Design of a MICROROBOT eyelash separator

Abstract

Design of MICROROBOT separator for eyelashes A microrobot crane system including a microrobot crane having a rear microrobot, including a first plurality of magnets, a rotating bearing and a separator arm, where the separator arm includes a separator tip, and a front microrobot, including a second plurality of magnets, a support configured to slide along the separator arm, and a mechanical stop, configured to prevent the separator arm from disengaging from the support, and where the front microrobot is configured to raise and lower the separator arm.Furthermore, a method for separating an eyelash, the method comprising moving a first microrobot crane to a first side of an eye, positioning a separating tip of a separating arm in a line of eyelashes of the eye by moving a microrobot in front of the first microrobot crane, and moving the first microrobot crane in a first direction to separate a first side of the eyelashes. Figure for abstract: none.

Description

Title of the invention: Design of a MICROROBOT eyelash separator SUMMARY

[0001] A microrobot crane system is disclosed herein comprising a microrobot crane, including a rear microrobot, having a first plurality of magnets, a rotating bearing and a separation arm, wherein the separation arm includes a separation tip, and a front microrobot, having a second plurality of magnets, a support configured to slide along the separation arm, and a mechanical stop, configured to prevent the separation arm from disengaging from the support, and wherein the front microrobot is configured to raise and lower the separation arm.

[0002] In some embodiments, the rear microrobot is configured to remain stationary, while the front microrobot moves the separating arm upwards or downwards. In some embodiments, the front and rear microrobots are configured to move together in the same direction to separate an adjacent eyelash.

[0003] In some embodiments, the separating tip is configured to separate adjacent eyelashes.

[0004] In some embodiments, the microrobot crane is a first microrobot crane, and the system further comprises a second microrobot crane. In some embodiments, the second microrobot crane comprises a second separating arm. In some embodiments, the second microrobot crane comprises a second rear microrobot and a second front microrobot. In some embodiments, the first front microrobot and the first rear microrobot are configured to separate a first adjacent eyelash on a first side, and the second front microrobot and the second rear microrobot are configured to separate a second adjacent eyelash on a second side, opposite the first side.

[0005] In some embodiments, the system further includes a flexible printed circuit board (PCB) substrate, a motor base located beneath the flexible PCB substrate, and one or more linear actuators coupled to the motor base, wherein the one or more linear actuators are configured to adjust the flexible PCB substrate. In some embodiments, the flexible PCB substrate is configured to adjust the pitch, yaw, roll, or a combination thereof of the front microrobot, the rear microrobot, or both. In some embodiments, the system further includes one or more cameras configured to scan a user, the microrobot crane, and the PCB substrate. flexible, or one of their combinations. In some embodiments, one or more cameras are coupled in communication to a processor, where the processor is configured to determine a desired height of one or more linear actuators, a repositioning of the microrobot crane, or both.

[0006] In another aspect, a method for separating an eyelash is disclosed herein, the method including the movement of a first microrobot crane towards a first side of an eye, the positioning of a separation tip of a separator arm in a line of eyelashes of the eye by moving a microrobot in front of the first microrobot crane, and the movement of the first microrobot crane in a first direction to separate a first side of the eyelashes.

[0007] In some embodiments, the method further includes moving a second microrobot crane to a second side of an eye, positioning a second separating tip of a second separating arm in the eye's lash line by moving a microrobot forward of the second microrobot crane, and moving the first microrobot crane in a second direction to separate a second side of the eyelashes, so that a space is formed between the first side of the eyelashes and the second side of the eyelashes. In some embodiments, the method further includes applying a single eyelash to the space between the first side of the eyelashes and the second side of the eyelashes.In some embodiments, the application of the single eyelash includes attaching a first microrobot having a wire comb to a first location, positioning a second microrobot along the wire comb with a tube such that a gripper of the second microrobot makes contact with a fastening end of the wire comb, grasping an eyelash between the gripper and the fastening end, positioning the second microrobot to apply the eyelash, withdrawing the gripper from the fastening end, and applying the eyelash. In some embodiments, the second microrobot further includes a first gripper and a second gripper, and the method further includes grasping an eyelash between the fastening end and an offset distance between the first and second grippers.

[0008] In some embodiments, the method further includes monitoring the first microrobot crane, the second microrobot crane, or both, transmitting image data to the processor, and adjusting a position of the first microrobot crane, the second microrobot crane, or both based on the image data.

[0009] In some embodiments, the positioning of the first microrobot crane, the second microrobot crane, or both, includes sliding one or more microrobots on a flexible printed circuit board (PCB) substrate. In some embodiments, the positioning of the first crane microrobot, the second microrobot crane, or both, includes the levitation of one or more microrobots above a PCB substrate.

[0010] The purpose of this summary is to present, in a simplified form, a selection of concepts that are described in more detail below in the detailed description. This summary is not intended to identify key features of the claimed subject matter or to be used as an aid in determining the scope of the claimed subject matter. Description of the drawings

[0011] The foregoing aspects and many related advantages of the present invention will be more readily appreciated as they are better understood with reference to the following detailed description, when taken in conjunction with the accompanying drawings, in which:

[0012] [Fig 1A-1F] Figures 1A-1F are examples of microrobots, in accordance with the present technology;

[0013] [Fig 2A-2B] Figures 2A-2B are an example of an eyelash application system, according to the present technology;

[0014] [Fig 3A-3F] Figures 3A-3F are examples of grippers and fixing ends of the 2000 eyelash application system of Figures 2A and 2B, in accordance with the present technology;

[0015] [Fig 4A-4C] Figures 4A-4C illustrate examples of microrobot crane systems, in accordance with the present technology;

[0016] [Fig 5A-5G] Figures 5A-5G are process diagrams of an eyelash application system, according to the present technology;

[0017] [Fig 6A-6E] Figures 6A-6E are examples of eyelash application systems, in accordance with the present technology;

[0018] [Fig 7A-7B] Figures 7A-7B show another example of a 1000 eyelash application system, in accordance with the present technology;

[0019] [Fig.8] The [Fig.8] is a functional diagram of an example of an eyelash application system, according to the present technology;

[0020] [Fig 9A-9C] Figures 9A-9C are examples of eyelash dispensers, according to the present technology;

[0021] [Fig. 10] the [Fig. 10] is a method of using an eyelash application system, in accordance with the present technology;

[0022] [Fig. 11] the [Fig. 11] is another method of using an eyelash application system, in accordance with the present technology;

[0023] [Fig. 12] [Fig. 12] is yet another method of using an eyelash application system, in accordance with the present technology;

[0024] [Fig. 13] the [Fig. 13] is another method of using an eyelash application system, in accordance with the present technology;

[0025] [Fig. 14] The [Fig. 14] is a method of using an eyelash dispenser, according to the present technology; and

[0026] [Fig. 15] the [Fig. 15] is another method of using an eyelash dispenser, according to the present technology. Detailed description

[0027] A microrobot crane system configured for applying eyelash implants, false eyelashes, and the like is disclosed herein. In some embodiments, the microrobot crane system includes one or more microrobot cranes. Each microrobot crane may include a rear microrobot having a first plurality of alternating magnetic field magnets arranged in an array, a rotating bearing, and a separating arm having a separating tip. Each microrobot crane may further include a front microrobot having a second plurality of alternating magnetic field magnets arranged in an array, a support configured to slide along the separating arm, and a mechanical stop configured to prevent the separating arm from disengaging from the support. In tandem, the front and rear microrobots can raise and lower the separating arm so that the separating tip comes into contact with the eyelash line.Next, the front and rear microrobots can move together in the same direction at the same speed and maintaining the same distance between them to separate individual eyelashes from a user. In some embodiments, the microrobot crane system can slide or levitate above a flexible printed circuit board (PCB) substrate configured to adjust in response to a plurality of linear actuators to efficiently and precisely adjust the microrobot crane system.

[0028] Figures IA to 1F are examples of microrobots according to the present technology. In some embodiments, eyelash application systems using one or more microrobots based on printed circuit board (PCB) drivers are disclosed herein.

