Abstract: A biopsy needle has a cylindrical shell outer cannula and a stylet consisting of an inner stylet and outer stylet, both of which are inserted into the cylindrical cannula. The outer stylet has a series of strain relieved slits which provide bending over a deflection region in one direction, and the outer stylet is formed from a material such as a shape memory alloy (SMA) having a superelastic phase. The deflection is generated by an SMA wire spanning a deflection extent and attached to the outer stylet on either side of the deflection extent. The inner stylet, when positioned inside the outer stylet, has one or more actuation fibers which couple optical energy into the SMA wire, causing a deflection of the outer stylet over the deflection extent, with the optical energy provided to the actuation fibers for control of the deflection. Additional fibers may be placed in the inner stylet to measure temperature and to measure deflection.

Abstract: A biopsy needle has a cylindrical shell outer cannula and a stylet consisting of an inner stylet and outer stylet, both of which are inserted into the cylindrical cannula. The outer stylet has a series of strain relieved slits which provide bending over a deflection region in one direction, and the outer stylet is formed from a material such as a shape memory alloy (SMA) having a superelastic phase. The deflection is generated by an SMA wire spanning a deflection extent and attached to the outer stylet on either side of the deflection extent. The inner stylet, when positioned inside the outer stylet, has one or more actuation fibers which couple optical energy into the SMA wire, causing a deflection of the outer stylet over the deflection extent, with the optical energy provided to the actuation fibers for control of the deflection.

Abstract: A bio-inspired device is provided designed to scale smooth vertical surfaces using anisotropic frictional materials. The device draws its inspiration from geckos and other climbing lizards and employs similar compliance and force control strategies to climb (or hang onto) smooth vertical surfaces including glass, tile and plastic panels. Foremost among the design features embodied in the device are multiple levels of compliance, at length scales ranging from centimeters to micrometers, to allow the device to conform to surfaces and maintain large real areas of contact so that adhesive forces can support it. Structures within the feet ensure even stress distributions over each toe and facilitate engagement and disengagement of the adhesive materials. A force control strategy works in conjunction with the anisotropic adhesive materials to obtain sufficient levels of friction and adhesion for climbing with low attachment and detachment forces.

Abstract: A power transmission system that permits efficient transmission of power to the legs of a legged robot is provided. Light and flexible push-pull cables in low-friction sleeves transmit power from a power generation source to the feet of the robot. The push-pull cables allow the legs to swing back and forth rapidly, with low inertia. Tuned axial compliance is inserted into the cable sheaths to optimize the end point displacement for maximum running speed. The design of the legs allows actuation via thrusting along the length of the leg. Soft flexures at the hips provide tuned, passive rotational stiffness and damping. The leg swing is passive and functions as a tuned oscillation system in combination with the thrusting cables. The new system preserves a fast, self-stabilizing behavior of the robots making it generally applicable to legged robots with two or more legs and of various sizes.

Abstract: The vehicle port control system has a capaciflective sensor, a port, a lock securing the port, and a control unit. The capaciflective sensor senses the presence of objects a predetermined distance from the vehicle port. The sensor communicates its readings to the control unit, which controls the actuation of the lock.