AbioCor Implantable Replacement Heart 243

accelerometer 89, 90Active Ankle Foot Orthosis (AFO),

MIT Biomechatronics group 250

Adaptive knee, Blatchfords 231Agility knee, Freedom 231AIBO, SONY 209aircraft, airplane, plane, glider flappingwing152 staticwing152 Wright brothers 6 Lilienthal brothers 147apparatus for muscles studies, MIT

Biomechatronics group 39

artificialinsect,Marey13artificiallung,CaseWestern

University 245artificialmuscle cable driven 260, 261 electroactive polymers (EAPs) ionic 65, 66 electronic 65, 66 McKibben 58, 59 pneumatic (PAM) 58 shape-memory alloy (SMA) or

smartmetal,musclewire66, 67

ASIMO, HONDA 208Atlas, Boston Dynamics 201Automated Endoscopic System

for Optimal Positioning (AESOP) 284

automobile engine 55, 301AutoSyringe, Kamen 238

Baxter, Rethink Robotics 26

Index of Names (Devices, Machines, and Robots)

Belgrade Hand, Tomovic and Rakic (thefirstroboticfive- fingeredhand)27

BenzVelo(thefirstmassmarketedcar) 56

BerkeleyLowerExtremityExoskeleton (BLEEX), UC Berkeley 252

BigDog, Boston Dynamics 201, 211–213

Big Muskie (the biggest legged locomotion machine) 197

BioLung, Michigan Critical Care Consultants (MC3) 245, 246

Bionic ankle–foot prosthesis, MIT Biomechatronics group 236

BIPER-1, 2, 3, 4, and 5, University of Tokyo 203

blood pump roller or peristaltic 287 centrifugal 287BLR-G1 and BLR-G2, Gify

University 204

cardiopulmonary bypass (CPB) machine 286, 287

Cheetah, Boston Dynamics 201, 213

chronophotographic gun, Marey 11

C-Leg, Otto Bock 230, 231cranes 59combustion engine external 51, 52, 53 internal 33, 51, 54 Otto’s engine, compressed

charge 55

330 Index of Names (Devices, Machines, and Robots)

computed tomography (CT scan) 96

computed axial tomography (CAT scan) 96

CT X-ray 96 cylinders hydraulic 59 tie rod–style 60 weldedbody-style60 pneumatic 57

da Vinci Surgical System, Intuitive Surgical Inc. 279, 280, 284, 285

dynamo, Edison 17

electromyograph 94ElmerandElsie,Walter(thefirst

autonomous robots) 25encoders absolute 81 angular 81 incremental 81 linear 80 magnetic 80 mechanical 81 photosensitive 81end-effector57,278,283,307,

308excavators 59exomusculature 249, 250, 259exoskeleton Argo Medical Technologies

255 Cyberdyne 254, 255 Georgia Institute of

Technology 259 MIT 251 Raytheon 254 Sarcos 252 UC Berkeley 252 UniversityofDelaware260E1, E2, E3, E4, E5, and E6, HONDA

206

flexsensors82flywheel166,167,172force-plate 15fuses, Edison 17F-4 Phantom plane 130

Geminoid F, Osaka University, ATR and Kokoro 290, 291

Grammemachine(thefirst industrial electric motor) 61, 62

gyroscope 90, 197, 263

Halleffectsensor88,89,92HAL and HAL-5, Cyberdyne 255harmonic drive 299, 300hearing aids non-invasive Behind The Ear (BTE) 248 bodywornvibro-tactile

Aid (VTA) 248 In The Canal (ITC) 248 In The Ear (ITE) 248 invasive (implants) Baha® System 248, 249 cochlear implant 248, 249heart–lung machine 286heart valves mechanical 241 caged-ball 242 tilting-disk 242 bileaflet242 tissue 241 3f ® Aortic Bioprosthesis,

Medtronic 242 Hancock II heart valve

242heat engine 51, 53, 301helicopter 5, 151hexapod, Ohio State University

(OSU), McGhee 197, 198Hippomobile,Lenoir(thefirst

automobile) 55HOAP-1, 2, and 3, Fujitsu 210

331Index of Names (Devices, Machines, and Robots)

HRP-1, HRP-2P, HRP-2 Promet, and HRP-4C,KawadaIndustriesand AIST 209

Human Load Carrier (HULC), Kazerooni 252

humanoid robot 108, 155, 206, 210, 288

hydroelectricpowerplant,Tesla20

iBot, Johnson & Johnson 263iBot Mobility System, Kamen 238i-LIMB, Touch Bionics 239induction motor, Tesla 20industrial robotic arm 26inertial measurement unit (IMU)

90instrumented robotic mannequin

288

Kinetograph, Edison 17Kinetoscope, Edison 17KUMO-I, Hirose 198

laserrangefinder82,84,266lidar 3D scanners 83light bulb, Edison 17lightsocketswithon-offswitches,

Edison 17load cells capacitive 92 hydraulic 92 piezoelectric 92 strain gauge based 93

Lokomat, Hocoma AG 256LokomatProwithPediatric

Orthoses, Hocoma AG 256LS3, Boston Dynamics 201Luke Arm, DEKA 237, 238

Machina docilis, Walter 25

Machina speculatrix, Walter (the firstautonomousrobots)25

magnetic resonance imaging (MRI) 278

magnetorheological breaks 232, 234

manipulator 279, 307McKibbenartificialmuscles58,

59mechanical horse Cleveland, Ohio 196 Spezia, Italy 195 MedSim-Eagle Patient

Simulator 289micro electro-mechanical systems

(MEMS) 89MIT Manus, Inmotion Robotics for

Rehabilitation USA 256Mocher Wagen, Mavag-Fiat 195Mona, Green 279motion capture (MOCAP) system