[0029] Figure 1A is an example of a microrobot 200 including four magnets 205A, 205B, 205C... 205N. In some embodiments, the four magnets (also referred to herein as a plurality of magnets) 205A, 205B, 205C... 205N are arranged in a lattice with alternating magnetization. For example, in Figure 1A, magnets 205A (top) and 205C (bottom) may have a first magnetization, and magnets 205B (left) and 205N (right) may have a second magnetization, opposite to the first. In some embodiments, the plurality of magnets 205A, 205B, 205C... 205N are arranged in a checkerboard pattern. In some In some embodiments, the plurality of magnets 205A, 205B, 205C... 205N can be composed of any material, such as nickel, iron, samarium, or the like. In some embodiments, the plurality of magnets 205A, 205B, 205C... 205N are composed of neodymium (NdFeB). In one embodiment, the plurality of magnets comprises one or more magnetic materials. Non-limiting examples of magnetic materials include ferromagnetic elements (e.g., cobalt, gadolinium, iron, or the like), rare-earth elements, ferromagnetic metals, ferromagnetic transition metals, materials exhibiting magnetic hysteresis, or the like, or combinations thereof. Other non-limiting examples of magnetic materials include nickel, iron, samarium, or the like, or combinations thereof.

[0030] Figure 1B shows an example of a microrobot 200 having a plurality of magnets 205A, 205B, 205C... 205N, an applicator 210, and an eyelash (or a cluster of eyelashes) L. In some embodiments, the applicator 210 is configured to hold an eyelash or a cluster of eyelashes for final application to an eyelid. As used here, the term "cluster of eyelashes" refers to two or more eyelashes that have been grouped together, either by being manufactured together or by being fixed together, for example with an adhesive. Individual eyelashes within a cluster of eyelashes may be the same length, thickness, color, finish, or similar, or may be of different lengths, thicknesses, colors, finishes, etc.

[0031] Figures IC and 1D show examples of microrobots 200 positioned on a printed circuit board (PCB) substrate 105. In some embodiments, the checkerboard arrangement of a plurality of magnets (such as a plurality of magnets 205A, 205B, 205C... 205N) together with a graphite layer of the substrate 105 confines the microrobot 200 to a specific location in (x, y, z). A magnetic potential well can be generated to locate the microrobot 200. In some embodiments, a magnetic force is generated by four PCB current traces located inside the substrate 105. Pairs of these four traces are typically excited in quadrature, behaving very similarly to a linear stepper motor.While the quadrature currents control the relative phase between the current pairs and therefore the position in the plane of the microrobot 200, the modulation of the absolute amplitude of the tracks increases or decreases the out-of-plane force between the board and the robot, which allows a displacement along Z of approximately 40 to 70 pm.

[0032] Figure IC shows a sliding substrate system. In such embodiments, the graphite layer of the substrate 105 can be thin, such as 25 to 100 µm thick. In such systems, the microrobot(s) 200 is / are configured to slide on the substrate.

[0033] Figure 1D shows a levitating substrate system. In such embodiments, the graphite layer of the substrate 105 can be thick, such as 0.5 mm thick. In such embodiments, the microrobot 200 can levitate away from the substrate 105 by a height E.

[0034] Figures 1E and 1F show various arrangements for the microrobots 200. It should be understood that any number of magnets can be included in the plurality of magnets 205A, 205B, 205C... 205N. In some embodiments, the plurality of magnets 205A, 205B, 205C... 205N are arranged in an alternating orientation, with the magnetization alternating between adjacent magnets.

[0035] In certain embodiments, the microrobot(s) 200 is / are controlled by the local track pattern and currents. That is, the microrobot is controlled by zone or sector, rather than by movement with the microrobot (as is the case for conventional motorized robots). Sector-based control has both advantages and disadvantages for controlling multiple agents. The disadvantage of sector-based control is that two very close microrobots may not be controlled independently unless they are located in different, independent sectors. The advantage of sector-based control is that a large number of microrobots can be controlled to perform the same movement in parallel using only a few control channels.The sector-based control approach generally reduces the number of control channels required, since microrobots do not need to communicate with additional control channels in areas that require, for example, only one degree of freedom for transport.

[0036] In some embodiments, the substrate or other lithographically patterned microcircuits allow for the relatively easy fabrication of large, complex drive systems using conventional batch manufacturing. In some embodiments, the dimensions of the systems disclosed herein can reach up to 30 cm x 30 cm, or even larger. In some embodiments, the microrobot(s) can pass between separate substrates 105 if they are in close proximity to one another.

[0037] In certain embodiments, as described herein, the microrobots can be configured to "cooperate" with each other by performing different steps in the eyelash application process on a single eye or a single user with two eyes. For example, one or more microrobots can be configured to separate the eyelashes, another microrobot can be configured to apply the eyelash, and yet another microrobot can be configured to apply eyelash glue or adhesive. In some embodiments, several microrobots can work together more directly, as explained herein.

[0038] Figures 2A and 2B are an example of a 2000 eyelash application system according to the present technology. In some embodiments, the 2000 system (also referred to herein as the "2000 applicator system") includes a first microrobot 200A having a first plurality of magnets 205A-i, 205B-i, 205C-i... 205N-i and a wire comb 215, and a second microrobot 200B having a second plurality of magnets 205A-Ü, 205B-Ü, 205C-Ü... 205N-Ü, a tube 210B, and a gripper 225.

[0039] In some embodiments, the first microrobot 200A includes a first plurality of magnets 205A-i, 205B-i, 205C-i... 205N-i. In some embodiments, the first plurality of magnets 205A-i, 205B-i, 205C-i... 205N-i are arranged in an alternating magnetization array, as explained herein. In some embodiments, the first plurality of magnets 205A-i, 205B-i, 205C-i... 205N-i are a plurality of NdFeB magnets.

[0040] In some embodiments, the first microrobot 200A also includes a retaining element 210A configured to retain the wire comb 215. In some embodiments, the wire comb 215 is configured to slide within the retaining element 210A. In some embodiments, the wire comb 215 is integrated within the retaining element 210A.

[0041] The wire comb 215 can be made of metal, ceramic, carbon, plastic, or a combination thereof. In some embodiments, the wire comb 215 includes a fastening end 220. As shown in Figures 3A to 3D, the fastening end 220 can be arranged at an angle of approximately 45 degrees to the wire comb 215 to form a "hook" shape.

[0042] In some embodiments, the second microrobot 200B includes a second plurality of magnets 205A-Ü, 205B-Ü, 205C-Ü... 205N-Ü. In some embodiments, the second plurality of magnets 205A-Ü, 205B-Ü, 205C-Ü... 205N-Ü are arranged in an alternating magnetization array, as explained herein. In some embodiments, the second plurality of magnets 205A-Ü, 205B-Ü, 205C-Ü... 205N-Ü are a plurality of NdFeB magnets.

[0043] In some embodiments, the second microrobot 200B further includes a tube 210B. The tube 210B is configured to slide along the wire comb 215 of the first microrobot 200A. In this way, the second microrobot 200B can move back and forth (as in the direction of the arrow in [Fig. 2A]) along the wire comb 215.

[0044] In some embodiments, the second microrobot further comprises a gripper 225. In some embodiments, the gripper 225 is configured to couple to the attachment end 220 of the wire comb 215, such as the Figures 3A to 3D show this in more detail. In some embodiments, the gripper 225 has a "V" shaped end.

[0045] In operation, the first microrobot 200A is fixed to a first location. In some embodiments, the first location is on a substrate (such as substrate 105). The second microrobot 200B can then be slid along the wire comb 215 through the tube 210B of the second microrobot 200B. In some embodiments, the second microrobot 200A slides towards the attachment end 220 of the wire comb 215, as shown in Figures 2A and 2B, so that the gripper 225 comes into contact with the attachment end 220. In some embodiments, an eyelash or a cluster of eyelashes (not shown schematically in Figures 2A and 2B) is grasped between the gripper 225 and the attachment end 220. The first microrobot 220A and / or the second microrobot 200B can then be positioned to apply the eyelash or cluster of eyelashes to an eyelid.In some embodiments, the first microrobot 220A and the second microrobot 200B are configured to move together, so the distance between the first microrobot 220A and the second microrobot 200B does not change. Once the microrobots 200A and 200B are in position, the gripper 225 can be removed from the attachment end 220, for example, by moving the second microrobot 200B along the wire comb 215 in the opposite direction. Then, the eyelash or eyelash cluster is applied to the eyelid. In some embodiments, the eyelash or eyelash cluster may include an adhesive, such as eyelash glue. In some embodiments, a user of the System 2000 can apply an adhesive, magnetic eyeliner, or similar product to their eyes before using the System 2000.In some embodiments, the second microrobot 200B can remain in place for a defined time (such as 60 seconds) before retracting along the wire comb 215 to ensure that the eyelash or cluster of eyelashes remains in place, before releasing the eyelash or cluster of eyelashes.

