CIL SUPPLY DEVICES FOR MICROBOTIC ASSEMBLY SERVICE

Abstract

EYELASH SUPPLY DEVICES FOR MICROROBOTIC APPLICATION SERVICES The present invention relates to an eyelash dispenser comprising one or more microrobots, and one or more single eyelashes, one or more clusters of eyelashes, or a combination thereof, each microrobot of the one or more microrobots being configured to carry and apply a single eyelash or a cluster of eyelashes. The invention further relates to a method of eyelash application, the method comprising inserting an eyelash dispenser into an eyelash application system, releasing one or more microrobots from the eyelash dispenser onto a printed circuit board (PCB), positioning the one or more microrobots on a lash line of an eye, and applying one or more single eyelashes or one or more clusters of eyelashes with the one or more microrobots. REC:tpf Figure for abstract: none

Description

Title of the invention: EYELASH SUPPLY DEVICES FOR ASSEMBLY SERVICE BY MICROROBOTS SUMMARY

[0001] In one aspect, a lash dispenser is disclosed herein comprising one or more microrobots, and one or more single lashes, one or more clusters of lashes, or one of their combinations, wherein each microrobot of the one or more microrobots is configured to carry and apply a single lash or a cluster of lashes.

[0002] In some embodiments, the dispenser further includes a plurality of slots, in which each slot houses a microrobot carrying a single eyelash or a cluster of eyelashes.

[0003] In some embodiments, the dispenser further includes a supply drum pre-loaded with single eyelashes, clusters of eyelashes or one of their combinations.

[0004] In some embodiments, each microrobot of the one or more microrobots comprises a plurality of magnets. In some embodiments, the plurality of magnets comprises neodymium (NdFeB). In some embodiments, the plurality of magnets are arranged in a lattice. In some embodiments, the one or more microrobots further comprise an applicator. In some embodiments, the applicator is arranged at an angle. In some embodiments, the applicator is a double-tooth applicator.

[0005] In some embodiments, at least two microrobots of one or more microrobots include a first microrobot, having a first plurality of magnets, and a wire comb, wherein the wire comb includes a fastening end, and a second microrobot configured to apply eyelashes, the microrobot including a second plurality of magnets, a tube configured to receive the wire comb, and a gripper configured to fix an eyelash.

[0006] In some embodiments, at least two microrobots of one or more microrobots include a rear microrobot, having a plurality of magnets, a rotating bearing and a separation arm, wherein the separation arm includes a separation tip, and a front microrobot, having a plurality of magnets, a support configured to slide along the separation arm, and a mechanical stop configured to prevent the front microrobot from moving, and wherein the front microrobot is configured to raise and lower the separation arm.

[0007] In some embodiments, one or more eyelashes or one or more clusters of eyelashes include an eyelash glue.

[0008] In another aspect, a method for applying eyelashes is disclosed here, including the insertion of an eyelash dispenser into an eyelash application system, the release of one or more microrobots from the eyelash dispenser onto a printed circuit board (PCB) substrate, the positioning of one or more microrobots on an eyelash line of an eye, and the application of one or more single eyelashes or one or more clusters of eyelashes with the one or more microrobots.

[0009] In some embodiments, the method further includes recalling one or more microrobots to a supply drum pre-loaded with single eyelashes, clusters of eyelashes, or a combination thereof, queuing one or more microrobots, supplying a single eyelash or cluster of eyelashes to each microrobot, repositioning the one or more microrobots on a lash line of the eye, and applying one or more single eyelashes or one or more clusters of eyelashes with the one or more microrobots.

[0010] In some embodiments, individual eyelashes, eyelash clusters, or both are applied simultaneously to a first eye and a second eye. In some embodiments, individual eyelashes, eyelash clusters, or both are applied sequentially to a first eye and a second eye.

[0011] In some embodiments, the method further includes the adjustment of a pitch, yaw, roll, or one of their combinations of one or more microrobots with one or more linear actuators under the flexible PCB substrate.

[0012] In some embodiments, the method further includes monitoring one or more microrobots with a camera system, transmitting image data from one or more microrobots to a processor, and adjusting the position of one or more microrobots based on the image data.

[0013] In some embodiments, the application of the eyelash includes the attachment of a first microrobot having a wire comb at a first location, the positioning of a second microrobot along the wire comb with a tube so that a gripper of the second microrobot comes into contact with a fixing end of the wire comb, the grasping of an eyelash between the gripper and the fixing end, the positioning of the second microrobot to apply the eyelash, and the removal of the gripper from the fixing end.

