Abstract: Aspects of various embodiments are directed to sensor apparatuses and methods thereof. An example sensor apparatus includes a capacitor and sensor circuitry. The capacitor includes a first substrate having a first electrode, a second substrate having a second electrode, and a dielectric layer. The dielectric layer has a plurality of apertures arranged in a pattern, the first and second electrode being separated by the dielectric layer and arranged with an overlapping area with respect to one another. The sensor circuitry is coupled to the capacitor and configured and arranged to detect normal and shear forces applied to the sensor apparatus based on changes in capacitance derived from changes in at least one of a distance between the first and second electrodes and the overlapping area of the first and second electrodes.

Abstract: Aspects of various embodiments are directed to sensor apparatuses and methods thereof. An example sensor apparatus includes a capacitor and sensor circuitry. The capacitor includes a first substrate having a first electrode, a second substrate having a second electrode, and a dielectric layer. The dielectric layer has a plurality of dielectric structures arranged in a pattern, the first and second electrode being separated by the dielectric layer and arranged with an overlapping area with respect to one another. The sensor circuitry is coupled to the capacitor and configured and arranged to detect normal and shear forces applied to the sensor apparatus based on changes in capacitance derived from changes in at least one of a distance between first and second electrodes and the overlapping area of the first and second electrodes.

Abstract: Devices are provided for mechanically induced ventricular growth in a single ventricle patient that include a body comprising a plurality of springs coupled together to define an open upper end and a closed lower end, wherein the springs surround an interior region of the body sized to receive a portion of a patient's heart. The device may be secured over a portion of a patient's heart, e.g., overlying the left ventricular region, and the bias of the springs may apply strain to the myocardium of the heart to induce ventricular chamber growth.

Abstract: A distributed sensor network for soft growing robots is provided. Sensor bands are distributed at discrete intervals along the length of the flexible tube, and the sensor bands each are wrapped circumferentially around the diameter of the flexible tube. Each sensor band has one or more sensors and one or more semi-rigid islands containing a self-contained microcontroller, and one or more communication lines to an aggregator microcontroller located at the base of the soft growing robot communicatively connecting signals from the sensor bands. A casing laminates the distributed sensor network. In one example the encasing has cavities or a tooth geometry to allow bending. The casing is flexible to not hinder the growth of the soft growing robot, yet protecting the distributed sensor network.

Abstract: Certain examples are directed to an apparatus having a stretchable synthetic membrane material and series of patterned conductive or semiconductive sections. The stretchable synthetic membrane material may be provided with the series of patterned sections being integrated in or against the material (e.g., on similarly-configured robotic digits operating as a pair). One or more of these sections are electrically coupled to sensor circuitry which may also be secured to or embedded in the material. As the apparatus moves relative to an external object, various environmental parameters may be sensed via at least one sensor as the object and the digit(s) approach one another. Depending on how the sensor circuitry is configured, such parameters may include one or more of proximity, capacitance, temperature, impedance, contact with the object, and movement of the robotic member relative to the external object.

Abstract: A stretchable sensor skin is provided, which is a soft tactile sensor sleeve that can cover large areas of a robot, and is both low-cost and robust. It is made of elastomer molded pouches (referred to as sensor taxels) that when contacted transmit pneumatic pressure to off-board barometric sensors, via stretchable channels. The entirely soft makeup of the sleeve makes it highly conformable to 3D curved geometries of a robot. The stretchable channels mean that it can cover joints without wiring getting caught. The stretchable rubber channels are also inherently more robust than stretchable conductor approaches, and the skin lacks fragile soft-rigid interfaces that has plagued many other sensor skins. The fact that there are no conductive components also makes the skin easy to sanitize and waterproof.

Abstract: A protective impact device is provided that produces an approximately constant force during compression. The device distinguishes several structural features. First, the cross-sectional area in between two impact surfaces increases over the stroke distance when compression takes place. Second, a compressible fluid containing vessel, held in between two impact surfaces, defines an outer shape with a positive second derivative slope defined from one impact surface towards the other impact surface. Third, orifices allow the fluid to bleed out from the compressible vessel when an impact force causes compression of the protective impact device. The resulting approximately constant force scales more or less linearly with impact energy, regardless of impact velocity caused by the impact force. Applications include athletic equipment, automotive bumpers, aircraft landing gear, and any other application that would benefit from maximum energy absorption during an impact.

Abstract: A multi-axis fiber Bragg grating sensing system has a plurality of spatially distributed and mechanically isolated three dimensional multi-axis sensing towers, each having a plurality of connected nonparallel sensing pillars having a straight portion of a length and straightness to support a fiber Bragg grating and connected to at least one other of the three dimensional multi-axis sensing towers via a curved portion having a curvature radius equal to the minimum bend radius of an affixed optical fiber. The optical fiber has a plurality of fiber Bragg gratings and is affixed to each of the dimensional multi-axis sensing towers wherein a fiber Bragg grating is positioned along a straight portion of a sensing pillar of each of the towers. An interrogator captures and measures wavelength data from the fiber Bragg gratings for measuring multi-axis force information applied to each of the three dimensional multi-axis sensing towers.

Abstract: The present invention provides a metal mold and the method of making the metal mold for casting directional gecko-inspired adhesives that require deep, slanted features and an undercut wedge structure. The durable metal mold can be used for high quantities. In one example, compression molding is used to mass produce the adhesives. What normally takes 24 hours to produce now with compressing molding takes 5 minutes. Compression molding allows us to increase daily production from 1 adhesive patch to thousands per day.