[0046] In some embodiments, throughout this operation, the first microrobot 200A and / or the second microrobot 200B can slide on a substrate 105, as shown in Figure IC. In other embodiments, the first microrobot 200A and / or the second microrobot 200B can levitate above a substrate 105, as shown in [Fig. 1D]. In some embodiments, the first microrobot 200A and the second microrobot 200B are configured to slide on or levitate above a flexible substrate, as explained herein.

[0047] Figures 3A to 3F are examples of grippers and attachment ends of the 2000 eyelash application system of Figures 2A and 2B, in accordance with the present technology.

[0048] In some embodiments, the system 2000 includes a single gripper 225, as shown in Figures 3A to 3D. The gripper 225 can move forward backwards as the second microrobot 200B moves along the wire comb. When the gripper 225 moves towards the attachment end 220 of the wire comb 215, a V-shaped end of the gripper 225 makes contact and couples with the attachment end 220. As shown in Figures 3C-3D, a cilium L can thus be grasped between the gripper 225 and the attachment end 220.

[0049] In some embodiments, the 2000 system includes a first gripper 225A and a second gripper 225B, as shown in Figures 1E to 1F. The first gripper 225A and the second gripper 225B can be offset from each other by a distance O. In some embodiments, the offset distance is slightly greater than the attachment end 220. In such embodiments, as shown in [Fig. 1F], a cilium L can be grasped by the first gripper 225A, the second gripper 225B, and the attachment end 220. The attachment end 220 can be inserted into the offset distance O to retain the cilium L. In some embodiments, both the first gripper 225A and the second gripper 225B have a V-shaped end.

[0050] Figures 4A-4C are examples of 4000 microrobot crane systems according to the present technology. In some embodiments, a lash application system includes a 4000 robot crane system.

[0051] In some embodiments, as shown in Figures 4A and 4B, the 4000 system includes a single microrobot crane. The 4000 robot crane system may include a rear microrobot 400A having a first plurality of magnets 405A, 405B, 405C... 405N, a rotary bearing 415, and a separating arm 430 including a separating tip 440. In some embodiments, the 4000 robot crane system further includes a front microrobot 400B having a second plurality of magnets 410A, 410B, 410C... 410N, a support 420, and a mechanical stop 425.

[0052] In some embodiments, the rear microrobot 400A includes a first plurality of magnets 405A, 405B, 405C... 405N. In some embodiments, the first plurality of magnets 405A, 405B, 405C... 405N is arranged in an alternating magnetization array, as explained herein. In some embodiments, the first plurality of magnets 405A, 405B, 405C... 405N is a plurality of NdFeB magnets.

[0053] In some embodiments, the rear microrobot 400A further includes a rotary bearing 415. The rotary bearing 415 is configured to retain the separation arm 430, and to allow the separation arm 430 to move up and down on the support 420 of the front microrobot 400B, as shown in [Fig.4B].

[0054] In some embodiments, the separating arm 430 includes a separating tip 440 configured to make contact with a line of eyelashes and separate a or several eyelashes from one another, as shown in Figures 4B and 5A-5G. In some embodiments, the separating tip 440 is arranged at an angle to the separating arm 430.

[0055] In some embodiments, the front microrobot 400B includes a second plurality of magnets 410A, 410B, 410C... 410N. In some embodiments, the second plurality of magnets 410A, 410B, 410C... 410N is arranged in an alternating magnetization array, as explained herein. In some embodiments, the second plurality of magnets 410A, 410B, 410C... 410N is a plurality of NdFeB magnets.

[0056] The front microrobot 400B may further include a support 420 configured to slide along the separation arm 430. The support 420 is configured to hold the separation arm 430 and slide back and forth along the separation arm 430 to raise and lower the separation arm 430, as shown in [Fig. 4B].

[0057] In some embodiments, the front microrobot 400B further includes a mechanical stop 425, which also retains the separation arm 430. The mechanical stop 425 can prevent the separation arm from disengaging from the support 420 or from falling from it.

[0058] In operation, the rear microrobot 400A can remain stationary. The front microrobot 400A can move backward in direction B. When the front microrobot 400A moves in direction B, the separating arm 430 is raised with the rotating bearing in direction U. As the separating arm 430 comes into contact with the support 420, when the front microrobot 400A moves backward, the support 420 increases the angle between the substrate 105 and the separating arm 430. In this way, the separating tip 440 can come into contact with a lash line of an eyelid, as shown in [Fig. 4B]. The separating tip 440 can be inserted between individual lashes of a plurality of lashes L1, L2, L3... LN.

[0059] In some embodiments, after the eyelash line has been brought into contact with the separating tip, the rear microrobot 400A and the second microrobot 400B can move together in a direction perpendicular to direction B to separate the adjacent eyelashes, as shown in detail in [Fig.5E].

[0060] In some embodiments, throughout this operation, the rear microrobot 400A and / or the front microrobot 400B can slide on a substrate 105, as shown in Figure IC. In other embodiments, the rear microrobot 400A and / or the front microrobot 400B can levitate above a substrate 105, as shown in [Fig. 1D]. In some embodiments, the rear microrobot 400A and the rear microrobot 400B are configured to slide on or levitate above a flexible substrate, as explained herein.

[0061] In certain embodiments, as shown in Figures 4C, the 4000 system includes a first robot crane and a second robot crane. In such embodiments, the 4000 system includes a first robot crane having a first rear microrobot 400A-i having a first plurality of magnets 405A-i, 405B-i, 405C-i, 405N-i, a first rotary bearing 415-i, and a first separation arm 430-i including a first separation tip 440-i. In certain embodiments, the first robot crane further includes a first front microrobot 400B-i having a second plurality of magnets 410A-i, 410B-i, 410C-i... 410N-i, a first support 420-i, and a first mechanical stop 425-i.

[0062] The second robot crane may include a second rear microrobot 400A-ii having a third plurality of magnets 405A-Ü, 405B-Ü, 405C-Ü... 405N-Ü, a second rotary bearing 415-ii, and a second separation arm 430-ii including a second separation tip 440-ii. In some embodiments, the second robot crane further includes a second front microrobot 400B-ii having a fourth plurality of magnets 410A-Ü, 410B-Ü, 410C-Ü... 410N-Ü, a second support 420-ii, and a second mechanical stop 425-ii.

[0063] As Figures 5A-5G show in more detail, the first robot crane and the second robot crane can work in tandem to separate adjacent eyelashes.

[0064] Figures 5A-5G are process diagrams of an eyelash application system according to the present technology. In some embodiments, a 4000 robot crane system including a first robot crane and a second robot crane as described herein is used to separate adjacent eyelashes from a user's eye.

[0065] In [Fig. 5A], both the first robot crane and the second robot crane move together and forward in direction F. Both the front microrobots (such as the front microrobots 400B, 400B-i, 400B-ii) and the rear microrobots (such as the rear microrobots 400A, 400A-i, 400-ii) move together in the same direction F. In some embodiments, the direction F is towards a user's eye.

[0066] In [Fig. 5B], the first and second robot cranes of the 4000 robot crane system reach the eyelid. Those skilled in the art should understand that the eyelid and eyelashes shown in [Fig. 5B] are not to scale and have been simplified for clarity.

[0067] In [Fig. 5C], the first front microrobot of the first crane and the second front microrobot of the second crane move backward in direction B. When this occurs, the first separation arm and the second separation arm move upward in direction U until the first separation tip and the second separation tip make contact with a line of eyelashes and the eyelashes of the eyelid. The first separating tip makes contact with a first eyelash L1, at the same time as the second separating tip makes contact with an adjacent eyelash LA.

[0068] In [Fig. 5D], the first microrobot moves in a first direction L, while the second microrobot moves in a second direction R, opposite to the direction L. In this way, the first eyelash L1 and the adjacent eyelash LA are separated by being bent in opposite directions. In some embodiments, this leaves a gap in the eye's lash line, as shown in [Fig. 5D].

