Abstract: A retrographic sensor includes a flexible transparent structure, a transparent elastomeric pad, and an at least partially reflective layer. The flexible transparent structure may be configured to elastically deform between multiple configurations. At least one light source emits light into the transparent structure. The flexible transparent structure may include one or more markers that are illuminated by the at least one light source. The retrographic sensor may also include a photosensitive detector configured to image the flexible transparent structure and one or more markers. A processor may determine a configuration of the flexible transparent structure based at least in part on an image from the one or more markers.

Abstract: A robotic finger may include a first endoskeleton segment, a second endoskeleton segment, and a flexure connecting the first endoskeleton segment and the second endoskeleton segment, where the flexure is configured to elastically deform to allow the first endoskeleton segment to move relative to the second endoskeleton segment in a first degree of freedom. The robotic finger may include a transparent elastomeric pad disposed on the first endoskeleton segment and the second endoskeleton segment, at least one light source disposed on at least one of the first endoskeleton segment and the second endoskeleton segment, and at least one photosensitive detector disposed on at least one of the first endoskeleton segment and the second endoskeleton segment.

Abstract: A retrographic sensor includes a flexible transparent structure, a transparent elastomeric pad, and an at least partially reflective layer. The flexible transparent structure may be configured to elastically deform between multiple configurations. At least one light source emits light into the transparent structure. The flexible transparent structure may include one or more markers that are illuminated by the at least one light source. The retrographic sensor may also include a photosensitive detector configured to image the flexible transparent structure and one or more markers. A processor may determine a configuration of the flexible transparent structure based at least in part on an image from the one or more markers.

Abstract: A pre-emphasis circuit is disclosed. In one embodiment, a pre-emphasis circuit includes a first signal path configured to receive a first signal and a second signal path configured to receive the first signal. The second signal path includes a re-timing circuit configured to delay the first signal by a pre-determined amount to produce a second signal. The pre-emphasis circuit also includes a summing circuit coupled to receive the first signal from the first signal path and the second signal from the second signal path. The summing circuit is configured to add the second signal to the first signal to produce a third signal, wherein the third signal is logically equivalent to the first signal. The third signal has a first magnitude for a first portion of a bit-time of the first signal, and a second magnitude for a second portion of the bit-time of the first signal.

Abstract: A pre-emphasis circuit is disclosed. In one embodiment, a pre-emphasis circuit includes a first signal path configured to receive a first signal and a second signal path configured to receive the first signal. The second signal path includes a re-timing circuit configured to delay the first signal by a pre-determined amount to produce a second signal. The pre-emphasis circuit also includes a summing circuit coupled to receive the first signal from the first signal path and the second signal from the second signal path. The summing circuit is configured to add the second signal to the first signal to produce a third signal, wherein the third signal is logically equivalent to the first signal. The third signal has a first magnitude for a first portion of a bit-time of the first signal, and a second magnitude for a second portion of the bit-time of the first signal.

Abstract: A system for controlling signal skew between adjacent transmission lines is disclosed. In one embodiment, the system includes a plurality of transmission lines, each of which is physically adjacent to at least one other one of the plurality of transmission lines. The system further includes a plurality of transmission units, wherein each of the plurality of transmission units is coupled to a corresponding one of the plurality of transmission lines. Each of the plurality of transmission units is configured to transmit, in accordance with a respectively received one of a plurality of clock signals, a respective signal on its corresponding one of the plurality of transmission lines such that the respective signal is skewed by a predetermined amount with respect to signals transmitted on each adjacent one of the plurality of transmission lines.