Automated total nail care system, device and method
The integrated nail care system addresses the limitations of existing systems by incorporating advanced features for shaping, removal, cuticle management, and vision processing, resulting in professional-quality nail care outcomes.
Patent Information
- Application Number
- JP2025021499
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2020-03-26
- Filing Date
- 2025-02-13
- Publication Date
- 2025-06-17
AI Technical Summary
Existing nail care systems fail to provide professional-quality manicures as they neglect the importance of shaping, manicure removal, and cuticle management, resulting in poor outcomes and inability to achieve salon-quality nail treatments.
A comprehensive nail care system that integrates a shaping system with rotational movement, a manicure removal system with a sponge or semi-circular groove, a cuticle management system with a vanishing tool, a vision system for image acquisition and machine vision processing, and a mobility system for rotational movement in multiple directions.
The system enables coordinated operations for shaping, manicure removal, cuticle management, and nail painting, providing precise and efficient nail care that achieves professional-quality results.
Smart Images
Figure 2025090593000001_ABST
Abstract
Description
Cross - Reference to Related Applications
[0001]
[0001] This application claims priority to U.S. Provisional Patent Application No. 62 / 927,462, filed on October 29, 2019, entitled "Apparatus and Method for Automated Total Nail Care", and U.S. Provisional Patent Application No. 62 / 994,933, filed on March 26, 2020, entitled "Apparatus and Method for Automated Total Nail Care", each of which is hereby incorporated by reference in its entirety.
Technical Field
[0002]
[0002] This disclosure relates to systems, apparatuses, and methods for nail care. Specifically, this disclosure relates to a nail care system including one or more of a vision system, an enamel / manicure removal system, a nail shaping system, a cuticle management system, an enamel / manicure application system, a drying - acceleration system, a hand massage system, a nail identification / diagnosis / condition - estimation system, a movement mechanism system, a housing, a hand / foot rest system, an auxiliary forearm support system, a computer software system, a computer hardware system, a consumable cartridge / pod system, a cloud computing system, a user device, and a multi - tool system. Related apparatuses, technologies, and articles are also described.
Background Art
[0003]
[0003] NailThe devices and methods developed for care included vision, mobility, and manicure application. However, the results achieved by the developed devices and methods were unable to provide professional-quality manicures. The developed systems were unable to recognize the importance of shaping, manicure removal, or cuticle management in combination with vision, mobility, and manicure application. The actual results of the developed devices and methods were poor and were unable to achieve salon-quality nail treatments. The developed spray coating system was only effective enough on nails that already had a manicure applied. The developed manicure (shaping / cuticle management) system was unable to remove the manicure. The developed manicure remover was not for shaping the nails or managing the cuticles. Combining nail manicure, manicure removal, and nail paint systems has not been attempted so far because it is difficult to achieve professional-quality manicures with automatic or semi-automatic devices.
[0004]
[0004] The inventors have developed improvements to the devices and methods in nail care that overcome the above problems with the related art devices and methods. Among the many advances in the state of the art, the inventors recognize the importance of shaping, manicure removal, and / or cuticle management in the nail care process and describe herein a technically advanced and effective nail care system.
Summary of the Invention
[0005]
[0005] One or more of the following features may be included in any feasible combination.
[0006]
[0006] A system, device, apparatus, and method for providing a manicure or pedicure are provided.
[0007]
[0007] NailThe care system may include one or more of a shaping system, a manicure removal system, a cuticle management system, a vision system, a manicure application system, and a mobility system.
[0008]
[0008] The shaping system may be configured for one or more of rotational movement, linear reciprocating movement, and rotational vibration, and the shaping system includes a polishing element.
[0009]
[0009] The manicure removal system may include a manicure removal tool including one or more of a sponge, a semi-circular groove or groove pattern on its surface, and a brush.
[0010]
[0010] The cuticle management system may include a vanishing tool.
[0011]
[0011] The vision system may include an image acquisition system, an illumination system, and a machine vision processing system.
[0012]
[0012] The machine vision processing system may include a computer device, the computer device includes at least one processor and a memory storing at least one program for execution by the at least one processor, and the at least one program includes instructions that, when executed by the at least one processor, cause the at least one processor to perform operations.
[0013]
[0013] The operations may include one or more of receiving image information from the vision system, preprocessing the received image, determining a nail range and a nail height profile based on an analysis of the preprocessed image, determining a finger and nail placement based on an analysis of the preprocessed image, and outputting operation instructions for one or more of the shaping system, the polishing system, the cuticle management system, the vision system, the nail painting system, and the mobility system based on the determined nail range, the determined nail height profile, and the determined finger and nail placement.
[0014]
[0014] Nail The nail polish application system may include a reservoir or vial in fluid communication with the nozzle.
[0015]
[0015] The reservoir or vial may include a cap, and the cap may be configured to remain stationary relative to the nozzle, or the reservoir or vial may be moved relative to the nozzle and configured to cause fluid within the reservoir or vial to flow out of the nozzle.
[0016]
[0016] The mobility system may be configured to move one or more of a shaping system, a nail polish removal system, a cuticle management system, and a nail polish application system rotatably in at least three directions and about at least two axes.
[0017]
[0017] Nail The care system may further include a quick-drying system.
[0018]
[0018] Nail The care system may further include a hand massage system.
[0019]
[0019] Nail The care system may further include a system for identifying, diagnosing, and estimating the condition of the nails.
[0020]
[0020] Nail The care system may further include a housing system that encloses a mobility system, one or more shaping systems, a nail polish removal system, a cuticle management system, and a nail polish application system and is configured to allow their movement in rotational directions about at least three directions and at least two axes.
[0021]
[0021] Nail The care system may further include a handle rest or foot rest system that includes one or more of a reference and at least one finger guide having bilateral symmetry.
[0022]
[0022] Nail The care system may further include a cartridge or pod system that includes one or more components of a nail manicure application system and a manicure removal system.
[0023]
[0023] Nail The care system may further include a multi-tool system configured for movement by a mobility system and configured to engage with one or more of a cuticle system, a shaping system, an application system, and a removal system.
[0024]
[0024] Nail A method of care, comprising providing an apparatus, the apparatus comprising at least one processor and a memory storing at least one program for execution by the at least one processor, the at least one program including instructions that, when executed by the at least one processor, cause the at least one processor to perform one or more coordinated operations of a shaping system, a manicure removal system, and a cuticle management system, an operation consisting of a vision system, a manicure painting system, and a mobility system.
[0025]
[0025] The method may further include receiving image information from a vision system, preprocessing the received image, determining a nail range and a nail height profile based on an analysis of the preprocessed image, determining a finger and nail placement based on an analysis of the preprocessed image, and based on the determined nail range, the determined nail height profile, and the determined finger and nail placement, outputting operation instructions for one or more of a shaping system, a manicure removal system, a cuticle management system, a vision system, a nail manicure application system, and a mobility system.
[0026]
[0026] This method may further include a computer-implemented tool movement method including the following. This method includes driving one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system to a starting point with respect to a nail; driving the center of one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system to the lateral nail contour of the nail ; moving one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system in any suitable direction with respect to the nail; lifting one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system; and driving one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system to another point with respect to the nail.
[0027]
[0027] This method may further include a computer-implemented tool movement method including the following. This method includes driving one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system according to a predetermined pattern to be disposed at a predetermined position in proximity to one or more anatomical features of a nail in order to execute one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system.
[0028]
[0028] This method may further include a computer-implemented path planning method for generating instructions for driving and operating one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system for a single nail, multiple nails, and / or a complete hand including multiple nails.