[0069] In [Fig. 5E], a 2000 eyelash application system (as shown and described in Figures 2A-3F) moves forward in direction F, toward the eyelid (and thus toward the space in the eye's lash line, between the first eyelash L1 and the adjacent eyelash LA). The gripper of the 2000 system can be in contact with the attachment end. In this way, the gripper and the attachment end can hold an eyelash or a cluster of eyelashes between them.

[0070] In [Fig. 5F], the 2000 system comes into contact with the eyelash line. The second microrobot (and therefore the gripper) can move backwards in direction B to release the eyelash or cluster of eyelashes as a new eyelash (NL) in the space between the first eyelash Ll and the adjacent eyelash LA.

[0071] In [Fig. 5G], the entire 2000 system moves backward in direction B, separating from the eyelid. A new NL eyelash has been applied by the 2000 system.

[0072] In some embodiments, throughout this process, the first robot crane, the second robot crane, and / or the system 2000 can slide on a substrate 105, as shown in Figure IC. In other embodiments, the first robot crane, the second robot crane, and / or the system 2000 can levitate above a substrate 105, as shown in [Fig. 1D]. In some embodiments, the first robot crane, the second robot crane, and / or the system 2000 are configured to slide on or levitate above a flexible substrate, as explained herein.

[0073] It should be understood that in some embodiments, eyelashes can be applied to both eyes of a user, for example with a third robot crane, a fourth robot crane, and a second 2000 system. In some embodiments, the eyelashes can be applied to both eyes simultaneously or sequentially. In some embodiments, after eyelashes have been applied to the first eye, the 2000 and 4000 systems shown in Figures 5A-5F can move to the user's second eye. In other embodiments, a The user can position themselves so that the 2000 and 4000 systems are close to their second eye.

[0074] Figures 6A-6E are examples of 100 eyelash application systems, in accordance with the present technology.

[0075] As shown in [Fig. 6A], the system 100 may include a flexible printed circuit board (PCB) substrate 105, a motor base 110, and one or more linear actuators 115A, 115B, 115C... 115N (also referred to herein as a plurality of linear actuators). In some embodiments, the flexible PCB substrate 105 is configured to bend and / or curve in response to one or more linear actuators 115A, 115B, 115C... 115N (which may be referred to herein as "adjusting" the PCB substrate 105).

[0076] In some embodiments, the motor base 110 is disposed under the flexible PCB substrate 105. The motor base 100 is coupled to one or more linear actuators 115A, 115B, 115C... 115N and is configured to drive and direct the one or more linear actuators 115A, 115B, 115C... 115N so that they move up and down in order to adjust the PCB substrate 105.

[0077] Figure 6B is a top-down view of the system 100. The flexible PCB substrate 105 can be arranged above a plurality of linear actuators 115A, 115B, 115C... 115N. The flexible PCB substrate 105 is shown as dashed lines in Figure 6B to better show the position of the plurality of linear actuators 115A, 115B, 115C... 115N.

[0078] In certain embodiments, the plurality of linear actuators 115A, 115B, 115C... 115N are arranged in a network. Each linear actuator of the plurality of linear actuators 115A, 115B, 115C... 115N can move independently, which allows for numerous adjustments to be made to the flexible PCB substrate 105.

[0079] Figure 6C shows a system 100 in which a plurality of linear actuators 115A, 115B, 115C... 115N have adjusted the flexible PCB substrate 105. In operation, each linear actuator of the plurality of linear actuators 115A, 115B, 115C... 115N moves independently to bend, curve, and otherwise manipulate the flexible PCB substrate 105.

[0080] In operation, as shown in [Fig. 6D], one or more microrobots 200A, 200B can slide (as shown in Figure IC) or levitate (as shown in [Fig. 1D]) above the flexible PCB substrate 105. In some embodiments, the flexible PCB substrate 105 is adjusted before the one or more microrobots 200A, 200B move above it. In other embodiments, the flexible PCB substrate 105 can be adjusted dynamically, i.e., while the one or more microrobots 200A, 200B are in motion. Although the one or more microrobots 200A, 200B are illustrated Presented in square form for simplicity, it should be understood that the one or more microrobots can be any of the microrobots or microrobot systems presented and described here (such as the 200 microrobots, the first 200A microrobot, the second 200B microrobot, the 2000 system, the rear 400A, 400A-i, 400A-ii microrobots, the front 400B, 400B-i, 400B-ii microrobots, and the 4000 system). In some embodiments, the flexible PCB substrate 105 is configured to adjust the pitch, yaw, roll, or any combination thereof, of one or more 200A, 200B microrobots.

[0081] Figure 7E shows one or more microrobots 200A, 200B with applicators. When one or more microrobots 200A, 200B move across the flexible PCB substrate 105, an angle A, B between the applicator and the flexible PCB substrate 105 changes. In some embodiments, the applicators are arranged at an angle. In some embodiments, these angles A, B are called "angles of attack," meaning that the angles A, B allow the applicators to apply an eyelash to a user's eye, as shown in Figures 7A and 7B. In such embodiments, the flexible PCB substrate is configured to adjust the angle of attack of the applicators. As illustrated here, the applicators can be any of the applicators described here, such as applicator 210, fixing end 220, separating tip 440, and similar.

[0082] Figures 7A-7B show another example of a 1000 eyelash application system according to the present technology. In some embodiments, the 1000 system includes a flexible PCB substrate 105, a plurality of linear actuators 115A, 115B, 115C... 115N, a motor base 120, one or more microrobots 200, a chin rest 720, one or more cameras 1005A, 1005B, 1005C (collectively referred to as the "camera system" 1005), and a processor 1010. A user 300 can operate the 1000 system as shown in Figures 7A-7B.

[0083] Although the one or more microrobots 200A, 200B are illustrated as squares for simplicity, it should be understood that the one or more microrobots can be any of the microrobots or microrobot systems shown and described herein (such as the 200 microrobots, the first 200A microrobot, the second 200B microrobot, the 2000 system, the rear 400A, 400A-i, 400A-Ü microrobots, the front 400B, 400B-i, 400B-Ü microrobots, and the 4000 system). In some embodiments, the flexible PCB substrate 105 is configured to adjust the pitch, yaw, roll, or any combination thereof of the one or more 200A, 200B microrobots.

[0084] The applicator 210 can be positioned at an angle. As explained herein, the applicator 210 can be any one of the applicators described herein, such as the applicator 210 of [Fig.1B], the fixing end 220, the separating tip 440, and similar.

[0085] In some embodiments, the system 1000 includes one or more cameras 1005A, 1005B, 1005C. Although three cameras are shown in Figures 7A and 7B, it should be understood that any number of cameras can be used as a camera system, including a single camera. In some embodiments, one or more cameras 1005A, 1005B, 1005C are configured to scan a user 300, one or more microrobots 200, and the flexible PCB substrate 105. In some embodiments, one or more cameras 1005A, 1005B, 1005C are coupled in communication to a processor 1010. The processor can be configured to determine a desired height of one or more linear actuators 115A, 115B, 115C... 115N, a new position of one or more microrobots, or both.In this way, one or more cameras 1005A, 1005B, 1005C can determine the location of each element and correctly position the flexible PCB substrate 105, one or more microrobots 200, the applicator 210, or one of their combinations with the processor 1010. Although the processor 1010 is shown above the system 1000, it should be understood that the processor can be located anywhere, including being directly integrated into the system. In some embodiments, the processor 1010 can be a remote processor or incorporated into a remote device, such as a smartphone, desktop computer, laptop, or tablet. In some embodiments, the processor 1010 is configured to couple in communication with one or more cameras 1005A, 1005B, 1005C, the motor base 120, one or more linear actuators 115A, 115B, 115C... 115N, and / or one or more microrobots 200.

[0086] In some embodiments, the positioning of one or more microrobots 200 on the flexible PCB substrate 105 includes guiding the one or more microrobots 200 so that they slide or levitate above the flexible PCB substrate 105. In some embodiments, the positioning of the one or more microrobots includes adjusting the pitch, yaw, roll, or a combination thereof of the one or more microrobots 200 with the one or more linear actuators 115A, 115B, 115C... 115N under the flexible PCB substrate 105. Adjusting the position of the one or more microrobots in one or both of the ways described above allows the system 1000 to apply an eyelash with the one or more microrobots 200.

