The present invention relates to an apparatus for a Robust CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm and an Exoskeleton driving the Internal CMM Arm through a plurality of transmission means such that one or more internal volumes are sealed against ingress of solid objects and fluids. It also relates to a haptic control of an RCA.

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A lower extremity exoskeleton, configurable to be coupled to a person, comprises two leg supports configurable to be coupled to the person’s lower limbs and configured to rest on the ground during their stance phases. Each leg support comprises a thigh link, a shank link, and two knee joints. Each knee joint is configured to allow flexion and extension between the respective shank link and the respective thigh link. The lower extremity exoskeleton also comprises an exoskeleton trunk configurable to be coupled to the person’s upper body. The exoskeleton trunk is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. In this exemplary embodiment, the energy required for flexion and extension movement between the shank link and the respective thigh link of a leg support over a cyclic knee motion is provided by the person.

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The invention relates to an exoskeleton (1) formed by longitudinal series of segments (3, 5, 7, 9) hingedly connected to one another at the ends thereof by means of respective intermediate pieces (11a, 11b, 11c) in turn hingedly connected to respective raised mountings (S) attached by the bases (20) thereof to various predetermined points of each finger. The free end of the first (3) of the segments (3, 5, 7, 9) is attached to a mobile part (40) of the user. In addition, part of the segments (5, 7, 9) include a projecting push portion (E1, E2, E3) for pushing the respective finger at different points when the aforementioned mobile part (40) is moved, triggering the simultaneous movement of the segments (3, 5, 7, 9), such that the hand is directed towards a more closed position, in which the fingers retract towards the thumb, or vice-versa.

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A method and system are provided for the visual display of anatomical forces, that system having: a motion capture system; a computer, receiving data from said motion capture system; and a computational pipeline disposed on said computer; that computational pipeline being configured to calculate muscle forces and joint torques in real time and visually display those forces and torques.

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Described herein are transducers and their 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 provides methods for fabricating electromechanical devices including one or more electroactive polymers.

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