Deformable end effector for a cosmetic robot

Abstract

An apparatus (506, 515, 516) for ensuring safe operation of a robot (530) for cosmetic applications, including retrofitting robots not originally designed for such applications. In some embodiments, the robot (530) is used to automatically place eyelash extensions (502) onto a subject's (301) natural eyelashes. In some embodiments, a safety barrier (515, 516, 521) is provided by a physical barrier (515, 516) or a light curtain (521). In other embodiments, an end effector that is easily deformed is used.

Description

[0001] Cross-reference to related applications This application claims the benefit of U.S. Provisional Application No. 62 / 423,000, filed November 16, 2016, entitled “Machine for Beauty Salon”. The entire contents of that application are incorporated herein by reference. Technical Field

[0002] This invention relates to a process for automatically applying eyelash extensions. Background Technology

[0003] Eyelash extensions are becoming increasingly popular worldwide. Eyelash extensions are generally distinguished from so-called "artificial eyelashes" or "artificial eyelash structures" in that they are attached one-to-one to natural eyelash fibers. "Artificial eyelashes" are a set of eyelash fibers (usually used for one eye) attached to a backing material (a thin strip of fiber near the end of the eyelash fiber) that is attached to the eyelid. This process is therefore simpler and is particularly suitable for home use. However, eyelash extensions are typically painstakingly glued one at a time to each natural eyelash fiber by a beautician using cyanoacrylate adhesive. Extensions may have branches, as shown in U.S. Patent No. 8,127,774, and may have some interlocking mechanism with nearby eyelashes, as disclosed in U.S. Patent No. 8,113,218.

[0004] When applying eyelash extensions for the first time, appointments can take a considerable amount of time, sometimes up to two hours. During the appointment, each eyelash extension must be picked up with tweezers in the correct orientation, dipped in adhesive, and then placed onto one of the subject's natural eyelash fibers until adhesion occurs. Because this labor-intensive process is expensive for beauty salons, and because the required time and cost deter some customers, labor-saving devices have been proposed. One such device is the handheld eyelash dispenser disclosed in U.S. Patent Application Publication No. 2014 / 0261514. There are also labor-saving proposals regarding trays on which extensions from the factory are placed, such as those seen in U.S. Patent No. 8,701,685. These trays aim to overcome the fact that not only is the adhesion step of the process difficult for a person, but simply picking up the eyelash extension with a pair of tweezers is challenging. Furthermore, it has been proposed that by providing each extension with a pre-installed heat-shrinkable tube for attaching the extension to the natural eyelash fibers, the steps of handling the adhesive and immersing the extension in the adhesive can be eliminated. The invention described herein applies to all eyelash extensions, whether branched, interlocking, or otherwise, and to all methods of adhesion to natural eyelashes, whether by adhesive, heat-shrink tube, or other means.

[0005] Therefore, a more efficient method for installing eyelash extensions is needed, which will reduce the time and cost of installation. Furthermore, such a system needs to be demonstrably safe, giving the recipient of the extension confidence in the procedure. Creating a robotic system that allows human contact while ensuring safety is challenging. The robotic system disclosed here offers such safety at a significantly lower cost than what is commonly referred to as "intrinsically safe" or "collaborative" robots. The safety of such systems is typically ensured through the use of redundant feedback (eliminating axis runaway in the event of feedback device failure) and through extensive code review and verification and validation testing of all software used on the system. Examples include da Vinci® robots from Intuitive Surgical® Corporation in Sunnyvale, California, and Restoration Robotics in San Jose, California. TM The ARTAS® robot from , Inc. is an example of such a system.

[0006] For example, the ARTAS® robot is based on a version of an expensive industrial robotic arm, but it is rated as safe for human-robot collaboration. Furthermore, all software that could potentially pose an unsafe situation to people nearby requires meticulous review and testing. Downside, this again increases costs and reduces opportunities for programmers to reuse most commercial and open-source software libraries and tools. The safety of such software is difficult to guarantee, and for medical devices, it is considered "software of unknown origin" by regulatory agencies such as the US FDA, making it virtually impossible to use in any application that could affect human safety.

[0007] The invention described herein addresses this problem by using a novel strategy to create robots that can safely interact with humans. It is applicable not only to eyelash extension procedures but also to other procedures that can be performed by robots on human subjects. Summary of the Invention

[0008] The installation of eyelash extensions can be automated by a robotic mechanism, eliminating the need for manual application. However, unless extremely expensive and complex fail-safe robotic mechanisms are used, a safety system should be provided to ensure the safety of the extension process in the event of robot failure. The subject of this invention is the combination of an inherently safe end effector and a safety barrier attached to the robotic mechanism. A specific end effector is also disclosed, capable of grasping the eyelash extension and operating near the human face without posing a risk of injury should the end effector come into contact with the person. This invention is also applicable to other cosmetic fields, and embodiments related to inherently safe operations such as laser skin procedures, tattooing, and airbrushing are provided.

[0009] Additional objects, features and advantages of the invention will become more apparent when viewed in conjunction with the following detailed description of preferred embodiments of the invention, in which the same reference numerals refer to common parts in several views. Attached Figure Description

[0010] Figure 1 shows a manual eyelash extension.

[0011] Figure 2 A six-axis robot is shown performing automated eyelash extension.

[0012] Figure 3A illustrates the simplest embodiment of the invention, which takes the form of an inherently safe end effector.

[0013] Figure 3B This is an enlarged view of a portion of Figure 3A.

[0014] Figure 3C The end effector grips the eyelash extension.

[0015] Figure 4 An end effector used with a robot is shown.

[0016] Figure 5 The robot was shown to be out of control due to a malfunction, but the subject remained safe thanks to the use of an end effector.

[0017] Figure 6 An alternative embodiment using a light curtain instead of a physical barrier is described.

[0018] Figure 7A Another tip of the end effector is shown, which better supports the eyelash extension.

[0019] Figure 7B It is a side view that replaces the tip.

[0020] Figure 7C A bend is shown for use with a replacement tip.

[0021] Figure 8A shows another variation of the end effector tip, which allows for an alternative orientation of the eyelash extension.

[0022] Figure 8B This is a side view of the tip of the end effector in Figure 8A.

[0023] Figure 8C The end effector tip of Figures 8A and 8B is shown grasping the eyelash extension.

[0024] Figure 8D It shows Figure 7A and 7B The end effector tip grips the eyelash extension.

[0025] Figure 9A Another embodiment is depicted in which the tip of the end effector changes to better fix the orientation of the eyelash extension.

[0026] Figure 9B Another embodiment is depicted in which the tip of the end effector changes to better fix the orientation of the eyelash extension.

[0027] Figure 9C Another embodiment is depicted in which the tip of the end effector changes to better fix the orientation of the eyelash extension.

[0028] Figure 10A An actuator at the elbow end is shown, which allows a 90-degree right turn on the distal side, thereby further reorienting the eyelash extension.

[0029] Figure 10B A spring-loaded elbow end actuator is shown, which overcomes the limitations of... Figure 10A Friction limitations related to the actuator at the elbow end.

[0030] Figure 11A shows the spring-loaded elbow end actuator in more detail.

[0031] Figure 11B shows a spring-loaded bend-end actuator that releases tension from a rope.

[0032] Figure 11C This is a partial front view of the annular rope of the spring-loaded bend-end actuator.

[0033] Figure 12 A spring-loaded elbow end actuator variant is shown, which provides an alternative orientation option.

[0034] Figure 13 A double-bend end effector is shown, which provides reduced columnar strength with the same angular orientation as the end effectors in Figures 3A-3C.

[0035] Figure 14 A guide spring bend end actuator is shown, which is Figure 12 A variation of the spring-loaded elbow end actuator.