[0087] During operation, a user 300 can rest their chin on the chin rest 720. In some embodiments, the chin rest 720 may be omitted. In some embodiments, the chin rest is adjustable to position the user 3000 at A location where one or more microrobots can come into contact with the user's eyelash line, eyelid, or similar features. One or more cameras (1005A, 1005B, 1105C) can monitor the position, orientation, and / or angle of one or more microrobots. Cameras (1005A, 1005B, 1005C) can also determine the location of user features, such as the eyes, eyelash line, eyelashes, and eyelids.

[0088] In some embodiments, the first camera 1005A is positioned to view the flexible PCB substrate 105 from above (or in a "bird's-eye" view), the second camera 1005B is positioned to view the flexible PCB substrate 105 from an angle, and the third camera 1005C is positioned to view the flexible PCB substrate 105 from the side. However, those skilled in the art will understand that the camera system 1005 can be configured in any way.

[0089] In some embodiments, one or more cameras 1005A, 1005B, 1005C transmit image data from one or more microrobots 200, the flexible PCB substrate 105, and / or the user 300 to the processor 1010. The processor can then analyze this image data and adjust the height of at least one linear actuator from the plurality of linear actuators 115A, 115B, 115C... 115N and / or adjust the position of one or more microrobots 200. In some embodiments, adjusting the position of one or more microrobots 200 includes adjusting the angle of attack of the applicator 210 of one or more microrobots 200 with the plurality of linear actuators 115A, 115B, 115C... 115N.

[0090] In certain embodiments, as shown in [Fig. 7B], the processor 1010, together with the flexible PCB substrate 105, can position a first microrobot 200A to apply a first eyelash L1 and position a second microrobot 200B to apply a second eyelash L2. In such embodiments, the first microrobot 200A and the second microrobot 200B can move along the flexible PCB substrate in direction D, applying eyelashes as they pass in front of a user's first (left) eye. In some embodiments, one or more microrobots 200A, 200B can apply eyelashes simultaneously. For example, the first microrobot 200A can apply eyelashes to the user's first (left) eye and the second microrobot 200B can apply eyelashes to the user's second (right) eye.In some embodiments, the flexible PCB substrate 105 can adjust the position of one or more microrobots 200A, 200B so that the applicators 210A, 210B are able to apply eyelashes or clusters of eyelashes to an upper eyelash line, a lower eyelash line, or both.

[0091] In operation, a user 3000 can select an eyelash style, for example with an application on a smartphone connected via communication, a A tablet or computer. In some embodiments, the smartphone, tablet, or computer houses the processor 1010. The user 3000 can modify their selection, view their selection on a photo or live feed of themselves, or receive a selection based on a questionnaire, personal preferences, or trending styles. After selecting the style, the user 3000 can then sit or stand at the level of the system 1000. In some embodiments, the user 3000 rests their chin on the chin rest 720. The processor 1010 can then instruct one or more microrobots 200 to apply one or more eyelashes or one or more clusters of eyelashes to achieve the selected style.One or more cameras 1005A, 1005B, 1005C monitor one or more microrobots 200 and the user 3000 to ensure that the one or more microrobots 200 are directed to a suitable location to apply one or more eyelashes or eyelash clusters to achieve the selected style. In some embodiments, the processor 1010 further instructs one or more linear actuators 115A, 115B, 115C... 115N to adjust the flexible PCB substrate 105 to further position the one or more microrobots 200.

[0092] Fig. 8 is a functional diagram of an example of an 800 eyelash application system, according to the present technology.

[0093] At block 805, the system 800 can calculate an intrinsic and extrinsic calibration of the system 800. In some embodiments, this is performed only once. In some embodiments, the calculation of the intrinsic and extrinsic calibration includes the determination of an initial position of a flexible PCB substrate (such as the flexible PCB substrate 105) of one or more microrobots (such as the microrobots 200, 200A, 200B, 400A, 400B, 400A-i, 400B-i, 400B-Ü and 400B-ii), and / or of a user (such as the user 300) of the system 800.

[0094] At block 810, a stereo image is captured. In some embodiments, this is done with a camera system (such as the camera system 1005, including one or more cameras 1005A, 1005B, 1005C).

[0095] In block 815, one or more microrobots are detected in the stereo image (or image data). This allows the system 800 to determine and receive three-dimensional (3D) coordinates of the one or more microrobots. These coordinates can be called the position of the one or more microrobots.

[0096] At block 820, a dense disparity map of the stereo images is generated. In some embodiments, the generation of the dense disparity map includes dynamic programming, where the edge pixels of the stereo images are matched and a dense disparity map is obtained by filling the gaps between two consecutive edge pixels.

[0097] At block 830, 3D region pixels are acquired.

[0098] By returning to block 810, after obtaining the stereo images, key points of the eyelid can be detected simultaneously on the stereo images of block 835.

[0099] At block 840, the eyelashes of one eye (or both eyes) are trimmed and detected.

[0100] At block 845, eyelash density is estimated.

[0101] At block 850, the eyelid is divided into 5 mm regions, and an initial region for the application of the eyelashes is selected.

[0102] In block 855, two-dimensional (2D) pixel regions of the eyelid are acquired. Together with the 3D pixel region of the desired position of one or more microrobots in block 830, the one or more microrobots can be moved to a correct region in block 875.

[0103] In block 870, the cilia can be separated by one or more microrobots and visualized again in block 810. The stereo images of the separated cilia can go through the same processing steps in blocks 810 to 855.

[0104] At block 865, the length of the eyelashes can be estimated.

[0105] At block 860, the extension (eyelash and / or cluster of eyelashes) is applied.

[0106] Figures 9A-9C are examples of 9000 eyelash dispensers according to the present technology. In some embodiments, the system 1000 includes a 9000 eyelash dispenser. In some embodiments, the 9000 eyelash dispenser includes a body 905 having a plurality of slots. Although five slots are shown, it should be understood that any number of slots may be included in the body 905. In some embodiments, the body 905 may have no slots.

[0107] In some embodiments, one or more microrobots 900A, 900B, 900C, 900D... 900N are located inside the body 905. In some embodiments, each slot in the body 905 includes a single microrobot. In some embodiments, each slot in the body 905 includes several microrobots. In some embodiments, each microrobot of one or more microrobots 900A, 900B, 900C, 900D... 900N is configured to carry and apply a single eyelash or a single cluster of eyelashes L1, L2, L3, L4... LN. In some embodiments, each microrobot of one or more microrobots 900A, 900B, 900C, 900D... 900N includes an applicator 910A, 910B, 910C, 910D... 910N. In some embodiments, the applicators 910A, 910B, 910C, 910D... 910N are dual-pronged applicators configured to hold a single eyelash or a cluster of eyelashes L1, L2, L3, L4... LN. In some embodiments, the applicators 910A, 910B, 910C, 910D...910N can be attachment tips (such as attachment tip 220), separation tips (such as separation tip 440), or a combination thereof. Furthermore, although one or more 900A, 900B, 900C, 900D... 900N microrobots are illustrated as having a particular form factor, it... It should be understood that one or more microrobots 900A, 900B, 900C, 900D... 900N can be any of the microrobots described herein (such as microrobots 200, 200A, 200B, 400A, 400B, 400A-i, 400B-i, 400B-Ü, and 400B-Ü). In some embodiments, each slot of the dispenser 9000 can include a microrobot system, such as systems 2000, 4000, or a combination thereof. In some embodiments, the eyelashes or eyelash clusters L1, L2, L3, L4... LN are pre-coated, dipped, sprayed, or similarly coated with an adhesive, such as eyelash glue, magnetic eyeliner, or the like. In this way, the lashes or clusters of lashes L1, L2, L3, L4... LN can be applied by holding the lashes or clusters of lashes L1, L2, L3, L4... LN on the lash line of a user with one or more microrobots 900A, 900B, 900C, 900D... 900N.

[0108] As shown in [Fig. 9B], in some embodiments, the dispenser 9000 can be inserted into the system 1000, so that one or more microrobots 900A, 900B, 900C, 900D... 900N are released onto a flexible printed circuit board (PCB) substrate 105 (as shown and described in Figures 6A-6E and 7A-7C). The one or more microrobots 900A, 900B, 900C, 900D... 900N can then move in a direction (indicated by the arrow) towards the eyelid of a user (such as user 3000) to apply individual eyelashes or clusters of eyelashes.