[0014] In some embodiments, the method further includes moving a first microrobot crane to a first side of an eye, positioning a separator tip of a separator arm in a lash line of the eye by moving a microrobot in front of the first microrobot crane, the movement of the first microrobot crane in a first direction to separate one side of the eyelashes, the movement of a second microrobot crane to a second side of an eye, the positioning of a second separator tip of a second separator arm in the eyelash line by moving a microrobot in front of the second microrobot crane, the movement of 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, and the application of a single eyelash in the space between the first side of the eyelashes and the second side of the eyelashes.

[0015] This summary is proposed to present a selection of concepts in a simplified form, which are described in greater detail below in the detailed description. This summary is not intended to identify key features of the claimed subject matter, nor to be used as an aid in determining the scope of the claimed subject matter. Description of drawings

[0016] 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:

[0017] [Fig 1A-1F] Figures IA to 1F are examples of microrobots, in accordance with the present technology;

[0018] [Fig 2A-2B] Figures 2A and 2B are an example of an eyelash application system, according to the present technology;

[0019] [Fig 3A-3F] Figures 3A to 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;

[0020] [Fig 4A-4C] Figures 4A to 4C are examples of microrobot crane systems, in accordance with the present technology;

[0021] [Fig 5A-5G] Figures 5A to 5G are process diagrams of an eyelash application system, according to the present technology;

[0022] [Fig 6A-6E] Figures 6A to 6E are examples of eyelash application systems, in accordance with the present technology;

[0023] [Fig 7A-7B] Figures 7A and 7B represent another example of a 1000 eyelash application system, in accordance with the present technology;

[0024] [Fig.8] [Fig.8] is a schematic diagram of an example of an eyelash application system, according to the present technology;

[0025] [Fig 9A-9C] Figures 9A to 9C are examples of eyelash dispensers, according to the present technology;

[0026] [Fig. 10] the [Fig. 10] is a method of using an eyelash application system, in accordance with the present technology;

[0027] [Fig. 11] [Fig. 11] is another method of using an eyelash application system, in accordance with the present technology.

[0028] [Fig. 12] the [Fig. 12] is yet another method of using an eyelash application system, in accordance with the present technology;

[0029] [Fig. 13] the [Fig. 13] is another method of using an eyelash application system, in accordance with the present technology.

[0030] [Fig. 14] [Fig. 14] is a method of using an eyelash dispenser, according to the present technology; and

[0031] [Fig. 15] the [Fig. 15] is another method of using an eyelash dispenser, according to the present technology. Detailed description

[0032] A lash dispenser (or supply device) is disclosed herein, comprising one or more microrobots, each carrying or capable of carrying a single lash or a cluster of lashes. The lash dispenser can be inserted into a lash application system, where the one or more microrobots can be released to apply the lashes and / or clusters of lashes. In some embodiments, the dispenser may include a plurality of slots, where each of the one or more microrobots is located in a slot of the dispenser. In some embodiments, groups of microrobots, such as microrobot cranes and / or microrobot gripper systems for lash application, can occupy a single slot in the dispenser.In some embodiments, the dispenser is configured to release one or more microrobots onto a flexible printed circuit board (PCB) substrate that can be bent, deformed, raised, lowered, or otherwise adjusted to assist the microrobots in applying the eyelashes and / or eyelash clusters. In some embodiments, the dispenser and / or the flexible PCB substrate further includes a supply drum pre-loaded with eyelashes and / or eyelash clusters. Once the microrobots have applied their initial eyelash or eyelash cluster, they can be queued in front of the supply drum to receive another. A system for applying eyelash implants or false eyelashes with precision, customization, and efficiency is thus described herein.

[0033] 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.

[0034] 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 having 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 magnetization. In some embodiments, the plurality of magnets 205A, 205B, 205C... 205N are arranged in a checkerboard pattern. In some embodiments, the plurality of magnets 205A, 205B, 205C... 205N can be made of any material, such as nickel, iron, samarium, or similar materials. In some embodiments, the plurality of magnets 205A, 205B, 205C... 205N are made 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 similar materials or combinations thereof.