[0029]
[0029] NailThe system for care may include a device having at least one processor and a memory storing at least one program for execution by the at least one processor. When the at least one program is executed by the at least one processor, it causes the at least one processor to perform operations including one or more cooperative operations of a shaping system, a manicure removal system, and a cuticle management system, a vision system, a manicure painting system, and a mobility system.
[0030]
[0030] The present system may further include a computer architecture including a route planning application including a user interface, a nail shape model system, an operation configuration system, a hand model system, a kinematic model system, and a route planning system.
[0031]
[0031] The computer architecture may further include a vision system architecture including a housing system, a vision system, a route planning application, and a user interface system.
[0032]
[0032] Nail A non-transitory computer-readable storage medium storing at least one program executed by at least one processor for care, and when the at least one program including instructions is executed by the at least one processor, the at least one processor causes the at least one processor to perform operations including one or more cooperative operations of a shaping system, a manicure removal system, a cuticle management system, a vision system, a manicure painting system, and a mobility system.
[0033]
[0033] The non-transitory computer-readable storage medium receives image information from the vision system, preprocesses the received image, determines the range of the nail and the nail height profile based on the analysis of the preprocessed image, and determines the arrangement of the finger and the nail based on the analysis of the preprocessed imageand Outputting operation instructions for one or more of a shaping system, a manicure removal system, a cuticle management system, a vision system, a manicure application system, and a mobility system based on the determined nail range, the determined nail height profile, and the determined finger and nail arrangement.
[0034]
[0034] The non-transitory computer-readable storage medium drives one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system to a starting point with respect to the nail ; Driving the center of one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system to the lateral nail contour of the nail ; Further including a computer-implemented tool movement method including moving one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system in any suitable direction with respect to the nail; lifting one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system; and driving one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system to another point with respect to the nail.
[0035]
[0035] The non-transitory computer-readable storage medium drives one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system according to a predetermined pattern to arrange one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system at a predetermined position close to the anatomical features of one or more nails to perform operations of one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system. The computer-implemented tool movement method may be further included.
[0036] A non-transitory computer-readable storage medium may further include a computer-implemented path planning method for generating instructions for a single nail, multiple nails, and / or a complete hand including multiple nails, and for driving and operating one or more of a shaping system, a manicure removal system, a cuticle management system, and a manicure application system.
[0037]
[0037] Systems, devices, apparatuses, and methods may include a housing; one or more features (e.g., a handrest or a footrest) designed to comfortably hold a user's hand or foot in a position suitable for manicure operations; a system and software for detecting the position and / or shape and / or boundaries of the nails (e.g., a detection system); a device for removing enamel from the nails; a device for forming the nails; a device for managing (e.g., removing, moving, thinning, etc.) the cuticle or a part thereof; one or more devices for applying a manicure to the nails; a device for promoting the drying of the manicure on the nails; a mechanism for selecting one or more devices for use at various stages of the manicure (i.e., device selection); a mechanism for arranging any, some, or all of the devices between the manicure or a part thereof; means for storing consumables (e.g., manicure, manicure remover) within the device; a receptacle for a cartridge for holding consumables (e.g., shaping or buffing elements, manicure, manicure remover, etc.); one or more connectors enabling connection of one or more external computers to the device; wireless connection means to the device (e.g., 、 Wi-Fi, Bluetooth®, wireless communication, IR remote control, etc.); a computer or processor together with associated memory and peripherals for controlling a process for automatically providing a manicure or a part thereof; and / or one or more programs for detecting a nail or finger or toe and controlling the operation of an instrument in providing a manicure or a part thereof.
[0038]
[0038] Systems, devices, apparatuses, and methods may include one or more functions for holding a phone or other device in a manner conducive to convenient viewing and operation.
[0039]
[0039] The housing may be made of an opaque material and designed to reduce or control the amount of external light within the housing.
[0040]
[0040] The handrest or footrest can be designed for use by the left hand or right hand or left foot or right foot individually (i.e., one rest may be required for each limb), the left hand and right hand or left foot and right foot (i.e., one rest may be required for the hands and a different rest may be required for the feet), either hand or either foot (i.e., one rest may be sufficient for any one of the limbs), or any combination of the above (e.g., a rest is required for either hand but one for each foot).
[0041]
[0041] The handrest or footrest may further include ridges, differences in texture, depressions, etc. to guide the user to properly position the hand and / or foot.
[0042]
[0042] The orientation (e.g., rest angle) or configuration (e.g., width, length, thickness, distance between fingers or toes, aspect ratio, etc.) of the handrest or footrest can be changed by the user or under software control.
[0043]
[0043] The handrest or footrest may be a color that makes it easy for machine vision to distinguish from human nails, tissue, and / or skin.
[0044]
[0044] The handrest or footrest may include criteria or other marks to assist machine vision in the identification of nails, fingers, feet, hands, and / or parts or all of the feet, and / or the estimation of characteristics of nails, fingers, feet, hands, and / or feet (e.g., boundaries, ranges, shapes, positions, colors, thicknesses, textures, etc.).
[0045]
[0045] The handrest or footrest can be removed and exchanged for another handrest or footrest more suitable for the needs of a particular user.
[0046]
[0046] The handrest or footrest may be constructed in different sizes to more comfortably accommodate the hands and / or feet of different people.
[0047]
[0047] The detection system may consist of one or more devices that emit electromagnetic (EM) radiation (e.g., visible light, infrared radiation, or ultraviolet radiation).
[0048]
[0048] Devices that emit EM radiation may include, but are not limited to, light bulbs, LEDs, lasers, projectors, etc.
[0049]
[0049] As just some examples, devices that emit EM radiation may emit structured or unstructured light, coherent or incoherent light, patterned or unpatterned light, etc.
[0050]
[0050] The detection system may include one or more devices that emit acoustic energy (e.g., ultrasonic transducers, speakers, or other means of generating sound at various frequencies).
[0051]
[0051] The detection system may include one or more emitters.
[0052]
[0052] The emitters of the detection system may be repositioned (e.g., forward, backward, up, down, left, or right) and / or redirected (e.g., panned / tilted) under manual or software control.
[0053]
[0053] Some or all of the emitters may have different emission spectra (e.g., different acoustic spectra or EM spectra, multispectra, and the like) that are variable, either inherently or under manual or software control.
[0054]
[0054] The emitters can illuminate and control (e.g., make brighter or dimmer, make larger or quieter, activate for a longer or shorter time, and the like) independently and / or in any combination, and can be controlled either manually or by software control.
[0055]
[0055] The characteristics of the emitters (e.g., position, direction, spectrum, intensity, etc.) can be specified and may be available to the software.
[0056]
[0056] The system, apparatus, device, and method may include a mechanism (e.g., lens, mirror, mask, diffraction grating, prism, acoustic foam, and the like) for changing the incident area or characteristics of the emitter output.
[0057]
[0057] The various characteristics of any of the mechanisms (e.g., occlusion, lens, mirror, prism, and the like) can be characterized and may be available to the software.
[0058]
[0058] The detection system may further include one or more EM receivers such as a camera or a photodiode.
[0059]
[0059] The detection system may further include one or more acoustic receivers (e.g., microphone, ultrasonic receiver, etc.) 。
[0060]
[0060] The receivers of the detection system may be repositioned (e.g., forward, backward, up, down, left, or right) and / or redirected (e.g., panned / tilted) either manually or under software control.
[0061]
[0061] One or more characteristics of the receivers of the detection system (e.g., aperture, focal length, lens characteristics, exposure time, gain, acoustic sensitivity, etc.) can be changed either manually or under software control.
[0062]
[0062] One or more characteristics of the receiver of the detection system (e.g., position, orientation, focal length of the aperture, exposure time, gain, and the like) may be characterized and made available for software.
