A mechanically formed vortex transducer is described. The transducer has a plurality of piezoelectric elements suspended in an epoxy and heat molded into a desired shape. An irregularity in the transducer shape provides for a mechanically induced vortex focal field without the need for electronic steering or lens focusing. A system and methods of making the same are also described.

 
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> Gravity compensation method in a human assist system and a human assist system with gravity compensation control

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