Abstract: An apparatus comprises a main arm having links extending from a ground end to an effector end and allowing movement of the effector end from a first position to a second position, the links including at least a base link adapted to be pivotally connected to a base, and a spacing link pivotally mounted to a free end of the base link and extending to the effector end. A first 4-bar parallelogram has pivot joints at its corners and including the base link of the main arm. A second 4-bar parallelogram has pivot joints at its corners and including the spacing link of the main arm and an effector link at the effector end adapted to support an object. A serial interconnection is between the first 4-bar parallelogram and the second 4-bar parallelogram constraining the effector link to maintaining a constant orientation in at least two rotational degrees of freedom relative to the base.

Abstract: The invention relates to a device for supporting at least one arm 4 of a user 2. The device has at least one arm support element 6 with an arm shell 10 for placing on the arm 4, at least one passive actuator 26 that is configured to apply a force on the at least one arm support element 6, and at least one counter bearing 14 for the force to be applied. The counter bearing has at least one counter bearing element 16 and at least one force transmission element 18 that is configured to transmit a counter-force to the counter bearing element 16. The freedom of movement of the spine of the user 2 is not restricted by the device. More particularly an inclination is possible and/or a freedom of movement of the arm 4 is not restricted by the device.

Abstract: A method comprises receiving an input at a control system indicating a status change for a first tool coupled to a first manipulator assembly of a telesurgical system. The status change is correlated to a procedure to decouple the first tool from the first manipulator assembly or manually reconfigure the first manipulator assembly. The method also includes transmitting a command to the first manipulator assembly. Responsive to the transmitted command, a multiple-color light emitting diode array in an indicator section on the first manipulator assembly is activated to generate a signal indicating a reconfiguration action for the first tool or the first manipulator assembly to a first user.

Abstract: Examples of an orthopedic surgical device for use in operating on a target bone and methods for operating a system for use in orthopedic surgery on a bone are generally described herein. An orthopedic surgical device can include an primary positioning block, and a secondary positioning component removably coupled to the primary positioning block. The secondary positioning component can be configured to: engage a prepared engagement feature machined into the target bone, and guide the primary positioning block to a predetermined position on a target bone. The orthopedic surgical device can include a first cutting block configured to: removably couple to the primary positioning block, and guide a cutting tool to cut the target bone.

Abstract: System and method for performing a surgical procedure using a drill guide and a robotic device operable in multiple modes. The drill guide is mechanically coupled to the robotic device. A pre-defined virtual trajectory constrains movement of the drill guide. In a first mode, a user is able to manually manipulate the drill guide while movement of the drill guide is constrained by the pre-defined virtual trajectory. In a second mode, the robotic device operates autonomously, for instance, to perform service on the robotic device.

Abstract: A robotic system for performing an arthroplasty procedure of a patient is provided. The robotic system includes a robotic mechanism including an adaptive arm, an oscillating saw coupled to the robotic mechanism and configured to resect a portion of a bone of the patient. The robotic mechanism is configured to control movement of the saw during the resection. The system also includes a computer coupled to the robotic mechanism which is configured to control the robotic mechanism. The robotic mechanism is configured to position a prosthetic implant relative to the bone. The system also includes an electric motor coupled to the robotic mechanism and the computer. The electric motor is configured to facilitate movement of the robotic mechanism. The system also includes a position sensor configured to provide movement information of the prosthetic implant relative to the bone.

Abstract: A feeding device including a feed arm assembly operative to transfer food from a food compartment to a feed position located adjacent an individual. The feeding device including a timer that times the period the feed arm assembly remains stationary. An indicator connected to the timing circuit becomes active when a predetermined time period is exceeded reminding or prompting a user or other third party to use or cycle the feeding device.

Abstract: The present invention relates to a feeding assistant robot, which assists in feeding patients or the elderly and infirm who have difficulty in moving their arms and thus have difficulty in feeding themselves. The feeding assistant robot includes: a picking arm including a gripper for picking up food placed on a tray; a feeding arm, including a spoon on which the food picked up by the picking arm is placed, for moving the spoon to the mouth of a user; an input device enabling the user to direct the movements of the picking arm and of the feeding arm; and a control unit electrically connected to the picking arm, the feeding arm, and the manipulation part to control the movements of the picking arm and the feeding arm according to the commands from the input device.