[0063]
[0063] The detection system may further comprise at least one processor; and / or a computer-readable memory storing instructions that cause one or more processors to obtain information from a sensor (e.g., a camera or an acoustic receiver) and calculate characteristics of a nail or finger or toe (e.g., boundaries, shape, normal map, height map, thickness, color, albedo, acoustic reflectivity, surface texture, etc.) to execute a nail or finger or toe estimation protocol.
[0064]
[0064] The nail or finger or toe estimation protocol may include at least one of obtaining an image of one or more nails or fingers of a user using one or more imaging frequencies, obtaining a plurality of images of one or more nails or fingers or toes of a user from different angles, obtaining a plurality of images of one or more nails or fingers or toes of a user illuminated from different angles, obtaining an image of one or more nails or fingers or toes of a user in the presence of structured light, and / or obtaining an image of one or more nails or fingers or toes of a user using various imaging settings (focus, depth of field, aperture, F-number, exposure length, and the like).
[0065]
[0065] The nail or finger or toe estimation protocol may include at least one of obtaining acoustic information generated by, reflected from, or refracted by one or more nails or fingers of a user using one or more acoustic frequencies, and / or obtaining acoustic information generated by, reflected from, or refracted by one or more nails or fingers or toes of a user from different angles, and / or ranges.
[0066] The estimation protocol can further include using optical stereo technology to estimate the boundaries, extents, shapes, and / or positions of fingers or nails.
[0067] The estimation protocol can further include using geometric stereo technology to estimate the boundaries, extents, shapes, and / or positions of fingers and / or fingernails.
[0068] The estimation protocol may further include generating a three-dimensional representation of one or more nails from a plurality of images.
[0069] The estimation protocol may further include edge detection.
[0070] The estimation protocol may further include distinguishing one or more of skin, cuticle, nail fold, and / or nail.
[0071] The estimation protocol may further include using the knowledge of the original projection pattern of structured light in the image to determine how the taper pattern is changed or distorted in one or more images in order to infer three-dimensional information about one or more nails, fingers, or toes of the user.
[0072] The mobility mechanism may be composed of a robotic arm.
[0073] The mobility mechanism may be composed of a parallel robot (e.g., a delta robot, a Stewart platform, etc.).
[0074] The mobility mechanism may be composed of a gantry.
[0075] The mobility mechanism may be composed of a plurality of mobility mechanisms (e.g., any combination of mobility mechanisms). 。
[0076]
[0076] The device selection mechanism may include either or both mechanical and electrical connections from the selected device to the device.
[0077]
[0077] The system, device, apparatus, and method may further include one or more locations (e.g., a "tool shed") within the housing used to hold the device when not in use. 。
[0078]
[0078] The system, device, apparatus, and method may further include one or more locations within a cartridge used to hold the device when not in use.
[0079]
[0079] The system, device, apparatus, and method may further include the use of an emitter used to detect a nail or finger or toe tip to illuminate the operating area of the device when it is appropriate for the user to insert a hand or foot.
[0080]
[0080] The system, device, apparatus, and method may further include the use of an emitter used to detect a nail or finger or toe tip to provide status and / or feedback to the user (e.g., indicating which operation of the manicure is currently being performed).
[0081]
[0081] The enamel removal system may consist of one or more reservoirs for holding the enamel remover, and / or one or more applicators for absorbing the enamel remover, and / or one or more fluid delivery systems for delivering the enamel remover to the applicator, and / or one or more mechanisms for contacting the applicator with a nail or finger or toe tip.
[0082]
[0082] The reservoir may be adjacent to the applicator, but is separated by a fluid separator (e.g., a membrane, film, foil, etc.), so that if the fluid separator is punctured, the enamel remover may be absorbed by the applicator.
[0083]
[0083] The fluid delivery device may be a pump.
[0084]
[0084] The fluid delivery device may be a release reservoir for the enamel remover, in which an applicator is immersed to absorb the enamel remover.
[0085]
[0085] At least one of the applicators may be pre - soaked with the enamel remover, perhaps eliminating or substantially simplifying the reservoir and the fluid delivery device.
[0086]
[0086] The applicator is selected to achieve one or more of the following: being immune to the effect of the remover, removing enamel most effectively (e.g., surface texture, available surface area), maximizing the amount of remover retained, keeping the enamel removed from the cleaning surface away from the washing surface, minimizing the redeposition of the removed enamel, and / or being effective in washing the nails or fingers or toes from debris resulting from other parts of the manicure process, such as nail shaping or cuticle management. Thus, it may be composed of one or more materials selected to achieve one or more of the above.
[0087]
[0087] One or more of the applicators may have a different configuration or composition from others (e.g., one brush applicator and one sponge applicator).
[0088]
[0088] One or more applicators may further include regions having different configurations or compositions (e.g., combining one or more pads and one or more brushes).
[0089]
[0089] One or more of the applicators may be compliant or may include compliant regions.
[0090]
[0090] The applicator may be passively deformed when contacted with other objects, such as a nail or a finger or a toe.
[0091]
[0091] The applicator may be actively controlled to change its configuration.
[0092]
[0092] The applicator may be composed of a pad, a sponge, a cloth, or the like.
[0093]
[0093] One or more of the applicators may be formed to have one or more protrusions that fit more closely to the nail contour or other areas of the nail or finger or toe.
[0094]
[0094] One or more of the applicators may be shaped to have an arcuate or curved side that contacts the nail or finger or toe.
[0095]
[0095] The applicator may have regions of greater or lesser rigidity or density to more effectively create an intimate contact with the nail or finger or toe.
[0096]
[0096] The system, apparatus, device and method may further include a rigid, semi-rigid, or compliant frame that supports the applicator in a configuration that improves the ability to remove enamel.
[0097]
[0097] One or more applicators may be composed of a brush, bristles, a flexible prong or other member, and / or a flexible loop (e.g., a terry cloth). 。
[0098]
[0098] Some of the hairs may have different lengths, shapes, curvatures, thicknesses, compositions, directions, etc.
[0099]
[0099] One or more of the applicators may be composed of a cloth or cloth-like material (woven material, non-woven material, felt, microfiber, etc.).
[0100]
[0100] The applicator may further be composed of a rigid, semi-rigid, or compliant frame that supports the cloth in a configuration that improves the ability to remove enamel.
[0101]
[0101] The cloth or cloth-like material may advance as needed to continuously present an unused removal area.
[0102]
[0102] The cloth or cloth-like material may change in composition or configuration as it advances.
[0103]
[0103] One or more of the applicators may be composed of a swab or the like of a compliant material (such as cotton) that surrounds a more or less rigid member (such as a wooden dowel).
[0104]
[0104] A method is provided for automatically removing a manicure from one or more claws or fingers or toes with minimal user input or control (e.g., software control).
[0105]
[0105] The method may further include one or more of the following steps: a soak time during which the removal device is held in more or less stationary contact with the claw or finger or toe, one or more strokes during which the removal device makes substantial contact with the claw or finger or toe, and / or pressure application to press the removal device against the claw or finger or toe with a certain pressure to make more contact with the enamel to be removed.
[0106]
[0106] One or more of the strokes may be substantially vertical with respect to the claw or finger or toe.
[0107]
[0107] One or more of the strokes may be substantially horizontal across the claw or finger or toe.
[0108]
[0108] One or more of the strokes may have an angle between them.
[0109]
[0109] One or more strokes may be angled upward or downward with respect to the plane of the hand and fingers or the foot and toes, additionally or alternatively.
[0110]
[0110] One or more strokes may be performed with a removal device directed to utilize any feature (e.g., a protrusion for more effectively removing enamel from a fold of the nail) designed to improve removal in a particular area of the nail or finger or toe.
[0111]
[0111] The method may include using a detection system in combination with further processing to estimate the amount or location of any remaining enamel.