[0109] In some embodiments, the dispenser 9000 (or the system 1000) includes a supply drum 930, as shown in [Fig. 9C]. In some embodiments, the supply drum 930 is pre-loaded with cilia L1, L2, L3... LN. In some embodiments, the supply drum is located inside the dispenser 9000, but in other embodiments, it can be located on the flexible PCB substrate 105, and the distributed microrobots 900A, 900B, 900N can move from the dispenser to the supply drum 930. When the supply drum 930 rotates, a single cilium (or cluster of cilia) L1, L2, L3... LN is supplied to a microrobot (here, the microrobot 900B). One or more microrobots 900A, 900B, 900N can be queued at the supply drum 930 to receive each their single cilium or respective cilium cluster L1, L2, L3... LN.After receiving an eyelash or eyelash cluster, one or more microrobots can then be repositioned on a user's eyelash line to apply their respective eyelash or eyelash cluster. In this way, the same microrobots can continue to receive and apply eyelashes / eyelash clusters to a user's eye. In some embodiments, after each application of an eyelash or eyelash cluster L1, L2, L3... LN, one or more microrobots 900A, 900B, 900N are recalled to the supply drum 930 to receive an additional eyelash or eyelash cluster.

[0110] In some embodiments, single eyelashes, eyelash clusters, or both are applied simultaneously to a first eye and a second eye. In some embodiments, each microrobot of one or more 900A, 900B, 900N microrobots can be assigned to either the first or the second eye. In some embodiments, each microrobot of one or more 900A, 900B, 900C microrobots can apply eyelashes or eyelash clusters to either eye. In some embodiments, single eyelashes, eyelash clusters, or both are applied sequentially to a first and a second eye. In some embodiments, the flexible PCB substrate 105 can be adjusted as described herein when one or more 900A, 900B, 900N microrobots slide on or levitate above it.

[0111] Figure 10 is a method of using an eyelash application system according to the present technology. In some embodiments, the method is implemented by the systems (such as systems 1000, 2000, 4000, 9000) shown and described herein. In some embodiments, the 10000 process includes one or more microrobots (such as microrobots 200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N, or a combination thereof), a flexible PCB substrate (such as flexible PCB substrate 105), one or more linear actuators (such as one or more linear actuators 115A, 115B, 115C... 115N), a motor base (such as motor base 120), and one or more cilia or one or more cilia clusters (such as one or more cilia or one or more cilia clusters L1, L2, L3, L4... LN).

[0112] In block 10005, one or more microrobots are positioned on the flexible PCB substrate. In some embodiments, the positioning of the one or more microrobots includes guiding them to a position below or at the level of a user's eyelash line, eyelid, or eye (such as user 3000). In some embodiments, for example, when the one or more microrobots together form an eyelash application system (such as the microrobot crane system 2000 or system 4000), the positioning of the one or more microrobots includes positioning them at a predetermined proximity to each other.

[0113] At block 10010, a pitch, yaw, roll, or one of their combinations is adjusted to the flexible PCB substrate. In some embodiments, this is achieved by actuating one or more linear actuators with the motor base to bend, flex, or otherwise adjust the PCB substrate. In some embodiments, for example, when the one or more microrobots include an applicator (such as the applicator 210, the attachment end 220, the tip of separation 440 or applicator 910), the flexible PCB substrate adjustment can also adjust an angle of attack of the applicator.

[0114] At block 10015, an eyelash (or a cluster of eyelashes) is applied with one or more microrobots, as shown and described herein.

[0115] Figure 11 is another method 1100 of using an eyelash application system according to the present technology. In some embodiments, method 1100 is implemented by the systems (such as systems 1000, 2000, 4000, 9000) shown and described herein. In some embodiments, the process 1100 includes one or more microrobots (such as microrobots 200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N, or a combination thereof), a flexible PCB substrate (such as flexible PCB substrate 105), one or more linear actuators (such as one or more linear actuators 115A, 115B, 115C... 115N), a motor base (such as motor base 120), and one or more cilia or one or more cilia clusters (such as one or more cilia or one or more cilia clusters L1, L2, L3, L4... LN).In some embodiments, process 1100 further includes a camera system (such as one or more 1005A, 1005B, 1005C cameras), and a processor (such as processor 1010).

[0116] In block 1105, one or more microrobots are monitored with the camera system. In some embodiments, the camera system is configured to capture stereo images (or "image data") of one or more microrobots, the flexible PCB substrate and / or the user (such as the eye, eyelash line or similar of a user).

[0117] At block 1110, the camera system transmits image data to the processor. In some embodiments, the processor analyzes the image data to determine the location of one or more microrobots, the location of a user's eyes / eyelash line, the user's eyelash density, and a desired location for the one or more microrobots. The processor can direct the one or more microrobots to the desired location, or to a secondary location close to the desired location, where, if the flexible PCB substrate were adjusted, the one or more microrobots would be in the desired location.For example, if one or more microrobots need to be at the eyelash line of the user's first eye, but the flexible PCB substrate is below the user's eyelash line, the process can direct the one or more microrobots to the secondary location below the eyelash line, with the intention of then adjusting the flexible PCB substrate to lift the one or more microrobots to the eyelash line (i.e., the desired location).

[0118] In block 1115, the flexible PCB substrate is adjusted by adjusting the height of at least one linear actuator from the plurality of linear actuators. In some embodiments, a pitch, yaw, roll, or a combination thereof of one or more microrobots is adjusted with the flexible PCB substrate. In some embodiments, this is accomplished by actuating the one or more linear actuators with the motor base to bend, flex, or otherwise adjust the PCB substrate. In some embodiments, for example, when the one or more microrobots include an applicator (such as the applicator 210, the fixing tip 220, the separating tip 440, or the applicator 910), adjusting the flexible PCB substrate can also adjust the angle of attack of the applicator.As described here, in some embodiments, each linear actuator in the plurality of linear actuators is configured to be controlled independently of the others.

[0119] Figure 12 is yet another method 1200 of using an eyelash application system according to the present technology. In some embodiments, method 1200 is implemented by the systems (such as systems 1000, 2000, 4000, 9000) presented and described herein. In some embodiments, the process 1100 includes one or more microrobots (such as microrobots 200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N, or a combination thereof), a flexible PCB substrate (such as flexible PCB substrate 105), one or more linear actuators (such as one or more linear actuators 115A, 115B, 115C... 115N), a motor base (such as motor base 120), and one or more cilia or one or more cilia clusters (such as one or more cilia or one or more cilia clusters L1, L2, L3, L4... LN).In some embodiments, process 1200 further includes an eyelash application system (such as system 2000). In some embodiments, the eyelash application system includes a first microrobot (such as the first microrobot 200A in Figures 2A-2B), having a first plurality of magnets (such as the first plurality of magnets 205A-i, 205B-i, 205C-i... 205N-i) and a wire comb (such as the wire comb 215) with a fastening end (such as the fastening end 220), and a second microrobot (such as the second microrobot 200B in Figures 2A-2B) having a second plurality of magnets (such as the second plurality of magnets 205A-Ü, 205B-Ü, 205C-Ü... 205N-Ü), a tube (such as the tube 210B), and a gripper (such as the gripper 225).

[0120] At block 1205, the first microrobot is fixed to a first location. In some embodiments, the first microrobot retains the wire comb in a retaining element (such as retaining element 210A). In some embodiments, the first microrobot remains stationary throughout process 1200.

[0121] In block 1210, the second microrobot is positioned along the wire comb. In some embodiments, the second microrobot includes the tube through which the wire comb is threaded. In this way, the second microrobot can slide back and forth along the wire comb.

[0122] In block 1215, a cilium (or cluster of cilia) is grasped between the gripper of the second microrobot and the attachment end of the wire comb. The second microrobot can slide along the wire comb toward the attachment end until the gripper makes contact with the attachment end of the wire comb, thus securing the cilium between the gripper and the attachment end. In some embodiments, the second microrobot includes a first gripper (such as the first gripper 225A) and a second gripper (such as the second gripper 225B). The first and second grippers can be offset by a distance (such as the offset distance O). In such embodiments, the attachment end can be inserted into the offset distance to retain the cilia between the first gripper, the second gripper, and the attachment end.

[0123] In block 1220, the first microrobot and the second microrobot are positioned to apply the eyelashes. In some embodiments, the first and second microrobots both move in the same direction at the same speed to maintain the same distance between them as they move toward the eye. This allows the eyelash to remain attached until the first and second microrobots are in position to apply the eyelash.