[0036] Figure 15 A guide bend end actuator is shown, which is similar to Figure 13 It has a double-bend end actuator, but it is slightly smaller.

[0037] Figure 16 A small-diameter end effector is shown.

[0038] Figure 17 A very simple actuation configuration suitable for the aforementioned end effector is shown.

[0039] Figure 18 A completely different type of end effector is shown, an electro-adhesive end effector that uses electrostatic charge to grip the eyelash extension.

[0040] Figure 19A Another inherently safe end effector for use in robots in beauty salons is described.

[0041] Figure 19B An additional inherently safe end effector for use in robots in beauty salons is described.

[0042] Figure 19C Another inherently safe end effector for use in beauty salon robots is described.

[0043] Figure 20 An inherently safe air brush system is shown, which is connected to a robot used in beauty salons.

[0044] Figure 21 A nail polish applicator with inherent safety in use and controlled by a robot is shown.

[0045] Figure 22 The SCARA robot used with the brush is shown, with a different inherent safety configuration.

[0046] Figure 23 It shows Figure 22 An alternative embodiment of the device, but used with a robot enclosed in a casing.

[0047] Figure 24 This demonstrates how a configuration similar to the one given above can be used with a laser to perform cosmetic treatments.

[0048] Figure 25 It shows Figure 24 An alternative embodiment in which an LED module is used to provide skin therapy.

[0049] Figure 26 This shows a variation that can be used for tattooing.

[0050] Figure 27 It shows an allowable pressure greater than 40 N / cm 2 The human body region.

[0051] Figure 28A is a side view of a top (capstone) embodiment of a spring-loaded bend-end actuator that works in conjunction with an eyelash isolation probe to provide inherently safe eyelash extension to the subject.

[0052] Figure 28B This is a front view of the embodiment shown in Figure 28A. Detailed Implementation

[0053] Several embodiments of the present invention are described. The discussion begins with a comparative background and a fairly simple embodiment for eyelash extension. Next, various improvements to the eyelash extension end effector will be discussed, followed by variations using electrostatic gripping. Then, several embodiments of using the same basic safety system for other cosmetic applications will be given. Finally, exemplary embodiments for eyelash extension are provided.

[0054] The following description illustrates many specific configurations, parameters, etc. However, it should be understood that this description is not intended to limit the scope of the invention, but is merely a description for exemplary embodiments.

[0055] In the following description, when the term "eyelash" is used, it refers to one or more natural eyelash fibers. When the terms "eyelash extension" or "extension" are used, it refers to an artificial eyelash extension.

[0056] Background and Simplest Example First, consider Figure 1, a fairly simple diagram illustrating current methods of eyelash extension. In this process, an esthetician (not shown) uses tweezers 500 to manipulate the eyelash extension 502. After applying adhesive to the eyelash extension 502, the esthetician aligns the eyelash extension 502 with the natural eyelashes 505 of the subject 301 and waits until the adhesive cures. The safety of this procedure is ensured through training the esthetician, who spends considerable time learning to apply the extension to a specially designed mannequin. However, the dangers associated with manipulating the tweezers 500 so close to the subject 301's eyes are evident: even a slight scratch to the eye from the sharp tweezers used in eyelash extension could cause serious injury.

[0057] Advances in robotics and computer vision have made the envisioned automatic eyelash extension possible. While not the specific objective of this invention, it will be helpful to briefly describe the main features of such a system, and... Figure 2A system is illustrated. Here, robot 530 consists of six actuators that roughly approximate a human arm. This configuration is common in the field of robotics and is often referred to as a six-axis robotic arm. Robot 530 terminates at a tweezers mount 531, which mounts and actuates tweezers 500 to robot 530. In this design, tweezers 500 are simply the same as the tweezers used by beauticians. Tweezers 500 grasp eyelash extensions 502, and robot 530 aligns eyelash extensions 502 next to individual eyelashes in eyelashes 505. Computer vision system 504 provides the accurate position of eyelashes 505.

[0058] Providing safety for this design includes ensuring that the robot 530 does not accidentally push the forceps 500 into the head of the subject 301, and especially not into the subject 301's eyes. Such robots exist. For example, surgical robots have become increasingly common in recent years and are used inside patients along with sharp surgical instruments. However, this design presents several challenges. First, significant redundancy is built into the hardware system; typically, at least in sensing and computation, redundancy is provided. This increases the robot's cost and complexity. Second, greater attention should be paid to the software; the processes for producing safety-critical software are well-known, but require considerable time, significantly increasing development costs. Third, many such systems are directly operated by humans rather than autonomously, adding a layer of safety because operators can monitor the robot's behavior. Finally, these processes typically preclude more sophisticated computational techniques such as machine learning and artificial intelligence, specifically the complex types of techniques often used with computer vision. This is because it is difficult to prove that these techniques work correctly and will continue to work correctly under all circumstances.

[0059] For these reasons, it would be desirable to have a way to perform light cosmetic procedures using cheaper, more conventional robots without sacrificing safety. That is, is it possible to design inherently safe robots without introducing these additional difficulties? After all, many relatively inexpensive small robots are built for industrial applications and can perform tasks such as eyelash extension, but their application is limited by the need for sufficient safety when used around people. The invention disclosed herein is a device that addresses the need for a small and lightweight payload in beauty applications. Of course, it should be noted that many safety solutions can be used alone or in combination with the embodiments disclosed herein to provide the desired level of safety to subjects.

[0060] Consider Figures 3A-3C, which illustrate a fairly simple embodiment of the invention. The end effector 506 consists of a tube 511 and a rope 510. The rope 510 can be any rope with moderate tensile strength capable of withstanding tight bending. For example, synthetic lines, monofilament fishing lines, and stranded fishing lines are examples of such ropes, without any limitation. Figure 3B As shown, a loop is formed at the top of the cord 510 and threaded onto the eyelash extension 502, and then the cord 510 is pulled taut onto the eyelash extension 502, as... Figure 3C As shown, the eyelash extension 502 can be gripped by the end effector 506. Since the end effector 506 is used solely for picking up the eyelash extension 502, it does not need to have high structural rigidity. In fact, the weight of the eyelash extension 502 is so small that it is negligible compared to the weight of the end effector 506. Preferably, the main structural component of the end effector 506, namely the tube 511, is made of a thin polymer. For example, a slightly rigid low-density polyethylene tube or a polypropylene tube would be a good choice. In fact, a common cocktail straw made of polypropylene has been found to be a good choice, but any elastic material with a sufficiently small cross-section so that the tube 511 is rigid only when lifting its own weight plus the weight of the eyelash extension 502 will be sufficient. The diameter of the tube 511 should be large enough for the cord 510 to pass through, and small enough for the eyelash extension 502 to rest across the diameter of the tube 511. In practice, a diameter of approximately 0.1 inches (approximately 2.5 millimeters) is very effective, but this is merely an illustrative example and is not intended to limit the scope of the invention. Furthermore, tube 511 can be non-circular or non-closed cross-section, and is actually intended to be any type of support; for example, square tubes or “C” shaped cross-sections can also typically work.