[0112]
[0112] The method may include using a detection system in combination with further processing, in some cases, to direct the operation of the removal system.
[0113]
[0113] The method may include using a detection system in conjunction with further processing to determine whether the user's nail or finger or toe has moved from or been removed from the device.
[0114]
[0114] The nail shaping mechanism may include at least one of one or more clippers or scissors for shaping one or more of the user's nails, one or more mechanisms for applying a resistive chemical layer following an etching agent to shape one or more of the user's nails, one or more polishing devices for buffing or polishing a portion of one or more of the user's nails, and / or one or more lasers for shaping one or more of the user's nails.
[0115]
[0115] The nail shaping device may include a substantially two-dimensional surface (e.g., a disk, pad, polygon, etc.) made of an abrasive material, with one surface being used primarily or entirely to shape one or more of the user's nails.
[0116]
[0116] The nail shaping device can be composed of a substantially three-dimensional object (e.g., a disk, a drum, a cube, a cone, an hourglass shape, and the like) of abrasive material that provides a plurality of surfaces for shaping one or more nails of a user.
[0117]
[0117] The system, device, apparatus, and method may include one or more conforming elements or regions. Conformity can help enable greater contact between the polishing surface and one or more nails of the user, and may also help limit the torque required to move the polishing surface relative to one or more nails of the user.
[0118]
[0118] The shaping element can further include one or more polishing regions that can characterize grits with different properties (e.g., roughness, hardness, shape of abrasive grains, sharpness or smoothness of abrasive grains, etc.).
[0119]
[0119] The characteristics of the polishing device can be selected to balance one or more of the purposes of removal rate, smoothness of the edge of the shaped nail, user comfort, and / or avoidance of damage to the nail.
[0120]
[0120] A method of shaping one or more nails of a user with a robot may include one or more of: determining an initial shape of the nail to be shaped; determining a desired final shape of the nail; verifying that the desired final shape is achievable; calculating a path of one or more shaping devices to change the shape of the nail from the initial shape to the desired final shape (the desired final shape does not include regions outside the initial shape); obtaining approval from the user to begin shaping the nail; operatively contacting one or more shaping devices with the nail to be shaped; determining an intermediate shaping result and comparing it with the desired configuration; and / or continuing to perform such steps as needed until the nail reaches the desired shape.
[0121]
[0121] Systems, devices, and methods can include the use of one or more of: a stroke in one direction with a return stroke that does not substantially contact the nail for shaping; a stroke in two or more directions where some strokes likely do not contact the nail; a rotational movement; and / or a rotational movement that vibrates.
[0122]
[0122] The shaping tool can be passed multiple times, and the combined effect of all passes can form a desired final shape.
[0123]
[0123] The shaping element can be held at least one of perpendicular to the nail; at an angle away from perpendicular to the nail; having the upper end of the shaping element on the nail or far from the nail (i.e., 、「 "towards the finger or toe" or "away from the finger or toe" 」 ); perpendicular to the direction of the finger or toe; angled laterally with respect to the finger or toe (i.e., "side to side" angled); and / or any combination of those directions, at various points in the shaping method.
[0124]
[0124] The cuticle management mechanism may include at least one of: a clipper or shear; a mechanism for applying a resistive chemical layer following an etching agent to remove cuticle tissue or a portion thereof; a sanding or buffing device; and / or a laser for excising the cuticle or a portion thereof.
[0125]
[0125] The sanding or buffing device can further include: a substantially two-dimensional surface (e.g., a disk, pad, polygon, etc.) made of an abrasive material, where one surface of the material is primarily or entirely used to form the nail; and / or a substantially three-dimensional object (e.g., a disk, drum, cube, cone, hourglass-shaped, etc.) made of an abrasive material, where multiple surfaces can be utilized to remove the cuticle or a portion thereof.
[0126]
[0126] The system, apparatus, device, and method may further include one or more elements or regions that conform to the surface(s) of the sanding or buffing device(s).
[0127]
[0127] The sanding or buffing device may further include one or more polishing regions that can characterize grits of different properties (such as roughness, hardness, grit shape, grit sharpness, or smoothness, etc.).
[0128]
[0128] The properties of the abrasive are selected such that the operation of the sanding or buffing device balances one or more of the following objectives: the position, shape, or boundary of the cuticle (i.e., "open-loop" cuticle removal); the rate of cuticle removal; the completeness of cuticle removal; the user's comfort; and / or the avoidance of damage to the nail, without the need for knowledge regarding the same.
[0129]
[0129] A method for robotically removing the cuticle or a part thereof from one or more nails of a user may use one or more of the following operations: determining the extent and shape of the cuticle to be managed; calculating a path for a cuticle management device to remove the cuticle or a part thereof from the nail; obtaining approval from the user to initiate cuticle management; bringing one or more cuticle management devices into operative contact with the cuticle to be removed; performing one or more operations on the nail or finger or toe to remove the cuticle; determining the effectiveness of the cuticle removal and repeating or extending the operation as necessary; and / or continuously performing such procedures as necessary until the cuticle is sufficiently removed.
[0130]
[0130] The system, apparatus, device, and method for performing cuticle management may include the use of one or more of the following operations by a cuticle management device: a stroke, a rotational movement, and / or a rotational movement that vibrates, along a path where the cuticle management device is in operative contact with the nail and / or the cuticle.
[0131]
[0131] Multiple paths of the cuticle management device may be used, and due to the combined effect, the cuticle can be sufficiently removed.
[0132]
[0132] The cuticle management element may be held in at least one of the following directions with respect to the nail, finger, or toe at various times during the shaping process. It is held at an angle to the nail surface in any combination of azimuth and height from perpendicular and / or parallel to perpendicular to the nail.
[0133]
[0133] shaping Alternatively, after cuticle management, a method (e.g., "clean-up") for removing debris and / or residues from one or more nails of the user may be provided.
[0134]
[0134] The method for removing debris and / or residues from one or more nails of the user (e.g., "clean-up") after shaping or cuticle management may include the use of an instrument for clean-up. bring It may include the use of an instrument for clean-up.
[0135]
[0135] The method may further include a previously used removal applicator, for example, during an enamel removal operation.
[0136]
[0136] The enamel application mechanism may be composed of at least one reservoir for storing enamel, and / or at least one dispensing mechanism for dispensing enamel, and / or at least one applicator for applying enamel to one or more nails of the user.
[0137]
[0137] The reservoir may further include a sensor, if any, indicating the amount of remaining enamel.
[0138]
[0138] The device may be part of a disposable cartridge or the like.
[0139]
[0139] All components subject to clogging, drying of the encapsulated enamel, or other failure modes may be included in a disposable cartridge so that any failure can be corrected by replacing the cartridge.
[0140]
[0140] The enamel dispensing mechanism may include one or more pumps, one or more foldable flexible containers (e.g., bladders) that extrude the manicure when compressed, and / or one or more sealed volumes in which a movable slider is disposed, the movement of the slider including at least one of a liquid or gas that is discharged from or drawn into the volume (e.g., a syringe).
[0141]
[0141] The enamel application mechanism may consist of a fixed slider whose enclosed volume is moved and may be arranged to discharge a fluid or gas, which fills a syringe, vial or reservoir and achieves the advantage of removing and / or avoiding any enclosed air.
[0142]
[0142] The enamel applicator may be composed of at least one of one or more nozzles; one or more brushes; one or more volumes of absorbent material (e.g., pads, swabs, sponges, etc.) intended to hold and dispense the enamel; and / or one or more mechanisms for dispersing droplets of the enamel along with a mechanism for guiding the droplets to their intended destination.