Abstract: A feeding device including a feed arm assembly operative to transfer food from a food compartment to a feed position located adjacent an individual. The feeding device including a timer that times the period the feed arm assembly remains stationary. An indicator connected to the timing circuit becomes active when a predetermined time period is exceeded reminding or prompting a user or other third party to use or cycle the feeding device.

Abstract: A method and apparatus for determining the position and type of food located in a food compartment wherein the food compartment may contain or hold solids or liquids. For example, the method includes a sensor to determine the type of the solid or liquids located in the food compartment or container. The sensor may also be used to determine the position or location of the food. The method contemplates having at least one and may include multiple containers or food compartments wherein a container holds liquids and a food compartment holds solids or semi-solids. By determining the type and location of the food in the food compartment an individual may select a certain type of food from a specific food compartment. In addition, transmitting the location or position of the food to the feed arm results in a more efficient delivery system.

Abstract: A self-feeding device for a user and method operating is provided. The self-feeding device includes a base assembly having a housing with an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the lower wall. A plate is disposed on the upper housing wall of the base assembly, and the plate includes a food compartment having a food item located therein. A feed arm assembly located on the base assembly includes an arm moveable with a predetermined degree of freedom, and a feeding utensil is coupled to the feed arm. A controller actuates the feed arm assembly to obtain the food/drink item from the food compartment via the feed utensil, and to transfer the food item to the user. The methodology includes software to control operation of the self-feeding device within a STORAGE mode, a SELECT mode, and a RETRIEVE food and drink mode.

Abstract: A self-feeding device for a user and method operating is provided. The self-feeding device includes a base assembly having a housing with an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the lower wall. A plate is disposed on the upper housing wall of the base assembly, and the plate includes a food compartment having a food item located therein. A feed arm assembly located on the base assembly includes an arm moveable with a predetermined degree of freedom, and a feeding utensil is coupled to the feed arm. A controller actuates the feed arm assembly to obtain the food/drink item from the food compartment via the feed utensil, and to transfer the food item to the user. The methodology includes software to control operation of the self-feeding device within a STORAGE mode, a SELECT mode, and a RETRIEVE food and drink mode.

Abstract: A self-feeding apparatus for the disabled and elderly, which comprises: a support base; a holder for an open food container, pivotally connected to the base; an article for scooping food from the container; a system for moving the scooping article from a food scooping position from the container and a food dispensing position at a selected height from the base corresponding to the user's mouth. The system includes a first arm slantingly extending from the base and a second arm, arranged in a substantially horizontal position and slidably mounted on the first arm, the food scooping article being slidably mounted on the second arm. A motor is further provided for sliding the second arm along the first arm and the food scooping article along the second arm and for rotating the food container holder. At least one tank for liquid or semi liquid food and for beverages is placed on the base and a conveyor is provided for transporting the food from the tank to the user's mouth.

Abstract: An ambidextrous spill-resistant spoon includes a handle portion carrying a spoon bowl portion. The spoon bowl is rotational relative to the handle portion and depends below the handle portion to self-level rather as a pendulum seeks the vertical. But, the spoon bowl is clutched non-rotationally to the handle portion during a scooping motion to load the spoon with food. As soon as the scooping motion is completed by clearing of the spoon bowl from the food, the bowl portion is un-clutched from the handle portion and becomes freely pivotal so as to remain level as a user moves the loaded spoon toward the user's mouth.

Abstract: A feeder device for feeding a user may include a supporting arm, a food tube to cooperate with the support arm and to hold food for the user, a rotating bearing to rotate the supply arm and a slider device to extrude the food out of the food tube so that the user can be fed without holding the food. The food tube may be flexible, and the feeder device may include a motor to rotate the rotating bearing. The motor may move the slider device along the supporting arm, and the motor may move between a first position and a second position. The motor may pivot between the first position and the second position, and the feeder device may include a control arm to control the rotation of the rotating bearing. The control arm may include a pin to position the rotating bearing, and the motor may be deactivated when the pin engages the rotating bearing. The slider device may include a movable nut member, and the motor may rotate a threaded shaft to move the slider device.

