A wireless lifting assist device includes a pulley driven by an actuator which is attached to a ceiling. An end-effector is suspended, via a line, from the pulley and interfaces the object to be maneuvered. The wireless lifting assist device further provides an instrumented glove worn by an operator. The glove measures the contact force the operator is exerting on either the object to be moved or the lifting assist device and generates a set of contact signals representing the contact force. The contact signals are transmitted to a controller. The controller generates a set of command signals to control the actuator as a function of the operator contact force such that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The object thus feels lighter to the operator.

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This invention, referred to as an Energy-Efficient Running Aid, relates to passive (spring-actuated) running/walking aids for ortheses, prostheses, and robotsto allow faster running using less energy. The full invention is an leg ortheses or an energy-efficient running brace. It is a running brace which acts in parallel with a runner’s leg to support the runner during stance phase and to capture all foot-impact energy, preferably with the optimal constant-force curve, for use to thrust said runner back into the air during toe-off. Novel structural elements include a hyper-extending knee-lock, a variable-angle knee-lock, a kneeless adjustable-length brace, a self-guiding/constant force bow spring, a pulley-based/constant-force bow spring, a asymmetric brace foot, a load-tightening full harness, and a means to guarantee lock release at toe-off. The running brace eliminates impact injuries by absorbing the impact energy.

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Methods are provided for stabilizing a haptic interface of a computer-controlled one-port virtual-reality system or a two-port teleoperation system comprising a robot manipulator. «Stabilizing» means to reduce the sense of vibration in a haptic interface. A Passivity Observer is computed to measure the amount of ener gy produced at the haptic interface, and a Passivity Controller is calculated to damp or absorb excess energy which causes the sense of vibration. This inventi on also provides a «filter,» i.e. a threshold function which returns zero velocity if the computed estimated velocity is less than a small predetermined value, which may be applied to estimated velocities determined in impedance-based methods of this invention so as to remove noise in the velocity estimate. To improve speed of reaction of the systems, this invention also provides methods for resetting the Passivity Observer to zero when it has been too positive for too long a period of time. Systems implementing these methods are also provided.

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The present invention relates to electroactive polymers that are pre-strained to 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. The present invention also relates to actuators including an electroactive polymer and mechanical coupling to convert deflection of the polymer into mechanical work. The present invention further relates to compliant electrodes that conform to the shape of a polymer. The present invention provides methods for fabricating electromechanical devices including one or more electroactive polymers.

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A band controlled valve apparatus for controlling fluid flow from a source to a sink, including a base (12) having an upper surface and an aperture (16) extending from the upper surface through the base (12) allowing the flow of fluid from the source through the base (12) to the sink when the aperture (16) is not covered, an elongate flexible band (8) with a first portion (8a) in contact with the upper surface of the base (12) and a second portion (8b) extending forwardly of the first portion (8a) then upwardly and rearwardly above at least a part of the first portion (8a), the second portion (8b) being actuated to selectively move the second portion (8b) of the band (8) forwardly or rearwardly to cover or uncover, respectively, the aperture (16) with the first portion (8a) of the band (8) to thereby prevent or allow, respectively, fluid flow through the aperture (16).

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