[0143]
[0143] The pump may further include a positive displacement design for discharging or sucking a controlled volume of fluid or gas; and / or a sensor indicating the velocity of the fluid passing through the pump; and / or a sensor indicating the speed of the pump (which can be used to infer the velocity of the fluid passing through the pump).
[0144]
[0144] The syringe may further include a sensor indicating the position of the plunger and / or a sensor indicating the amount of fluid (if any) held in the reservoir.
[0145]
[0145] The nozzle may further include a flexible element tube such that the tip of the nozzle moves freely to minimize pressure on the nail or previously applied enamel and maintain fluid contact with the nail.
[0146]
[0146] The tip of the nozzle may be formed to present a smooth surface to the nail. The tip of the nozzle may itself be flared and curved to provide a smooth curved surface to the nail.
[0147]
[0147] The tip of the nozzle may have a conforming rounded surface surrounding a nozzle opening configured to present a smooth surface to the nail. The conforming rounded surface may be configured to minimize interference with a previously applied enamel coat by a subsequently applied coat.
[0148]
[0148] The nozzle can be placed on or in the prepared area to provide an airtight seal and prevent the enamel from drying when the manicure is paused.
[0149]
[0149] The nozzle may be positioned at various angles (e.g., perpendicular to the nail, angled inward or laterally with respect to the nail) with respect to the nail or finger or toe.
[0150]
[0150] A method of robotically applying a manicure to one or more nails or portions thereof of a user includes one or more of the operations of moving one or more applicators over or above the surface of the nail under computer control while dispensing a material (e.g., 、 a material such as a fluid or powder), controlling the flow of a material (e.g., a manicure remover, a manicure base coat, a manicure top coat, and / or a manicure color coat) from one or more reservoirs through one or more dispensers to one or more applicators, and / or using a vision system to measure and verify an appropriate coverage rate of the manicure.
[0151]
[0151] The dispenser may be controlled in conjunction with the movement of the applicator to optimize one or more of: speed of application, uniformity of application, ability to make subsequent applications of the same or different material without compromising previous applications, and / or precision of application, for example to prevent application of material to the user's skin or to prevent dripping onto the distal end of the nail plate.
[0152]
[0152] The applicator can be moved closely over the surface of one or more nails of the user so that only the dispensed fluid (e.g., enamel) is in fluid contact with the nail, but not in contact with them.
[0153]
[0153] The applicator may be moved in contact with the surface of the nail.
[0154]
[0154] The applicator may be held at a particular angle or range of angles relative to the nail (e.g., perpendicular or 45 degrees distal to the finger or toe, or 30 degrees distal to the finger or toe) to minimize the contact force between the applicator and the nail.
[0155]
[0155] The coat following the first coat may be delayed for a selected time to ensure that the first coat has sufficiently dried to prevent damage to the first coat by the second coat.
[0156]
[0156] The applicator path may be designed to balance one or more of the following factors: speed of application; uniformity of application; ability to apply second and subsequent coats without damage to previously applied coats; and / or precision of application (e.g., avoiding nail creases, dripping on the distal end of the nail, and the like).
[0157]
[0157] There may be provided a nail polish optimized for robot application between robot manicures or parts thereof. The term nail polish in this context applies equally to other similar materials used within the nail polish, such as base coat and / or top coat materials. The material may be designed to optimize any or all of the application speed; application uniformity; application accuracy; and / or the ability to dispense subsequent applications as quickly as possible after a previous application without damaging or degrading the results of the previous application.
[0158]
[0158] The system, apparatus, device and method may further include at least one disposable cartridge for containing at least one enamel and enamel remover.
[0159]
[0159] The system, apparatus, device and method may further include identification information readable by a nail polish device.
[0160]
[0160] A method for automatically (e.g., 、 under software control) providing one or more operations of a nail polish may include initiation by a user; initial identification of a range of nails or fingers or toes; removal of any nail polish present on the nails or fingers or toes; identification of the boundaries, shape, and / or position of a particular nail or finger or toe; shaping of one or more nails or parts thereof; management of areas of one or more cuticles; removal of any debris left by shaping or cuticle management; application of the nail polish; and / or promotion of drying of the nail polish; and may include one, several, or all of the operations.
[0161]
[0161] The user may stop or pause the operation at any point during the nail polish application.
[0162]
[0162] The apparatus may be configured to automatically stop the nail polish application process when the user's hand is removed from the apparatus.
[0163]
[0163] The device may be configured to automatically adjust the manicure process when the user's hand or a part thereof moves.
[0164]
[0164] Machine-readable information such as a consumable cartridge may include mandatory, optional, or prohibited application of a base coat and / or a top coat; the number of application passes of the base coat, color coat, and / or top coat; the optimal application speed of the base coat, color coat, and / or top coat; the optimal liquid dispensing rate of the base coat, color coat, and / or top coat; application parameters (for example, a specific application path, flow rate, application speed may be carried out corresponding to specific fluid parameters (such as speed, thixotropy, pigment concentration, etc.)); the drying time required between applications; a date code for reliably warning the user of a product past its allowable use period; and / or optimization of operating parameters such as prevention of incompatible products that may damage the machine or harm the user.
[0165]
[0165] The system, device, apparatus, and method may include machine vision components (MVC) and / or machine vision processing.
[0166]
[0166] All processing may be performed by one processor or any suitable combination of multiple processors. In some embodiments, separate dedicated processors may be provided for specific tasks.
[0167]
[0167] The system, apparatus, device, and method may include one or more digital cameras, a first processor that controls the cameras, and a second processor that extracts information from the images of the cameras. The cameras transmit images and metadata to the second processor under the time, lighting, and other imaging conditions controlled by the first processor. The second processor extracts image information such as the three-dimensional position and orientation of objects such as fingers and nails, and distributes it to other system components. The position and orientation may be relative to other objects in the image, or may be "absolute" in the sense of being relative to an object that does not depend on the image, such as a fixed part of the MVC. The second processor can also extract other information such as the achieved camera position(s) and lighting conditions for delivery to the first processor in a feedback mechanism.
[0168]
[0168] The system, apparatus, device and method may include a single camera.
[0169]
[0169] The system, apparatus, device and method may include a movable camera whose movement is controlled by a first processor.
[0170]
[0170] The single camera may be attached to a robotic arm that provides position readings to the first processor.
[0171]
[0171] Using the technology of dynamic stereovision, the absolute position of an object can be inferred from multiple images.
[0172]
[0172] A fixed camera and a mirror can be arranged to observe both the direct image and the reflected image of an object.
[0173]
[0173] The system, apparatus, device, and method may include multiple cameras.
[0174]
[0174] The absolute position of an object may be inferred from images captured from multiple cameras using techniques of geometric stereovision.
[0175]
[0175] The illumination may include a plurality of controllable light sources.
[0176]
[0176] The plurality of light sources may be independently controlled by a first processor.
[0177]
[0177] The plurality of light sources may illuminate in a fixed sequence.
[0178]
[0178] Each light source may provide illumination from substantially a single direction (e.g., a "point light source").
[0179]
[0179] Each light source may provide illumination from a plurality of known directions (e.g., a "diffuse light source").
[0180]
[0180] Each image may capture an object such that it is illuminated by a light source from a known direction.
[0181]
[0181] Each image may capture an object such that it is illuminated only by such a light source.
[0182]
[0182] Each image may capture an object illuminated by ambient light (e.g., a "background") and a light source from a known direction.
[0183]
[0183] The first processor may cause a camera or cameras to provide an image of an object with all illumination sources blocked (e.g., a "dark image") and subtract the dark image from all other images.
[0184]
[0184] The relative position and / or orientation of an object is calculated from a set of images and their known illumination directions by means of the technique of photometric stereoscopy (PMS), and can generate an "image" including the (x, y, z) components of the normal vector of the local surface and an "image" of the local height (a function whose gradient is calculated from the same normal vector).