Abstract: A personal food conveyor apparatus comprises a frame which provides for clamping to a table at the bottom end. The clamp is operated by a thumbscrew. The bottom of the frame further comprises a step which allows for a plate to fit closely to and under the leading edge of the frame bottom. The top of the frame comprises a landing platform for food. A user moves food from the plate to the conveyor ramp. The non-slip surface of the ramp delivers the food to the landing platform from whence the user can move food into their mouth. A switch on the side of the frame provides on/off ramp function. The conveyor assembly is removable from the frame, and is further capable of disassembly. The removability and disassembly provide for easy cleaning and for any needed parts replacement.

Abstract: A convenience container device is disclosed. The device has a food container selectively coupled to a lid assembly. The lid assembly includes a spoon at an end of a handle pivotally coupled to a trigger handle. The food container comprises one or more chambers, and the chambers include solid foods and fluid foods. The chambers communicate with one another so that the solid foods and the fluid foods are mixed. Single-handed manipulation of the trigger handle by a user displaces the spoon having a mixture of the solid and fluid foods along a predefined path to conveniently deliver the food mixture to the user. A method of using the convenience container device is disclosed. Furthermore, a convenience consumer device kit comprises one or more convenience container devices or one or more components of one or more convenience consumer devices, or combinations thereof.

Abstract: A self-feeding apparatus for the disabled and elderly, which comprises: a support base a holder for an open food container, pivotally connected to the base; an article for scooping food from the container; a system for moving the scooping article from a food scooping position from the container and a food dispensing position at a selected height from the base corresponding to the user's mouth. The system includes a first arm slantingly extending from the base and a second arm, arranged in a substantially horizontal position and slidably mounted on the first arm, the food scooping article being slidably mounted on the second arm. A motor is further provided for sliding the second arm along the first arm and the food scooping article along the second arm and for rotating the food container holder. At least one tank for liquid or semi liquid food and for beverages is placed on the base and a conveyor is provided for transporting the food from the tank to the user's mouth.

Abstract: An improved spoon apparatus and method includes a handle portion carrying a spoon bowl portion. The spoon bowl is clutched non-rotationally to the handle portion during a scooping motion to load the spoon bowl with food. At the initiation of the food scooping motion, essentially immediate clutching of the spoon bowl to the handle portion is effected by a fine-dimension ratchet structure of the inventive spoon. However, as soon as the scooping motion is completed by clearing of the spoon bowl from the food, the bowl portion is unclutched from the handle portion and becomes freely pivotal like a pendulum so as to remain level from side to side irrespective of rotation of the handle portion as a user moves the loaded spoon to the user's mouth. A unique combination of gravitationally induced torque as well as a gravitational force vector are utilized to effect unclutching of the spoon bowl from the handle portion.

Abstract: An improved spoon apparatus and method includes a handle portion carrying a spoon bowl portion. The spoon bowl is clutched non-rotationally to the handle portion during a scooping motion to load the spoon bowl with food. At the initiation of the food scooping motion, essentially immediate clutching of the spoon bowl to the handle portion is effected by a fine-dimension ratchet structure of the inventive spoon. However, as soon as the scooping motion is completed by clearing of the spoon bowl from the food, the bowl portion is unclutched from the handle portion and becomes freely pivotal like a pendulum so as to remain level from side to side irrespective of rotation of the handle portion as a user moves the loaded spoon to the user's mouth. A unique combination of gravitationally induced torque as well as a gravitational force vector are utilized to effect unclutching of the spoon bowl from the handle portion.

Abstract: A feeding device for use by persons with limited or no use of their arms, wherein a spoon is mounted on supporting and counterbalancing levers and is associated with a mouth-piece in such a manner that the user can manipulate the spoon to lift food from a dish, can then place the spoon on a fixed support and then adjust the spoon to a position for convenient eating of the food. The spoon mounting includes an adjustable support for a counterbalancing spring. All the parts are mounted on a flat base which is adapted also to support the food dish.