[0035] Figure [IB] shows an example of a microrobot 200 having a plurality of magnets 205A, 205B, 205C... 205N, an applicator 210, and an eyelash L (or a cluster of eyelashes). 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 have the same or similar length, thickness, color, finish, or may have different lengths, thicknesses, colors, finishes, etc.

[0036] 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 currents are in quadrature controls the relative phase between the pairs of currents and therefore the position in the plane of the microrobot 200, the modulation of the absolute amplitude of the traces increases or decreases the out-of-plane force between the card and the robot, which allows a displacement along Z of about 40 to 70 pm.

[0037] Figure IC represents 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 over the substrate.

[0038] Figure 1D represents a levitating substrate system. In such embodiments, the graphite layer of the substrate 105 can be as thick as 0.5 mm. In such embodiments, the microrobot 200 can levitate away from the substrate 105 by a height E.

[0039] Figures 1E and 1F represent 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.

[0040] In some embodiments, the microrobot(s) 200 is / are controlled by the local track pattern and currents. That is, the control of the microrobot is based on a region or zone, rather than on something that moves with the microrobot (as is the case for conventional motorized robots). Zone control has both advantages and disadvantages for controlling multiple agents. The disadvantage of zone control is that two very close microrobots may not be controlled independently unless they are in different, independent zones. The advantage of zone 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 control zone approach generally reduces the number of control channels required, as microrobots do not need to carry additional control channels into areas that only require, for example, a single degree of freedom for transport.

[0041] In some embodiments, the substrate or other lithographically modeled 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 be 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.

[0042] 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.

[0043] Figures 2A and 2B represent 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.

[0044] 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 is a plurality of NdFeB magnets.

[0045] In some embodiments, the first microrobot 200A also includes a support 210A configured to retain the wire comb 215. In some embodiments, the wire comb 215 is configured to slide in the support 210A. In some embodiments, the wire comb 215 is integrated into the support 210A.

[0046] 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.

[0047] 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 is 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 is a plurality of NdFeB magnets.

[0048] 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.

[0049] 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, as shown in more detail in Figures 3A to 3D. In some embodiments, the gripper 225 has a "V" shaped end.

[0050] 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 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.

[0051] In some embodiments, throughout this operation, the first microrobot 200A and / or the second microrobot 200B can slide above a substrate 105, as shown in Figure IC. In other embodiments, the first microrobot 200A and / or the second microrobot 200B can levitate above of a substrate 105, as shown in [Fig.1D]. In some embodiments, the first microrobot 200A and the second microrobot 200B are configured to slide or levitate above a flexible substrate, as explained here.

[0052] Figures 3A to 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.

[0053] In some embodiments, the system 2000 includes a single gripper 225, as shown in Figures 3A to 3D. The gripper 225 can move back and forth as the second microrobot 200B moves along the wire comb. When the gripper 225 moves toward the attachment end 220 of the wire comb 215, a V-shaped end of the gripper 225 contacts and couples with the attachment end 220. As shown in Figures 3C and 3D, a hair L can be grasped between the gripper 225 and the attachment end 220 in this manner.

[0054] In some embodiments, the 2000 system includes a first gripper 225A and a second gripper 225B, as shown in Figures 1E and 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.

[0055] Figures 4A to 4C show examples of 4000 microrobot crane systems according to the present technology. In some embodiments, a lash application system includes a 4000 robot crane system.

[0056] 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.

[0057] 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.

[0058] 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].

[0059] In some embodiments, the separating arm 430 includes a separator tip 440 configured to make contact with a line of eyelashes and separate one or more eyelashes from each other, as shown in Figures 4B and 5A to 5G. In some embodiments, the separator tip 440 is arranged at an angle to the separating arm 430.

[0060] 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.

[0061] 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].

[0062] 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 detaching from the support 420 or from falling from it.

[0063] 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 rises upward with the rotating bearing in direction U. As the separating arm 430 makes 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 make contact with a lash line of an eyelid, as shown in [Fig. 4B]. The separating tip 440 can be inserted between individual eyelashes of a plurality of eyelashes L1, L2, L3... LN.

[0064] In certain embodiments, after the eyelash line has come 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 adjacent cilia, as shown in detail in [Fig.5E].

