Systems and methods for transferring a micro device from a carrier substrate are disclosed. In an embodiment, a mass transfer tool includes an articulating transfer head assembly, a carrier substrate holder, and an actuator assembly to adjust a spatial relationship between the articulating transfer head assembly and the carrier substrate holder. The articulating transfer head assembly may include an electrostatic voltage source connection and a substrate supporting an array of electrostatic transfer heads.

A magnetic sensing approach for determining a positioning characteristic of a soft robotic actuator. A magnetic field or a change in magnetic field of a magnetic member may be measured as it undergoes concurrent displacement with a soft actuator. Additionally, an example rolling robotic wheel is illustrated. The robotic wheel may utilize magnetic sensing as described herein.

Shape retaining membranes, methods of use, and end effectors using a shape retaining membrane are presented. A shape retaining membrane comprises a porous substrate impregnated with an electrorheological fluid; a pair of high voltage electrodes positioned on either side of the porous substrate; and a skin wrapped around the porous substrate and the high voltage electrodes.

Disclosed embodiments include an electroadhesion device holder for securing devices to foreign objects and other target surfaces. In various embodiments, the electroadhesion device holder may be incorporated into a device case that removably attaches to a device. The device case may include an integrated power supply for providing power to an electroadhesion device. In various embodiments electroadhesion device holder may be attached directly to a device such as a smartphone or camera. By providing a powered, portable mechanism for securing devices to foreign objects, the electroadhesion device holder may provide a better perspective for viewing a device screen and increase the field of view of a camera.

To provide an electrostatic attractor having excellent durability and capable of achieving more reliable attraction and gripping of an object to be attracted with electrostatic force. An electrostatic attractor includes a laminate sheet formed by sequentially laminating at least a first soft polymeric organic substance, an electrode, and a second soft polymeric organic substance, and a power source device configured to apply voltage to the electrode, electrostatic force generated by applying voltage to the electrode being used to attract and grasp an object to be attracted, with one of the soft polymeric organic substances as a contact surface, in which the first soft polymeric organic substance and/or the second soft polymeric organic substance have tensile modulus of 1 MPa or more and less than 100 MPa, and volume resistivity of 110.sup.8 to 10.sup.13 .Math.cm, and the electrode is a fiber component subjected to electroconductive treatment. A robot hand includes the electrostatic attractor.

An apparatus includes a drive; a movable arm connected to the drive and having a first link rotatable about the drive at a first rotary joint, a first actuator configured to cause a rotation of the first link about the first rotary joint, at least one second link connected to the first link at a second rotary joint, at least one second actuator configured to cause a rotation of the second link about the second rotary joint, and at least one gripper on the second link, the gripper being configured to carry a payload. The gripper includes a dielectric substrate, at least one electrode disposed on the dielectric substrate, the electrode being configured to produce an attractive force on a surface of the electrode to attract the payload, and a main electronic module configured to apply a voltage to the electrode from a source of current.

An end-effector may include a base, a plurality of underactuated fingers coupled to the base; and an adhesion gripper coupled to the base. An end-effector may include a base, an actuator, a first underactuated finger comprising a proximal link and a distal link, the proximal link including a distal end, a guide for a first tendon spaced a first distance away from the distal end of the proximal link and the distal link including a lever arm disposed on a proximal side to the distal pad and which extends in a volar direction from a first axis, and a node disposed on the lever arm sized and shaped to receive a first tendon. The end-effector may include a first revolute joint compliant in a first direction disposed between the base and the proximal link; and a second revolute joint compliant in the first direction disposed between the proximal link and the distal link.

A vacuum robot includes an end effector comprising an electrostatic chuck and an electrical generator coupled to the end effector to provide a chucking voltage to the end effector to activate the electrostatic chuck. The electrical generator may include generating electrical energy from at least one of: a light source, a laser source, or a set of electrical coils in a magnetic field.

An end effector configured to lift composite material through two different mechanisms and methods of picking and placing composite material are presented. The end effector comprises a vacuum end effector with a plurality of vacuum pogos configured to pick and place a composite preform in contact with the plurality of vacuum pogos, and an electrostatic membrane configured to be removably held by the plurality of vacuum pogos and pick and place a single ply composite material while the electrostatic membrane is held by the plurality of vacuum pogos.

Instruments, systems, and methods for automated rod bending. The automatic rod bending system integrates seamlessly with a multi-arm surgical robotic system. A powered holding end effector may be coupled to a first surgical arm and a powered bending end effector may be coupled to a second surgical arm of the surgical robotic system. The holding end effector may include a feeder roller configured to advance the rod and a rotation roller configured to rotate the rod about its longitudinal axis. The bending end effector coupled may include a fixed mandrel and a movable mandrel configured to bend the rod to a prescribed bending profile. The powered end effectors may be synchronized to ensure the bends are made at correct locations and directions for a customized patient specific rod.