84, 85, 86motor electric 51, 61 AC 62, 63 brush 62 brush-commutated DC

motors 62 brushless 64 DC 64 hydraulic 51, 57 pneumatic 51, 57 servo motor 64 stepper motor or step motor

64 piezoelectric motor or piezo

motor 64 voice coil motor 64mPower1000,MyomoUSA258M2, MIT Leg Lab 206

One-To-Many (OTM) ExoMusculature, WPI Popovic

Labs 148, 261

332 Index of Names (Devices, Machines, and Robots)

ornithopter Festo 146 Hargrave 147 Lippish 147 MIT 146 Musters 146 Schmid 147 Trouvé 145 University of Toronto 147 von Holst 146 WPI Popovic Labs 148oxygenator bubble or “direct contact”

286 membrane 286

PALRO, Fujisoft 210PETMAN, Boston Dynamics 201,

214Phoenix, MIT 147PhonyPony,McGhee(thefirst

computer-controlled legged robot) 197

planar one-legged hopping machine, Matsuoka 200

Planar One-Leg Hopper, CMU, Raibert 199

pneumaticartificialmuscles(PAM)58

pneumaticswitch,Marey14Pneu-WREX, UC Irvine 258positron emission tomography

(PET) 95, 96posturograph 165potentiometers or pots 81PowerFootOne,iWalk235pressure sensors arrays 92PROBOT, Imperial College 283Projectoscope, Edison 17Puma robot arm, Unimate 282PV-II, Hirose 198P1, P2, P3, and P4, HONDA 206

QRIO, SONY 209, 210

radar 83, 84radio, Marconi and Tesla 18, 20,

21Rancho Arm, Rancho Los Amigos

Hospital 28ReWalk, Argo Medical

Technologies 255Rheo Knee, Ossur 230, 233rheostats or variable resistors 81RHex, Boston Dynamics 201RoboDoc, Integrated Surgical

Systems Inc. 278, 283, 284

Robot for Interactive Body Assistance (RIBA), RIKEN-TRI RTC 291

robotic ankle foot, MIT Biomechatronics group 235

rockets 159Roomba vacuum cleaner, iRobot

26rubbertuators 58

SDR-4X, SONY 209SegwayPersonalTransporter,

Kamen 90series elastic actuator (SEA), MIT

Leg lab 204, 251shape-sensing optical sensors,

LUNA 84sieve electrode neural 323Simroid robot, Nippon Medical

School 289six-leggedhydraulicwalker,

Sutherland 201Smartbird, Festo 146SmartHand Prosthesis, Scuola

Superiore Sant’Anna 240Spring Turkey, MIT Leg Lab 204,

205Spring Flamingo, MIT Leg Lab 205sonar 84

333Index of Names (Devices, Machines, and Robots)

steam engines 53 king 194 Man 193 Wagon 194Stirling engines alpha-type 53 beta-type 53strain gauge Simmons 91 strainwavegearing(SWG)299,

300supercomputer 118, 323 Cray Jaguar 118, 323 Cray Titan 118, 323 Fujitsu K computer 118, 323 IBM Roadrunner 118, 323 NUDT Tianhe 2 118, 323 Tianhe-IA 118, 323surgical robots 277, 278SynCardia temporary CardioWest

TotalArtificialHeart243

tactel 92tactile sensors 198, 199, 292Tek Robotic Mobilization Device

(RMD), Hacikadiroglu 264teleautomaton,Tesla(thefirst

robot) 18, 20teleoperated robot boat, Tesla (the

firstrobot)19telescoping legs 196, 199Tentacle Arm, Minsky 28, 29Tesla coil 20Tesla’s turbines 22tin-foil phonograph, Edison 15tortoiserobots,Walter(thefirst

autonomous robots) 25transducer 88, 92, 93, 226transformer, Tesla 20

transistor 110Troody, MIT Leg Lab/

Biomechatronics Group 207

ultrasonography 278Unimate industrial arm, Unimation

(thefirstindustrialroboticarm) 27

unmanned aerial vehicles (UAVs) 167

Urban Hopper, Boston Dynamics 201

verticaltakeoffaircraft,Tesla22Vitascope, Edison 17

WABOT1,Kato(thefirstcomputer-controlled bipedal robot) 198

walkingmachine,HutchinsonandSmith 195

Wheatstone bridge 92wheelchair iBot, Johnson & Johnson 263 Tek RMD 264 Saitama University 265 MIT, Roy and Teller 266 part of the UNR project, ATR

267winches59wind-uptoys51

Xbox360withKinect87XOS, Raytheon 254XOS-2, Raytheon 254X-ray computed tomography 96

Zeus system, Computer Motion 285

acetylcholine, neurotransmitter 49

actin–myosin binding sites 36action potential(s) 45, 113, 116adenosine diphosphate (ADP) 50,

298,adenosine triphosphate (ATP) 44,

50, 298amphibians 121amputation bilateral 220 congenital quadrilateral 220 transfemoral, also above the

knee (AK) 220 transhumeral, also above the

elbow (AE) 220 transradial, also below the

elbow (BE) 220 transtibial, also below the

knee (BK) 220 traumatic trilateral 220 unilateral 220amputee 220–223, 225, 226, 230,