[0061] The end effector 506 in use Figure 4As shown in the diagram. Here, robot 530 has been modified with a tube mount 532 that connects end effector 506 to robot 530. End effector 506 protrudes through physical barrier 515 at gap 517, but neither tube mount 532 nor robot 530 can fit through gap 517. Therefore, it is easy to see that subject 310 is protected from harm by all parts of robot 530 except end effector 506. Physical barrier 515 is a first example of a safety barrier and can be made of any material strong enough to withstand the maximum impact of robot 530—metals and high-impact-strength plastics (such as polycarbonate) are very suitable. In some embodiments where gap 517 is not large enough, it is simply a matter of forming a larger feature on robot 530 or tube mount 532 and increasing gap 517 by a corresponding amount. In some embodiments, a human restraint 516 is provided to prevent subject 301 from getting too close to physical barrier 515. If the gap 517 is widened, this may be desirable because even if the robot 530 cannot fully fit through the gap 517, the corners of the robot 530 may still allow it to pass through the gap 517. Therefore, the robot 530, end effector 506, physical barrier 515, and human limiter 516 constitute an intrinsically safe robotic system, even if the robot 530 itself is not intrinsically safe for human use. As will be seen in future embodiments, some of these components may be omitted in certain embodiments and specific extensions may be included in other embodiments; however, in general, it is possible to modify the robot to have appropriate end effectors and barriers, thereby making it intrinsically safe.

[0062] Figure 5 The illustration shows the consequences of robot 530 inadvertently contacting subject 301 at contact point 520 with end effector 506. While good practices in robot design should limit this from occurring, it is well known in the art that, without extreme precautions, end effector 506 may contact subject 301 at some point in applications such as robotic surgical devices. However, because end effector 506 is made of lightweight, flexible plastic, it simply bends, causing only minor injury to subject 301. Furthermore, robot 530 has already contacted physical barrier 515, which prevents further movement. Therefore, Figure 5 The embodiments illustrate a robotic system with inherent safety for use near human subjects, wherein safety is provided by mechanical means rather than redundancy and strict software control.

[0063] exist Figure 6In another embodiment shown, the physical barrier 515 has been replaced by a light curtain 521, which is a second type of security barrier. Light curtains are well-known in the field of automation equipment and comprise a series of light emitters paired with a receiver. Figure 6 In this light curtain 521, each circle represents a pair of transmitters and receivers viewed from the end. In typical operation, when a pair of lights is disconnected, the light curtain 521 cuts off power (or engages other safety systems). However, in this embodiment, it is desirable that the end effector 506 should pass through the light curtain 521 without triggering it, while the robot 530 and the tube mount 532 cannot. This can be achieved by allowing no more than one pair of transmitters and receivers (or some other predefined number of transmitters and receivers) to be interrupted at any given time. Thus, if the robot 530 attempts to leave its permitted operating area, it is possible to cut off power (or engage safety systems) without requiring a physical barrier. Such a light curtain can be constructed using hardware or software circuitry by counting the number of disconnected paths, provided the software itself meets safety-critical criteria. In some embodiments, a light curtain is used as... Figure 5 The physical barriers shown and such Figure 6 The light curtain hybrid scheme is shown. In some embodiments, light curtain 521 is preferred because it does not interfere with computer vision system 504.

[0064] Typically, robot 530 is equipped with controller 529. Since controllers for robotic mechanisms are well known in the art, controller 529 is omitted from other figures showing various robots. However, it should be understood that controller 529, without loss of generality, represents electronic and computing devices used to control robot 530. This includes power electronics for controlling various motors and actuators of the robot. Furthermore, controller 529 is configured to communicate with cameras used by computer vision system 504 and any sensors used by robot 530. Controller 529 also includes a computing system, which may include, but is not limited to, one or more of the following: microcontroller, microcomputer, microprocessor, field-programmable gate array (FPGA), graphics processing unit (GPU), or application-specific integrated circuit (ASIC). Controller 529 includes software for coordinating the movement of robot 530 with data received from computer vision system 504 and then executing the described movements during eyelash extension and various other beauty procedures described below. The various light curtains described herein may communicate with controller 529 or may include separate systems to ensure safety. In some embodiments, controller 529 is part of computer vision system 504. In other embodiments, the computer vision system 504 includes its own processing. Generally, the computer vision system 504 herein is intended to include any sensor or sensor array configured to image the environment in 2D or 3D. The use of a computer vision system to visually coordinate the movement of a robot and / or end effector is commonly referred to as visual servoing. In such a visual servoing system, the robot 530 uses information from the computer vision system 504 to correct its internal position model, which would typically be created by joint position sensors. The advantage is that joint position sensors introduce error at each joint, and this additional error accumulates with each additional joint of the robot, while the computer vision system 504 provides an absolute measurement of the output position. In some embodiments, a controller 529 may be used for both the computer vision system 504 and the robot 530, or a dedicated computing system may be communicatively used for each.

[0065] Improvements to end effectors Various improvements can be made to the end effector 506. First, it should be noted (refer to Figure 3) that if the rope 510 is pulled too far, it is relatively easy to accidentally pull the eyelash extension 502 into the tube 511. Because the eyelash extension 502 is very flexible, this requires only a small force. Therefore, in Figure 7A and 7B In one embodiment, the flat anvil end actuator 525 includes a flat top with two holes to allow the cord 510 to pass through. This prevents the eyelash extension 502 from being pulled too far, and in fact, applying a greater force to pull the cord 510 will allow a greater clamping force to be applied to the eyelash extension 502. Figure 7B The side view of the anvil end actuator 525 shows the internally concealed wire and cavity 526. The purpose of the cavity 526 is simply to allow the anvil end actuator 525 to maintain a low mass and to give the tube 511 low bending strength, thus ensuring its safety. However, the cavity 526 should be small enough to prevent the rope 510 from bending when it is pushed to release the eyelash extension 502. If the diameter of the cavity 526 is small enough and the rope 510 is stiff enough, it has been found that even a very slight push on the rope 510 will break the friction between the rope 510 and the small hole at the tip of the anvil end actuator 525. This will release the eyelash extension 502 and is a very rare occurrence that would facilitate pushing the wire.

[0066] In another embodiment, tube 511 can be bent to create bend 524, such as Figure 7C As shown. The advantage of the bend 524 is that if the bend 524 impacts the subject 301, the slight pre-bending significantly reduces the force required to collapse the bend 524 (sometimes referred to as the "columnar strength" of the tube). Of course, in this case, releasing the eyelash extension 502 is slightly more difficult due to the slight friction exerted on the rope 510 as it passes through the hole in the anvil end actuator 525.

[0067] Figures 8A-8C illustrate another variation. In some embodiments, the eyelash extension 502 is preferably presented at an angle. This can be achieved using the angled anvil end actuator 550 shown in the front and side views of Figures 8A and 8B. Because the eyelash extension 502 will be tangential to the angled anvil surface 551, a cord 510 is used to pull across the eyelash extension 502 at the angled anvil surface 551 (see Figure 8A-8C). Figure 8C Therefore, in the case of the actuator 525 with the flat anvil end having a flat anvil surface 527 (see...), Figure 8D In contrast, the angled anvil end actuator 550 holds the eyelash extension 502 at a certain angle.

[0068] exist Figures 9A-9C In the other three embodiments shown, other anvil topologies offer additional advantages. In these figures, the eyelash extension 502 is shown in dashed lines, and for clarity, the cord 510 is shown as an extension. Figure 9A In this embodiment, the grooved anvil end actuator 535 includes a groove 536 for positioning the eyelash extension 502. Tests have shown that the grooved anvil end actuator 535 produces a particularly reliable orientation of the eyelash extension 502. Figure 9B A saddle-shaped anvil end actuator 540 is shown, which includes a saddle-shaped surface 541 that provides a smooth resting position for the eyelash extension 502, while a notch 542 positions the eyelash extension 502. Figure 9CA notched anvil end actuator 545 is shown, comprising an angled anvil and a recess in the form of a curved notch 546, similar to the embodiments of Figures 8A-8C, which facilitates positioning of the eyelash extension 502. The notched anvil end actuator 545 also includes a beveled section 547 to allow for closer proximity to the operating surface. It should be noted that the diameter of these embodiments is approximately 0.1 inches. Generally, it is found that the cross-sectional dimensions of various recesses, whether sharp or curved, should be approximately smaller than the cross-sectional dimensions of the eyelash extension. As the recess becomes smaller, it tends to no longer "grip" the eyelash extension; as it becomes larger, the cord no longer clamps the eyelash extension. Because the diameter of the eyelash extension varies from 50 micrometers to 200 micrometers, a range of 5 micrometers to 150 micrometers is preferred.

