Abstract: Shaped charge devices, systems, and related methods of use. A housing sheet is configurable to form at least part of a shaped charge enclosure enclosing a shaped charge and biasing an explosion in a desired direction. The housing sheet can include one or more incisions in at least one surface thereof. The housing sheet can have at least one connection mechanism integrally formed therein, and the housing sheet can be configurable to form a plurality of sizes of shaped charge housing portions. The housing sheet can also provide for forming a plurality of dimensions of the shaped charge enclosure.

Abstract: Various embodiments of a multifunctional hammer for driving tent stakes into the ground and removing stakes from the ground is described. In one example, a head for a multifunctional hammer can include an impact portion, an extraction portion, and a central portion therebetween. The impact portion and the central portion form a main body of the head. The extraction portion flaring outward from the main body and tapering in thickness and branching with two claws from a base to a forked tip end forming an opening configured to receive a stake head. The opening of the extraction portion being substantially symmetrical having first width at the forked tip end tapering inwardly to opposed edges having a second width and forming a seat at the base of the two claws. In another example, a multifunctional hammer can include the head for a multifunctional hammer and a handle attached to the head.

Abstract: Shaped charge devices, systems, and related methods of use. A housing sheet is configurable to form at least part of a shaped charge enclosure enclosing a shaped charge and biasing an explosion in a desired direction. The housing sheet can include one or more incisions in at least one surface thereof. The housing sheet can have at least one connection mechanism integrally formed therein, and the housing sheet can be configurable to form a plurality of sizes of shaped charge housing portions. The housing sheet can also provide for forming a plurality of dimensions of the shaped charge enclosure.

Abstract: Provided herein is an IVRO surgical guide for positioning a cutting guide on a mandibular ramus such that the mandibular ramus is clamped between a hooked distal end and a slidable component having a curved claw. The cutting guide is placed at a predetermined distance from the posterior edge of the ramus at the mid-waistline of the mandibular ramus along a curvilinear shaft in contact with the lateral surface of the ramus. The cutting guide can accommodate a saw for performing the osteotomy.

Abstract: Shaped charge devices, systems, and related methods of use. A housing sheet is configurable to form at least part of a shaped charge enclosure enclosing a shaped charge and biasing an explosion in a desired direction. The housing sheet can include one or more incisions in at least one surface thereof. The housing sheet can have at least one connection mechanism integrally formed therein, and the housing sheet can be configurable to form a plurality of sizes of shaped charge housing portions. The housing sheet can also provide for forming a plurality of dimensions of the shaped charge enclosure.

Abstract: A method of making an actuator having a complex internal shape includes providing a core of a shape that defines an internal cavity of an actuator; molding an actuator around the core, wherein the core occupies the internal cavity of the actuator, the cavity having an opening; generating a pressure differential between an exterior surface of the actuator and the internal cavity of the actuator, wherein the external pressure is less than the internal pressure, to expand the actuator cavity; and removing the core through the opening of the expanded actuator cavity.

Abstract: A soft composite actuator is described, including a first elastomeric layer; a strain limiting layer; and a first radially constraining layer, wherein the first elastomeric layer is disposed between the first radially constraining layer and the strain limiting layer; and the elastomeric layer, the strain limiting layer, and the radially constraining layer are bonded together to form at least one bladder for holding pressurized fluid. Methods of using and making of the soft composite actuator are described.

Abstract: A soft robotic device with one or more sensors is described. The sensor may be embedded in the soft body of the soft robotic device, attached to the soft body of the soft robotic device, or otherwise linked to the soft body of the soft robotic device.

Abstract: A soft material retractor includes at least two soft actuators, each actuator having at least one pressurizable interior space, wherein the actuator has a first flexible resting state and a second stiffer pressurized state; and a flexible sheet spanning the actuators such that the actuators can be spaced apart from each other by a distance selected to displace a volume of material of a body cavity. The retractor can be uses for holding open wounds or incisions, with trochars, or to displace anatomical features such as organs within a body cavity.

Abstract: A method of making an actuator having a complex internal shape includes providing a core of a shape that defines an internal cavity of an actuator; molding an actuator around the core, wherein the core occupies the internal cavity of the actuator, the cavity having an opening; generating a pressure differential between an exterior surface of the actuator and the internal cavity of the actuator, wherein the external pressure is less than the internal pressure, to expand the actuator cavity; and removing the core through the opening of the expanded actuator cavity.