232, 234, 235, 239 amoeba 44anterior–posterior direction 170aorta 241–243, 286arachnid arachnid gait 179, 180 scorpion(s) 179 spider(s) hunting spider (Cupiennius

salei) 179 daddy-longlegs spider

198arm(s) elbow 220, 239, 310

Index of Terms (Biological Systems)

fingertip79,280 forearm 239 forequarter 222 grip 198, 238 hand tremor, hand 278 indexfinger239 palm 62, 299 shoulder 167, 178, 197, 237,

260, 262, 265, 306, 310 swinging, arm 222 thumb 62, 239 upper-arm 262 wrist 247, 299, 307, 309arrhythmias 289axon(s) demyelination of axon 114 depolarization, axon 49 efferentaxons113 myelinated axons 116 terminals, axon 49

bacterium cell membrane 153 flagellum153 prokaryoticflagellate Helicobacter pylori 127 swimming bacterium 140bird(s) duck 139 flappingbird20 great bustard 137 hummingbird 304, 305 ostrich 177blood cell 242 clot 242 circulation 7, 11, 319 deoxygenated 286

336 Index of Terms (Biological Systems)

pressure 290 red cell 242 regurgitation (backward blood

flow)241 stenosis (impeded blood

forwardflow)241 thrombus-vulnerable 244 vessels 7, 41, 117, 122, 244bone(s) femur 283 humerus 34 bony prominences 319bony landmarks 85 greater tubercle 262, 307brain brain’s immune cell(s) 117 forebrain cerebrum left and right

hemispheres 121 corpus callosum 121 cerebral cortex, human

121 occipital lobe 121 temporal lobe 121 parietal lobe 121 frontal lobe 122 diencephalon thalamus 120 hypothalamus 120 hindbrain cerebellum 122 medulla oblongata 122 pons 122 midbrain 120, 122 tumor 283brainstem 113, 116, 117

cadaver 307calcium (Ca2+ ) and troponin-C

(TN-C) binding 47cancer 220cardiac valve repair 286caterpillar 64

cell(s) eukaryotic (have a nucleus)

cells 127 eukaryoticflagellatecell

127 mammalian sperm cell

127 prokaryotic (lack a nucleus)

cells 127 prokaryoticflagellate

bacterium 127 Helicobacter pylori 127central nervous system (CNS) brain 113 spinal cord 113 retina 113central pattern generators (CPGs)

119cerebral palsy 85, 256, 319chambered nautilus 140chemoreceptors circulatory system 80 smell or olfactory 78 taste or the gustatory system Type I (sweet) 77 Type II (bitter) 77Cochlea 76, 246, 248, 249, 321 colic pain 80 collagenfibers41contractile proteins 41copepod (copepoda) 139cortical reorganization 240crab(s) 141cytoplasm 42

decubitus ulcers (also pressure ulcers or bedsoares) 319, 320

dendrite(s) 113, 114dermis 78, 79diabetes 220, 221digestive system larynx 78 upper esophagus 78

337Index of Terms (Biological Systems)

dorsal position 137dorsum 299drop-foot 251

ear canal 246, 249eardrum 76, 246endocrine functions 120ephaptic coupling 118, 119excitation–contraction coupling

47, 49exteroception 75, 212eye 7, 20, 40, 75, 120, 122, 177,

208, 219, 240, 289eyeball 76

feathers 147, 150fetus in utero 5fin(s) caudal 141 median 141 pectoral 141fish ray-finnedfish(Actinopterygii)

137 swim bladder (“gas

bladder”) 137 tuna 139 shark 141 stinger ray (also stingray)

141 undulatingfish143 zebrafish80flagellum127,153foot, feet contact with the ground, foot

14frogs African clawed frogs 80

gait(s) arachnid gait (8-legged) 179,

180 asymmetric gaits canter 176, 181, 310, 311

transverse/rotary gallop 176, 181–184, 310, 311

bound 176, 311 pronk 176, 311 quadruped’s gaits (4-legged) “ambling” gaits 183 canter 181 gallop double suspension

183, 184 single suspension 183,

184 pace 182 trot 176, 181, 310, 311 walk 182–184 ripple gait (6-legged) 180 symmetric running gait (a trot

or pace) 176, 311 tetrapod gait (8-legged) 179 tripod gait (6-legged) 179,

202 wave gait (6-legged) 180ganglion, ganglia cluster(s) of neurons in

periphery 113gastrointestinal tract 41, 80glia, glial cell(s) astrocytes 117 microglia 117 oligodendrocytes 117 Schwann cells 114glucose uptake 96 gray matter 113, 121,

head 44, 47–49, 51, 60, 77, 113, 206, 209, 290

heart beat(s) 11, 41, 240 bypass 285 right and left atria 240 right and left ventricles 240 valve(s) human heart valves aortic valve 240

338 Index of Terms (Biological Systems)

mitral valve 240 pulmonic valve 240 tricuspid valve 240hemiplegic 319 homeostasis 117, 212, homeostatic center 120hooves 13human anatomy 5, 77, 230, biceps 44, 49, 103, 298 body 5, 7, 9, 20, 85, 103, 112,

221, 240, 249, 250, 259, 261

corpses 5 lungs 9, 80, 240, 241, 244 lymphatic system 7 movements footdorsiflexion299 palmarflexion299 plantarflexion299 olfactory receptor cells 78 organism, human 20 proprioceptor 80 proportions 6 reflexes166 skeletal muscles 34, 40, 41,