[0124] At block 1225, the gripper is withdrawn from the attachment end to release the eyelash. In some embodiments, the gripper and the attachment end remain stationary for a period of time before the gripper is withdrawn, to allow time for the adhesive to bond, cure, or otherwise apply the eyelash. In some embodiments, the withdrawal of the gripper includes the movement of the second microrobot in the opposite direction to the attachment end.

[0125] At block 1230, the eyelash is applied.

[0126] Figure 13 is another method 1300 of using an eyelash application system according to the present technology. In some embodiments, method 1300 is implemented by the systems (such as systems 1000, 2000, 4000, 9000) shown and described herein. In some embodiments, the process 1100 includes one or more microrobots (such as microrobots 200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N, or a combination thereof), a flexible PCB substrate (such as flexible PCB substrate 105), one or more linear actuators (such as one or more linear actuators 115A, 115B, 115C... 115N), a motor base (such as motor base 120), and one or more cilia or one or more cilia clusters (such as one or more eyelashes or one or more clusters of eyelashes L1, L2, L3, L4... LN). In some embodiments, the 1300 process further includes a camera system (such as one or more 1005A, 1005B, 1005C cameras) and a processor (such as the 1010 processor). In some embodiments, the 1300 process further includes an eyelash application system (such as the 2000 system). In some embodiments, the eyelash application system includes a first microrobot (such as the first microrobot 200A in Figures 2A-2B), having a first plurality of magnets (such as the first plurality of magnets 205A-i, 205B-i, 205C-i... 205N-i) and a wire comb (such as the wire comb 215) with a fastening end (such as the fastening end 220), and a second microrobot (such as the second microrobot 200B in Figures 2A-2B) having a second plurality of magnets (such as the second plurality of magnets 205A-Ü, 205B-Ü, 205C-Ü...205N-Ü), a tube (such as tube 210B), and a gripper (such as gripper 225).

[0127] In block 1305, one or more microrobots are monitored with the camera system. In some embodiments, the camera system is configured to capture stereo images (or "image data") of one or more microrobots, the flexible PCB substrate and / or the user (such as the eye, eyelash line or similar of a user).

[0128] At block 1310, the camera system transmits image data to the processor. In some embodiments, the processor analyzes the image data to determine the location of one or more microrobots, the location of a user's eyes / eyelash line, the user's eyelash density, and the desired location for one or more microrobots.

[0129] In block 1315, the position of the first microrobot and / or the second microrobot is adjusted. The processor can direct one or more microrobots to the desired location, or to a secondary location close to the desired location, where, if the flexible PCB substrate were adjusted, the one or more microrobots would be in the desired location. For example, if the one or more microrobots are to be at the level of an eyelash line of the user's first eye, but the flexible PCB substrate is below the user's eyelash line, the process can direct the one or more microrobots to the secondary location below the eyelash line, with the intention of then adjusting the flexible PCB substrate to raise the one or more microrobots to the eyelash line (i.e., the desired location).In some embodiments, adjusting the position of the first microrobot and / or the second microrobot includes adjusting the flexible PCB substrate by adjusting the height of at least one linear actuator from the plurality of linear actuators. In some embodiments, a pitch, yaw, roll, or a combination thereof of one or more microrobots is performed. adjusted with the flexible PCB substrate. In some embodiments, this is achieved by actuating one or more linear actuators with the motor base to bend, flex, or otherwise adjust the PCB substrate. In some embodiments, for example, when one or more microrobots include an applicator (such as the 210 applicator, 220 clamping end, 440 separating tip, or 910 applicator), adjusting the flexible PCB substrate can also adjust the applicator's angle of attack. As described herein, in some embodiments, each linear actuator in the plurality of linear actuators is configured to be controlled independently of the others.

[0130] Figure 14 is a method 1400 for using an eyelash dispenser according to the present technology. In some embodiments, the method 1400 is implemented by the systems (such as systems 1000, 2000, 4000, 9000) shown and described herein. In some embodiments, the 1400 process includes one or more microrobots (such as microrobots 200, 200A, 200B, 400A, 400A-i, 400A-ii, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N, or a combination thereof), a flexible PCB substrate (such as flexible PCB substrate 105), one or more linear actuators (such as one or more linear actuators 115A, 115B, 115C... 115N), a motor base (such as motor base 120), and one or more cilia or one or more cilia clusters (such as one or more cilia or one or more cilia clusters L1, L2, L3, L4... LN).In some embodiments, the 1400 process further includes a camera system (such as one or more 1005A, 1005B, 1005C cameras) and a processor (such as the 1010 processor). The 1400 process may also include a cilia dispenser (such as the 9000 cilia dispenser) having a body (such as the 905 body) and a plurality of slots (such as the plurality of slots S1, S2, S3, S4... S1). The cilia dispenser may retain one or more microrobots. In some embodiments, either the cilia dispenser or the flexible PCB substrate may further include a supply drum (such as the 930 supply drum) pre-loaded with a plurality of cilia or cilia clusters (such as the plurality of cilia L1, L2, L3... L1).

[0131] In block 1405, the eyelash dispenser is inserted into an eyelash system (such as the 1000 eyelash application system). In some embodiments, the eyelash dispenser has a body that can be placed in, or otherwise retained by, the eyelash system.

[0132] In block 1410, one or more microrobots are released onto the flexible PCB substrate. In some embodiments, the one or more microrobots are directed towards the PCB substrate, for example with the processor in tandem with the camera system. In some embodiments, the one or more microrobots are located in slots in the dispenser body, and can then slide on or levitate to reach the flexible PCB substrate.

[0133] In block 1415, one or more microrobots are positioned at the eyelash line of an eye. In some embodiments, the processor can direct one or more microrobots to the desired location, or to a secondary location close to the desired location, where, if the flexible PCB substrate were adjusted, the one or more microrobots would be at the desired location. For example, if one or more microrobots are to be at the eyelash line of the user's first eye, but the flexible PCB substrate is below the user's eyelash line, the process can direct one or more microrobots to the secondary location below the eyelash line, with the intention of then adjusting the flexible PCB substrate to raise one or more microrobots to the eyelash line (i.e., the desired location).In some embodiments, adjusting the position of the first and / or second microrobot includes adjusting the flexible PCB substrate by adjusting the height of at least one linear actuator from the plurality of linear actuators. In some embodiments, the pitch, yaw, roll, or a combination thereof of one or more microrobots is adjusted with the flexible PCB substrate. In some embodiments, this is accomplished by actuating the one or more linear actuators with the motor base to bend, flex, or otherwise adjust the PCB substrate. In some embodiments, for example, when the one or more microrobots include an applicator (such as the applicator 210, the fixing tip 220, the separating tip 440, or the applicator 910), adjusting the flexible PCB substrate may also adjust the applicator's angle of attack.In some embodiments, adjusting the position of one or more microrobots includes sliding or levitating one or more microrobots above the flexible PCB substrate.

[0134] At block 1420, the eyelash is applied.

[0135] The [Fig. 15] is another method of using an eyelash dispenser, in accordance with the present technology. In some embodiments, the 1500 process is implemented by the systems (such as systems 1000, 2000, 4000, 9000) presented and described herein. In some embodiments, the 1500 process includes one or more microrobots (such as the 200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N microrobots, or a combination thereof), a flexible PCB substrate (such as the 105 flexible PCB substrate), one or more linear actuators (such as one or more 115A, 115B, 115C... 115N linear actuators), a motor base (such as the 120 motor base), and one or more cilia or one or more cilia clusters (such as one or more eyelashes or one or more eyelash clusters L1, L2, L3, L4... LN). In some embodiments, the method 1400 further includes a camera system (such as one or more cameras 1005A, 1005B, 1005C), and a processor (such as the processor 1010). The method 1500 may also include an eyelash dispenser (such as the eyelash dispenser 9000) having a body (such as the body 905) and a plurality of slots (such as the plurality of slots S1, S2, S3, S4... SN). The eyelash dispenser may retain one or more microrobots. In some embodiments, the eyelash dispenser or the flexible PCB substrate may further include a supply drum (such as the supply drum 930) pre-loaded with a plurality of eyelashes or eyelash clusters (such as the plurality of eyelashes L1, L2, L3... LN). In some embodiments, process 1500 takes place after process 1400.

[0136] At block 1505, one or more microrobots are recalled to the supply drum.

