Abstract: A controllable adhesive for non-flat surfaces is provided. The device has a conformable (i.e. flexible) film and directly cast thereto a synthetic dry adhesive film. The synthetic dry adhesive film has elastomeric wedges. The conformable film is capable to deform to a non-flat surface. In one embodiment, the controllable adhesive has a first loading mechanism at one end of the controllable adhesive to apply load to the controllable adhesive. In another embodiment, forming a gripper, the controllable adhesive has a second controllable adhesive with a second loading mechanism, such that the first and second loading mechanism face each other and join a common point of loading.

Abstract: A method of towing or pushing an object using a micro-robot is provided that includes attaching a micro-robot, using a first dry adhesive, to a surface, where the dry adhesive includes micro wedges, where the micro wedges are attached to the surface when the micro wedges are in a deformed state, applying a load to the attached micro-robot, advancing the micro-robot, using a lifting element, where the lifting element includes a uni-directional footing, where the lifting element is disposed to detach the first dry adhesive and advance the micro-robot across the surface while the uni-directional footing is attached to the surface, where the detached first dry adhesive includes micro wedges in an free-standing state, where the load is advanced across the surface.

Abstract: A method of forming synthetic dry adhesives is provided that includes using a combined wedge indenting and orthogonal machining process to form tapered mold cavities in a mold, filling the tapered mold cavities with an elastomeric adhesive, curing the elastomeric adhesive in the tapered mold cavities, and removing the elastomeric adhesive from the mold, where a plurality of tapered lamellar ridges extend from a surface of the elastomeric adhesive.

Abstract: Various aspects as described herein are directed to methods and systems that include a tissue-engagement apparatus. The tissue-engagement apparatus includes a distal needle portion having a sharp-end region to be applied to a tissue surface. The tissue-engagement apparatus also includes a proximate needle portion to attach to a needle base, and an elongated needle portion, situated between the distal needle portion. The elongated needle portion includes a plurality of openings that accentuate haptic-type forces carried by the elongated needle portion in response to engagement between the sharp-end region and the tissue surface. Additionally, the proximate needle portion includes a communication pathway that conveys information, from the distal needle portion along the elongated needle portion, which characterizes forces due to the engagement between the sharp-end region and the tissue surface.

Abstract: A variable stiffness spring is provided that includes a dielectric diaphragm having a biaxially pre-strained film, where the dielectric diaphragm includes an out-of-plane stiffness at zero voltage, a first electrode disposed on a first side of the dielectric diaphragm and a second electrode disposed on a second side of the dielectric diaphragm, where the out-of-plain stiffness is relaxed by an applied voltage between the first electrode and the second electrode.

Abstract: A method of separating particles is provided that includes exposing a selective PDMS adhesive to a particle-contaminated surface, where the selective PDMS adhesive captures particles present on the particle-contaminated surface to form a fouled selective PDMS adhesive, and exposing the fouled selective PDMS adhesive to a PDMS transfer sheet, where particles outside of a desired range are transferred over to the PDMS transfer sheet, where the fouled selective PDMS adhesive retains only the particles of a desired range.

Abstract: Aspects of the present disclosure are directed to master-slave apparatuses as well as methods of making and implementing the same. As consistent with one or more embodiments, an apparatus includes a master platform having a manipulation section, and a slave platform mechanically coupled to the master platform and having an interventional-delivery section that secures an interventional tool. The slave platform moves in accordance to three-dimensional movement of the master platform, via supports having a portion thereof fixed relative to the other supports. Each support operates with a respective one of the master and slave platforms for effecting three-dimensional movement of the slave platform, in response to and while tracking (e.g., transmitting) the movement of the master platform, thereby providing control over the interventional tool via the manipulation section of the master platform.

