A device for moving at least one door leaf, includes a fixed beam that is fixed to the frame, a moving beam that is connected to the fixed beam by swinging rails which allow it to move transversely with respect to the axes of elongation of the fixed and moving beams, a motor which drives the leaf in a movement parallel to the axis of elongation of the moving beam and which, during the swinging of the leaf, also drives a drive cam which is provided with a slot in which there is engaged a pin that is fixed to the fixed beam, and a central roller which is connected to the moving beam and circulates in a groove in the fixed beam during the movement of the leaf.

A head unit system for controlling motion of an object includes a head unit module of a set of head unit devices and a ramp shaped plate that contacts the head unit module using an engagement approach. Head unit devices of the head unit module include shear thickening fluid (STF) and a chamber configured to contain the STF. A piston moves through the chamber as a result of the motion of the object and the STF resists the movement of the piston to control the motion of the object.