Abstract: A linear actuator is driven by an internal motor and delivers force to an output shaft. Advantageously, the technique provides speed/force tradeoffs via a simple, high-efficiency mechanism; continuous output force is provided by alternating the load between two belts deflected by, by way of example but not limitation, cam devices. The technique provides high force, allows the force to be traded for speed at a given power level, and provides continuous output force when operated as an actuator or continuous braking force when operated as a generator. Sensors may provide a low power tracking mode to allow the output to move freely.

Abstract: A technique for providing a variable-ratio coupling between output shaft and input motor involves driving an output shaft with drivers that are out of phase with each other. Advantageously, the technique provides a gear reduction via a simple, high-efficiency mechanism; continuous output torque is provided by alternating the load between two belts deflected by, by way of example but not limitation, cam devices. The technique provides high torque and allows the torque to be traded for speed at a given power level, and provides continuous output torque when operated as a motor or continuous braking forces when operated as a generator. A system according to the technique can be used as a transmission to couple rotary or oscillating forces from an input drive shaft to a continuous, variable-ratio output shaft.

Abstract: A technique for deflecting an actuator belt includes applying a variable deflection force to the actuator belt. The technique may be used to construct actuators for active orthotics, robotics or other applications. Versions with passive clutches may also be used to construct variable-ratio motor gearheads, or may be scaled up to build continuously variable transmissions for automobiles, bicycles, or other vehicles.

Abstract: A technique for providing a variable-ratio coupling between output shaft and input motor involves driving an output shaft with drivers that are out of phase with each other. Advantageously, the technique provides a gear reduction via a simple, high-efficiency mechanism; continuous output torque is provided by alternating the load between two belts deflected by, by way of example but not limitation, cam devices.

Abstract: A motor that delivers high force linear motion or high torque rotary motion to a moving element. The motor may include a driving brake, a driver, a holding brake and a flexible moving element. Operation of the motor may involve activating the holding brake, activating the driver to flex the moving element, activating the holding brake to maintain the position of a portion of the moving element, releasing the driving brake, and restoring the moving element to an unflexed position. The elements are arranged to provide linear motion, belt-driven rotary motion, or directly-coupled rotary motion using brakes and drivers arranged in linear or circular fashion. Drivers may be linear or rotary actuators or motors based on electrostatic, piezoelectric, magnetic, or electrostrictive properties. The brakes may be applied through electrostatic forces, magnetic forces, or mechanical gears engaged with a linear or rotary driving mechanism.

Abstract: A method for controlling movement using an active powered device including an actuator, joint position sensor, muscle stress sensor, and control system. The device provides primarily muscle support although it is capable of additionally providing joint support (hence the name “active muscle assistance device”). The device is designed for operation in several modes to provide either assistance or resistance to a muscle for the purpose of enhancing mobility, preventing injury, or building muscle strength. The device is designed to operate autonomously or coupled with other like device(s) to provide simultaneous assistance or resistance to multiple muscles.

Abstract: A high-power electrostatic actuator comprising rotor and stator layers with fault-tolerant electrode structures, a housing to contain the electrodes and dielectric fluid, and electronic circuitry driving a plurality of high-voltage phases. The actuator is constructed from multiple rotor and stator films separated by spacing elements. The electrode structure provides self-alignment for precise assembly. The actuator assembly includes built-in fine-position sensors to allow optimal timing in powering phases, and a coarse position sensor for feedback control. The electrode structure has a large region of linear force to provide low torque-ripple allowing simple high/low voltage pulsing instead of analog high voltage waveforms. Single or double sided flexible circuit manufacturing techniques are used to fabricate the rotor and stator films at low cost.

Abstract: A method for preparing 2,4-Dichloro-3,5-dimethylfluorobenzene, wherein the 2,4-Dichloro-3,5-dimethylfluorobenzene can be prepared in highisomeric selectivities when 3,5-dimethylfluorobenzene is chlorinated in the presence of Friedel-Crafts catalysts and a sulfur-containing co-catalyst.The invention is also directed to an intermediary for preparing a pharmaceutically-active compound including 4-dichloro-3,5-dimethyl fluorobenzene.

Abstract: A sewing machine for producing a seam along a three-dimensional bent curve including first and second carriers for supporting a needle system and a looper system for translation along and rotation about three coordinate axes and first control means for synchronizing needle and looper drives and second control means for operating positioning devices for positioning the needle system and looper system to provide a differential spatial relationship between the needle system and the looper system before and after the sewing operation and for synchronizing the positioning devices.

Abstract: Encoding and decoding circuits are described for functioning as both a time and voltage based transmission system. Multiple binary inputs can be transmitted and received on a single I/O pin by encoder and decoder circuits using high speed emitter coupled-like logic.