Abstract: A soft composite actuator is described, including a first elastomeric layer; a strain limiting layer; and a first radially constraining layer, wherein the first elastomeric layer is disposed between the first radially constraining layer and the strain limiting layer; and the elastomeric layer, the strain limiting layer, and the radially constraining layer are bonded together to form at least one bladder for holding pressurized fluid. Methods of using and making of the soft composite actuator are described.

Abstract: A fabric-based soft actuator includes a first fabric layer, a second (material) layer, a bladder, and a fluid pump. The first fabric layer has anisotropic or isotropic stretch properties. The second layer is a fabric layer with anisotropic or isotropic stretch properties and/or a strain-limiting layer. The bladder is disposed between or integrated with the first fabric layer and the second layer, while the fluid pump is in fluid communication with and configured to inflate the bladder.

Abstract: A soft material retractor includes at least two soft actuators, each actuator having at least one pressurizable interior space, wherein the actuator has a first flexible resting state and a second stiffer pressurized state; and a flexible sheet spanning the actuators such that the actuators can be spaced apart from each other by a distance selected to displace a volume of material of a body cavity. The retractor can be uses for holding open wounds or incisions, with trochars, or to displace anatomical features such as organs within a body cavity.

Abstract: A soft robotic device with a variety of sensors and/or imaging areas is described. The sensor and/or imaging area may be embedded in the soft body or the strain limiting layer of the soft robotic device, attached to the soft body or the strain limiting layer of the soft robotic device, or other-wise linked to the soft body or the strain limiting layer of the soft robotic device.

Abstract: A soft composite actuator is described, including a first elastomeric layer; a strain limiting layer; and a first radially constraining layer, wherein the first elastomeric layer is disposed between the first radially constraining layer and the strain limiting layer; and the elastomeric layer, the strain limiting layer, and the radially constraining layer are bonded together to form at least one bladder for holding pressurized fluid. Methods of using and making of the soft composite actuator are described.

Abstract: A composite structural element is described, including: a first laminate layer comprising a plurality of first material layers; a second laminate layer comprising a plurality of second material layers; and an inflatable bladder configured for connection with a fluid inflation or deflation source and disposed in-between the first and second laminate layers.

Abstract: Therapy is provided to living tissue by contacting the living tissue with at least one reservoir loaded with cells or a therapeutic composition, wherein the reservoir is in fluid communication with at least one conduit that includes a refilling port. A constituent selected from (a) cells, (b) bioagents from the cells or (c) the therapeutic composition is released from the reservoir to the living tissue. The reservoir is then refilled with (i) cells, (ii) nutrients for cells, or (iii) additional therapeutic composition; and (a) cells, (b) bioagents from the cells or (c) the therapeutic composition continue to be released from the reservoir to the living tissue after the refilling.

Abstract: A soft material retractor includes at least two soft actuators, each actuator having at least one pressurizable interior space, wherein the actuator has a first flexible resting state and a second stiffer pressurized state; and a flexible sheet spanning the actuators such that the actuators can be spaced apart from each other by a distance selected to displace a volume of material of a body cavity. The retractor can be uses for holding open wounds or incisions, with trochars, or to displace anatomical features such as organs within a body cavity.

Abstract: A soft robotic device with one or more sensors is described. The sensor may be embedded in the soft body of the soft robotic device, attached to the soft body of the soft robotic device, or otherwise linked to the soft body of the soft robotic device.

Abstract: The present invention is directed to a bi-stable coupling for controlling the depth of a tool insertion, such as drilling, and similar processes. The bi-stable coupling can be used to penetrate (e.g., drill or push) through a material layer of unknown thickness without plunging the tool into the adjacent layer. In accordance with the invention, in a first state, force is applied to the tool to initiate penetration and a reactive force maintains the device in the first state during penetration and when tool penetrates the material, the reactive force is diminished enabling the device to transition to a second state in which the tool becomes retracted. In medical applications, the invention allows for drilling through bone of unknown thickness without plunging into the adjacent soft tissue.