Abstract: A method of exploiting activation sparsity in deep neural networks is described. The method includes retrieving an activation tensor and a weight tensor where the activation tensor is a sparse activation tensor. The method also includes generating a compressed activation tensor comprising non-zero activations of the activation tensor, where the compressed activation tensor has fewer columns than the activation tensor. The method further includes processing the compressed activation tensor and the weight tensor to generate an output tensor.

Abstract: A method for detecting a user's intent in an adaptive lower limb device includes providing the adaptive lower limb device. The lower limb device includes a device control unit. The device control unit includes activity controllers and at least one accelerometer. The acceleration features are measured via the at least one accelerometer. The measured acceleration features are determined whether they correspond to a tapping movement initiated by a user with an intent to switch from a first one of the plurality of activity controllers to a second one of the plurality of activity controllers. If the measured accelerating features correspond to the tapping movement, the control unit of the adaptive lower limb device is switched from the first one of the activity controllers to the second one of the activity controllers.

Abstract: In one embodiment, the orthotic device can include a powered hand portion, a switching element, and a controller. The wearer can interact with the switching element to generate input signals for adjusting an operation of the powered hand portion. The controller can receive the input signals and generate control signals to accordingly adjust the operation of the powered hand portion. In some embodiments, a powered hand portion can be comprised of a plurality of linkages and at least one powered actuator to assist with an opening and closing of the hand portion. The plurality of linkages can be operated by at least one electric motor with quick-connect elements to link onto fingers of a user. In some embodiments, an electrically-actuated clutch mechanism can be affixed to an upper arm section and a lower arm section of an orthotic device. The clutch mechanism can be configured into different positions.

Abstract: The present disclosure provides an ankle joint mechanism, including a shank member, a first connecting link, a foot member, a second connecting link, and a force providing element. The foot member is coupled to the shank member at a first pivot point and coupled to the first connecting link at a second pivot point. The second connecting link is coupled to the first connecting link at a third pivot point and coupled to the shank member at a fourth pivot point. The force providing element is coupled to the second connecting link at a first end and coupled to either the shank member or the foot member at a second end.

Abstract: Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.

Abstract: The present disclosure provides for a device and method of control for an artificial prosthetic knee. A prosthetic knee according to the present disclosure relies on strictly passive means of providing support during weight bearing and supplements a resistive swing-phase mechanism with a small powered actuator. This actuator adds power to the knee, exclusively during swing phase, to improve swing-phase behavior. In particular, the knee still relies on the resistive swing-phase mechanism to provide nominal swing-phase knee motion, but supplements that motion as needed with the small powered actuator.

Abstract: A neural processing unit (NPU) is described. The NPU includes an NPU direct memory access (NDMA) core. The NDMA core includes a read engine having a read buffer. The NDMA core also includes a write engine having a write buffer. The NPU also includes a controller. The controller is configured to direct the NDMA core to perform hardware memory bandwidth optimization for reading/writing NDMA data in the read buffer and/or NDMA data in the write buffer. The NDMA core is also configured to transparently combine NDMA transaction requests for a data stripe to increase local access to available tensors in artificial neural networks.

Abstract: Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.

Abstract: A neural processing unit (NPU) is described. The NPU includes an NPU direct memory access (NDMA) core. The NDMA core includes a read engine having a read buffer. The NDMA core also includes a write engine having a write buffer. The NPU also includes a controller. The controller is configured to direct the NDMA core to perform hardware memory bandwidth optimization for reading/writing NDMA data in the read buffer and/or NDMA data in the write buffer. The NDMA core is also configured to transparently combine NDMA transaction requests for a data stripe to increase local access to available tensors in artificial neural networks.

Abstract: Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.

Abstract: An asymmetric linear actuator is provided which integrates a hydraulic dissipater and an electric motor and power screw which generates small forces. The actuator is configured so that an electric motor drives a power screw which drives a rod through a cylinder to provide linear actuation. The cylinder is fluid-filled and incorporates a piston that separates the cylinder into a first and second fluid chamber which are filled with a first and second volume of working fluid. Movement of the piston and rod assembly results in fluid movement between the first and second volumes of working fluid and through the fluidic restriction. The fluidic restriction can be proportionally controllable via an electric motor which enables controllable power dissipation via control of the fluidic restriction motor and controllable power generation via control of the power screw motor.