[0065] In some embodiments, throughout this operation, the rear microrobot 400A and / or the front microrobot 400B can slide over a substrate 105, as shown in Figure IC. In other embodiments, the rear microrobot 400A and / or the front microrobot 400B can levitate over a substrate 105, as shown in [Fig. 1D]. In some embodiments, the rear microrobot 400A and the rear microrobot 400B are configured to slide or levitate over a flexible substrate, as explained herein.

[0066] 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.

[0067] The second robot crane may have 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.

[0068] As shown in more detail in Figures 5A to 5G, the first robot crane and the second robot crane can work in tandem to separate adjacent eyelashes.

[0069] Figures 5A to 5G are process diagrams of an eyelash application system according to the present technology. In some embodiments, a robot crane system comprising a first robot crane and a second robot crane as described herein is used to separate adjacent eyelashes from a user's eye.

[0070] In [Fig. 5A], the first robot crane and the second robot crane move together and forward in direction F. 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.

[0071] 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.

[0072] 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 and second separating arms move upward in direction U until the first and second separating tips make contact with a lash line and the eyelashes of the eyelid. The first separating tip makes contact with a first eyelash L1, while the second separating tip makes contact with an adjacent eyelash LA.

[0073] 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 exposes a gap in the eye's lash line, as shown in [Fig. 5D].

[0074] In [Fig. 5E], a 2000 eyelash application system (as shown and described in Figures 2A to 3F) moves forward in direction F, toward the eyelid (and thus toward the space in the eyelash 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 together.

[0075] In [Fig. 5F], the 2000 system makes contact with the lash 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 L1 and the adjacent eyelash LA.

[0076] 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.

[0077] In some embodiments, throughout this process, the first robot crane, the second robot crane, and / or the system 2000 can slide over 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 over 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 or levitate over a flexible substrate, as explained herein.

[0078] 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 to 5F can move toward the user's second eye. In other embodiments, a user can position themselves so that the 2000 and 4000 systems are close to their second eye.

[0079] Figures 6A to 6E are examples of eyelash application systems 100, according to the present technology.

[0080] As shown in [Fig. 0A], the system 100 can 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 "adjustment" of the PCB substrate 105).

[0081] 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.

[0082] [Fig. ôB] 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 represented by dashed lines in [Fig. ôB] to better show the position of the plurality of linear actuators 115A, 115B, 115C... 115N.

[0083] 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 the flexible PCB substrate 105.

[0084] Figure [Fig. 0C] represents a system 100 where the 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 fold, bend, and otherwise manipulate the flexible PCB substrate 105.

[0085] During 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 over it. In other embodiments, the flexible PCB substrate 105 can be adjusted dynamically, that is, while the one or more microrobots 200A, 200B are moving.Although the one or more 200A, 200B microrobots 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 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 the one or more 200A, 200B microrobots.

[0086] Figure 6E represents one or more microrobots 200A, 200B having applicators. When one or more microrobots 200A, 200B move over 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.

[0087] Figures 7A and 7B represent 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 and 7B.

[0088] 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 presented and described here (such as the 200 microrobots, the first 200A microrobot, the second 200B microrobot, the 2000 system, the 400A, 400A-i, and 400A-Ü rear microrobots, the 400B, 400B-i, and 400B-Ü front 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 and 200B microrobots.

[0089] The applicator 210 can be arranged at an angle. As explained here, the applicator 210 can be any of the applicators described here, such as the applicator 210 of [Fig.1B], the fixing end 220, the separating tip 440, and the like.

[0090] 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, the 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 incorporated 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 communicate 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 200 microrobots.

[0091] 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 Several linear actuators 115A, 115B, 115C... 115N are positioned under the flexible PCB substrate 105. Adjusting the position of one or more microrobots in one or both of the ways described above allows the system 1000 to apply an eyelash with one or more microrobots 200.

[0092] 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 allow the user 3000 to position themselves where one or more microrobots 200 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 200. One or more cameras 1005A, 1005B, 1005C can also determine the location of features of the user 3000, such as the eyes, eyelash line, eyelashes, and eyelids.

[0093] In some embodiments, the first camera 1005A is positioned to view the flexible PCB substrate 105 from top to bottom (or from 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.

[0094] 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.

[0095] 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 certain embodiments, the one One or more 200A, 200B microrobots can apply eyelashes simultaneously. For example, the first 200A microrobot can apply eyelashes to the user's first (left) eye, and the second 200B microrobot 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 200A, 200B microrobots so that the 210A, 210B applicators are able to apply eyelashes or eyelash clusters to an upper lash line, a lower lash line, or both.