93, 103, 117, 172 tongue 77, 78 walk double-support phase

163, 171, 317 single-support phase 163,

171, 203 stance and swing leg 167,

212

inner ear 76, 77, 80, 246, 249insect(s) cockroach (Periplaneta

americana), also waterbug 177, 310

fruitflies80 largedragonfly139integrated circulation system 33

interoception 75, 80invertebrate larva 139isometric 37, 39isotonic 37, 39, 298

jellyfish140joint(s) 2, 9, 28, 34, 40, 41, 87, 93,

109, 111, 156, 157, 172, 196, 197, 204, 206, 212, 221, 232, 233, 235, 249, 250, 251, 254, 255, 256, 258, 259, 260, 262, 281

kinesthesia 80

lamellar (or Pacinian) corpuscles 79

laparoscopic cholecystectomy, or gall bladder excisions 277

leg(s) ankle 204, 212, 224,

234–236, 250, 251, 314, 316, 318

big toe 238 foot, feet 14, 15, 155, 160,

166, 167, 170, 179, 181, 183, 184, 208, 211, 212, 232, 235, 236, 250, 279, 299, 311, 312, 315, 316

forefoot 236 heel 163, 236 hip(s) 199, 204, 206, 212,

256, 283, 284, 314, 316, 318

knee 197, 204, 206, 208, 212, 220, 224, 230–233, 235, 236, 251, 256, 314, 316, 318, 321

shank(s) 236 shin 299, 316, thigh(s) 196, 316 toe(s) 163, 238ligament(s) 172liver 7

339Index of Terms (Biological Systems)

locomotion aerial 303 gliding 143, 147, 150 flapping wing(s)flapping139,

142, 143, 145, 148, 149, 152, 304

hovering 146–149, 152, parachuting 143 soaring 143 flockformation144 aquatic 140 appendicular locomotion

141 axial locomotion 141 flagellarrotation143 recoil locomotion 140 school formation 144 swimming bodyand/orcaudalfin

(BCF) locomotion 141 median and/or paired

fin(MPF)locomotion141 terrestrial legged locomotion 169,

173, 174, 176 walking double-support

phase 163, 171, 317 single-support phase

163, 171, 203 arm(s) swinging

222 running aerial phase 174 hopping 200, 201 crawling 199 slithering 199lung alveoli 244 bronchi, bronchioles 244 capillaries 244 windpipe (trachea) 244

mammal(s) bear(s) 5 blue whale (Balaenoptera

musculus) 138 cat(s) cheetah (Acinonyx jubatus)

153, 176 cow(s) 5, 242 dog(s) 78, 174, 181, 183, 184 elephant(s) African elephant(s) 178 giraffe(Giraffa camelopardalis)

178 horse(s) heart, horse 242 galloping horse(s) 13 large whale 139 monkey(s) 5 mule 211 pig heart, pig 242 sheep 246 rabbit 44mechanoreceptors hair cells 76, 246 hearing or audition 76 vestibular 77 stretch receptors pulmonary (in the lungs)

stretch receptors 80 stretch receptors in the

gastrointestinal tract 80medio-lateral direction 170metabolic activity 96metabolic energy 233, 314middle ear 76, 246, 249motor end plate membrane

(connecting sarcolemma with axon) 49

fibers7 neuron 37, 113, 115–117,

120

340 Index of Terms (Biological Systems)

twitch, motor unit 37multiple sclerosis 114, 256muscle(s) active force 36 agonist and antagonist 3 biceps brachii 35, 49, 103,

298 contraction 37, 45, 46, 48, 49,

51, 95 deltoid 34, 262, 307 extensor digitorum longus

299 extensor hallucis longus 299 fibers extrafusalmusclefibers

116 intrafusalmusclefibers

116 flexormuscle(ofthehuman

upper arm) 51 frog’s sartorius muscle 51 Hill’s muscle model 37, 39 passive force 35, 36 peroneus tertius 299 production of heat and

mechanical work 37 recruitment 34, 103, 104 scale invariance 33 spindle(s) 116, 117 stress–elongation 35 tension–length 35 tibialis anterior 299 types cardiac 41 smooth 41 striated 40musculoskeletal 10, 172myofibrils42,44myofilaments42,44,51myosin cross-bridges 46, 50, 51 globular head 44 head swivel, myosin 298

long,fibroustail,myosin44 thickfilament42,47,51 two heads 47

nematode worms 80nerve(s) action potentials, nerve 45 afferentnerve113 auditory nerve Type I or cochlear neurons

76 vestibular neurons 77 cranial nerve facial 78 glossopharyngeal 78 vagus 78 efferentnerve113 enclosed, cable-like bundle of

axons in the PNS 113 motor nerve 49 mixed nerve 113 nerve–muscle grafts 239 optic nerve 76 sensory nerve 3 spinal nerve 113neuromuscular junction (synapse)

49neuron(s) alphamotor(α-MNs)116,

117 cluster of neurons in CNS

(nucleus) 113 cluster of neurons in PNS

(ganglion) 113 doctrine, neuron 112 gamma motor neuron,

gamma motoneurons (γ-motoneurons)116, 117

olfactory sensory neurons 78neuronal membrane 116neurotransmission 115–117nociceptors (pain nerve endings)

79

341Index of Terms (Biological Systems)

nociception (perception of pain) 79

nodes of Ranvier 114nucleus cluster of neurons in CNS 113

olfactory epithelium 78osseointegration 229, 320ossicles, also tiny bones 246osteoarthritis 284

Pacinian corpuscles 79papillae circumvallate 77, 78 foliate 78 fungiform 78parallel and pennate arrangement

