Abstract: Freeform, additive manufacturing equipment, processes and products, including residential, commercial and other buildings. A movable extruder places extrudate that solidifies in open space to create “scaffolding” or “skeletons” of buildings and other products. Elongated extrudate elements are fused to each other or connected by other means to form a cellular structure. Filler material such as polymeric insulating foam may simultaneously or thereafter be placed within the cellular structure to contribute desired strength, rigidity, insulative, barrier or other properties. Finish materials may also be applied.

Abstract: The invention relates to a polypeptide, such as an Affimer polypeptide, comprising an amino acid sequence having at least 80% identity to amino acid residues 1 to 11, 13 to 15, 17 to 19, 21 to 25, 27 to 28, 35 to 37, 39, 41, 43 to 44, 46 to 47, 49 to 50, 52 to 53, 55 to 58, 63 to 64, 66, 68 to 82, 84 to 85, and 87 to 98 of SEQ ID NO: 1; characterised in that said polypeptide comprises one or more mutations relative to SEQ ID NO: 1 selected from the group consisting of: T51L, T51V, M65V, N32G, A59I, L38A, V20I, A40I, L38V, A12I, A12V, I16L, V20L, Q26E, E29M, T31K, N32D, N32H, T34V, T34R, T34D, T34P, A40V, Q42D, T45I, T45V, V48E, V48G, V48A, T51F, T51A, A59L, L67I, (V20I, L38A), (V20L, L38A), (V20I, L38V), (V20L, L38V), (E29K, K30E, E33K), (Y54D, T83D, Q86E), (A59L, G60N, D61G, N62K), (A59V, D61N, N62K), (G60N, D61G, N62K), (G60N, ?D61, N62G), ?D61, (A59L, G60N, ?D61, N62G), (A59V, G60N, D61G, N62K), (A59I, G60N, D61G, N62K), (A59I, G60N, ?D61, N62G), (A59V, G60N, ?D61, N62G), (A59V, ?D61), (G60P, ?D61, N62P),

Abstract: A composite oxidation catalyst for use in an exhaust system for treating an exhaust gas produced by a vehicular compression ignition internal combustion engine is disclosed. The composite oxidation catalyst comprises a honeycomb flow-through substrate monolith and two catalyst washcoat zones arranged axially in series on and along the substrate surface.

Abstract: Methods, systems, and panels for retrofitting an existing exterior of a building. In one example, the method may include: (a) obtaining data about an exterior geometry of the existing exterior; (b) using the obtained data, defining a custom retrofit panel system for the exterior geometry; and (c) constructing the custom retrofit panel system including a plurality of panels, in which constructing a panel includes: (i) forming a panel frame by additive manufacturing, the panel frame defining interstitial spaces; (ii) at least partially filling the interstitial spaces with at least one filler; and (iii) in which the constructed panel includes a building facing surface configured to mate with the exterior geometry of the existing exterior.

Abstract: The invention is a grab rail built onto or attachable onto a wheelchair, having a cross rail reachably above the seated user and forward of the seated user's center of gravity which joins into side rails above the sides of the wheelchair, with support bars extending downward from the rear ends of the side bars to attach rigidly atop the wheelchair's back rest, the grab rail helping the user reposition or transfer independently. The grab rail does not obstruct or interfere with indoor use and can also support a canopy for sun and rain protection outdoors.

Abstract: The disclosure provides compositions and methods for identifying and/or quantifying a binding member in a sample.

Abstract: A household lift for fallen persons is devised in which a modified stepladder serves as the main lift structure while also serving as a stepladder storably foldable and usable within the house. A removable winch is set atop the stepladder, and it too can serve other purposes and can be of hand-cranked or electric powered design. The winch's lift cable is removably attached to preferably a prior-art sling type which first lays flat on the floor to facilitate moving the person onto it, and next pulls the person up into a secure sit-up position and then high enough to lower onto a wheelchair or other safe destination.

Abstract: Freeform, additive manufacturing equipment, processes and products, including residential, commercial and other buildings. A movable extruder places extrudate that solidifies in open space to create “scaffolding” or “skeletons” of buildings and other products. Elongated extrudate elements are fused to each other or connected by other means to form a cellular structure. Filler material such as polymeric insulating foam may simultaneously or thereafter be placed within the cellular structure to contribute desired strength, rigidity, insulative, barrier or other properties. Finish materials may also be applied.

Abstract: Freeform, additive manufacturing equipment, processes and products, including residential, commercial and other buildings. A movable extruder places extrudate that solidifies in open space to create “scaffolding” or “skeletons” of buildings and other products. Elongated extrudate elements are fused to each other or connected by other means to form a cellular structure. Filler material such as polymeric insulating foam may simultaneously or thereafter be placed within the cellular structure to contribute desired strength, rigidity, insulative, barrier or other properties. Finish materials may also be applied.