[0069] In some embodiments, it is desirable to present the eyelash extension 502 at a greater angle. For example... Figure 10A As shown, this can be achieved by providing an elbow at the end of the end effector. The elbow end effector 555 includes a 90-degree bend in the tube 519 near the end (it should be understood that the various tip embodiments discussed herein may include longer tubes, such as the tube of end effector 506, even though these tubes are only partially shown in each figure). However, this design is problematic. At such a large angle, when the rope 510 is pushed, most of the material used in the rope 510 will tend to get stuck at the bend and will not release the eyelash extension 502.

[0070] This drawback is addressed in another embodiment, where a spring-loaded elbow end actuator 556, in... Figure 10B The image shows an area without a spring. The spring-loaded elbow end actuator 556 includes an inner wall 557 contained within a tube 520. Further details are shown in the cross-sectional view of Figure 11A, which illustrates a section passing through the spring-loaded elbow end actuator 556. This view includes the spring 558, which generates a very small force, just enough to extend the annular rope 561. It should be noted that because the diameter of the spring-loaded elbow end actuator 556 is on the order of 0.1 to 0.2 inches, a very small compression spring is used to implement the spring 558. However, such springs are readily available from manufacturers such as Century Spring in California. TMPurchased from Corporation of Commerce, and indeed, this type of spring can be found in most click-action ballpoint pens. In Figure 11A, the loop cord 561 is shown under tension, pulled to the left of the figure, and clamping the eyelash extension 502. Spring 558 is connected to the loop cord 561 at connection 559, and in this case, spring 558 is slightly compressed. In addition to clamping the eyelash extension 502, additional tension is required in the loop cord 561 to counteract the force from spring 558. In Figure 11B, the tension has been released from the loop cord 561 and has relaxed. This also allows spring 558 to extend slightly, pushing connection 559 in the direction of arrow 554 and releasing eyelash extension 502. The topology of the loop cord 561 is difficult to see in the side view, and therefore provides Figure 11C A partial front view depicting the configuration of the loop rope 561.

[0071] In some embodiments, it is further advantageous to provide a different end effector orientation by rotating the eyelash extension 502 another 90 degrees about the second axis to produce a spring-loaded elbow end effector variant 569. This configuration can be achieved by radially rotating the annular rope 561 in the embodiments of Figures 11A-11C, with the exact embodiment of the laterally spring-loaded elbow end effector 569 shown in... Figure 12 As shown in the diagram. This embodiment uses rope 565 and spring 566, which are tied together at connection point 567. These components are contained within tube 522. It should be noted that the various anvil arrangements given above are not necessarily mutually exclusive. For example, the angled or notched anvils given above can be used in any of the elbow end actuators.

[0072] Several embodiments described above provide a way to hold the eyelash extension 502 at an angle relative to the central axis of the tube 511. This is useful because it is desirable to grasp or position the eyelash extension 502 at a specific angle, often because the range of motion of the tube 511 is limited by its orientation. This is intuitively obvious; the tube 511 is easy to orient due to its small mass, but reaching all possible orientations would unnecessarily burden the robot's range of motion. Furthermore, in many embodiments, a computer vision system 504 is also used, and it is advantageous to mount the computer vision system 504 near the end effector. However, from the perspective of the computer vision system 504, a straight end effector, such as end effector 506, would obscure the eyelash extension 502. This is where various bent end effectors (such as a spring-loaded bent end effector 556) are useful: the tube's axis is offset from the tip of the end effector, thus allowing clear observation.

[0073] Other variations of the eyelash extension 502 can be used to ensure that the end of the end actuator pointing towards the eye of the subject 301 has no sharp tip. Figure 13 One embodiment is shown in which a double-bend end actuator 744 is depicted. Here, the tube 746 is bent twice, and the spring 745 is connected to the rope 747 at the connection point 748. This arrangement is similar to that of end actuator 556, except for the additional bend 749. The double-bend end actuator 744 is useful when it is desired that the gripping orientation of the eyelash extension 502 is similar to that produced by the flat anvil end actuator 525. However, the double-bend end actuator 744 has the additional benefit that the double bends reduce the overall columnar strength and reduce the contact force with the subject 301 required to bend the tube 746.

[0074] Another variation of the elbow end actuator is the guide spring elbow end actuator 720, in Figure 14 As shown in the diagram. Here, tube 722 includes a spring cavity 724 containing a spring 723, which is a compression spring as in the previous embodiment (although those skilled in the art will note that this embodiment can be reconfigured to use a tension spring). Spring 723 pushes plunger 725, which is connected to rope 721 at connection point 727. As a result, rope 721 is biased to push out of tube 722 and release eyelash extension 502 unless rope 721 remains taut, as in the previous embodiment. An inner wall 726 is provided such that when rope 721 is taut, it generally pulls along the axis of plunger 725 rather than orthogonally to the axis of plunger 725, which could jam the plunger 725. This embodiment can produce a slightly smoother spring motion, whereas in the previous embodiment, the spring acts linearly rather than around the bend.

[0075] In another embodiment, Figure 15 A guide bend end actuator 730 is shown, which includes a tube 733 surrounding a rope 731. A spring 734 pushes the rope 731 at a connection point 736, typically biasing the rope 731 to release the eyelash extension 502, similar to the previously described embodiment. It can be seen that the guide bend end actuator 730 has a similar overall geometry to the double bend end actuator 744, but the second bend is achieved at the tip 732, rather than at... Figure 13 The second bend is achieved at 750.

[0076] exist Figure 16In another fairly simple embodiment, the small-diameter end actuator 742 has a very small internal passage, just large enough to allow the rope 741 to pass through. While this is achieved by simply making the inner diameter of the tube 740 very small, it could also be achieved by using two nested tubes, one with the outer diameter of the tube 740 and a second inner tube with the inner diameter of the tube 740, which would reduce the overall weight compared to the tube 740. Regardless of the construction, the advantage of this embodiment is that the rope 741 is less likely to loop back onto itself within the smaller internal passage as in the previous embodiments. This allows for the omission of a spring, simplifying the design. Nevertheless, this design may be more prone to jamming when the eyelash extension 502 needs to be released. In some embodiments, lubrication is used within the tube 740 to help reduce this jamming.

[0077] In all the embodiments described above, tension (and sometimes compression) is generated in various ropes. There are many ways to generate tension (and slight compression) in a rope. Furthermore, assuming a small force is used to hold the eyelash extension 502, the tension used is small, on the order of single-digit Newtons. It should be noted that this is also sufficient to overcome the spring forces generated in the various spring-equipped embodiments described above. Figure 17 In the fairly simple exemplary embodiment shown, a linear motor 570, having a stator 572, a rotor 571, and wires 573, generates the desired tension in the rope 510. The stator 572 is attached to the proximal end of the end effector 506 via a base plate 575. The base plate 575 is then connected to the end of the robot 576. Of course, many ways to generate this tension are known in the art, including various devices that generate linear motion, such as linear brushless motors, voice coil motors, linear brushed motors, solenoids, pneumatic cylinders, etc. Rotary devices, such as electric motors, combined with spools, mechanisms, or levers, can also be used to convert the motion of a rotary motor into linear motion to tension the rope 510. Of course, although a fairly simple end effector 506 has been shown here, this motor arrangement is equally applicable to the other embodiments described above. This assembly of components that allows selective tensioning of the rope is generally referred to herein as an actuator 574. It should be noted that one of the advantages of this entire set of loop-shaped rope actuators is that they can be pulled with a relatively large force relative to the weight of the eyelash extension 502 (single-digit Newtons are significantly greater than the weight of the eyelash extension 502). This is useful because the eyelash extension 502 can adhere to the supply plate and requires considerable force to remove.