[0185]
[0185] By including in the MVC a specific object (e.g., a "reference" or "calibration" object) that can be reliably detected in a large number of images, whose position is known, and for which the PMS provides the relative position with respect to all other objects of interest, the absolute object position can be inferred.
[0186]
[0186] All images from a given camera may be pre-processed to remove camera-specific artifacts such as "hot" pixels or "dead" or low-sensitivity pixels, and illumination-specific artifacts such as lower illumination or contrast in some image regions compared to others.
[0187]
[0187] The pre-processing can include median filtering.
[0188]
[0188] The pre-processing may include replacing any measured (e.g., "raw") pixel value with a calculated value that depends on both the measured pixel value and the pixel position.
[0189]
[0189] The two-dimensional image position of an object of interest may be determined by detecting local features such as color, fluorescence, texture, and / or by detecting local variations of such local features, and / or by detecting shape or other more large-scale or global features.
[0190]
[0190] Features may be detected only within a predefined pixel region of the image.
[0191] Features may be detected only within a predefined range of characteristic values, such as color, texture, curvature of the boundary, and / or component size.
[0192] By applying automatic thresholding techniques such as Otsu's criterion and / or automatic clustering techniques such as k-means clustering to the detected features, the features of the object and / or the image position of the object may be detected.
[0193] The identity or two-dimensional or three-dimensional position of the object may be tentatively or approximately detected by several techniques applied to several features, and then refined by the same or other techniques applied to additional features in combination with the approximate detection.
[0194] The tentative position of the object may be refined by morphological operations or rank filters such as erosion and dilation (equivalently, minimum and maximum filters respectively).
[0195] The tentative detection of the object may be enhanced or confirmed, or weakened or not confirmed, by applying metrics or topological constraints such as minimum allowable area, no holes, or selection of only the detected largest topological component.
[0196] The approximate position of the object may be refined by applying techniques of adaptive contours (e.g., "snakes").
[0197] The two-dimensional position of the object may be included within a region of slightly larger size by expanding the set of positions of the object.
[0198] The region of larger size may be calculated by morphological dilation.
[0199]
[0199] The large-sized region may be calculated as the convex hull of the set of the detected positions of each object.
[0200]
[0200] The local change of the local feature amount may be calculated by an edge detection technique.
[0201]
[0201] The edge detection technique may be based on Hierarchical Edge Detection.
[0202]
[0202] Edge detection from a plurality of images such as fluorescence, color, PMS surface normal, etc. may be combined into one "edge image".
[0203]
[0203] The edge image may be composed of the square of the average of the square roots of the edge detections of the plurality of images at each pixel position.
[0204]
[0204] The approximate two-dimensional object boundary may be determined by a watershed processing method.
[0205]
[0205] The watershed processing may be performed after automatically marking one or more regions such as the center of a predefined or detected set as an object and one or more regions such as an image boundary as non-object.
[0206]
[0206] The watershed processing may be executed on the edge image.
[0207]
[0207] Systems, apparatuses, devices, and methods may be provided for automated nail care. The systems, apparatuses, devices, and methods may include at least one of a vision system for generating one or more images of one or more nails of a user, an enamel removal system for removing enamel from one or more nails of the user, a cuticle management system for managing one or more cuticles of one or more nails of the user, a nail forming system for shaping one or more nails of the user, and / or an enamel application system for applying enamel to one or more nails of the user.
[0208]
[0208] Systems, apparatuses, devices, and methods may further include elements, mechanisms, or robotic platforms, actuators, or arms that form at least a part of at least one of a vision system, an enamel removal system, a nail shaping system, a cuticle management system, and an enamel application system.
[0209]
[0209] The vision system may include at least one camera for image acquisition.
[0210]
[0210] The vision system may further include at least one processor and / or a non-transitory computer-readable memory storing instructions for causing the at least one processor to acquire one or more images according to a defined image acquisition protocol.
[0211]
[0211] The defined image acquisition protocol may include at least one of imaging one or more nails of the user using one or more imaging frequencies, acquiring multiple images of the fingernails from different angles, imaging one or more nails of the user in the presence of structured light, and / or imaging one or more nails of the user using photometric stereo techniques.
[0212]
[0212] At least one processor can perform image analysis to identify one or more fingernails of a user from one or more images.
[0213]
[0213] The image analysis may generate a point cloud representing one or more fingernails of the user.
[0214]
[0214] The image analysis may include generating a three-dimensional representation or model of one or more fingernails of the user from multiple images.
[0215]
[0215] The image analysis may include edge detection.
[0216]
[0216] The image analysis may distinguish one or more of skin, cuticle, nail contour and / or nail and / or nail area.
[0217]
[0217] The image analysis may include analysis of the original projection pattern of structured light in the image to determine how the taper pattern changes or is distorted in one or more images in order to infer three-dimensional information about one or more fingernails, skin, nail folds, cuticles, and / or nail areas of the user.
[0218]
[0218] The vision system may further include a light source for providing structured light.
[0219]
[0219] The light source may include one or more light-emitting diodes that emit and / or reflect light through a projector, a patterned sheet or mask, or a laser or other focused light source, and can sweep across one or more surfaces of one or more fingernails of the user.
[0220]
[0220] The enamel removal system may include one or more of an applicator for absorbing an enamel remover and / or a tool member coupled to the applicator for contacting one or more fingernails of the user.
[0221]
[0221] The enamel removal system may further include a fluid supply device for supplying an enamel remover to the applicator.
[0222]
[0222] The nail shaping system may include at least one of a robotically placed nail clipper, a photochemical etcher for etching one or more nails of a user, a cutting laser, a water jet cutter, and / or a sanding device.
[0223]
[0223] The sanding device may be composed of one or more of a vertical sanding drum, a horizontal sanding drum, or a sanding pad.
[0224]
[0224] The enamel application system may include one or more of a dispensing system for dispensing enamel or other similar fluids, such as a base coat, a top coat, a drying agent, a photoresist, a chemical resist, and / or an applicator for applying the fluid to one or more nails of a user.
[0225]
[0225] The dispensing system may include at least one of a pump and a fluid supply system.
[0226]
[0226] The applicator may be composed of at least one of a spray applicator, a reciprocating sprayer, a rotary sprayer, a horizontal rotary sprayer, a vertical rotary sprayer, a brush, and a nozzle.
[0227]
[0227] The system, device, apparatus, and method may further include at least one disposable cartridge for containing at least one of enamel and an enamel remover.
[0228]
[0228] A method for automatic nail care can include at least one of generating, with a vision system, one or more images of one or more nails of a user; removing enamel from one or more nails of the user with an enamel removal system; shaping one or more nails of the user with a nail shaping system; and / or applying an enamel substance to one or more nails of the user with an enamel application system.
[0229]
[0229] These and other forms of the disclosed subject matter will be more fully understood after consideration of the following figures, detailed description, and claims.
Brief Description of the Drawings
[0230]
[0230] These and other features will be more readily understood from the following detailed description taken in conjunction with the accompanying drawings.
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Figure 199I
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Figure 199J
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Figure 200
[0750]
[0750] Note that the drawings are not necessarily to scale. The drawings are intended to depict only typical aspects of the subject matter disclosed herein and should not be regarded as limiting the scope of the present disclosure. Those skilled in the art will understand that the structures, systems, devices, and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments, and their scope is defined only by the claims.
DETAILED DESCRIPTION OF THE INVENTION
[0751]
[0751] The systems, devices, and methods described for providing a salon-quality manicure may be fully automated, e.g., a user can insert a hand into the device to receive a full salon-quality manicure, or semi-automated, e.g., a user can control one or more functions of the device. The systems, devices, and methods may be configured for use in a user's home or in a commercial environment.