Abstract: An orthotic device includes an upper arm section for receiving an upper portion of an arm of a subject, a forearm section for receiving a forearm section of the arm, and at least one elbow joint rotatably coupling the upper arm section and the forearm section. In the orthotic device, the forearm section includes a release control operatively coupled to the at least one elbow joint, where the release control is configured to transition the at least one elbow joint from a restricted motion state to a free motion state when the release control is activated.

Abstract: An exemplary robotic system includes a plurality of controllable joints and a controller. An exemplary control method provides for controlling the controllable joints by the controller. The control method provides for determining a configuration space for the robotic system and determining a reference movement path within the configuration space. The control method then provides for assigning a plurality of streamlines in the configuration space to yield a flow field based on the reference movement path. The control method then provides for measuring actual velocity vectors of the robotic system in the configuration space. The control method then provides for determining an error velocity vector based on a difference between the actual velocity vector and the desired velocity vector given by the flow field corresponding to the current robot configuration.

Abstract: Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.

Abstract: A cylinder actuator includes a body assembly and a piston assembly. The body assembly includes a first cylinder nested concentrically within a second cylinder. The piston assembly slides linearly within the first and second cylinders. The piston assembly includes a first piston assembly end and a second piston assembly end. The first piston assembly end includes first and second pistons. The first piston moves within the first cylinder. The second piston moves within the second cylinder. The piston assembly includes first and second piston rods. The first piston rod extends from the first piston through a first end of the first cylinder. The second piston rod extends from the second piston through a first end of the second cylinder. The piston rods are joined at the second end of the piston rod assembly located outside of the first and second cylinders.

Abstract: An asymmetric linear actuator is provided which integrates a hydraulic dissipater and an electric motor and power screw which generates small forces. The actuator is configured so that an electric motor drives a power screw which drives a rod through a cylinder to provide linear actuation. The cylinder is fluid-filled and incorporates a piston that separates the cylinder into a first and second fluid chamber which are filled with a first and second volume of working fluid. Movement of the piston and rod assembly results in fluid movement between the first and second volumes of working fluid and through the fluidic restriction. The fluidic restriction can be proportionally controllable via an electric motor which enables controllable power dissipation via control of the fluidic restriction motor and controllable power generation via control of the power screw motor.

Abstract: A device includes a first member and a second member disposed in series along a longitudinal axis. The device also includes links coupling first joints of the first member to second joints of the second member. The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element disposed between the first member and the second member, the first member and the second member preloaded against the resilient element. The first member and the second member are preloaded to provide an arrangement of the first and the second joints in which a motion of the first joints with respect to the second joints is constrained to a direction substantially parallel to the longitudinal axis. The devices further include a sensor for generating a signal indicating a separation between the first member and the second member.

Abstract: The present disclosure provides for a device and method of control for an artificial prosthetic knee. A prosthetic knee according to the present disclosure relies on strictly passive means of providing support during weight bearing and supplements a resistive swing-phase mechanism with a small powered actuator. This actuator adds power to the knee, exclusively during swing phase, to improve swing-phase behavior. In particular, the knee still relies on the resistive swing-phase mechanism to provide nominal swing-phase knee motion, but supplements that motion as needed with the small powered actuator.

Abstract: An asymmetric linear actuator is provided which integrates a hydraulic dissipater and an electric motor and power screw which generates small forces. The actuator is configured so that an electric motor drives a power screw which drives a rod through a cylinder to provide linear actuation. The cylinder is fluid-filled and incorporates a piston that separates the cylinder into a first and second fluid chamber which are filled with a first and second volume of working fluid. Movement of the piston and rod assembly results in fluid movement between the first and second volumes of working fluid and through the fluidic restriction. The fluidic restriction can be proportionally controllable via an electric motor which enables controllable power dissipation via control of the fluidic restriction motor and controllable power generation via control of the power screw motor.

Abstract: A cylinder actuator includes a body assembly and a piston assembly. The body assembly includes a first cylinder nested concentrically within a second cylinder. The piston assembly slides linearly within the first and second cylinders. The piston assembly includes a first piston assembly end and a second piston assembly end. The first piston assembly end includes first and second pistons. The first piston moves within the first cylinder. The second piston moves within the second cylinder. The piston assembly includes first and second piston rods. The first piston rod extends from the first piston through a first end of the first cylinder. The second piston rod extends from the second piston through a first end of the second cylinder. The piston rods are joined at the second end of the piston rod assembly located outside of the first and second cylinders.