[0078] In some embodiments, additional actuators are provided between the robot 576 and the base plate 575. These actuators can be used to fine-tune the orientation of the end effector 506. Typically, these actuators will be used to adjust the angular orientation about one or more of the Y-axis 577, X-axis 578, and Z-axis 579. This is particularly useful in embodiments where the robot does not have sufficient degrees of freedom to arbitrarily orient the end effector 506. In some embodiments, these actuators can even adjust translation along one or more of the X-axis 577, Y-axis 578, and Z-axis 579. These actuators are generally located proximal to the end effector 506, like actuator 574, and should be considered part of the robot from the perspective of designing an inherently safe robotic system, because they could harm the subject if they come into contact with the subject.

[0079] electrostatic grip In another embodiment, the end effector does not use ropes to hold the eyelashes in place, but rather electrostatic forces. Electrostatic forces are effective at holding hair in dry climates, a fact self-evident to anyone with long hair: human hair often adheres to clothing and objects that are statically charged during dry weather. This property is sometimes referred to as electroadhesion. Figure 18 A simplified embodiment of the electro-adhesive end effector 601 is shown, wherein a non-conductive tube 611 is intentionally charged with static electricity by an electrostatic generator 600A relative to ground 602. A closed electro-actuated switch 604 connects the tube tip electrode 609 to the electrostatic generator 600A. By actuating the electro-actuated switch 604 from a robot controller, the robot can selectively attract the eyelash extension 502 to the non-conductive tube 611. The non-conductive tube 611 should be non-conductive so that the static charge deposited on the tip electrode 609 does not dissipate rapidly back through the robot 607. Furthermore, an electro-actuated bypass switch 605 is provided to ground the tube tip electrode 609, thereby releasing the eyelash extension 502. In some embodiments, an electro-actuated reverse switch 606 is provided to connect the tube tip electrode 609 to a reverse polarity electrostatic generator 600B and actively repel the eyelash extension 502 to aid its release. It should be understood, of course, that only one switch should be closed at any given time to prevent short-circuiting of the electrostatic generator.

[0080] In some embodiments, the eyelash extension supply can be charged, such as in a charged extension supply 603, which includes a charged extension base 608 and a reverse polarity electrostatic generator 600b. Pre-charging the extensions can increase the attraction between the eyelash extensions 502 and the non-conductive tube 611 during pickup. Of course, care should be taken to ensure that the eyelash extensions in the charged eyelash extension supply 603 are sufficiently spaced to allow no more than one eyelash extension to be attracted at a time. In some embodiments, the charged extension supply 603 includes individual traces such that the charge of each eyelash extension can be independently controlled, and therefore only one eyelash is attracted to the tube 611 at a time.

[0081] In practice, this electrostatic gripper can also be extended by controlling the relative charge of the subject 301. That is, it may be desirable to maintain the charge on the eyelashes and the charge on the eyelash extension 502 at approximately the same potential, so that the eyelash extension 502 is not disturbed when the non-conductive tube 611 approaches. Then, the charge on the eyelashes can be synchronously reversed with the charge on the non-conductive tube 611 to achieve smooth transfer. A similar technique can be used to transfer adhesive to the eyelash extension. Generally, the advantage of this approach is that it eliminates the need for a moving part to grip the eyelashes, reducing the complexity of the machine. The main disadvantage is that the gripping force is very small compared to the previously proposed loop rope embodiment and may be affected by ambient humidity. Finally, in practical applications, the charge (and more importantly, the current) should be appropriately controlled within human safety tolerance ranges. However, of course, general experience teaches us that electrostatic charging and discharging may be uncomfortable, but is generally not dangerous.

[0082] Applications other than eyelash extension In some embodiments, other instruments are used in conjunction with the robot. These end effectors can be attached to the robot 530 at the tube mount 532. For example, in Figure 19A The image shows a brush tip actuator 580. In a preferred embodiment, the brush tip actuator 580 is a nail brush for applying paint to the subject's nails, but it could also be, for example, an eyelash brush. As mentioned above, it should be made of a lightweight, flexible tube that bends upon impact with the subject's body. Figure 19BIn this configuration, air compressor 583 compresses air into canister 584, which is then distributed via air hose 586. The simple hose 581 is merely held by robot 530 and used for air distribution. This may be suitable when drying wet surfaces on the subject 301's body, such as hair or skin that has become damp during a beauty procedure. Air brush 591 is also connected to compressor 583 and is similar to a typical commercial air brush. To minimize the mass at the tip of air brush 591, an applicator reservoir 590 is provided at or behind the proximal end of air brush 591, at or after the connection point to robot 530. Air brush nozzle 592 is the only relatively large distal mass and produces applicator spray 594. In both embodiments connected to compressor 583, valve 593 is provided. Valve 593 is designed to be controlled by robot 530 so that the distribution of applicator or air is coordinated with the robot's movement. In some embodiments, air brush 591 sprays water instead of applicator, allowing selective wetting of a portion of the body. In some embodiments, this water spray is used to accelerate the curing of the cyanoacrylate adhesive during eyelash extension. In some embodiments, the coating may include a spray tanning solution and be used to apply the spray tanning agent.

[0083] exist Figure 19C In the last embodiment, probe 595 is shown. Probe 595 simply comprises a tube with a chiseled end and can be used to assist in eyelash separation. It may have a sharp end, but has very low bending strength, which is advantageous when probe 595 is properly oriented toward subject 301.

[0084] Now consider Figure 20 It shows Figure 19BA variation of the embodiment shown. Here, air brush 705 represents a conventional air brush, except that, as described above, valve 593 is controlled by robot 709, which is only partially shown. Here, the conventional air brush 705 generates a continuous flow 703 that can be applied at a distance. In a sense, the continuous flow 703 is the end effector itself, in the same way as in the previous embodiments where the end effector is mainly composed of tubing. This allows robot 709 to remain away from subject 650, thus maintaining safety as long as subject 650 does not enter the space of robot 709. This can be ensured by providing a light curtain 701, which disables robot 709 if subject 650 blocks the light curtain 701. To achieve this, the density of the continuous flow 703 should be kept below a threshold that would interrupt the light curtain 701. In some embodiments, the continuity of the flow 703 can be maintained by electrostatically charging the coating and grounding subject 650, such that the coating actively adheres to subject 650 by electrostatic charge. In this embodiment, it may be desirable for the coating to be a powder that adheres to human skin, as is the case with many types of cosmetics, rather than a coating. Those skilled in the art will note that, depending on the speed of the robot 709 and the speed of its emergency stop circuit, such as... Figure 4 or Figure 21 As shown, two barriers separated by a "dead zone space" or a "safe zone" can be used to provide adequate security.

[0085] exist Figure 21 In the illustrated embodiment, robot 530 is configured to apply nail polish to subject 650 using a nail polish applicator 660, similar to a brush end actuator 580. Similarly, because the nail polish applicator 660 is made very weak, it will bend without causing harm to subject 650 if it comes into contact with subject 650. In this embodiment, two light curtains are used for safety, both of which are safety barrier type. If robot 530 simultaneously interrupts two or more light paths, robot light curtain 691 disables robot 530. Similarly, if subject 650 (or any other object) simultaneously interrupts two or more light paths, subject light curtain 696 disables robot 530. In some embodiments, using only one light curtain and omitting subject light curtain 696 is sufficient. However, typically, two light curtains are preferred because they provide a "dead zone" or "safe zone" between the subject's hand 650 and the robot 530, allowing the robot 530 to slow down before touching the subject 650 and preventing the robot 530 and the subject 650 from making contact at the robot light curtain 691. It should also be noted that in some embodiments, the use of the robot light curtain 691 can be combined with... Figure 4 The physical barrier 515 shown is interchanged.