Abstract: A robotic self-feeding device uses a multiplicity of dishes, utensils and control methods to handle a wide variety of food, including sandwiches. Its operating sequence has a hover mode in which a utensil is automatically steered over a food holder and is constrained from moving away from the food holder. The user points to the desired food with the utensil and triggers pickup which is automatically accomplished. Its gripper can operate tong utensils to grasp food. It can cut food. The process of eating is thus easy and intuitive for people who may have a wide variety of severe paralysis disabilities.

Abstract: A robotic self-feeding device uses a multiplicity of dishes, utensils and control methods to handle a wide variety of food, including sandwiches. Its operating sequence has a hover mode in which a utensil is automatically steered over a food holder and is constrained from moving away from the food holder. The user points to the desired food with the utensil and triggers pickup which is automatically accomplished. Its gripper can operate tong utensils to grasp food. It can cut food. The process of eating is thus easy and intuitive for people who may have a wide variety of severe paralysis disabilities.

Abstract: The present invention relates to the field of carbohydrate crosslinked glycoprotein crystals. Advantageously, such crosslinked glycoprotein crystals display stability to harsh environmental conditions, while maintaining the structural and functional integrity of the glycoprotein backbone. According to one embodiment, this invention relates to methods for concentrating proteins that have been modified by carbohydrates and for releasing their activity at controlled rates. This invention also provides methods for producing carbohydrate crosslinked glycoprotein crystals and methods for using them in pharmaceutical formulations, vaccines, immunotherapeutics, personal care compositions, including cosmetics, veterinary pharmaceutical compositions and vaccines, foods, feeds, diagnostics, cleaning agents, including detergents and decontamination formulations.

Abstract: A robotic system for use with at least two working stations and for carrying out tasks, is provided. At least one of the two working stations is mobile. The system according to the present invention comprises a controller for permitting the system to be controlled via a system interface located on the working stations, which interface is connected to an emission/receiver for exchanging information with the robotic system and the interface. A device for supplying energy to the system is provided which is comprised within the working stations. The system is self-propelled to permit autonomous movement between the two stations. Also, included are mechanical and electrical connections for permitting the system to be interchangeably disconnected from one of the working stations and reconnected to another working station.

Abstract: An assistive dining device for automatic switch-operated self-feeding has a concave food receptacle having a predetermined depth below an upwardly projecting lip. A rod having an end rotatable about an axis and linearly moveable along the axis is positioned, substantially parallel to and above the upward projecting food receptacle lip. A feeding utensil having a food collection face, is affixed to the end of the rod for rotation and linear movement therewith, which utensil is angularly disposed from the axis of the rod such that food collection face is substantially horizontal downward in a first rotary position and substantially horizontal upward in a second rotary position rotated approximately one-half of a revolution about the axis of the rod, so that the radius of the arc defined by the distal end of the utensil during rotation corresponds to the predetermined depth of the receptacle.

Abstract: A self-feeding device for automatically lifting food off of an eating surface of a plate to an eating position located above the device includes a plate and a plate support. A spoon support mechanism moves a spoon from an upper eating position to a lower food receiving position and causes the spoon to travel along a predetermined path on the eating surface of the plate to load food located along the path on to the spoon as the spoon moves from the upper eating position to the lower food receiving position.

Abstract: A system and method for positioning a tool relative to a patient's bone to facilitate the performance of a surgical bone alteration task. The system comprises a bone immobilization device for supporting the bone in a fixed position with respect to a reference structure, and a robot that includes a base fixed in position with respect to the reference structure. The robot also includes a mounting member, and a manipulator connected between the base and the mounting member and permitting relative movement therebetween. The tool to be positioned by the system is mounted to the mounting member. The mounting member is caused to move relative to the reference structure in response to movement commands, so that the tool can be moved to a desired task position to facilitate performance of the task. The system preferably also includes a template attachable to the mounting member, a feature of the template representing a portion of a task.

Abstract: A mouth-held device is described that can be used by individuals having limited or no use of the hands. The device comprises a V-shaped plastic member having a shaft attached. The V-shaped plastic member must be able to soften at or near the boiling point of water and, at such softening point, to take an impression of the teeth of the individuals having limited or no use of the hands. When cooled to at or near body temperature, however, the V-shaped member must be rigid and non elastic and capable of retaining the impression of the teeth. The shaft attached to the V-shaped member can have various implements fixed to it that allows the individual having limited upper extremity function to perform certain tasks independently.