42Parkinson’s disease 256pelvis and abdomen 170peripheral arterial disease 220peripheral nervous system (PNS)

or periphery ganglia 113 sensory neurons 113photoreceptors (sight or vision) cones, color photoreceptors

75 rods, brightness

photoreceptors 75pineal gland (pineal body,

epiphysis cerebri, epiphysis, conarium, “third eye”) 7, 8, 122

posture balance, postural 159, 167 crouch 264 stand 177, 178, 207, 209, 255 upright position 263proprioception 75, 80, 104, 212,

226prostatectomy, prostatectomies

277, 286prostatic surgery 283

proximal and distal insertion 262, 307

pterosaurs 138pulmonary pulmonary artery 241 pulmonary vein 241

regulatory protein complex 46reptiles 121respiration respiratory rate control system

80retina 75, 76, 113

saltation 114sarcolemma 49 sarcomere(s) A band 43, 46 H band 43 I band 43, 46 Z disc or Z line 43sarcoplasmic reticulum (SR) 47scoliosis 222sea turtle 141sex organs 5skeletal strains 222skeleton 5, 85, 250skull 119, 249slidingfilamenttheory44–46soma 114spinal cord injuries (SCI) 319spinal rotation 222stroke 51, 54, 56, 122, 147, 149,

150, 256, 258, 262, 319synapse(s) 49, 115, 117–119, 323synaptic connections 118, 323synaptic transmission 115

targeted reinnervation 239taste buds 77tears 7tendon(s) tendon–bone muscle

attachment 34

342 Index of Terms (Biological Systems)

tetanic contraction (tetanized state, maximal contraction) 37

thermoreceptors 79thinfilaments actin 46 tropomyosin 46 troponin 46 troponin-T 47 troponin-C 47 troponin-I 47thorax 170 thrombus 242, 244tissue(s) elasticity 9 resistance 278tongue 78torso 256tortoises 25 total hip arthroplasty 283touch or somatic sense receptors

78tracts analogous to nerves, in the

CNS 113

traumatic brain injury (TBI) 256, 319

transverse tubules 50

urchin sperm 139

vascular vascular disease 220, 221vena cava interior vena cava 286 superior vena cava 241, 286vertebrates 78, 113, 114

walk level walking 14 double-support phase 163,

171, 317 single-support phase 163,

171, 203 stance and swing leg 167, 212 stride 174, 181, 197, 224, 233white matter 113

About the Movement of Animals 2acceleration 77, 89, 90, 103, 128,

129, 135, 156, 157, 159, 212, 304, 310, 315

adaptable stiffness 34adiabatic processes 51agent(s) 109airfoil 140, 151, 152allometric invariance 174alternating current (AC) 20aluminum 229, 260amazing robot 263angular momentum 90, 109, 162,

169, 170–172, 204, 222anticoagulant drugs 242Archimedes’ lever principle 3Archimedes’ principle of buoyancy

128Argo Medical Technologies 255artificial intelligence (AI) 28, 109,

112ATR Intelligent Robotics

and Communication Laboratories 266, 290

audible 76, 223, 246, 247austenite 66, 67

backlash 299balance 77, 88, 122, 150, 159,

162, 163, 165–167, 170–172, 199, 200, 203, 206–208, 222, 224, 239, 251, 306, 315, 316

bandwidth 204, 206, 279, 297base of support 162, 163battery, batteries 25, 33, 57, 105,

196, 209, 212, 222–224, 232, 236, 237, 244, 252, 260, 303, 305

Index of Terms (Other)

Bedford College London 45Bellman’s curse of

dimensionality 107 Bernoulli’s principle 129Biodesigns Inc. 229Biomech Designs 232Biomech Engineering 232Blatchfords 231Boston Dynamics 201, 211, 213,

214Boston University School of

Medicine 24boundary condition 110, 111brace(s) 230, 256, 258, 260–262Brandeis University 45Bridgestone rubber company 58Brownian machine 321, 322Bucyrus–Erie Co. 197

cable tension 262, 299, 306, 307calculus of variations 110California Institute of Technology

(Caltech) 91, 203Cambridge University 7capacitor 66, 92carbon nanotubes 65Carnegie Melon University, or CMU

108Carnot cycle 51, 52, 302Case Western University 244, 245center of mass, also CM or CoM

156, 169, 172, 174, 311, 312, 315

center of pressure, also CP or CoP 92, 155, 170, 312, 315, 317

center of rotation 306Centre for Automation and

Robotics UPM–CSIC, Madrid, Spain 262

344 Subject Index

centrifuge 288centroidal moment pivot (CMP)

161, 162, 166, 167ceramic 65chaotic 130 characteristic linear dimension

136chemical energy 45, 52chromium 300Chrysler 27CM ground projection 162, 211coating surface(s) 66coefficient of friction 224, 311College de France 11Columbia University 15, 260compliance 198Computer Motion Inc. 285conductive polymers 65conductor 21, 61, 62, 91 contact surface 92, 155, 158,

160–162continuity equation 136control control goal 104, 106, 107,

109 control loop 104convex hull 160copper copper–aluminium–nickel

alloys 67 copper–zinc–aluminium–

nickel alloys 67cosmetic 223cost function 104, 108, 110Coulomb force 88Cretaceous period 138current 16, 17, 20, 54, 61, 62, 66,

67, 87, 88, 212, 256, 300, 301, 303, 305

Cyberdyne 254, 255

dance 209, 210DARPA 237, 252Darwin’s evolution of species 109

data explained 108Deka 229, 237, 238De Motu Animalium I and De Motu

Animalium II 8De Motu Musculorum 3density 33, 57, 59, 67, 130,

135–137, 149, 224, 261, 300, 302–304, 320, 321

Department of Physiology at University College in London 45

deviatoric 135die cast, die casting 27, 229dielectric elastomers 66differential and integral calculus