[0096] During operation, a user 3000 can select an eyelash style, for example, using an application on a connected smartphone, tablet, or computer. In some embodiments, the smartphone, tablet, or computer hosts the processor 1010. The user 3000 can modify their selection, view their selection in 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 location capable of applying one or more eyelashes or one or more 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 refine the positioning of the one or more microrobots 200.

[0097] The [Fig.8] is a schematic diagram of an example of an 800 eyelash application system, according to the present technology.

[0098] 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.

[0099] 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).

[0100] At 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.

[0101] 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.

[0102] At block 830, 3D region pixels are acquired.

[0103] 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.

[0104] At block 840, the eyelashes of one eye (or both eyes) are trimmed and detected.

[0105] At block 845, eyelash density is estimated.

[0106] At block 850, the eyelid is divided into 5 mm regions, and an initial region for the application of the eyelashes is selected.

[0107] 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.

[0108] 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.

[0109] At block 865, the length of the eyelashes can be estimated.

[0110] At block 860, the extension (eyelash and / or cluster of eyelashes) is applied.

[0111] Figures 9A to 9C are examples of 9000 eyelash dispensers, in accordance to the present technology. In some embodiments, the system 1000 includes a lash dispenser 9000. In some embodiments, the lash dispenser 9000 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.

[0112] In some embodiments, inside the body 905 are one or more microrobots 900A, 900B, 900C, 900D... 900N. In some embodiments, each slot in the body 905 contains a single microrobot. In some modes In some embodiments, each slot in the 905 body includes several microrobots. In some embodiments, each microrobot of one or more 900A, 900B, 900C, 900D... 900N microrobots is configured to carry and apply a single eyelash or a cluster of eyelashes L1, L2, L3, L4... LN. In some embodiments, each microrobot of one or more 900A, 900B, 900C, 900D... 900N microrobots includes an applicator 910A, 910B, 910C, 910D... 910N. In some embodiments, the 910A, 910B, 910C, 910D... 910N applicators are dual-pronged applicators configured to hold a single eyelash or a cluster of eyelashes L1, L2, L3, L4... LN. In some embodiments, the 910A, 910B, 910C, 910D... 910N applicators may 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... microrobotsWhile 900N is illustrated as having a particular form factor, it should be understood that one or more 900A, 900B, 900C, 900D... 900N microrobots can be any of the microrobots described here (such as the 200, 200A, 200B, 400A, 400B, 400A-i, 400B-i, 400B-Ü, and 400B-Ü microrobots). In some embodiments, each slot of the 9000 dispenser can include a microrobot system, such as the 2000, 4000 systems, or a combination thereof. In some embodiments, the eyelashes or eyelash clusters L1, L2, L3, L4... LN are pre-coated, dipped, sprayed or similarly with an adhesive, such as eyelash glue, magnetic eyeliner or the like. In this way, the eyelashes or eyelash clusters L1, L2, L3, L4... LN can be applied by holding the eyelashes or eyelash clusters L1, L2, L3, L4... LN on the user's lash line with one or more microrobots 900A, 900B, 900C, 900D... 900N.

[0113] 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 to 6E and 7A to 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.

[0114] 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 eyelash (or cluster of eyelashes) 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 each receive their respective single eyelash or cluster of eyelashes L1, L2, L3... LN. After supplying an eyelash or cluster of eyelashes, the one or more microrobots can then be repositioned on a user's eye lash line to apply their respective eyelash or cluster of eyelashes. In this way, the same microrobots can continue to receive and apply eyelashes / clusters of eyelashes to a user's eye. In some embodiments, after each application of an eyelash or cluster of eyelashes L1, L2, L3...LN, one or more microrobots 900A, 900B, 900N are recalled to the supply drum 930 to receive an additional cilium or cluster of cilia.

[0115] 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 or levitate above it.

[0116] 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) presented 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).

[0117] In block 10005, one or more microrobots are positioned on the flexible PCB substrate. In some embodiments, the positioning of one or more microrobots includes guiding one or more microrobots to a position in below or at the level of a user's eyelash line, eyelid or eye (such as user 3000). In some embodiments, for example when one or more microrobots together form an eyelash application system (such as the 2000 system or the 4000 microrobot crane system), the positioning of one or more microrobots includes positioning one or more microrobots at a predetermined proximity to each other.

