Abstract: A tactile sensor includes a first layer formed of flexible material having an outer contact surface and an opposed inner interface surface, a second layer formed of substantially transparent flexible material arranged in substantially continuous contact with the flexible first layer at the interface surface, a camera, and reflective material. The first and second layers are configured so that pressure exerted by an object or objects contacting the outer contact surface causes at least localized distortion of the interface surface. The camera is arranged to capture an image of the interface surface through the flexible second layer. The reflective material is configured so that the appearance of at least part of the reflective material changes as the viewing angle changes and the reflective material is located between the layers at the interface surface.

Abstract: A clutch mechanism for a mechanical effector device includes a reel configured for winding and unwinding a tendon around the reel, and a base configured to connect to and rotate with a motor for rotation of the base around an axis. The reel and base are further configured for alignment with and rotation around a common axis of rotation. Inner ends of the reel and base mutually castellated and interlocking and the castellations are configured to ride up and over one another to allow independent rotation of the reel and base if an unresolvable rotation force is encountered.

Abstract: A tactile sensor includes a first layer formed of flexible material having an outer contact surface and an opposed inner interface surface, a second layer formed of substantially transparent flexible material arranged in substantially continuous contact with the flexible first layer at the interface surface, a camera, and reflective material. The first and second layers are configured so that pressure exerted by an object or objects contacting the outer contact surface causes at least localized distortion of the interface surface. The camera is arranged to capture an image of the interface surface through the flexible second layer. The reflective material is configured so that the appearance of at least part of the reflective material changes as the viewing angle changes and the reflective material is located between the layers at the interface surface.

Abstract: An end effector includes a base part and a first member. The first member includes first, second, and third serially articulated struts. The first strut articulates with the base part for relative angular displacement about a first pitch axis and about a first roll axis. The first roll axis is substantially orthogonal to the first pitch axis. The second strut articulates with the first strut for relative angular displacement about, firstly, a first yaw axis substantially orthogonal to the first pitch axis and the first roll axis, and, secondly, about a second pitch axis substantially parallel to the first pitch axis and substantially orthogonal to the first yaw axis. The third strut articulates with the second strut for relative angular displacement about a second yaw axis substantially parallel to the first yaw axis.

Abstract: The anthropomorphic hand herein disclosed has finger-representing digits of generally conventional configuration, but the thumb-representing digit of the hand is of a novel configuration and the plan with which all digits are articulated is in two parts, the thumb- and the first and second finger-representing digits being articulated with one palm part, and the third and fourth finger-representing digits being articulated with the second palm part for angular displacement, about, inter alia, axes which are similarly inclined at an acute angle towards the first and second finger-representing digits. By virtue of the thumb-representing digit configuration, the two part palm, and the manner of articulation of the third and fourth finger-representing digits therewith, the hand exhibits great dexterity, possessing, as it does, all twenty four degrees of freedom present in the human hand.

Abstract: A humanoid forearm and hand configuration has a hand conformation such as to be capable of mimicking substantially all of the movements of the human hand, the several component parts of the hand and the wrist-simulating joint coupling the hand to the radius-seeking joint of the forearm being angularly movable with respect to one another each by separate tendon means connected to respective ones of a large number of tightly packed space-seeking jostling air muscles clustered around a radius-simulating shaft.