128dimensionless 136, 137, 303direct current (DC) 16, 20, 54, 62,

256displacement(s) 15, 53, 59, 65,

67, 82, 140, 174, 202distance 21, 58, 82, 86, 134,

150, 158, 171, 234, 244, 262, 278, 298, 305, 307, 309–311, 314, 321, 322

disturbance 200, 214, 224drag drag coefficient 130, 149 drag equation 130drift 82durability 224dynamic buoyancy 129dynamic stability 172, 199, 211,

213dynamic viscosity 131, 134

earth’s magnetic field 305, 306Eastman Kodak 18Edison General Electric 16Edison Speaking Phonograph

Company 16efficiency 51, 52, 103, 223, 224,

301, 302

345Subject Index

Einstein’s theory of relativity 112elastic energy 51, 168elasticity 9, 91, 132, 236elastic recoil 172elastomers 66electrets 66electrical energy 22, 51, 61Electrical Exhibition of 1898 18electric fields 66, 119electromagnet(s) 63, 83, 84electromagnetic wave 83, 84electronic EAPs 66electrostrictive graft elastomers

66energy energy density 33, 57, 224,

261, 302–304 energy function 104 energy functional 104equilibrium 9, 155, 163, 164, 171ergonomic surgeon console 279Euler–Lagrange equation 110,

111, 309Euler–Lagrange method 110exomusculature(s) 148, 249, 250,

259, 260, 262exoskeleton(s) 249, 250–256,

258, 259, 260

Faraday law 81Faraday’s law of induction 61feedback 64, 103–105, 117, 119,

237, 238, 277–279, 282feed-forward movement 64ferroelectric polymers 66Festo AG 146Feynman’s sum over histories 111flappers 150 foam 146, 292footholds 163, 171footprints 154Ford 27

force 3, 5, 10, 14, 15, 34–39, 42, 51, 57, 61, 62, 64–67, 80, 81, 88, 90–93, 95, 103, 104, 108, 127–135, 137, 139, 140, 142–144, 147, 149–153, 155–160, 162, 163, 165, 167, 169–174, 204, 206, 212, 219, 222, 225, 229, 230, 232, 233, 244, 249–252, 254, 255, 258, 260, 262, 282, 298–301, 303–309, 315, 317, 318

Foster-Miller Inc. 211four-stroke cycle 55, 56free will 111French Academy of Medicine 11French Academy of Sciences 20,

145frequency frequency cutoff 95 frequency range 76friction forces 64, 137Froude number 174, 176, 311Fujisoft 210Fujitsu 118, 210, 323

gait formula 197gear 56, 197, 223, 236, 251, 299General Electric 16General Motors 27Georgia Institute of Technology

259Gify University, Japan 204global minimum 107, 108gravity 9, 77, 89, 129, 135, 142,

143, 156, 162–164, 263, 298, 303, 306, 308, 309, 315

ground ground reaction force 14, 92,

155, 156, 158–160, 162, 163, 169, 170, 174, 315, 317

346 Subject Index

ground reference point 160Guy’s and St Thomas’ Hospital,

London 283

Hall effect 88, 89, 92, 93haptic feedback 278, 282Harvard University Harvard University Concord

Field Station 211 Harvard-MIT HST 233Heartland Robotics 26heat energy 53Heisenberg’s principle of

uncertainty 111, 112Hi-Fi 229, 230Hill’s equation 37Hocoma AG 256HONDA 206, 208, 209hop, hopping 200, 201hover, hovering 146–149, 152human’s spiritual nature 7hydraulic fluid 59, 61, 232, 254hydrogen 55, 153hydrolysis 50, 298hyperbolic relationship 37, 299

IBM 118, 323ignition 54, 55, 56illusion 194image processing 86, 279Imperial College, London 283incidence 220inclined plane 200incompressibility 61incompressible 61, 133–136, 244inelastic 130inertia 128, 129, 156, 308, 316infinite 130, 167infrared light 84, 86initial velocity 129, 309Integrated Surgical Systems Inc.

278intelligence 28, 109, 111, 112interference 44, 65, 82, 84

Intuitive Surgical Inc. 279inverse dynamics 111inverted pendulum 164–167, 311,

312inviscid flow 129, 137ion(s) ionic electroactive polymers

65 ionic polymer gels 65ionomeric polymermetal

composites 65I, Robot 23, 24iRobot 26iron iron particle–rich fluid 234irregular ground surfaces 155isothermal processes 51iWalk 235, 236

Jacobian 308Johns Hopkins University 279Johnson & Johnson 263, 264jump 9, 12, 54, 116, 147, 184,

321, 322

Kawada Industries 209kinetic energy 110, 167, 168, 169,

172, 308King’s College in Canterbury 7

Lagrange function 309Lagrangian 110laminar 131, 132, 136, 137, 139,

144, 303laminates 229lanyard cord 227laser 22, 82, 83, 84, 225, 265, 266lateral 182, 204, 205, 212, 213,

222, 256leaf spring 236, 237learning by demonstration 108lee waves 143Leipzig Heart Centre in Germany