[0137] At block 1510, one or more microrobots are in a queue in front of the supply drum, to receive a cilium or a cluster of cilia from the supply drum.

[0138] In block 1515, a single eyelash or a cluster of eyelashes is supplied to each of the one or more microrobots that have been queued up. In some embodiments, a single eyelash or a cluster of eyelashes is supplied to a group of robots (such as system 2000).

[0139] At block 1520, the eyelash or cluster of eyelashes is applied.

[0140] It should be understood that all processes 10000, 1100, 1200, 1300, 1400, and 1500 should be interpreted as merely representative. In some embodiments, the process blocks of all processes 10000, 1100, 1200, 1300, 1400, and 1500 may be carried out simultaneously, sequentially, in a different order, or even omitted, without departing from the scope of this disclosure.

[0141] Although illustrative embodiments have been shown and described, it will be appreciated that various changes may be made to them without departing from the spirit and scope of the invention.

[0142] This application may refer to quantities and numbers. Unless otherwise specified, these quantities and numbers are not to be considered restrictive, but rather representative of the possible quantities or numbers associated with this application. Similarly, in this regard, this application may use the term "plurality" to refer to a quantity or number. In this regard, the term "plurality" is understood to mean any number greater than one, for example, two, three, four, five, etc. The terms "about," "approximately," "near," etc., mean plus or minus 5% of the stated value. For the purposes of this disclosure, the expression "at least one among A, B and C", for example, means (A), (B), (C), (A and B), (A and C), (B and C), or (A, B and C), including all other possible permutations when more than three elements are listed.

[0143] The embodiments disclosed herein may use circuitry to implement the technologies and methodologies described herein, functionally connect two or more components, generate information, determine operating conditions, control an apparatus, device, or process, and / or the like. Any type of circuitry may be used. In one embodiment, the circuitry includes, among other things, one or more computing devices such as a processor (e.g., a microprocessor), a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or the like, or any combination thereof, and may include separate digital or analog circuit elements or electronics, or combinations thereof.

[0144] An embodiment includes one or more data stores that, for example, store instructions or data. Non-limiting examples of data stores include volatile memory (e.g., random access memory (RAM), dynamic random access memory (DRAM), or the like), non-volatile memory (e.g., read-only memory (ROM), electrically erasable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), or the like), persistent memory, or the like. Other non-limiting examples of one or more data stores include erasable and programmable read-only memory (EPROM), flash memory, or the like. The one or more data stores may be connected, for example, to one or more computing devices by one or more instructions, data, or power buses.

[0145] In one embodiment, the circuitry includes a computer-readable media player or a memory slot configured to accept a signal-carrying medium (for example, computer-readable memory storage, computer-readable recording storage, or the like). In one embodiment, a program intended to cause a system to perform any of the disclosed processes may be stored, for example, on computer-readable recording storage (CRMM), a signal-carrying medium, or the like.Non-limiting examples of signal-carrying media include recordable media such as any form of flash memory, magnetic tape, floppy disk, hard disk drive, compact disc (CD), digital video disc (DVD), Blu-Ray disc, digital tape, computer memory, or the like, and transmission media such as digital and / or analog communication media (e.g., fiber optic cable, waveguide, communication link). wired, a wireless communication link (e.g., transmitter, receiver, transceiver, transmitting logic, receiving logic, etc.). Other non-limiting examples of signal-carrying media include, but are not limited to, DVD-ROM, DVD-RAM, DVD+RW, DVD-RW, DVD-R, DVD+R, CD-ROM, Super Audio CD, CD-R, CD+R, CD+RW, CD-RW, compact video discs, super video discs, flash memory, magnetic tape, magneto-optical disc, MINIDISC, non-volatile memory card, EEPROM, optical disc, optical storage, RAM, ROM, system memory, web server, or similar.

[0146] The detailed description presented above in relation to the accompanying drawings, in which similar numbers refer to similar elements, is considered a description of various embodiments of this disclosure and is not intended to represent the only embodiments. Each embodiment described in this disclosure is offered solely by way of example or illustration and should not be construed as being preferred or advantageous over other embodiments. The illustrative examples provided herein are not intended to be exhaustive or to limit the disclosure to the specific forms disclosed. Similarly, all the steps described herein may be interchangeable with other steps, or combinations of steps, to achieve the same or substantially similar result.In general, the embodiments disclosed here are not limiting, and the inventors contemplate that other embodiments within the scope of this disclosure may include structures and features derived from more than one specific embodiment shown in the figures and described in the patent memorandum.

[0147] In the preceding description, specific details are presented to allow for a thorough understanding of examples of embodiments of this disclosure. However, it will be apparent to those skilled in the art that the embodiments disclosed herein can be implemented without incorporating all the specific details. In some cases, well-known process steps have not been described in detail so as not to unnecessarily obscure various aspects of this disclosure. Furthermore, it should be appreciated that the embodiments of this disclosure may employ any combination of features described herein.

[0148] This application may include references to directions, such as "vertical", "horizontal", "front", "back", "left", "right", "up" and "down", etc. These references, and other similar references in this application, are intended to help describe and understand the particular embodiment (such as when the embodiment is positioned for use) and are not intended to limit this disclosure to those directions or locations.

[0149] This application may also refer to quantities and numbers. Unless specifically stated, these quantities and numbers are not to be considered restrictive, but rather as examples of the possible quantities or numbers associated with this application. Similarly, in this respect, this application may use the term "plurality" to refer to a quantity or number. In this respect, the term "plurality" is understood to mean any number greater than one, for example, two, three, four, five, etc. The terms "about," "approximately," etc., mean within 5% of the stated value. The term "based on" means "based at least partially on."

[0150] The principles, representative embodiments, and modes of operation of this disclosure have been described in the preceding description. However, aspects of this disclosure that are intended to be protected should not be construed as being limited to the particular embodiments disclosed. Furthermore, the embodiments described herein should be considered illustrative rather than restrictive. It should be understood that variations and changes may be made by other means, and equivalents may be used, without departing from the spirit of this disclosure. Accordingly, all such variations, changes, and equivalents are expressly intended to be consistent with the spirit and scope of this disclosure as claimed.

Claims

Demands

1. Microrobot crane system (4000) comprising a microrobot crane, said microrobot crane comprising: - a rear microrobot (400A), comprising: a first plurality of magnets (405A, 405B, 405C), a rotary bearing (415), and a separation arm (430), wherein the separation arm includes a separation tip (440); and - a front microrobot (400B), comprising: a second plurality of magnets (410A, 410B, 410C); a support (420) configured to slide along the separation arm, and a mechanical stop (425), configured to prevent the separation arm from disengaging from the support, and wherein the front microrobot is configured to raise and lower the separation arm.

2. System according to claim 1, wherein the rear microrobot (400A) is configured to remain stationary, while the front microrobot (400B) moves the separation arm up or down.

3. System according to claim 1, wherein the front microrobot (400B) and the rear microrobot (400A) are configured to move together in the same direction to separate an adjacent eyelash.

4. System according to claim 1, wherein the separating tip (440) is configured to separate adjacent eyelashes.

5. System (4000) according to claim 1, wherein the microrobot crane is a first microrobot crane and the system further comprises a second microrobot crane.

6. System according to claim 5, wherein the second microrobot crane comprises a second rear microrobot, and a second front microrobot.

7. System according to claim 6, wherein the first front microrobot and the first rear microrobot are configured to separate a first adjacent eyelash on a first side, and wherein the second front microrobot and the second rear microrobot are configured to separate a second adjacent eyelash on a second side, opposite to the first side.

8. The system according to claim 1, wherein the system further comprises: - a flexible printed circuit board (PCB) substrate (105); - a motor base (120) located under the flexible PCB substrate; and - one or more linear actuators (115A, 115B, 115C) coupled to the motor base, in which the one or more linear actuators are configured to adjust the flexible PCB.

9. System according to claim 8, wherein the flexible PCB is configured to adjust a pitch, yaw or roll or one of their combinations of the front microrobot, the rear microrobot, or both.

10. System according to claim 8, wherein the system further comprises one or more cameras (1005A, 1005B, 1005C) configured to analyze a user, the microrobot crane, the flexible PCB, or a combination thereof; wherein the one or more cameras are coupled in communication to a processor (1010), wherein the processor is configured to determine a desired height of one or more linear actuators, a repositioning of the microrobot crane, or both.

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