Abstract: Upright handgrip integral with nutcracker-like clamping mechanism for attachment to handles of household knives to allow those with wrist and hand strength or control problems to use their preferred knives safely and effectively. Grips near the back of a knife handle with deformable and tailorable elastomer pads, and to the knife blade itself just ahead of the handle, to complete the attachment and prevent twisting or flexing in use.

Abstract: The invention enables a mobility-challenged user to don shoes on the floor, already adequately tied for the day, whether the user is seated or standing and without having to reach down to them. A staff has two sidearms reaching over the shoe opening with a heel guide on the rear one and tongue grab on the forward one. The guide and grab, close together at rest, are inserted down into the shoe opening. Pressing down on the staff then forces the sidearms longitudinally apart, pushing guide and grab which stretches the shoe opening lengthwise to ease foot entry, while a slippery flap hanging from the tongue grab moves under the tongue to reduce resistance to the forward sliding of the bridge of the foot. The foot heel pressed down on the heel guide pushes forward on the heel guide's downward sloping ramp and then slides down a shoehorn-like lower part of the heel guide, and the shoe is donned. Lifting the staff easily pulls guide, grab and flap out of the shoe. The “donner stick” is light and compact for travel.

Abstract: A shoe donner device includes a platform holding one or both shoes, already tied, made ready for donning without having to reach down to floor level. The readied shoe donner includes a shoehorn removably inserted into each shoe, and tongue clips removably inserted over the tip of each shoe tongue and pulling it slightly upward and forward. The platform is tilted to facilitate the seated user's insertion of foot partway into shoe, and can be rocked back and forth. Pulling on reachable cords exerts strong forward push of shoehorn against foot heels, driving the feet fully into the tied shoes. Pulling shoehorns and tongue clips free with reachable strings or a hooked stick releases the shod feet, ready for the day.

Abstract: Freeform, additive manufacturing equipment, processes and products, including residential, commercial and other buildings. A movable extruder places extrudate that solidifies in open space to create “scaffolding” or “skeletons” of buildings and other products. Elongated extrudate elements are fused to each other or connected by other means to form a cellular structure. Filler material such as polymeric insulating foam may simultaneously or thereafter be placed within the cellular structure to contribute desired strength, rigidity, insulative, barrier or other properties. Finish materials may also be applied.

Abstract: An affordable “non-surgical” method for retro-upgrading a house to better withstand hurricane winds and rain is described, wherein the winds' most strongly depressurized eddies or “Separation Zones” bordering the building envelope are clearly identified and “harnessed” by assured venting of the interior space just into such, thereby depressurizing the interior likewise and strongly reducing or eliminating any net outward-acting force on the building envelope. The “harnessing” is assured simply by installing one-way valves over the vent openings, whereby air can pass outward from the interior to strongest-depressurized Separation Zones but inward flows (such as on the windward) are quickly blocked by the other valved vents “blowing closed”. The roof envelope surrounding the attic is especially addressed, wherein winds from any direction will strongly depressurize the attic and so help hold the roof sheathing down, gables on, soffits and ceiling up—while the valves also block ruinous rain entry on the windward.

Abstract: It's now accepted that hurricane tie-down straps should be wrapped over the top of rafters/trusses, avoiding the crucial weakening effect of wood splitting around the nails of common side-nailed straps. That “wrap-over” is easy to do during construction but has been difficult and costly to do for existing houses, where the sheathing and roofing is in the way. But now such wrap-over can be an easy retrofit, according to this invention: Without damaging sheathing or roofing, force the sheathing off the rafter/truss just enough to allow a special strap to be pushed through the gap, then proceed much as in new construction. Unique wedge-blade and lever types of devices quickly create just the right gaps.

Abstract: A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

Abstract: A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

Abstract: An SEA architecture for controlling the torque applied by an SEA that has particular application for controlling the position of a robot link. The SEA architecture includes a motor coupled to one end of an elastic spring and a load coupled to an opposite end of the elastic spring, where the motor drives the load through the spring. The orientation of the shaft of the motor and the load are measured by position sensors. Position signals from the position sensors are sent to an embedded processor that determines the orientation of the load relative to the motor shaft to determine the torque on the spring. The embedded processor receives reference torque signals from a remote controller, and the embedded processor operates a high-speed servo loop about the desired joint torque. The remote controller determines the desired joint torque based on higher order objectives by their impedance or positioning objectives.

Abstract: A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

Abstract: A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.