Abstract: Disclosed is a method for identifying lawn grass which includes capturing an image of the terrain in front of a mower, segmenting the image into neighborhoods, calculating at least two image statistics for each of the neighborhoods, generating a binary representation of each image statistic. The binary representation of each image statistic is generated by comparing the calculated image statistic values to predetermined image statistic values for grass. The method further includes weighting each of the binary representations of each image statistic, and summing corresponding neighborhoods for all image statistics. A binary threshold is applied to each of the summed neighborhoods to generate a binary map representing grass containing areas and non-grass containing areas.

Abstract: Disclosed is a method for identifying lawn grass which includes capturing an image of the terrain in front of a mower, segmenting the image into neighborhoods, calculating at least two image statistics for each of the neighborhoods, generating a binary representation of each image statistic. The binary representation of each image statistic is generated by comparing the calculated image statistic values to predetermined image statistic values for grass. The method further includes weighting each of the binary representations of each image statistic, and summing corresponding neighborhoods for all image statistics. A binary threshold is applied to each of the summed neighborhoods to generate a binary map representing grass containing areas and non-grass containing areas.

Abstract: Disclosed is a method for identifying lawn grass which includes capturing an image of the terrain in front of a mower, segmenting the image into neighborhoods, calculating at least two image statistics for each of the neighborhoods, generating a binary representation of each image statistic. The binary representation of each image statistic is generated by comparing the calculated image statistic values to predetermined image statistic values for grass. The method further includes weighting each of the binary representations of each image statistic, and summing corresponding neighborhoods for all image statistics. A binary threshold is applied to each of the summed neighborhoods to generate a binary map representing grass containing areas and non-grass containing areas.

Abstract: Disclosed is a method for identifying lawn grass which includes capturing an image of the terrain in front of a mower, segmenting the image into neighborhoods, calculating at least two image statistics for each of the neighborhoods, generating a binary representation of each image statistic. The binary representation of each image statistic is generated by comparing the calculated image statistic values to predetermined image statistic values for grass. The method further includes weighting each of the binary representations of each image statistic, and summing corresponding neighborhoods for all image statistics. A binary threshold is applied to each of the summed neighborhoods to generate a binary map representing grass containing areas and non-grass containing areas.

Abstract: A power-assisted orthosis is shown and described. The power assisted orthosis may include a knee orthosis adapted to be secured to at least one of a user's knee joint, a hip orthosis adapted to be secured to a user's hip joints, and a first actuator attached with the knee orthosis, the first actuator moveable in conjunction with movement of the at least one of the user's knee joint. The power assisted orthosis may also include a second actuator attached to the hip orthosis, the second actuator moveable in conjunction with movement of the user's hip joints, and a valve in fluid communication with a port of at least one of the first and second actuators, where the valve controls fluid flow within the at least one of the first and second actuators to lock or unlock at least one of the first and second actuators.

Abstract: Disclosed is a method for identifying lawn grass which includes capturing an image of the terrain in front of a mower, segmenting the image into neighborhoods, calculating at least two image statistics for each of the neighborhoods, generating a binary representation of each image statistic. The binary representation of each image statistic is generated by comparing the calculated image statistic values to predetermined image statistic values for grass. The method further includes weighting each of the binary representations of each image statistic, and summing corresponding neighborhoods for all image statistics. A binary threshold is applied to each of the summed neighborhoods to generate a binary map representing grass containing areas and non-grass containing areas.

Abstract: One aspect of the present invention includes a flexible gripping device. The flexible gripping device includes a plurality of pneumatic actuator rings and a grasper element disposed within the plurality of pneumatic actuator rings. The grasper element is adapted to move back and forth within the actuator rings.

Abstract: This invention provides a method for identifying lawn grass comprising capturing an image of the terrain in front of a mower, segmenting the image into neighborhoods, calculating at least two image statistics for each of the neighborhoods, generating a binary representation of each image statistic. The binary representation of each image statistic is generated by comparing the calculated image statistic values to predetermined image statistic values for grass. The method further comprises weighting each of the binary representations of each image statistic, and summing corresponding neighborhoods for all image statistics. A binary threshold is applied to each of the summed neighborhoods to generate a binary map representing grass containing areas and non-grass containing areas.

Abstract: An apparatus for locomotion includes an elongate body member defining a longitudinal axis and having oppositely disposed first and second body ends separated by a body lumen. A power source is operative to selectively provide motive power to the apparatus by changing a lateral cross-sectional area of the body member in at least one actuation location to produce at least one peristaltic wave propagated through the body member substantially along the longitudinal axis. The peristaltic wave is a substantially smooth wave. The peristaltic wave causes the body member to interact with an ambient environment and provide longitudinally oriented locomotion to the apparatus. A method for locomotion is also described.

Abstract: An orthotic brace (30) for a joint includes a bracing device (40) having first and second portions (42, 44) movable relative to one another and a mechanism (100) for placing the bracing device (40) in a first condition in which the first portion (42) has a first resistance to movement relative to the second portion (44) and a second condition in which the first portion (42) has a second, different resistance to movement relative to the second portion (44). The mechanism (100) is capable of placing the bracing device (40) in a third condition in which the first portion (42) has a third resistance to movement relative to the second portion (44) that is between the first and second resistance.