[0118] At block 10010, a pitch, yaw, roll, or one of their combinations is 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 the one or more microrobots include an applicator (such as the applicator 210, the attachment end 220, the separation tip 440, or the applicator 910), adjusting the flexible PCB substrate can also adjust the applicator's angle of attack.

[0119] At block 10015, an eyelash (or a cluster of eyelashes) is applied with one or more microrobots, as shown and described herein.

[0120] 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).

[0121] 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).

[0122] 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, a location of the The process considers the user's eye / eyelash line, the user's eyelash density, and a desired location for one or more microrobots. The processor can direct the microrobots to the desired location, or to a secondary location close to the desired location, where, if the flexible PCB substrate were adjusted, the microrobots would be at the desired location. For example, if the 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 microrobots to the secondary location below the eyelash line, with the intention of then adjusting the flexible PCB substrate to raise the microrobots to the eyelash line (i.e., the desired location).

[0123] 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.

[0124] Figure 12 represents 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) 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, the 1200 process further includes a lash application system (such as the 2000 system). In some embodiments, the lash application system includes a first microrobot (such as the first 200A microrobot in Figures 2A and 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 wire comb 215) with a fixing end (such as fixing end 220), and a second microrobot (such as second microrobot 200B in Figures 2A and 2B) having a second plurality of magnets (such as 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).

[0125] In block 1205, the first microrobot is fixed to a first location. In some embodiments, the first microrobot retains the wire comb in a holder (such as the holder 210A). In some embodiments, the first microrobot remains stationary throughout process 1200.

[0126] 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.

[0127] 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.

[0128] At block 1220, the first and second microrobots are positioned to apply the eyelash. In some embodiments, the first and second microrobots 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 it.

[0129] 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.

[0130] At block 1230, the eyelash is applied.

[0131] 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) 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, 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 and 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 and 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).

[0132] 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).

[0133] 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.

[0134] At 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 need to If the user is positioned at the eyelash line of their 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. The intention is then to adjust the flexible PCB substrate to raise the 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 pan, yaw, roll, or a combination thereof of the microrobots is 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.

[0135] [Fig. 14] is a method 1400 of using an eyelash dispenser, in accordance to the present technology. In some embodiments, process 1400 is implemented by the systems (such as systems 1000, 2000, 4000, 9000) presented and described here. 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, process 1400 further includes a camera system (such as one or more 1005A, 1005B, 1005C cameras), and a processor (such as processor 1010).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 SI, S2, S3, S4... SN). The cilia dispenser may retain one or more microrobots. In some embodiments, the cilia dispenser or the flexible PCB substrate may further include a supply drum (such as the . supply drum 930) previously loaded with a plurality of cilia or claw clusters (such as the plurality of cilia L1, L2, L3... LN).

[0136] In block 1405, the eyelash dispenser is inserted into an eyelash system (such as the eyelash application system 1000). In some embodiments, the eyelash dispenser has a body that can be placed in, or otherwise retained by, the eyelash system.

[0137] In block 1410, one or more microrobots are released onto the flexible PCB substrate. In some embodiments, the one or more microrobots are guided 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 or levitate above the flexible PCB substrate.

[0138] 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 subsequently 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.

[0139] At block 1420, the eyelash is applied.

[0140] Figure 15 is another method 1500 of using an eyelash dispenser according to the present technology. In some embodiments, method 1500 is implemented by the systems (such as systems 1000, 2000, 4000, 9000) shown and described herein. In some embodiments, the 1500 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).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 1500 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, 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). In some embodiments, process 1500 takes place after process 1400.

[0141] At block 1505, one or more microrobots are recalled to the supply drum.

[0142] 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.

[0143] In block 1515, a single eyelash or a cluster of eyelashes is supplied to each microrobot of the one or more microrobots that are queued. In some embodiments, a single eyelash or a cluster of eyelashes is supplied to a group of robots (such as system 2000).

[0144] At block 1520, the eyelash or cluster of eyelashes is applied.

[0145] 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.

[0146] Although illustrative embodiments have been shown and described, it should be appreciated that various changes can be made to them without departing from the spirit and scope of the invention.

[0147] 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 of 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 items are listed.

[0148] 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.

[0149] An embodiment includes one or more data stores that, for example, store instructions or data. Non-limiting examples of one or more 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.

