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: 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.