Abstract: The present invention relates to a gripping device that consists of four artificial muscle rings arranged in parallel. A grasper is placed in the middle of the rings. Sequential activation of the rings produces a peristaltic motion that moves the grasper back and forth within the rings. By activating the grasper appropriately, it can grab, ingest, and move soft and irregular material from one side of the lumen formed by the rings to the other side.

Abstract: A flexible gripping device including a plurality of pneumatic actuator rings. A grasper element is disposed within the plurality of pneumatic actuator rings and adapted to move back and forth within the actuator rings.

Abstract: An apparatus for locomotion includes an elongate body member defining a longitudinal axis and having oppositely disposed first and second body ends separated by a body lumen. A power source is operative to selectively provide motive power to the apparatus by changing a lateral cross-sectional area of the body member in at least one actuation location to produce at least one peristaltic wave propagated through the body member substantially along the longitudinal axis. The peristaltic wave is a substantially smooth wave. The peristaltic wave causes the body member to interact with an ambient environment and provide longitudinally oriented locomotion to the apparatus. A method for locomotion is also described.

Abstract: An orthotic brace (30) for a joint includes a bracing device (40) having first and second portions (42, 44) movable relative to one another and a mechanism (100) for placing the bracing device (40) in a first condition in which the first portion (42) has a first resistance to movement relative to the second portion (44) and a second condition in which the first portion (42) has a second, different resistance to movement relative to the second portion (44). The mechanism (100) is capable of placing the bracing device (40) in a third condition in which the first portion (42) has a third resistance to movement relative to the second portion (44) that is between the first and second resistance.

Abstract: The present invention relates to novel, highly mobile small robots called “Mini-WHEGS™” that can run and jump. They are derived from our larger WHEGS™(“wheel-like lecis”) series of robots, which benefit from abstracted cockroach locomotion principles. Part of their success is derived from the three spoked appendages, called “WHEGS™”, which combine the speed and simplicity of wheels with the climbing mobility of legs. To be more compact than the larger WHEGS™ vehicles, Mini-WHEGS™ uses four wheel-like legs in an alternating diagonal gait. These 9 cm long robots can run at sustained speeds of over 10 body lengths per second and climb obstacles that are taller than their leg length. They can run forward and backward, on either side. Their robust construction allows them to tumble down a flight of stairs with no damage and carry a payload equal to twice their weight. A jumping mechanism enables Mini-WHEGS™ to surmount much larger obstacles such as stair steps.

Abstract: A vehicle that is propelled by as few as one actuator through a compliant drive train can move quickly on relatively smooth terrain and can climb obstacles. The body of the vehicle may consist of a single segment or multiple segments connected by articulating joints. The driving appendages can take different forms including legs or specialized legs with multiple spokes attached to a rotating hub. The driving appendages can be propelled by as few as one actuator. The driving appendages are each serially connected to their actuator(s) by a compliant device. The compliant devices permit relative motion between driving appendages that share the same actuator. A springably biased compliant device maintains nominal-desired phasing among driving appendages until one of them is forcibly perturbed. The phasing of the driving appendages, or gait, adapts to the terrain. Mechanical stops limit the excursion of the compliant device such that a new desirable leg phasing is reached for climbing large obstacles.

Abstract: Expandable actuators surround a central conduit. Each actuator comprises a bladder that, when fluid is introduced, expands laterally while contracting longitudinally. A restorative spring can be placed inside a bladder and between the two ends to restore the actuator to its original shape as fluid is withdrawn. Multiple actuators can be placed in series to successively inflate and deflate and generate a peristaltic motion. One or more Shape Memory Alloy (SMA) springs can be affixed to one or more restorative springs to cause bending motion.

Abstract: Expandable actuators surround a central conduit. Each actuator comprises a bladder that, when fluid is introduced, expands laterally while contracting longitudinally. A restorative spring can be placed inside a bladder and between the two ends to restore the actuator to its original shape as fluid is withdrawn. Multiple actuators can be placed in series to successively inflate and deflate and generate a peristaltic motion. One or more Shape Memory Alloy (SMA) springs can be affixed to one or more restorative springs to cause bending motion.

Abstract: A vehicle that is propelled by as few as one actuator through a compliant drive train can move quickly on relatively smooth terrain and can climb obstacles. The body of the vehicle may consist of a single segment or multiple segments connected by articulating joints. The driving appendages can take different forms including legs or specialized legs with multiple spokes attached to a rotating hub. The driving appendages can be propelled by as few as one actuator. The driving appendages are each serially connected to their actuator(s) by a compliant device. The compliant devices permit relative motion between driving appendages that share the same actuator. A springably biased compliant device maintains nominal-desired phasing among driving appendages until one of them is forcibly perturbed. The phasing of the driving appendages, or gait, adapts to the terrain. Mechanical stops limit the excursion of the compliant device such that a new desirable leg phasing is reached for climbing large obstacles.