained pulsatile surgical irrigation device includes a housing, a trigger moveably connected to the housing, a motor within the housing, a pump within the housing, and a mechanical drive train for coupling the motor to the pump. The trigger is mechanically connected to the drive train to enable the stroke of the pump to be varied, thereby varying the output flow from the device.

Abstract: A self contained pulsatile surgical irrigation device that includes a housing, a trigger moveably connected to the housing, a motor within the housing, a pump within the housing, and a mechanical drive train for coupling the motor to the pump. The trigger is mechanically connected to the drive train to enable the stroke of the pump to be varied, thereby varying the output flow from the device.

Abstract: Methods and apparatus for determining whether soil is satisfactorily compacted. An operator delivers impact energy to the soil, and the amount of impact energy transmitted through the soil is repeatedly sensed and stored. A modelling formula, which approximates the variation of the stored amounts of impact energy, is used to generate current and target values for the level of compaction; if the current value equals or exceeds the target value, the soil is considered to be satisfactorily compacted.

Abstract: A carrier for supporting a coded container in a predetermined orientation on a magnetic conveyor system having magnetic means on the carrier with at least one window in the carrier to expose a coded container held therein.

Abstract: A sequence of impulses is determined which eliminates unwanted dynamics of a dynamic system. This impulse sequence is convolved with an arbitrary command input to drive the dynamic system to an output with a minimum of unwanted dynamics. The input sequence is time optimal in that it constitutes the shortest possible command input that results in no unwanted dynamics of the system subject to robustness and implementation constraints. The preshaping technique is robust under system parameter uncertainty and may be applied to both open and closed loop syThe Government has rights in this invention pursuant to Grant Number N00014-86-K-0685 awarded by the Department of the Navy.