[0752]
[0752] The use of terms such as "finger," "thumb," and "nail" should not be construed in a limiting sense. The systems, devices, and methods may be configured for toenails and toenails; fingers, fingernails, toenails and toenails combinations; or non-human appendages.
[0753]
[0753] In some exemplary embodiments, substantial processing may be performed by a computer and system outside the housing. For example, vision processing may occur in a cloud computing system to limit the requirements on the processor within the housing.
[0754]
[0754] In other exemplary embodiments, all processing may be performed within the housing. For example, as processors become less expensive and more powerful, vision processing may be performed locally.
[0755]
[0755] In some embodiments, the nail care system 100 may be better than going to a nail salon. It may be an automated appliance for consumers that provides higher quality nail services more quickly and conveniently. Typical services provided in a professional salon are enamel removal, cuticle management, nail shaping, and enamel application. In some embodiments, the nail care system 100 is a compact appliance that can perform all of these manicure steps (e.g., in the user's home), providing the desired flexibility in the shape and color of the user's nails while minimizing cleanup. The value to the user is, for example, speed and convenience. The consumer can use consumables such as enamel with the nail care system 100, and this consumable can be customized in the formulation and / or structure, such as packaging (e.g., one or more disposable cartridges) for the nail care system 100.
[0756]
[0756] In some embodiments, an apparatus and method for automated nail care are provided. In some embodiments, the apparatus for automated nail care includes a vision system for generating one or more images of one or more of the user's nails (all of the user's fingernails and / or toenails), an enamel removal system for removing enamel from one or more of the user's nails, a cuticle management system for managing one or more cuticles of one or more of the user's nails, a nail shaping system for shaping one or more of the user's nails, and an enamel application system for applying enamel to one or more of the user's nails.
[0757]
[0757] In some embodiments, an apparatus for automatic nail care may include at least one robotic element (e.g., one or more robot arms, platforms, and / or actuators) that forms part of at least one of a vision system, an enamel removal system, a cuticle management system, a nail shaping system, and an enamel application system.
[0758]
[0758] In some embodiments, the vision system of an apparatus for automatic nail care includes at least one camera for image acquisition.
[0759]
[0759] In some embodiments, the vision system includes at least one processor and a non-transitory computer-readable memory storing instructions for causing the at least one processor to use at least one camera to acquire one or more images according to a defined image acquisition protocol. In some embodiments, the defined image acquisition protocol includes at least one of imaging one or more nails of a user using one or more imaging frequencies, acquiring multiple images of a fingernail from different angles, imaging one or more nails of a user in the presence of structured light, and imaging one or more nails of a user using photometric stereo techniques.
[0760]
[0760] In some embodiments, at least one processor of the vision system performs image analysis to identify one or more nails of a user from one or more images. In some embodiments, the image analysis comprises generating a point cloud representing one or more nails of the user. In some embodiments, the image analysis comprises generating a three-dimensional representation of one or more nails of the user from a plurality of images. In some embodiments, the image analysis comprises edge detection. In some embodiments, the image analysis differentiates one or more of skin, cuticle, nail fold, and / or nail. In some embodiments, the image analysis utilizes knowledge of the original projection pattern of structured light in the image to determine how the taper pattern is changed or distorted in one or more images and infers three-dimensional information about one or more nails of the user. In some embodiments, the vision system further comprises a light source for providing structured light. In some embodiments, the light source comprises a projector, one or more light emitting diodes that emit light through a patterned sheet or mask, or a laser that sweeps across one or more surfaces of one or more nails of the user. In some embodiments, light from the light source may be reflected from one or more surfaces to further structure the light or create a particular form of reflection.
[0761]
[0761] In some embodiments, an enamel removal system of an apparatus for automatic nail care includes an applicator for absorbing an enamel remover and a tool member coupled to the applicator for contacting the applicator with one or more nails of a user. In some embodiments, the enamel removal system further includes a fluid supply device for supplying the enamel remover to the applicator.
[0762]
[0762] In some embodiments, the nail shaping system of the apparatus for automatic nail care includes at least one of a robotically positioned nail clipper, a photochemical etcher for etching one or more nails of a user, one or more laser cutting devices, and a sanding device. In some embodiments, the sanding device includes one or more of a vertical sanding drum, a horizontal sanding drum, and a vibrating sanding pad.
[0763]
[0763] In some embodiments, the enamel application system of the apparatus for automatic nail care includes a dispensing system for dispensing enamel and an applicator for applying the enamel to one or more nails of a user. In some embodiments, the dispensing system includes at least one of a pump and a fluid supply system. In some embodiments, the applicator includes at least one or more of one or more spray applicators, one or more rotary spreaders, one or more horizontal rotary spreaders, one or more vertical rotary spreaders, one or more brushes, and one or more nozzles. In some embodiments, the nozzle(s) is held in generally contact with the nail plate. In some embodiments, the nozzle(s) operates at a distance from the nail plate (including, for example, a distance of 0, i.e., in contact). In some embodiments, the nozzle(s) is optionally used with one or more follower devices that are used, for example, to assist in spreading the enamel or to enable more accurate horizontal or vertical positioning of the nozzle(s).
[0764]
[0764] In some embodiments, the apparatus for automatic nail care includes at least one cartridge (e.g., a disposable cartridge) for containing at least one of enamel, enamel remover and related components, such as absorbents and / or scrapers and picks for removing or repositioning enamel, and nail shaping agents such as buffing, polishing, or ablating disks, wheels, drums, pads, or other useful shapes.
[0765] Additional details regarding the exemplary embodiments are described below and throughout this document.
[0766]
[0766] Description of the Illustrative Embodiments
[0767]
[0767] In some embodiments, the nail care system 100 can include one or more systems or subsystems for performing robotic manicures. These subsystems can include, for example, one or more (e.g., 2, 3, 4, all) of a vision system, an enamel removal system, a nail shaping system, a cuticle management system, and an enamel application system. Examples regarding these subsystems according to some embodiments are provided below.
[0768]
[0768] FIG. 1 is a schematic diagram of a first system 100 for nail care. The system 100 can include one or more of the nail care system 100; vision system 200; enamel / manicure removal system 300; nail shaping system 400; cuticle management system 500; enamel / manicure application system 600; rapid drying (quick dry) system 700; hand massage system 800; nail identification / diagnosis / condition estimation system 900; movement mechanism system 1000, housing 1100; hand / foot rest system 1200; auxiliary forearm support system 1300; computer software system 1400; computer hardware system 1500; consumable cartridge / pod system 1600; cloud computing system 1700; user device 1800, and multi-tool system 1900. The system 100 can execute one or more of the methods 2100, 2200, 2300, 2400, 2650, 2700, 2800, and 3100 and architectures 2500 and 2600, alone or in combination with other methods, in any suitable combination without limitation.
[0769] In an exemplary embodiment, system 100 may include one or more of vision system 200, enamel / manicure removal system 300, nail shaping system 400, cuticle management system 500, enamel / manicure application system 600, quick-dry system 700, hand massage system 800, nail identification / diagnosis / condition estimation system 900; movement mechanism system 1100; handrest / footrest system 1200; auxiliary forearm support system 1300; computer software system 1400; computer hardware system 1500; cartridge / pod (e.g., consumable) system 1600; cloud computing system 1700; user device 1800; multi-tool 1900 (e.g., for use with one or more of systems 300, 400, 500, 600, 700, etc.); prototype 2000; method 2100 (e.g., for use with one or more of systems 400, 500, 600, 700, etc.); method 2200 (for use with one or more of systems 300, 400, 500, 600, 700, etc.); method 2300 (for use with one or more of systems 300, 400, 500, 600, 700, etc.); method 2400 (e.g., one or more of systems 300, 400, 500, 600, 700, etc.); architecture 2500; vision system architecture 2600; machine vision method 2650; path planning method 2700 (e.g., for use with one or more of systems 300, 400, 500, 600, 700, etc. for use together); method 2800 (e.g., for use with one or more of systems 300, 400, 500, 600, 700, etc.); method 3100 (e.g., for use with one or more of systems 300, 400, 500, 600, 700, etc.). The consumable pod 1600 may include one or more of systems 300, 400, 500, 600, 700, etc. The hand massage system 800, handrest / footrest system 1200, and auxiliary forearm support 1300 may be integrated components or separate components.