[0086] In some embodiments, a robot's range of motion limitation can be used to provide safety. That is, essentially, if a subject is confined to an area inaccessible to the robot but accessible to an inherently safe end effector connected to the robot, the resulting system becomes inherently safe. For some robots, such as the six-axis robots shown to date, it is difficult to operate near the limits of their range of motion because many of the robot's joints will approach a singularity, which is problematic in the field of robotics. However, some robotic systems, such as Cartesian and SCARA robots, have a single actuator controlling the vertical (often referred to as the "Z") axis. This makes it easy to establish the robot's range of motion in vertical space and to operate it close to the end of its journey in vertical space. Therefore, it is easy to confine a person to vertical spaces inaccessible to the robot's main body.

[0087] This implementation is, for example Figure 22 As shown. Initially, note the SCARA robot 652. Like a typical SCARA robot, the SCARA robot 652 consists of three actuated rotational degrees of freedom arranged in a horizontal plane, with a fourth vertical (“Z”) axis arranged coaxially with the final rotational degree of freedom. Therefore, it is easy to see that any vertical displacement of the end effector coupled to the SCARA output linkage 654 will cause its vertical movement to be controlled solely by the fourth vertical axis. Because the hard stop 655 sets the maximum displacement of the output linkage 654 in the direction of arrow 657, it is easy to see that neither the SCARA output linkage 654 nor the computer vision system 504 can be displaced below the dashed line 653. Therefore, the safety of the subject 650 can be ensured by providing only the subject light curtain 696, preventing the subject 650 from reaching the operating area of ​​the SCARA robot 652. Of course, the brush end effector 580 should also be inherently safe, as it would be easily bent if it came into contact with the subject 650. It may be desirable to further include a physical barrier 665 to prevent the subject 650 from entering a certain area approached by the robot. This is because it is cheaper to set up physical barriers in areas where the brush end actuator 580 does not need to reach than to use a light curtain here. Restricting access to these areas also allows for the placement of supplies such as nail polish dispensers 663.

[0088] Figure 23 Another variation of this embodiment is shown, illustrating the left side of the enclosure 201 of the encapsulated robotic mechanism (not shown). Here, it can be seen that in this embodiment, an entry window 249, which does not require a door, is present. Entry window 249 is a window through which the subject's hand can be presented to apply his or her nails. Entry window 249 allows access to a sub-encapsulation 250, which is shown as protruding from the enclosure base plate 207. The sub-encapsulation 250 has its own base plate 251. The sub-encapsulation 250 is located within the robotic mechanism (in... Figure 23The device is not visible in the view, but is located below the working area (within the enclosure 201), such that if the robot holds a tool, such as a nail polish applicator, in the tweezers 254, the nail polish applicator can reach the subject's hand placed on the base plate 251, but the tweezers 254 cannot reach the hand. This ensures the safety of the subject in the event of a malfunction in the robotic mechanism, as it is unlikely that a person will be injured by being struck by the flexible nail polish applicator. The system utilizes a light curtain device 252 installed at the opening 253 between the sub-enclosure 250 and the main enclosure 201 to confirm that the subject has not moved his or her hand into the working area of ​​the robotic mechanism. The light curtain 252 does not extend along the entire length of the opening 253, allowing the nail polish applicator held by the tweezers 254 to approach the subject's nail without breaking the light curtain 252, which would stop the device. However, it can be seen that without breaking the light curtain 252 and stopping the device, it would be extremely difficult for the subject to approach the main enclosure 201 with his or her hand. In practice, a user can place nail polish into a standard bottle with a cap of a standard applicator type, loosen the applicator cap so that it can be grasped by tweezers 254 (tweezers 254 may be manufactured with special features to facilitate this operation). The user can then instruct the subject to place his or her hand on the base plate 251 of the sub-cap 250, with his or her nails within the accessible area of ​​the robotic mechanism. The robot can then retract the applicator from the nail polish bottle, adjust the amount of liquid on the applicator by running it along the edge of the nail polish bottle opening like a human, advance to the opening 253, and advance to apply the nail polish to the subject's nails. Those skilled in the art will note that the robot can apply a topcoat of nail polish and apply nail polish remover (to modify the nails). It is even possible to provide the robotic mechanism with a textile pad so that it can remove the nail polish after the nail polish remover has been applied to the entire nail. However, removing nail polish is much easier for a human than applying it, so it may not make sense for a robot to perform this task.

[0089] exist Figure 24In another embodiment shown, laser unit 670 is coupled to robot 530 via connector 672. Laser unit 670 may include a laser for hair removal, skin rejuvenation, tattoo removal, or other cosmetic or medical skin treatments. Although various types of lasers are used for these purposes, the exact type of laser used is not important in this embodiment, as any of these lasers can be suitable for use with robot 530. Here, only robot light curtain 691 is provided because laser unit 670 is fairly blunt, and the risk to subject 650 from accidental contact with laser unit 670 is quite small (it can only be momentary, as interrupting robot light curtain 691 would disable robot 530). It is also worth noting that, in this embodiment, unlike the single beam permitted above, individual beams of robot light curtain 691 may not be allowed to be interrupted, as laser 673 will not interrupt any beams of robot light curtain 691. It can be seen that laser 673 is guided by the orientation of laser unit 670 (and therefore robot 530) to help remove unwanted tattoos 674 from subject 650. In a sense, this embodiment is effective because the laser 673 acts as an end effector and cannot mechanically harm a person. It is also important to note the limitations of this embodiment. First, the eyes of the subject 650 and any other person nearby should not be oriented so that the laser 673 can reach them. This can be achieved using sunglasses or a protective shield. Second, and more importantly, a monitoring system for monitoring the laser dose should be provided. This is because the robot 530 is not constructed with the extreme level of safety required to ensure it does not remain in a single position for an unsafe period of time. Such a monitoring system should monitor the dose of laser radiation delivered to a specific skin area and shut down the laser unit 670 if the dose exceeds a predetermined amount.

[0090] In some embodiments, the laser unit 670 can be replaced by an LED module 666, such as Figure 25As shown, LED module 666 is used for skin treatment. LED skin treatment is becoming increasingly popular, with specific wavelengths of light used to kill bacteria (e.g., to treat acne), and other wavelengths believed to accelerate skin healing and tightening. Current LED skin treatment modules offer fairly wide coverage or require significant manual application. However, the present invention allows for more targeted treatment. Computer vision system 504 is used to automatically identify target areas, and robot 530 guides the orientation of LED module 666 via robot adapter 667. LED light 668 is then applied to a specific area of ​​subject 301. Here, robotic light curtain 669 is customized according to specific spacing requirements of LED light 668, but typically includes a similar safety barrier. LED module 666 is similar to or can be the same as commercial LED skin treatment systems, but can also be modified to be more focused so that LED light 668 can be better guided. In some embodiments, a monitoring system is provided, as in the previous laser embodiments, but this may be unnecessary if the intensity of LED light 668 is low enough that even misaiming will not harm subject 301.