[0150] In one embodiment, the circuitry includes a computer-readable media player or a memory location configured to accept media signal carrier (e.g., computer-readable memory medium, computer-readable recording medium, 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 a computer-readable recording medium (CRMM), a signal carrier 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, wired communication link, wireless communication link (e.g., transmitter, receiver, transceiver, transmission logic, receiving logic, etc.).Other non-limiting examples of signal carrier 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.

[0151] The detailed description presented above in relation to the accompanying drawings, where similar numbers refer to similar elements, is intended to be 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 from more than one specific embodiment shown in the figures and described in the patent memorandum.

[0152] 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 described herein can be implemented without incorporating all the specific details. In In some cases, well-known process steps have not been described in detail in order to avoid unnecessarily obscuring various aspects of this disclosure. Furthermore, it should be noted that the implementation of this disclosure may employ any combination of the features described herein.

[0153] 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.

[0154] 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 to within 5% of the stated value. The term "based on" means "based at least partially on."

[0155] 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 interpreted 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 others, and equivalents employed, without departing from the spirit of this disclosure. Accordingly, it is expressly intended that all such variations, changes, and equivalents fall within the spirit and scope of this disclosure as claimed.

Claims

Demands

1. Eyelash dispenser (9000) comprising: - one or more microrobots (200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N); and - one or more single eyelashes, one or more clusters of eyelashes (L1, L2, L3, L4... LN), or one of their combinations, wherein each microrobot of the one or more microrobots (200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N) is configured to carry and apply a single eyelash or a cluster of eyelashes (L1, L2, L3, L4... LN).

2. Dispenser (9000) according to claim 1, wherein the dispenser (9000) further comprises: a plurality of slots (SI, S2, S3, S4... SN), in which each slot houses a microrobot carrying a single cilium or a cluster of cilia (L1, L2, L3, L4... LN).

3. Dispenser (9000) according to claim 1, wherein the dispenser (9000) further comprises: - a supply drum (930) pre-loaded with single cilia, clusters of cilia (L1, L2, L3, L4... LN), or one of their combinations.

4. Distributor (9000) according to claim 1, wherein each microrobot of one or more microrobots (200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N) comprises a plurality of magnets (205A-i, 205B-i, 205C-i... 205N-i, 205A-Ü, 205B-Ü, 205C-Ü... 205N-Ü).

5. Dispenser (9000) according to claim 4, wherein the plurality of magnets (205A-i, 205B-i, 205C-i... 205N-i, 205A-Ü, 205B-Ü, 205C-Ü... 205N-Ü) comprises neodymium (NdFeB).

6. Distributor (9000) according to claim 4, wherein the plurality of magnets (205A-i, 205B-i, 205C-i... 205N-i, 205A-Ü, 205B-Ü, 205C-ii... 205N-Ü) are arranged in a network.

7. Distributor (9000) according to claim 1, wherein one or more microrobots (200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N) further comprise an applicator (210).

8. Distributor (9000) according to claim 7, wherein the applicator (210) is arranged at an angle.

9. Distributor (9000) according to claim 1, wherein at least two microrobots of one or more microrobots (200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N) comprise: - a first microrobot (200A), comprising: - a first plurality of magnets (205A-i, 205B-i, 205C-L, 205N-i), and - a wire comb (215), wherein the wire comb (215) includes a fastening end (220); and - a second microrobot (200B) configured to apply eyelashes, the microrobot (200B) comprising: - a second plurality of magnets (205A-Ü, 205B-Ü, 205C-Ü... 205N-ii), - a tube (210B) configured to receive the wire comb (215), and - a gripper (225) configured to fix an eyelash.

10. Distributor (9000) according to claim 10, wherein at least two microrobots of one or more microrobots (200, 200A, 200B, 400A, 400A-i, 400A-Ü, 400B, 400B-i, 400B-Ü, 900A, 900B, 900C, 900N) comprise: - a rear microrobot (400A), comprising: - a plurality of magnets (405A, 405B, 405C... 405N), - a rotary bearing (415), and - a separation arm (430), wherein the separation arm (430) includes a separation tip (440); and - a front microrobot (400B), comprising: - a plurality of magnets (410A, 410B, 410C... 410N), - a support (420) configured to slide along the separation arm (430), and - a mechanical stop (425), configured to prevent the front microrobot (400B) from moving, and in which the front microrobot (400B) is configured to raise and lower the separation arm (430).

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