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Definitions

Licensor means The Trustees of Columbia University in the City of New York [modify as appropriate].
Licensee and/or You means any natural person, legal entity or organization exercising rights granted under Sections 2 or 3 of this Agreement.
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Copyrighted Materials means Finger Structure Design Files, The Finger Controller Board Design Files and the Firmware as listed in Appendix A.
Tactile Sensor Patents means the patents set forth in Appendix B.
Covered Technology means any sensor or method that would infringe any claim of the Tactile Sensor Patents but for the license rights granted in Section 3 of this Agreement.
Agreement Materials means the Copyrighted Materials and the Covered Technology.
Commercial Use means any utilization of the Covered Technology to generate a revenue stream or other valuable consideration, including, but not limited to: (x) selling the Covered Technology, (y) renting or selling products incorporating the Covered Technology therein, or (z) otherwise receiving something of value in exchange for a product or service that utilizes the Covered Technology. Commercial Use does not include utilization of the Covered Technology for academic, evaluation, experimental, or research and development purposes.
Losses shall have the meaning indicated in Section 5.1

Open Source Copyright License Grant

The Copyrighted Materials are licensed under version 2 of the GNU General Public License as published by the Free Software Foundation. They are distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See GNU General Public License for more details, a copy of which appears below as Appendix C.

The license grant in this Section 2 does not convey a license under any patents, including, but not limited to, the Tactile Sensor Patents. The only patent rights granted in this Agreement are those set forth in Section 3.

Non-Commercial R&D Patent License

Licensor hereby grants to Licensee the nonexclusive right to make and use Covered Technology solely for non-Commercial Use. Any license granted hereunder is expressly conditioned on the Covered Technology being used solely for non-Commercial Use. No license is granted by this Agreement under the Tactile Sensor Patents for any Commercial Use.

NO EXHAUSTION. For the avoidance of doubt, nothing in this Agreement authorizes the sale of any Covered Technology.

Assent

>By making and/or using Covered Technology pursuant to this Agreement, You indicate your acceptance of this Agreement and all its terms and conditions.

Indemnification of Licensor

Licensee shall indemnify, save, defend and hold harmless Licensor and its directors, officers, agents and employees from and against any and all costs, lawsuits, losses, liabilities, claims and expenses, including interest, penalties, reasonable attorneys' fees and all reasonable amounts paid in investigation, defense or settlement of any of the foregoing (collectively "Losses"), incurred in connection with or arising out of or resulting from Licensee's activities respecting the Agreement Materials.

Term

The term of this Agreement shall terminate upon the expiration of the last of the Tactile Sensor Patents to be in force.

Section 5.1 shall survive termination of this Agreement as to any Losses resulting from Licensee's activities prior to termination.

No Warranty

THERE IS NO WARRANTY FOR THE AGREEMENT MATERIALS, TO THE EXTENT PERMITTED BY APPLICABLE LAW. THE AGREEMENT MATERIALS ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE AGREEMENT MATERIALS IS WITH YOU. SHOULD THE AGREEMENT MATERIALS PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.

IN NO EVENT WILL LICENSOR BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE AGREEMENT MATERIALS (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE AGREEMENT MATERIALS TO OPERATE WITH ANY OTHER TECHNOLOGIES), EVEN IF THE LICENSOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.

Miscellaneous

This License represents the complete agreement concerning subject matter hereof. Nothing in this Agreement shall be construed as conferring by implication, estoppel or otherwise any license or rights other than those granted in this License.

If any provision of this License is held to be unenforceable, such provision shall be reformed only to the extent necessary to make it enforceable.

This License shall be governed by New York law (except to the extent U.S. federal law preempts New York law). The application of the United Nations Convention on Contracts for the International Sale of Goods is expressly excluded.

Any law or regulation which provides that the language of a contract shall be construed against the drafter shall not apply to this Agreement.

You agree not to take any action, directly or indirectly, that would violate or cause the other party to violate United States laws and regulations, including, without limitation, regulations and rules regarding sponsored research, trade and import and export controls (the "Export Laws"). In that connection, You confirm it is each of the following: (a) not a Restricted Party and that no agency of the U.S. Government has denied, suspended, or otherwise abridged the Your export or import privileges. A "Restricted Party" means any company or individual on the Department of Treasury Office of Foreign Assets Control list of Specially Designated Nationals and Blocked Persons or List of Foreign Sanctions Evaders, on the Denied Persons List, the Entity List, or the Unverified List maintained by the U.S. Department of Commerce's Bureau of Industry and Security or on any other list maintained by any governmental agency restricting the export of any items to or other transactions with specific individuals, companies or other entities; (b) not directly or indirectly owned or controlled by or acting on behalf of others whose interests in You, taken in the aggregate, make You subject to U.S. trade sanctions or restrictions; (c) not directly or indirectly owned or controlled by or acting on behalf of a government of or entity located in a country subject to economic sanctions programs that are or may be maintained by the U.S. Government; and (d) not otherwise restricted, embargoed, or prohibited under applicable law from entering into agreements with U.S. entities and individuals.