[0091] exist Figure 26 In another embodiment depicted, the tattoo machine 680 is connected to the robot 689 via a beam 684 (similar to the various tubes described above, serving as a support). Because the tattoo machine 680 is significantly heavier than an eyelash extension or nail polish (tattoo machines typically weigh on the order of 100 grams), the very weak tubes previously used would not be able to hold the tattoo machine 680 securely. However, the tattoo machine is not typically operated near the eyes, and the beam 684 can be designed such that it will accurately position the tattoo machine 680 when operated at low acceleration, but will bend under a safe load if the robot 689 attempts to drive the tattoo machine 680 into the subject 650. Alternatively, the beam 684 can be designed to be rigid but brittle, such that the beam 684 will break when the robot 689 attempts to drive the tattoo machine 680 into the subject 650. Figure 26As shown, beam 684 is curved (making beam 684 less rigid) and held in place in robot end linkage 695 by ball brake 693, which is pressed in place by spring plunger 692 (the front of robot end linkage 595 is omitted to show these details). In the event of excessive load along beam 684, ball brake 693 presses against spring plunger 692, allowing beam 684 to move in the direction of arrow 697, thereby reducing the load (i.e., this mechanism provides a disconnection). In some embodiments, a switch 694 is also provided. When beam 684 shifts past switch 694, switch 694 is toggled, and this is configured to disable robot 689. In some embodiments, switch 694 may be a mechanical switch, a photodiode and lamp, or a Hall effect switch or any other similar switch known in the art.

[0092] As previously described, the light curtain 688 prevents components of the robot 689 or the computer vision system 504 from touching the subject 650. The tattoo machine itself can be somewhat daunting, especially considering the tattoo needle 686 protruding from the tattoo machine 680. In the first modification, this problem is partially mitigated by attaching a needle stop 681 to the tattoo machine 680. For clarity, the tattoo machine 680 and the needle stop 681 are reproduced independently. The needle stop 681 prevents all parts except the sharp tip 683 from penetrating the skin of the subject 650—this is achieved by the tattoo artist through manual skill. In some embodiments, the needle stop 681 may be integrated into the tattoo machine 680. The primary purpose of the needle stop 681 is to eliminate the possibility that a malfunction of the robot 689 could result in the subject 650 being pricked by the tattoo needle 686. Of course, in this case, the sharp tip 683 may still penetrate the skin of the subject 650, but since this is an expected outcome of the tattooing process, the sharp tip 683 has been sterilized, and the damage is negligible. Normal operation then includes the tattoo machine applying the desired tattoo 687 according to instructions given to robot 689. Robot 689 can also further monitor the progress via computer vision system 504.

[0093] However, simply covering the tattoo needle 686 is insufficient to provide the desired level of safety. Because the tattoo machine 680 can have considerable mass, and because the beam 684 is quite rigid, a runaway state could potentially cause injury to certain parts of the body, such as the eyes. However, other parts of the body, such as the arms and legs, will be safe and unharmed. Properly limiting the robot's application area (through barriers or a limited range of robot movement) to these areas of the body provides inherent safety.

[0094] The preceding discussion raises an important point—what constitutes inherent safety depends on the body part in question. This is intuitively obvious—the eye can withstand much smaller forces (or pressures, if the force is normalized by area) than the forearm without injury. Conveniently, this concept has been widely applied in the design of collaborative robotic systems such as those described here. For example, consider Table 1 below, extracted from the BG / BGIA risk assessment recommendations (2009 edition, revised 2011) of the machinery directive published by the Institute for Occupational Safety and Health of the German Social Accident Insurance.

[0095] Table 1: Limiting values ​​of force, pressure, and body deformation constant for body regions based on the body model: .

[0096] The minimum permissible pressure in Table 1 for the anterior neck is 10 N / cm. 2 This is only one-eighth of the permissible pressure on the thigh / knee and hip. The table does not indicate permissible pressure on the eye surface, but it can be assumed they are very low. However, internal tests using a thin layer of rubber on the eyelids to provide additional protection indicate that a 1 to 2 mm thick rubber layer can provide a force distribution sufficient to reduce surface pressure to a tolerable level. The resulting surface pressure estimate is in the range of 2 N / cm². 2 Up to 10 N / cm 2 Between. The lower limit represents the permissible pressure range on the human body (assuming a thin protective layer is placed over the eyes) of 2 to 80 N / cm. 2 .

[0097] Therefore, if peak acceleration is limited during use, beam 684 will break or otherwise collapse under reasonable loads. Light curtain 688 keeps the robot away from the subject, and the robot's application is limited to human body areas with high pressure tolerance. Thus, a design could be made such as... Figure 26 The illustrated intrinsically safe robotic system for tattoo applications. For example, Figure 27 The shaded areas on the front 710 and rear 711 of the body roughly indicate a tolerance greater than 40 N / cm. 2The body area (i.e., the area within 50% to 100% of the maximum reporting tolerance). Clearly, most of the body, and especially most of the body that is typically tattooed, lies within these shaded areas (although it should be noted that these data presuppose that areas such as the knees or the back of the genitals are not included, and these areas should be reasonably excluded). Therefore, determining... Figure 26 The safety process of the device is simply to ensure that the worst possible collision does not exceed 40 N / cm. 2 Surface pressure.

[0098] Furthermore, it should be noted that similar strategies can be used to ensure the safety of the eyelash extension mechanisms discussed earlier, based on internally collected data on permissible ocular surface pressure. In the most generalized embodiment, a covering can be provided that covers the subject's eyelids and increases the local permissible surface pressure of the eye.

[0099] Final Exemplary Example In the last example of the embodiments of the present invention, consider Figure 28A and Figure 28BThe figure shows a front and side view of an eyelash extension robot that is inherently safe by using the previously discussed spring-loaded bent-end actuator 556. Robot 617 is partially visible at the top of the figure and should be understood to have sufficient degrees of freedom to provide manipulation of the distally mounted elements. For example, a six-axis arm or SCARA-type robot would suffice. The distal side of robot 617 is a large feature 618, which is rigidly mounted on robot 617 and cannot be adapted to pass through the gap in physical barrier 610 in any orientation. Physical barrier 610, like physical barrier 515, is another example of a safety barrier. Computer vision system 612 and actuator assembly 623 are mounted distal to large feature 618 (or alternatively, directly on robot 617 in some embodiments). Computer vision system 612 is generally oriented such that it can image the human eyelash region 616, and dashed line 614 roughly indicates the center of this field of view. Of course, despite the large feature 618, the robot 617 can also change the orientation of the computer vision system 612 to properly align the field of view. The actuator assembly 623 is connected to a pair of eyelash isolation probes 625, which are similar to probe 595 but have a more complex shape. This shape has two main curves: a tip curve 613 visible in the side view and a body curve 626 visible in the front view. The tip curve 613 is provided such that the sharp tip of the eyelash isolation probe 625 cannot reach the subject 301 before the body of the eyelash isolation probe 625 touches the subject 301. This allows the eyelash isolation probes 625, made of a thin tube or relatively flexible material, to bend before causing damage to the subject 301, even if they inadvertently contact the subject 301. However, the eyelash isolation probes 301 can perform their purpose of separating the subject 301's eyelashes because almost no force is needed to push the eyelashes. The body curve 626 is provided such that the computer vision system 612 can see the eyelash extension 502 and the human eyelashes during the process, where the field of view would otherwise be obstructed.

[0100] A spring-loaded bent end effector 556 is also connected to actuator assembly 623. Because the spring-loaded bent end effector 556 has a bend near its tip, it, like the eyelash isolation probe 625, does not obstruct the field of vision of visual system 612 when observing eyelash extension 502, where obstruction would occur if end effector 506 were used instead. The spring-loaded bent end effector 556 is also designed so that its tip does not point towards the subject's eye. Figure 28BThis is clearly visible during the inspection of the front view. Because the spring-loaded elbow end actuator 556 is made of a thin tube, it will bend without harming the subject 301, even if it inadvertently comes into contact with the subject 301's face or eyes. Both the spring-loaded elbow end actuator 556 and the eyelash isolation probe 625 can be additionally translated and / or oriented by the actuator assembly 623 to provide any necessary fine-tuning after the robot 617 has provided a rough position and possible orientation. However, such fine-tuning does not substantially change the shape and orientation of the actuator assembly 623. That is, ignoring the spring-loaded elbow end actuator 556 and the eyelash isolation probe 625, the body of the actuator assembly 623 will not move to a degree sufficient to significantly reduce its separation from the human subject 301. This is important because the actuator assembly 623 can be adapted to the outside of the physical barrier 610.