285

347Subject Index

Lenz’s rule 81lever 3, 10, 15, 163, 281lift 142–144, 149–152, 180, 292,

304–306linear momentum 130, 133, 142liner 225– 227link(s) 109, 156, 166, 167lithium lithium-ion battery 232, 236 lithium-polymer rechargeable

battery 237local minimum 107Lockheed Martin 252locomotion 14, 127, 128, 137,

139, 140, 141, 154, 169, 172–174, 176, 196, 197, 199, 256, 303, 310

London Health Sciences Centre (London, Ontario, Canada) 285

longitudinal 58lubricants 57

magic 111magnet(s) magnetic field 61–63, 65, 88,

92, 234, 301, 305, 306 magnetic poles 63martensite 66, 67mass 26, 33, 56, 67, 89, 128–130,

133, 134, 136, 137, 140, 142, 143, 150, 154–156, 158, 163, 164, 166, 169, 170, 172–174, 176, 197, 202, 208, 209, 222–225, 236, 302–305, 307, 308, 310–312, 314–316, 318

Mavag-Fiat 195measure of error 104–106mechanical mechanical energy 52, 57, 61,

172, 302 mechanical work 37, 45, 53Medtronic 242

Michigan Critical Care Consultants (MC3) 245

Miranda Technologies Inc. 279misalignments 230MIT, or Massachusetts Institute of

Technology MIT Artificial Intelligence Lab

28 Lemelson–MIT Prize 238 MIT Biomechatronics Group

39, 233, 236, 250, 252 MIT Computer Science and

Artificial Intelligence Lab, or CSAIL 26, 87

MIT Leg Lab 204–206 MIT Media Lab 86, 87 MIT Newman Lab 257model uncertainty 108moment 13, 34, 90, 92, 155–163,

165–167, 170–172, 181, 223, 232, 233, 307, 308, 314–316, 318

moment balance strategy 165–167, 172

MossRehab in suburban Philadelphia, USA 255

motion analysis 14movement primitives 109MRC Biophysics Unit at King’s

College 45mumetal 300, 301Myomo USA 258

nanomanipulation 65nanometrology 65nanopositioning 65NASA Jet Propulsion Laboratory

211National Academy of Sciences of

the United States 45National Institute of Advanced

Industrial Science and Technology (AIST), Japan 209

348 Subject Index

natural interface 87Naval Postgraduate School,

Monterey 198Navier–Stokes equations 130,

132, 134, 135network 57, 109, 112, 118, 119,

155, 219, 240, 252, 260, 266, 289, 302, 320–322

neural interface 235, 249Newton’s drag 130, 131, 140Newton’s law(s) 9Newton’s second law 111, 128,

129, 134, 135Newton’s third law 128nickel 300nickel–titanium (NiTi) alloys 67Nippon Medical School 289NIST 83nitrogen 57Nobel Prize 20, 21, 37, 45, 75, 112node(s) 109, 114, 322normal distribution 295null hypothesis 297nurse, nursing 173, 290, 291

objective function 104obstacles 200, 208, 266, 305occlusions 84Ohio State University, or OSU 197,

198, 285one-to-many (OTM) principle 57,

148, 150, 261open-loop 64, 65optimal solution 104optimal trajectory 110, 266optimization 107–109, 140Osaka University 290Ossur 230, 232, 233Otto Bock Orthopedic Industry

231oxidizer 54oxygen 33, 117, 137, 244, 245,

252, 286

paradox 111, 133, 134, 142, 260path integral 111PD control 309period of small oscillations 316permanent magnet 63, 64, 223,

305permeability 49, 62, 300perturbation 109, 144, 163, 164,

166, 167, 171, 172Philosophiæ Naturalis Principia

Mathematica 8, 128Photographic Investigation 12photons 95phototaxis 25physical realism 157, 315physician 3, 173, 225, 319physicist 45, 110, 128, 129, 132,

134, 147piezoelectric material 64 piezoelectric principle 82pin lock 225, 227planet 310plaster cast(s) 227plaster of paris 227plastics 65, 226policy, policies 108–110polymath 3, 4polyphase 62Portland State University 203positron 95potential energy 110, 129, 168,

169, 172, 308power density 59, 67power-to-mass ratio 33predesigned 315predetermined 109, 111pressure 9, 27, 52, 53, 57–61, 79,

82, 91, 92, 121, 129, 133, 135, 142, 143, 145, 151, 152, 155, 159, 170, 208, 212, 222, 229, 230, 237, 238, 242, 244, 254, 290, 312, 315, 317, 319, 320

349Subject Index

prevalence 220, 221 prime mover 61principal component analysis

(PCA) 108, 170principle components (PCs) 108probability 111, 129, 295, 297,

321proportional–integral–derivative

controller (PID controller) 105

prosthesis, prostheses 219–227, 230, 231, 232, 234–237, 239, 240, 320

prosthetic 95, 167, 221–226, 229, 230, 234–236, 239, 240, 249, 251, 252, 320, 321, 323

pulse 54, 82, 83PVC 223

quantum nature 111quantum states 111, 112

radionuclide 95Rancho Los Amigos Hospital,

Downey, California 28Raytheon 254real time 86–88, 109, 277, 278Rehabilitation Institute of Chicago

239renaissance man 3reservoir of stability 164, 172resistance 82, 91, 93, 130, 134,

140, 144, 175, 230, 232, 242, 278, 305

Rethink Robotics 26Reynolds number 130, 131, 134,

136, 137, 139, 140ridge lift 143right-hand rule 62RIKEN-TRI Collaboration Center

for Human-Interactive Robot Research (RTC) 291

robotic surgery 277, 278, 279roll 205root mean square (RMS)

amplitudes 297rotations per minute (rpm) 244,

299Royal Society, UK 45, 175, 236,

245Ruhmkorff’s coil 54run, running 9, 42, 47, 172–174,

176, 177, 184, 194, 200, 208, 210, 211, 213, 224, 232, 310, 311, 318, 322

Runaround 23, 24R.U.R. (Rossum’s Universal Robots)