You shall not export, re-export or otherwise transfer to any individuals or entities identified in items (i)-(iv) above any hardware, software, technology or services provided by Columbia under this Agreement. You confirm that You do not intend for the hardware, software, technology or services that Licensor provides under this Agreement to be used for any purposes prohibited by U.S. export control laws and regulations, including without limitation nuclear, chemical, or biological weapons proliferation, or for military end-uses or military end-users. The provisions of this section will remain in full force and effect during the term of this Agreement, and You will immediately notify Licensor of any events or changes that may conflict with the assurances and statements provided hereunder.

You agree to comply with all applicable export laws and regulations of all jurisdictions with respect to the Covered Technology and obtain, at your own expense, any required permits or export clearances, copies of which you shall provide to Licensor prior to such export.

If You are an agency of the United States Government, the Covered Technology constitutes "commercial computer software" or "commercial computer software documentation." Absent a written agreement to the contrary, the Government's rights with respect to the Government Technology are limited by the terms of this Agreement, pursuant to FAR 12.212(a) and/or DFARS 227.7202-4, as applicable.

Appendix A

Finger Structure Design Files (finger_design_files.zip)
Finger Skeleton CAD
servo_skeleton.SLDPRT
Finger Mold CAD (finger_mold.zip)
Dipping Vat CAD
dipping_vat.SLDPRT
Dipping Skeleton Base CAD
servo_skeleton_base.SLDPRT
Finger Controller Board Design Files
finger_controller_pcb_ODB.zip
finger_controller_schematic.pdf
Firmware (finger_firmware_files.zip)
Finger Controller library
FingerController.cpp
FingerController.h
Flexboard library
FlexBoardv2.cpp
FlexBoardv2.h
Arduino sketch file
Finger_Controller.ino

Appendix B

U.S. PATENT NO. 10,107,612 (SYSTEMS AND METHODS FOR CONTACT LOCALIZATION THROUGH SPATIALLY OVERLAPPING SIGNALS)

U.S. PATENT NO. 10,663,361 (SYSTEMS AND METHODS FOR TACTILE SENSING)

APPENDIX C GPL Version 2

GNU GENERAL PUBLIC LICENSE

Version 2, June 1991

51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA

Everyone is permitted to copy and distribute verbatim copies

of this license document, but changing it is not allowed.

Preamble

The licenses for most software are designed to take away your freedom to share and change it. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change free software--to make sure the software is free for all its users. This General Public License applies to most of the Free Software Foundation's software and to any other program whose authors commit to using it. (Some other Free Software Foundation software is covered by the GNU Lesser General Public License instead.) You can apply it to your programs, too.

When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for this service if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs; and that you know you can do these things.

To protect your rights, we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the rights. These restrictions translate to certain responsibilities for you if you distribute copies of the software, or if you modify it.

For example, if you distribute copies of such a program, whether gratis or for a fee, you must give the recipients all the rights that you have. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights.

We protect your rights with two steps: (1) copyright the software, and (2) offer you this license which gives you legal permission to copy, distribute and/or modify the software.

Also, for each author's protection and ours, we want to make certain that everyone understands that there is no warranty for this free software. If the software is modified by someone else and passed on, we want its recipients to know that what they have is not the original, so that any problems introduced by others will not reflect on the original authors' reputations.

Finally, any free program is threatened constantly by software patents. We wish to avoid the danger that redistributors of a free program will individually obtain patent licenses, in effect making the program proprietary. To prevent this, we have made it clear that any patent must be licensed for everyone's free use or not licensed at all.

The precise terms and conditions for copying, distribution and modification follow.

TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION

0. This License applies to any program or other work which contains a notice placed by the copyright holder saying it may be distributed under the terms of this General Public License. The "Program", below, refers to any such program or work, and a "work based on the Program" means either the Program or any derivative work under copyright law: that is to say, a work containing the Program or a portion of it, either verbatim or with modifications and/or translated into another language. (Hereinafter, translation is included without limitation in the term "modification".) Each licensee is addressed as "you".

Activities other than copying, distribution and modification are not covered by this License; they are outside its scope. The act of running the Program is not restricted, and the output from the Program is covered only if its contents constitute a work based on the Program (independent of having been made by running the Program). Whether that is true depends on what the Program does.

1. You may copy and distribute verbatim copies of the Program's source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty; keep intact all the notices that refer to this License and to the absence of any warranty; and give any other recipients of the Program a copy of this License along with the Program.

You may charge a fee for the physical act of transferring a copy, and you may at your option offer warranty protection in exchange for a fee.

2. You may modify your copy or copies of the Program or any portion of it, thus forming a work based on the Program, and copy and distribute such modifications or work under the terms of Section 1 above, provided that you also meet all of these conditions:

a) You must cause the modified files to carry prominent notices stating that you changed the files and the date of any change.

b) You must cause any work that you distribute or publish, that in whole or in part contains or is derived from the Program or any part thereof, to be licensed as a whole at no charge to all third parties under the terms of this License.

c) If the modified program normally reads commands interactively when run, you must cause it, when started running for such interactive use in the most ordinary way, to print or display an announcement including an appropriate copyright notice and a notice that there is no warranty (or else, saying that you provide a warranty) and that users may redistribute the program under these conditions, and telling the user how to view a copy of this License. (Exception: if the Program itself is interactive but does not normally print such an announcement, your work based on the Program is not required to print an announcement.)

