The adjustable to a user’s upper extremity the exoskeleton structure provides testing and exercising of the whole upper extremity in a realistic manner without infringement of a locomotor act and with selective biomechanical information and exercise loading in each anatomical motion direction of every joint simultaneously. The exoskeleton structure comprises jointed means for connection with a user’s shouldergirdle, upperarm, forearm, and hand. Those means include measuring-loading blocks to measure muscle forces and joint angles and to apply a dosed exercise load. All measuring-loading blocks in the exoskeleton structure are identical. The exoskeleton structure is able to provide a realistic and comprehensive information about both a complex locomotor act and a selective mono-planar motion for both isometric and isotonic muscular contractions.

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An apparatus and process for empowering those in wheelchairs and others with loss of limb control to walk, climb stairs, sit in ordinary chairs, use normal bathroom facilities and stand at normal height with their peers. It also provides a means to speed rehabilitation of the injured and a means to deliver more comfortable and effective prostheses while providing superior physical therapy without draining professional resources which includes new simulation and training means. Most of the apparatus is worn under normal clothing allowing them to enjoy a normal appearance. Additional advancements include improved actuator design, user interface, visual means and advanced responsive virtual reality.

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A grapple device for grasping, holding and releasing an object having a deformable cover material such as sacks and bags, has a mounting bracket and two rollers. The rollers are pushed toward each other by the force of at least one spring. When the rollers are powered to spin, the inward spinning of the rollers causes the sack material to be dragged in between the rollers due to friction between the surfaces of the rollers and the sack material. The spring pushes the rollers toward each other with sufficient force to hold the sack material in place between the rollers. The grapple device also includes a holding mechanism to engage at least one of the rollers and prevent rotation of the roller when engaged, so that when sack material is located in the inter-roller region and the holding mechanism is engaged, the contact between the sack material and rollers causes the sack to be held by the grapple device. When the rollers are powered to spin outwardly, the sack material passes out of inter-roller region causing the sack to be released. Using the invention described here, in conjunction with a robot or a material handling device, a sack can be lifted by grasping any point on the sack. The device includes a control system for operating the device in three phases to: grasp, hold and release sacks.

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Pre-strained electroactive polymers are described that improve conversion from electrical to mechanical energy. When a voltage is applied to electrodes contacting a pre-strained polymer, the polymer deflects. This deflection may be used to do mechanical work. The pre-strain improves the mechanical response of an electroactive polymer. Also described herein are actuators that include an electroactive polymer and mechanical coupling to convert deflection of the polymer into mechanical work. Further described are compliant electrodes that conform to the shape of a polymer. Methods for fabricating electromechanical devices including one or more electroactive polymers are also described.

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The present invention relates to transducers, their use and fabrication. The transducers convert between mechanical and electrical energy. Some transducers of the present invention include a pre-strained polymer. The pre-strain improves the conversion between electrical and mechanical energy. The present invention also relates to devices including an electroactive polymer to convert between electrical and mechanical energy. The present invention further relates to compliant electrodes that conform to the shape of a polymer included in a transducer. The present invention provides methods for fabricating electromechanical devices including one or more electroactive polymers.

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