Abstract: A biopsy needle has a central axis and includes one or more sensing regions, each sensing region formed by a plurality of sensing optical fibers located over a particular extent of said central axis and inside the outer shell of the needle. The sensing optical fibers are coupled to a wavelength interrogator. A steerable catheter has a central axis and outer shell, the outer shell coupled to a plurality of optical fibers in sensing regions and actuation regions, the sensing regions formed over particular extents of the central axis by bonding gratings to the inner surface of the outer shell, and the actuation regions formed by coupling optical energy into shape memory alloys bonded to the outer shell.

Abstract: A stretchable sensor skin is provided, which is a soft tactile sensor sleeve that can cover large areas of a robot, and is both low-cost and robust. It is made of elastomer molded pouches (referred to as sensor taxels) that when contacted transmit pneumatic pressure to off-board barometric sensors, via stretchable channels. The entirely soft makeup of the sleeve makes it highly conformable to 3D curved geometries of a robot. The stretchable channels mean that it can cover joints without wiring getting caught. The stretchable rubber channels are also inherently more robust than stretchable conductor approaches, and the skin lacks fragile soft-rigid interfaces that has plagued many other sensor skins. The fact that there are no conductive components also makes the skin easy to sanitize and waterproof.

Abstract: A hydrostatic teleoperator is provided to allow physicians remote access inside a Magnetic Resonance Imaging (MRI) bore.

Abstract: A glove with gecko-inspired dry adhesives is provided to greatly reduce the required grasp force on heavy, smooth items. The orientation of the gecko adhesives is designed to increase shear forces between the glove and the object when lifting and manipulating. The invention additionally equips the non-gripping surfaces of the glove (e.g. back and sides) with a non-adhesive microstructure that prevents the glove from accidently adhering to surfaces during unintentional contact, even when touching otherwise sticky materials such as adhesive-coated automotive panels.

Abstract: A distributed sensor network for soft growing robots is provided. Sensor bands are distributed at discrete intervals along the length of the flexible tube, and the sensor bands each are wrapped circumferentially around the diameter of the flexible tube. Each sensor band has one or more sensors and one or more semi-rigid islands containing a self-contained microcontroller, and one or more communication lines to an aggregator microcontroller located at the base of the soft growing robot communicatively connecting signals from the sensor bands. A casing laminates the distributed sensor network. In one example the encasing has cavities or a tooth geometry to allow bending. The casing is flexible to not hinder the growth of the soft growing robot, yet protecting the distributed sensor network.

Abstract: Fiber Bragg grating (FBG) sensors are used to provide measurement of chordae tendineae forces. Two basic modes of operation are considered, The first mode is a research mode, where the FBG sensors are affixed to native chordae in situ and preferably in vivo to provide data on chordae forces in a beating heart under various conditions (e.g., normal, hypertensive, etc.), The second mode is a clinical mode, where the FBG sensor can be used to measure tension on a prosthetic neochord during the surgical procedure to implant the prosthesis.

Abstract: Aspects of various embodiments are directed to sensor apparatuses and methods thereof. An example sensor apparatus includes a capacitor and sensor circuitry. The capacitor includes a first substrate having a first electrode, a second substrate having a second electrode, and a dielectric layer. The dielectric layer has a plurality of apertures arranged in a pattern, the first and second electrode being separated by the dielectric layer and arranged with an overlapping area with respect to one another. The sensor circuitry is coupled to the capacitor and configured and arranged to detect normal and shear forces applied to the sensor apparatus based on changes in capacitance derived from changes in at least one of a distance between the first and second electrodes and the overlapping area of the first and second electrodes.

Abstract: A haptic feedback device for a vehicle is provided that has a ring member disposed circumferentially on the steering wheel as the moving element. This allows the system to be used with a wide variety of driver hand positions on the steering wheel, as opposed to requiring the driver to grip the steering wheel only in specific locations. A linear actuator is used, and accommodating the difference between the linear actuator motion and the rotational motion of the ring member is done via elastic compliance in the system (as opposed to providing pivots, rotary joints etc.). Such elastic compliance can only accommodate a limited range of angular motion (e.g., +/?1 degree), but this small range of motion has been found to be sufficient for this haptic display application.

Abstract: Gripper pads are provided for use, augmentation or retrofitting in a robot manipulator. The gripper pads distinguish a dry adhesive layer with dry adhesive wedges that would interface with an object that is desired to be manipulated. The plurality of dry adhesive wedges is organized in a pattern such that the pattern has at least two different orientations for the direction of the plurality of wedges. The gripper pads further distinguish a sensor array underneath the dry adhesive layer. The data obtained from the sensor array provides an estimate of the shape and size of the contact between the gripper pad and the object when the dry adhesive layer is in contact with the object.

Abstract: The present invention provides a shear gripper device using fibrillar, gecko-inspired adhesives that have the characteristics of being non-tacky in its default state and requiring no normal force to grip a surface. The adhesion is turned “on” by the applied shear load, and “off as the shear load is removed. The shear adhesive gripper is able to grasp large, deformable or delicate objects using a delicate touch.

Abstract: Aspects of various embodiments are directed to sensor apparatuses and methods thereof. An example sensor apparatus includes a capacitor and sensor circuitry. The capacitor includes a first substrate having a first electrode, a second substrate having a second electrode, and a dielectric layer. The dielectric layer has a plurality of dielectric structures arranged in a pattern, the first and second electrode being separated by the dielectric layer and arranged with an overlapping area with respect to one another. The sensor circuitry is coupled to the capacitor and configured and arranged to detect normal and shear forces applied to the sensor apparatus based on changes in capacitance derived from changes in at least one of a distance between first and second electrodes and the overlapping area of the first and second electrodes.