These requirements apply to the modified work as a whole. If identifiable sections of that work are not derived from the Program, and can be reasonably considered independent and separate works in themselves, then this License, and its terms, do not apply to those sections when you distribute them as separate works. But when you distribute the same sections as part of a whole which is a work based on the Program, the distribution of the whole must be on the terms of this License, whose permissions for other licensees extend to the entire whole, and thus to each and every part regardless of who wrote it.

Thus, it is not the intent of this section to claim rights or contest your rights to work written entirely by you; rather, the intent is to exercise the right to control the distribution of derivative or collective works based on the Program.

In addition, mere aggregation of another work not based on the Program with the Program (or with a work based on the Program) on a volume of a storage or distribution medium does not bring the other work under the scope of this License.

3. You may copy and distribute the Program (or a work based on it, under Section 2) in object code or executable form under the terms of Sections 1 and 2 above provided that you also do one of the following:

a) Accompany it with the complete corresponding machine-readable source code, which must be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange; or,

b) Accompany it with a written offer, valid for at least three years, to give any third party, for a charge no more than your cost of physically performing source distribution, a complete machine-readable copy of the corresponding source code, to be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange; or,

c) Accompany it with the information you received as to the offer to distribute corresponding source code. (This alternative is allowed only for noncommercial distribution and only if you received the program in object code or executable form with such an offer, in accord with Subsection b above.)

The source code for a work means the preferred form of the work for making modifications to it. For an executable work, complete source code means all the source code for all modules it contains, plus any associated interface definition files, plus the scripts used to control compilation and installation of the executable. However, as a special exception, the source code distributed need not include anything that is normally distributed (in either source or binary form) with the major components (compiler, kernel, and so on) of the operating system on which the executable runs, unless that component itself accompanies the executable.

If distribution of executable or object code is made by offering access to copy from a designated place, then offering equivalent access to copy the source code from the same place counts as distribution of the source code, even though third parties are not compelled to copy the source along with the object code.

4. You may not copy, modify, sublicense, or distribute the Program except as expressly provided under this License. Any attempt otherwise to copy, modify, sublicense or distribute the Program is void, and will automatically terminate your rights under this License. However, parties who have received copies, or rights, from you under this License will not have their licenses terminated so long as such parties remain in full compliance.

5. You are not required to accept this License, since you have not signed it. However, nothing else grants you permission to modify or distribute the Program or its derivative works. These actions are prohibited by law if you do not accept this License. Therefore, by modifying or distributing the Program (or any work based on the Program), you indicate your acceptance of this License to do so, and all its terms and conditions for copying, distributing or modifying the Program or works based on it.

6. Each time you redistribute the Program (or any work based on the Program), the recipient automatically receives a license from the original licensor to copy, distribute or modify the Program subject to these terms and conditions. You may not impose any further restrictions on the recipients' exercise of the rights granted herein. You are not responsible for enforcing compliance by third parties to this License.

7. If, as a consequence of a court judgment or allegation of patent infringement or for any other reason (not limited to patent issues), conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot distribute so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not distribute the Program at all. For example, if a patent license would not permit royalty-free redistribution of the Program by all those who receive copies directly or indirectly through you, then the only way you could satisfy both it and this License would be to refrain entirely from distribution of the Program.

If any portion of this section is held invalid or unenforceable under any particular circumstance, the balance of the section is intended to apply and the section as a whole is intended to apply in other circumstances.

It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims; this section has the sole purpose of protecting the integrity of the free software distribution system, which is implemented by public license practices. Many people have made generous contributions to the wide range of software distributed through that system in reliance on consistent application of that system; it is up to the author/donor to decide if he or she is willing to distribute software through any other system and a licensee cannot impose that choice.

This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License.

8. If the distribution and/or use of the Program is restricted in certain countries either by patents or by copyrighted interfaces, the original copyright holder who places the Program under this License may add an explicit geographical distribution limitation excluding those countries, so that distribution is permitted only in or among countries not thus excluded. In such case, this License incorporates the limitation as if written in the body of this License.

9. The Free Software Foundation may publish revised and/or new versions of the General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.

Each version is given a distinguishing version number. If the Program specifies a version number of this License which applies to it and "any later version", you have the option of following the terms and conditions either of that version or of any later version published by the Free Software Foundation. If the Program does not specify a version number of this License, you may choose any version ever published by the Free Software Foundation.

10. If you wish to incorporate parts of the Program into other free programs whose distribution conditions are different, write to the author to ask for permission. For software which is copyrighted by the Free Software Foundation, write to the Free Software Foundation; we sometimes make exceptions for this. Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally.

NO WARRANTY

11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.

12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.

High-resolution tactile sensors for flexible and precise robotic manipulation