A mechanical adjustable device is provided, which is characterized in that it is adapted to enable changing its spatial shape from a first spatial shape to a second spatial shape, and retaining the mechanical adjustable device in its second shape. Preferably, the mechanical adjustable device comprises: a) a spring; b) a plurality of longitudinally extended ribs/wires characterized in that they are capable of being bent, wherein said plurality of longitudinally extended ribs/wires are circumferentially disposed along an enclosure confined by the spring, adjacent to the inner side of the spring; and c) a flexible sleeve/tube disposed longitudinally along the enclosure confined by the spring.

An electromechanical system operates in part through physical interaction with an operator, and includes a multi-axis robot, a controller, and a counterbalance mechanism connected to the robot. The counterbalance mechanism includes a base structure connected to a set of linkages, a pneumatic cylinder, a spring-loaded cam assembly, and an optional constant force spring. The linkages form a four-bar parallelogram assembly connectable to a load. The cylinder and cam assembly, and optional constant force spring, each impart respective vertical forces to the parallelogram assembly. The forces combine to provide gravity compensation and self-centering functions or behaviors to the load, enabling the load to move with a vertical degree of freedom when manually acted upon by the operator, and to return the load to a nominal center position.

Hydraulic rotary actuator disposes entry and exit lines of the hydraulic fluid within the hydraulic rotary actuator and comprises a floating member with a hollow portion, a rotating member configured to be inserted into the hollow portion, a working fluid supplied to said hollow portion, a servo control valve connected to said floating member configured to control the flow rate, an entry line connected to said servo control valve and further connecting said servo control valve to said floating member, said entry line forming a through-hole that penetrates through said floating member and forming a supply passage for said working fluid, an exit line connecting said hollow portion to said servo control valve and further thereon to outside of floating member, said exit line forming a through-hole that penetrates through said floating member and forming a discharge passage for said working fluid.

A robotic manipulator, comprising: a platform (302); a first pair of pneumatic artificial muscle (PAM) devices (112,114) coupled to the platform (302) at a first end of the first pair of PAM devices; a second pair of PAM devices (116, 118) coupled to the platform (302) at a first end of the second pair of PAM devices; a first pulley (342) coupling the first pair of PAM devices via a first belt (132) at a second end of the first pair of PAM devices; a second pulley (344) coupling the second pair of PAM devices via a second belt (134) at a second end of the second pair of PAM devices; a U-joint (160) positioned between the first and second pulleys, wherein the first pulley (342), the second pulley (344), and the U-joint (160) are rotatable along a pitch axis (P1), a yaw axis (Y1), and a roll axis (R1); and an actuated object (170) coupled to the U-joint (160), wherein motion of one of the first belt (132) of the first pair of PAM devices, the second belt (134) of the second pair of PAM devices, and both the first belt (132) and the second belt (134), cause motion of the actuated object (170) along one of the pitch axis (P1), the yaw axis (Y1), and the roll axis (R1).

A fluidic robotic actuator configured to assume at least a neutral position, the fluidic robotic actuator includes a first and second plate defining respective planar portions that are disposed in parallel planes in the neutral position. The fluidic robotic actuator also includes a plurality of elongated bellows extending between the first and second plates, the bellows each having a central main axis that is parallel to the central main axis of the other bellows in the neutral position, the main axis of the bellows being perpendicular to the parallel planes of the first and second plates in the neutral position, the bellows being coupled to the first and second plates at respective first and second ends of the bellows.

A textile actuator and harness system can include a harness configured to be worn with a portion extending across a wearer's joint. The harness comprises a substantially inextensible section and at least two mounting locations spaced for positioning across the joint, with at least one located along the substantially inextensible section of the harness. A textile envelope defines a chamber and is made fluid-impermeable by (a) a fluid-impermeable bladder contained in the textile envelope and/or (b) a fluid-impermeable structure incorporated into the textile envelope. The textile envelope is secured to the harness at each mounting location, and the textile envelope has a pre-determined geometry configured to produce assistance to the joint due to inflation of the textile envelope during a relative increase in pressure inside the chamber.

A textile actuator and harness system can include a harness configured to be worn with a portion extending across a wearer's joint. The harness comprises a substantially inextensible section and at least two mounting locations spaced for positioning across the joint, with at least one located along the substantially inextensible section of the harness. A textile envelope defines a chamber and is made fluid-impermeable by (a) a fluid-impermeable bladder contained in the textile envelope and/or (b) a fluid-impermeable structure incorporated into the textile envelope. The textile envelope is secured to the harness at each mounting location, and the textile envelope has a pre-determined geometry configured to produce assistance to the joint due to inflation of the textile envelope during a relative increase in pressure inside the chamber.

An underwater robotic system includes a frame adapted to be deployed in a body of water and having guide rails and at least one movable rail movably coupled to the guide rails. An actuator module is movably coupled to the at least one movable rail. A control panel disposed proximate the frame and has a plurality of controls thereon. The plurality of controls is operable by an actuator on the actuator module. A position of each of the plurality of controls is known such that motion of the actuator module and the at least one movable rail is remotely controllable to actuate any chosen one of the plurality of controls.

An antagonistically actuated shape memory alloy (SMA) manipulator utilizes a pair of SMA actuators. The SMA actuators are configured, such that one actuator is trained to have a substantially linear or extended shape in its austenite phase, while the other actuator is trained to have a curved or flexed shape in its austenite phase. As such, the manipulator is operated, such that when one SMA actuator is heated and takes on its “trained” shape in the austenite phase, the other SMA actuator is permitted to cool and allowed to return to its original “untrained” shape in the martensite phase, and vice versa. This antagonistic operation of the SMA actuators allows the manipulator to achieve rapid flexion and extension movements.

An actuator includes at least one actuator body and a sleeve covering a portion of the actuator body. The actuator body comprises a first material, and the sleeve comprises a second material that is more rigid than the first material. The sleeve constrains bending of the actuator body where the sleeve covers the actuator body.