[0101] Figures 28A and 28B also show human restrictors: a human restrictor 621A positioned above the head of subject 301, and human restrictors 621B and 621C positioned slightly in front of subject 301. Human restrictors 621A-621C prevent human subject 301 from entering the area where the actuator assembly 623 and computer vision system 612 protrude beyond the physical barrier 610. In this way, it is ensured that when robot 617 retracts into the physical barrier 610 and then pushes the actuator assembly 623 and / or computer vision system 612 into the head of subject 301, subject 301 cannot move his or her head close to the gap in the physical barrier 610. Dashed line 624 generally represents the travel restriction of the actuator assembly 623 and computer vision system 612, and therefore, the area above this is a roughly prohibited area for subject 301 enforced by human restrictors 621A-621C. In some embodiments, the human restrictors 621A-621C may include a more complete face shield, and in some embodiments, may include a nearly complete enclosed area between the subject 301 and the robot 617, except around the subject 301's eyes, preventing the subject 301 from inserting his or her hands into the robot 617. It should be emphasized that this is desirable because the robot 617 cannot be guaranteed to be completely safe for human interaction, even though the spring-loaded bent-end actuator 556 and eyelash isolation probe 625 are safe for human interaction. As in the previously given embodiments, this demonstrates how a robot not rated for use around a person can be modified to become inherently safe and safe for use in cosmetic applications.

[0102] In some embodiments, the same device described above can be used to lengthen eyebrows rather than eyelashes, since eyebrows have properties quite similar to eyelashes.

[0103] Based on the foregoing, it is clear that the present invention provides a more efficient method for performing cosmetic procedures, such as installing eyelash extensions, which reduces the time and cost of the installation process. The system and method of the present invention are obviously safe, allowing the subject to have confidence in the procedure. Although described with reference to preferred embodiments, it should be readily understood that various changes or modifications can be made to the invention without departing from its spirit. In general, the invention is intended only to be limited by the scope of the following claims.

Claims

1. An intrinsically safe robotic system configured to perform a task on a human subject, the system comprising: robot; A safety barrier between the human subject and the robot, wherein the safety barrier is configured to prohibit interaction between the human subject and the robot, thereby preventing the robot from harming the human subject; At least one end effector attached to the robot, wherein the end effector is configured to extend through the safety barrier and is easily deformable upon contact with the human subject, thereby preventing the at least one end effector from injuring the human subject; as well as The at least one end actuator includes a flexible strut or tube having an anvil at its distal end, the anvil having at least two holes. The at least one end actuator also includes a flexible rope extending through the at least two holes to form a loop distal to the anvil. The flexible rope extends through the flexible strut or tube to a proximal end of the flexible strut or tube. The at least one end actuator also includes an actuator located at the proximal end of the flexible strut or tube, and the actuator is configured to selectively pull the flexible rope to selectively change the size of the loop. The at least one end effector is configured to perform the following task: applying eyelash or eyebrow lengthening.

2. The intrinsically safe robotic system of claim 1, wherein, The safety barrier includes at least one light curtain.

3. The intrinsically safe robotic system of claim 1, wherein, The anvil has a cross-section with grooves spanning 5-150 micrometers.

4. The intrinsically safe robot system according to claim 1, wherein, The anvil is not orthogonal to the central axis of the flexible support or tube along at least one axis.

5. The intrinsically safe robot system according to claim 1, wherein, The flexible support or tube is not straight.

6. The intrinsically safe robot system according to claim 1, wherein, The flexible support or tube has a bend greater than 45 degrees.

7. The intrinsically safe robot system according to claim 1, wherein, The at least one end effector further includes a spring mechanism configured to increase the size of the ring.

8. An intrinsically safe robotic system configured to perform a task on a human subject, the system comprising: robot; A first safety barrier surrounds the robot, wherein the first safety barrier is configured to prevent the robot from operating beyond the first safety barrier; A second safety barrier surrounding the human subject, wherein the second safety barrier is configured to prevent the human subject from going beyond the second safety barrier or to prohibit the operation of the robot if the human subject leaves the second safety barrier; The space between the first security barrier and the second security barrier includes a security zone; At least one end effector is attached to the robot, wherein the end effector is configured to extend through the first safety barrier and the second safety barrier and is easily deformable upon contact with the human subject, wherein the safety zone can only be passed through by the at least one end effector, thereby prohibiting direct interaction between the human subject and the robot and protecting the human subject from harm; as well as The at least one end actuator includes a flexible strut or tube having an anvil at its distal end, the anvil having at least two holes. The at least one end actuator also includes a flexible rope extending through the at least two holes to form a loop distal to the anvil. The flexible rope extends through the flexible strut or tube to a proximal end of the flexible strut or tube. The at least one end actuator also includes an actuator located at the proximal end of the flexible strut or tube, and the actuator is configured to selectively pull the flexible rope to selectively change the size of the loop. The at least one end effector is configured to perform the following task: applying eyelash or eyebrow lengthening.

9. The intrinsically safe robot system according to claim 8, wherein, The second safety barrier is configured to allow a portion of the human subject's anatomy to protrude, enabling the at least one end effector to access the portion.

10. The intrinsically safe robot system according to claim 9, wherein, The portion includes at least one eyelash of the human subject.

11. An intrinsically safe end effector configured for use with a robot operating around a human subject, the end effector comprising: A flexible support column oriented by the robot, wherein the flexible support column comprises: An anvil is disposed on the distal side along the flexible support; A flexible rope configured to form a loop for gripping against the anvil; as well as At least one proximal actuator is configured to actuate the flexible rope, wherein proximal actuation of the end effector results in distal gripping, but contact between the end effector and the human subject does not harm the human subject.

12. The intrinsically safe end effector according to claim 11, wherein, The anvil has an anvil surface that is not orthogonal to the central axis of the flexible support along at least one axis.

13. The intrinsically safe end effector according to claim 11, wherein, The flexible support includes an elbow that is substantially distal along the flexible support but proximal to the anvil.

14. The intrinsically safe end effector of claim 11, further comprising a distally mounted spring configured to open the ring without actuation.

15. The intrinsically safe end effector according to claim 11, wherein, The robot includes at least one proximal actuator configured to additionally orient the end effector.

16. An intrinsically safe robotic system configured to perform a task on a human subject, the system comprising: robot; At least one light curtain between the human subject and the robot, wherein the light curtain includes circuitry configured to disable the robot when a predefined number of light paths are simultaneously disconnected, thereby preventing the robot from harming the human subject; At least one end effector attached to the robot, wherein the at least one end effector is configured to extend through the at least one light curtain and disconnect fewer than the predefined number of light paths, the at least one end effector is configured to be easily deformable upon contact with the human subject to prevent the at least one end effector from injuring the human subject, and the robot or a portion thereof is configured to disconnect more than the predefined number of light paths when extending through the at least one light curtain; and in, The at least one end actuator includes a flexible strut or tube having an anvil at its distal end, the anvil having at least two holes, the at least one end actuator further including a flexible cord extending through the at least two holes to form a loop distal to the anvil, the flexible cord extending through the flexible strut or tube to a proximal end of the flexible strut or tube, the at least one end actuator further including an actuator located at the proximal end of the flexible strut or tube, and the actuator being configured to selectively pull the flexible cord to selectively change the size of the loop.

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