Abstract: A self-service apparatus is provided to be operated by a user for selectively serving foods or drinks. The self-service apparatus includes a support and a cover fixedly supported by the support for covering foods and drinks. A shaft is suspended from the support, and a rotary disk is rotatably mounted on the shaft to be rotated about the shaft upon actuation of a lever. Servers are carried by the rotary disk and hold a food portion or drink. A desired food portion or drink may be selectively served to the user by operating the lever at a desired position.

Abstract: Apparatus for use in feeding physically incapacited persons comprising a spoon supported for orbital and rectilinear movement in a predetermined path, one or more receptacles, and kinematics selectively operable to move a selected receptacle into the path of movement of the spoon and for effecting orbital and rectilinear movement of the spoon from an at-rest position above the receptacle into the receptacle to pick up a quantity of food therefrom, remove it from the receptacle to a position to be received by the person and then return it to its at-rest position in readiness for a repeat cycle of operation.

Abstract: A self-feeding apparatus and method is illustrated wherein a pivoted arm carries a spoon between a raised position for eating and a lower position for filling from a plate. The spoon is permitted to fall about its pivotal connection by gravity and then the arm carrying the spoon is lowered so as to push the spoon forwardly or radially of the plate which is preferably turned simultaneously in order to fill the spoon with food preparatory to the user or operator taking another bite.

Abstract: A self-feeding appliance for use by persons who have lost the use of both arms is disclosed. A turntable carrying one or more food dishes is mounted for rotation on a carriage panel. The carriage panel is mounted on a service platform for movement from a retracted position overlying a service deck portion of the service platform to an extended position forward of the service deck. A spoon is mounted on the carriage panel and projects laterally over the service deck. The lateral position of the spoon and the elevation of the service platform is adjustable to accomodate wheel chair service, bedside service, or table service. After the appliance is set up on a bed tray or on a table, a food dish is selected by rotating the turntable until the selected dish is brought into alignment with the spoon.

Abstract: Equipment is provided for aiding persons in eating without substantial assistance when such persons are handicapped for some reason or cause which prevents them from using their arms and/or hands in the manipulation of utensils normally employed for eating purposes. Included therewithin is a tray provided with one or more mouthpieces into which food from the tray may be moved such that a mouthful of the food can be taken from the mouthpiece simply by the act on the part of the user of placing his mouth over the mouthpiece and the food thereon. Included also is a utensil mounted on a headpiece such that the user is able to manipulate selected quantities of food from the tray to the mouthpiece. Still further, the equipment includes a table for supporting the tray and adapted to be mounted on a wheelchair, the overall table assembly having an adequate number of adjusting features to permit proper positioning of the tray such that the user may easily carry out the self-feeding operation.

Abstract: A self-feeding device for automatically lifting food from the eating surface of a plate to an eating position located above the plate. The plate is supported by a plurality of rollers which are capable of rotating the plate about a predetermined axis. A pusher arm having a food pushing surface depending therefrom is rotatable about a second axis, parallel to and spaced from the first axis, such that the food pushing surface moves from a first to a second position along a predetermined path which traverses a portion of the eating surface of the plate in such a manner that food located on the eating surface of the plate along the predetermined path is moved by the pushing surface. A spoon support and lifting arm supports the spoon and is capable of moving the spoon between a lower position in which food moved by the food pushing surface is moved onto the spoon and an upper position in which food moved on the spoon by the pushing surface is located at the eating position.

Abstract: A feeding apparatus is disclosed for a manually disabled person to eat food. The feeding apparatus may comprise an eating surface and a mouth-held implement, independent of the eating surface, and operative to place food on the eating surface whereby the manually disabled person may eat without assistance.

Abstract: An invalid feeding device for persons unable to feed themselves in the usual manner, having a selective means for transporting food from containers to the mouth of the person being fed, the transporting means being controlled and having self contained means for reversing the movement of the transport, and for disengaging the same upon completion of each cycle.