Abstract: An orthotic device for haptic terrain feedback and control includes a plate having a mechatronic unit, a bladder structure secured to the plate, the bladder structure having one or more bladder cells, and a passageway extending between the bladder cell and an environment outside the orthotic device. The orthotic device is configured to provide haptic feedback to a user by way of selective inflation and deflation of the one or more bladder cells.

Abstract: Generally, implementations of the present invention include devices, systems, and methods for tracking intermittent motion. Such systems can be used to calibrate inertial measurement units (IMUs), which can be used to obtain acceleration, linear and angular velocities, orientation, and position of a moving body. Such systems also can be used to account and compensate for errors and imperfections present in an IMU prior to and during operation.

Abstract: A method and system for tracking and updating bias in an inertial sensor by determining a maximum bias drift and a noise band for a sensor, determining a prior bias value of the sensor, and measuring a current bias value of the sensor. The method and system can further include calculating a bias difference between the prior bias value and the current bias value, and updating the prior bias value with the current bias value if the current bias value is within the noise band and the bias difference is less than or equal to the maximum bias drift.

Abstract: Generally, implementations of the present invention include devices, systems, and methods for tracking intermittent motion. Such systems can be used to calibrate inertial measurement units (IMUs), which can be used to obtain acceleration, linear and angular velocities, orientation, and position of a moving body. Such systems also can be used to account and compensate for errors and imperfections present in an IMU prior to and during operation.

Abstract: A method and system for tracking and updating bias in an inertial sensor by determining a maximum bias drift and a noise band for a sensor, determining a prior bias value of the sensor, and measuring a current bias value of the sensor. The method and system can further include calculating a bias difference between the prior bias value and the current bias value, and updating the prior bias value with the current bias value if the current bias value is within the noise band and the bias difference is less than or equal to the maximum bias drift.

Abstract: Techniques are described for control of a robot system, wherein the robot system includes a plurality of individual wheeled robot modules interconnected by at least one compliant member. The technique includes developing a kinematic control model of the robot system from a combination of the kinematic characteristics of the individual wheeled robot modules and the stiffness properties of the compliant member. Development of the kinematic control model for a reconfigurable robot system is enhanced by the scalable nature of the technique.

Abstract: Techniques are described for control of a robot system, wherein the robot system includes a plurality of individual wheeled robot modules interconnected by at least one compliant member. The technique includes developing a kinematic control model of the robot system from a combination of the kinematic characteristics of the individual wheeled robot modules and the stiffness properties of the compliant member. Development of the kinematic control model for a reconfigurable robot system is enhanced by the scalable nature of the technique.

Abstract: A surgical instrument includes an actuator, a tool, and a positioning apparatus. The positioning apparatus includes a gear link structure operably coupling the tool to the actuator for moving the tool in a first direction defining a first degree of freedom and in a second direction defining a second degree of freedom.