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: The tactile feedback device of the preferred embodiments includes at least one skin contact pad; at least one actuator designed to move the at least one skin contact pad and attached to the at least one skin contact pad in a manner suitable to allow the actuator to move the at least one skin contact pad; a processor coupled to the actuator that executes a control logic and functions to control the movements of the at least one actuator; the control logic functions to determine the motions of the at least one actuator and is designed to move the at least one actuator in a manner that stretches the skin of the user. The tactile feedback device of the preferred embodiments has been designed to provide feedback to a user in a way that provides the user with information regarding a task that they are performing. The tactile feedback device of the preferred embodiments, however, may be used for any suitable purpose.

Abstract: A method of forming synthetic dry adhesives is provided that includes using a wedge-shaped tool to form mold cavities in a mold, filling the mold cavities with an elastomeric adhesive, removing the elastomeric adhesive from the mold, where a tapered lamellar ridge extends from a surface of the elastomeric adhesive, treating a tip of the extending ridge with a film of uncured elastomeric material, and curing the film of uncured material while the extending ridge is pressed against a substrate surface having a smoothness or texture. The synthetic dry adhesive comprises a close-packed array of tapered lamellar ridges, where the centerline of a ridge is angled relative to a direction normal to the synthetic dry adhesive and the cross section includes an internal taper. The tapered ridge bends when it contacts a surface, whereupon the radius of curvature of the ridge increases monotonically with increasing shear load.

Abstract: A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors.

Abstract: A biologically inspired climbing device with toes and spines is provided. The device has toes capable of moving independently from each other. Each toe distinguishes a compliant linkage, which has non-compliant parts and compliant parts. Spines are distributed over each of the toes. The spines have a diameter that is less than or equal to a diameter of an asperity of a surface. The toes with spines could be arranged into one or more feet. The feet could then be organized in legs enabling the device to climb a surface in a gait pattern. The device uses low power and is quiet, leaves no traces or tracks behind, works well on smooth, rough, uneven, porous and dirty surfaces, and is able to carry and support its own body weight.

Abstract: A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors.

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: The tactile feedback device of the preferred embodiments includes at least one skin contact pad; at least one actuator designed to move the at least one skin contact pad and attached to the at least one skin contact pad in a manner suitable to allow the actuator to move the at least one skin contact pad; a processor coupled to the actuator that executes a control logic and functions to control the movements of the at least one actuator; the control logic functions to determine the motions of the at least one actuator and is designed to move the at least one actuator in a manner that stretches the skin of the user. The tactile feedback device of the preferred embodiments has been designed to provide feedback to a user in a way that provides the user with information regarding a task that they are performing. The tactile feedback device of the preferred embodiments, however, may be used for any suitable purpose.

Abstract: A biologically inspired climbing device with toes and spines is provided. The device has toes capable of moving independently from each other. Each toe distinguishes a compliant linkage, which has non-compliant parts and compliant parts. Spines are distributed over each of the toes. The spines have a diameter that is less than or equal to a diameter of an asperity of a surface. The toes with spines could be arranged into one or more feet. The feet could then be organized in legs enabling the device to climb a surface in a gait pattern. The device uses low power and is quiet, leaves no traces or tracks behind, works well on smooth, rough, uneven, porous and dirty surfaces, and is able to carry and support its own body weight.

Abstract: The invention is a flexible gripper for industrial robots and the like through the use of articulated ball joint linkages and an industrial brake. The gripper can orient itself to an object and adapt to irregular surfaces while engaging the object. In other words, the gripper matches the orientation of the grasped part. With the object so engaged, the gripper is locked rigidly so that the orientation of the part is preserved as it is manipulated by the flexible gripper and its associated robot.

Abstract: A five and one-half degree of freedom adjustable compliance system exhibits a range of compliant control useful for large industrial manipulators which experience a range of tool lengths and payloads. Reinforced elastomeric spheres provide monotonically increasing spring stiffness and can automatically be adjusted for a desired stiffness range through pressurized fluid. Local position sensing of the robot gripper is achieved by linear variable-differential transformers. The output is analyzed by a microcomputer for possible readjustment of the manipulator.