22

Saitama University, Japan 265Sarcos 252–254Scuola Superiore Sant’Anna, Pisa,

Italy 240self-propulsion 127shaft 62, 63, 224, 230, 299–302shape-memory alloys 66, 67shared-controlled surgery 278,

282shear stress 134shock 204, 212shock tolerance 204signal-to-noise ratio (SNR) 297silicone 223, 226, 244socket 17, 222, 225, 226–228,

236, 320solenoid 200, 300, 301SONY 209sound vibrations 76sound wave 84Spaulding Rehabilitation Hospital’s

Gait Lab 235spectrum 83, 246, 247

350 Subject Index

speed 15, 34, 35, 38, 55, 62, 80, 82, 88, 89, 104, 112, 116, 117, 129–131, 133, 134, 136, 139, 140, 142, 143, 146, 147, 149, 151–153, 168, 170, 171, 174–177, 181, 183, 194, 197, 200, 202, 206, 208, 213, 221, 224, 232, 233, 238, 251, 278, 288, 299, 303–305, 310–312, 314, 315, 318

spline 300spring mass model 172–174, 318stability 162, 164, 165, 167, 171,

172, 175, 199, 211, 213, 222, 224, 251

standard deviation 295, 296standing wave(s) 143Stanford University 29, 108, 288Stanford Research Institute (SRI)

International 279static buoyancy 128stereoscopic 86, 87stiffness 34, 58, 61, 225, 227, 261,

320Stoke’s drag 303Stokes flow 137, 140Stokes’ radius 131, 136strain 35, 65, 66, 91–93, 172, 197,

222, 232, 251, 254, 299strain wave gearing (SWG) 299stress tensor 135stroke 51, 54, 55, 56, 122, 147,

149, 150, 151, 212, 256–258, 262, 319

stump socket interface technology 222

suction socket(s) 225Superman 305supervisory-controlled surgery

278support base 157, 159, 160, 163,

164, 166, 170, 208, 211surface firmness 198

surface-to-volume relationship 173

susceptibility 65Sutter General Hospital,

Sacramento, California 284

sway 162symbiotic 230

teeth 289, 300teleoperation 2telescoping 196, 199, 311telesurgical approach 278, 279temperature 51–53, 66, 67, 79,

104, 105, 212, 301, 303terrestrial stationary waves 21therapist 257, 319therapy 256–258thermals 143thermoplastic 227, 228Thomas Jefferson University

Hospital, Philadelphia 286Thompson-Houston 16three-element Hill model 38Three Laws of Robotics 23threshold 116thrust 141–144, 147, 148, 152,

200time 33, 35, 51, 57, 81, 82, 84,

86–88, 95, 104–106, 108–111, 130, 133, 135, 150, 156, 162, 172, 179, 180, 181, 183, 202, 206, 222, 224, 227, 228, 233, 243, 244, 251, 252, 277, 279, 305, 309–311, 314, 317, 320

titanium 229, 249Tokyo Institute of Technology 199toroid 300, 301torque 34, 35, 59, 61, 65, 92, 111,

150, 153, 163, 165, 167, 204, 206, 221, 233, 234, 258, 299–301, 306–310

Touch Bionics 239

351Subject Index

training simulator 288transducer 88, 92, 93, 226transmission 16, 22, 62, 115, 230,

237, 250, 260transversal 58triangulation 82Triassic period 138Tsukuba University, Japan 254t-test 297turbulent 130, 131, 136, 137, 139,

303

ultraprecision 65uneven ground 232uneven terrain 209Unimate 27, 282, 283Unimation Inc. 27University of Alberta 232University of Belgrade 27University of California, Berkeley

177, 203, 310University of California, Irvine or

UC Irvine 258, 259University of Delaware 260University of Leeds 175University of London 45, 184University of Michigan Medical

Center 245University of Padua 7University of Rochester 14University of Southern California

198University of Texas 246University of Tokyo 203, 290University of Toronto 147University of Utah 203, 252unmodeled dynamics 108urethanes 226US National Academy of

Engineering 201US Patent Office 19utility function 104

vacuum 26, 65, 225–228

VA hospitals 257variable resistance 82variance(s) 108, 174, 297, 318vibrations 21, 76, 79, 246vibro-tactile output 247VICON 85video game 84, 237viscosity 129–132, 134, 135, 137,

288, 303vision 26, 75, 82, 86, 87, 212, 225,

279, 280vital spirit 7voltage(s) 17, 54, 62, 66, 81, 88,

93, 105, 116, 212vortex, vortices 131, 139

wake 139, 144walk, walking 9, 14, 15, 120, 154,

163, 166, 167, 169–172, 174, 175, 179, 182–184, 194–199, 201–210, 212–214, 222, 224, 232, 233, 236, 251, 255, 265, 290, 299, 302, 310, 311, 312, 314, 317, 318

Wardenclyffe tower 21war of currents 20wearable 223, 259, 261, 302wheelchair 262–267, 292wheel-prints 154Wizard of Menlo Park 20Wizard of West 20Worcester Polytechnic Institute,

or WPI WPI Popovic labs 148working fluid 52, 53, 61

yaw 205

zero-moment balance strategy 165, 166

zero-moment point (ZMP) 155