[0770]
[0770] System 100 may include a backup battery (not shown). System 100 and / or housing 1100 may be powered via a power cord (e.g., power connection portion 1150, configured to engage with FIG. 4).
[0771]
[0771] The mobility system 1000 may be operably and physically directly connectable to each of the shaping system 400, the cuticle system 500, the massage system 800, the removal system 300, the application system 600, and / or the consumable pod 1600 via respective mechanical connections 495, 595, 895 and / or 1695.
[0772]
[0772] The computer software system 1400 and the computer hardware system 1500 may be operably connected to a communication device 1510 (such as Wi-Fi) and a transmitter / receiver 1595. The cloud computing system 1700 may include a vision processing system 1710 and a data analysis system 1720. The cloud computing system 1700 may be operably connected to a communication device (such as Wi-Fi) and a transceiver 1795.
[0773]
[0773] The computer software system 1400 and / or the computer hardware system 1500 may be operably connected to the vision system 200 via a first software control or sense connection 295. The computer software system 1400 and / or the computer hardware system 1500 may be operably connected to the drying system 700 via a second software control or sense connection 795. The computer software system 1400 and / or the computer hardware system 1500 may be operably connected to the mobility system 1000 via a third software control or sense connection 1095.
[0774]
[0774] The user's device 1800 may be operably connected to a communication device (such as Wi-Fi) and a transceiver 1895. The user's device 1800 may include a user interface 1810.
[0775]
[0775] As will be described in more detail below, the forearm support 1300 may be separate from the housing 1100, attachable to the housing, or integrated into the housing.
[0776]
[0776] All descriptions of systems, devices, and methods are not intended to be limiting. Each system may be completely separated from other systems, may use common components, and / or may primarily have components for other systems. For example, the mobility system 1000 may have components that are only necessary for the application system 600.
[0777]
[0777] Some exemplary embodiments may lack one or more of these systems. For example, if the system 100 is only intended to provide a so-called "naked manicure" (i.e., without a manicure), it may lack the application system 600.
[0778]
[0778] In other exemplary embodiments, one or more systems may be temperature controlled so that they can be warmed or cooled for the user's comfort or to achieve a therapeutic effect.
[0779]
[0779] In some exemplary embodiments, one or more systems may be separate machines or accessories. For example, the quick-dry system 700 may be a separate fan; and / or the nail shaping system 400 may be available as a separate machine.
[0780]
[0780] In some exemplary embodiments, additional or alternative fluids may be included in the consumable cartridge 1600. For example, a cuticle softening fluid, a massage fluid, water, etc. may be housed in the consumable cartridge 1600.
[0781]
[0781] The method of operation may be provided as a whole for the system 100 and / or in combination with the method for each component of the system 100. For example, the system 100 may be operated by one or more of a startup method, a handrest positioning method, a rough nail identification method, an enamel removal method, an accurate nail identification method, a nail shaping method, a cuticle management method, a cleaning method, an application method, a drying method, and / or a user interaction method.
[0782]
[0782] The starting method may include one or more of the operations described below, in the disclosed order or in another suitable order. For example, the user may place their hand inside the housing 1100 at various times before the start of the operation, or may select whether to include or exclude some operations after the start of the manicure. The starting method may include: the user placing the consumable cartridge 1600 in the designated tray of the housing 1100; the user using their device 1800 and / or the indicators / controls on the device to indicate which step(s) they desire the user to perform and to specify any optional features (e.g., nail shape) (in some embodiments, status and control information do not require a device (e.g., 1800)); the user placing one hand on the handrest 1200 inside the housing 1100; the user starting the manicure, among one or more of them. In some embodiments, the nail identification system 100 also monitors the continuous presence of the user's hand). If the user's hand is removed or its position changes significantly, any ongoing process may be interrupted and paused. When the operation is interrupted or paused, the user places any tool currently in use in its appropriate holder (e.g., the consumable cartridge 1600). In some embodiments, the components of the system 100 are used to provide the user with status information or a cue for the next step (e.g., the LED of the nail identification system may light up to suggest to the user that they should place their hand inside the housing 1100). And / or, in some embodiments, the lights of the nail identification system may change color or intensity to indicate the status to the user.
[0783]
[0783] The handrest positioning method may include one or both of the following embodiments. In one embodiment, the system 100 may have means for requesting the user to move the handrest 1200 to an appropriate position according to the operation(s) being performed and which finger or nail it is being performed on. In another embodiment, the system 100 may autonomously move the handrest 1200 to an appropriate position according to which operation is being performed and which finger or nail it is being performed on.
[0784]
[0784] The thick nail recognition method may include one or more operations listed below in any particular order. The mobility system 1000 and all other tools may move (e.g., vision system 200) as necessary so as not to interfere with the acquisition of an image of the user's nail by the camera (e.g., 300, 400, 500, 600, 700, 800, etc.). The vision system 200 may capture one or a series of images of the user's hand, where some or all of the images are illuminated by different light sources or light sources respectively. Optical measurement stereo technology may then be used to estimate a normal map (i.e., a map of unit normal vectors for each small region of the nail plate). The vision system 200 may capture a series of images using at least two different cameras essentially simultaneously. These images may be used for geometric stereo (i.e., binocular vision). Additional processing may be performed on some or all of these images. In one embodiment, to identify edges in a particular image, edge detection Holistically Nested Edge DetThe ection may be used. A combination of algorithms may be used to roughly identify the general positions of the user's nails with an error of approximately ±5 mm (±0.1969 inch) or less. At this stage, fine discrimination is not necessary. The reason is that the enamel removal step (e.g., using the enamel / manicure removal system 300) does not require fine discrimination. The presence of the manicure may confuse the effort of fine discrimination (e.g., it is very difficult for the user to visually identify the nail side line when the manicure is present on the nail side line (lateral nail fold), and / or when the user wears a manicure with a color closely matching the color inside the enclosure). Coarse nail identification may include a similar method to fine nail identification but with significantly reduced requirements. The method used for precise nail identification may be modified or removed for coarse nail identification. For example, the position of the edge is usually not necessary for enamel removal, and edge detection is susceptible to errors caused by manicures and nail art, so edge detection may not be performed. Similarly, it may not be necessary to establish the shape of the nail plate.
[0785]
[0785] The enamel removal method may include one or more operations listed below in any particular order. The mobility system 1000 may be configured to select an enamel removal tool 300 from a holding area. As part of selecting the enamel removal tool, the mobility system 1000 may release the seal of a section of a consumable cartridge 1600 in which the removal tool is held. The enamel removal tool 300 may be moved across the surface of the nail and surrounding tissue according to a method of removing the nail from both a broad planar area of the nail and nail folds around the nail edge, and may be configured not to require precise visual control of the path of the tool. The enamel removal method may be completed on one nail before moving to the next nail, or may be completed on all nails before the next operation is initiated on any nail, or some operations may occur on some nails and other operations may occur on other nails, or any combination thereof. For example, the removal tool 300 is applied to the first nail, leaving a remover (e.g., nail polish remover) on the nail, and then the same operation is performed on the second nail. This may give the remover time to act on the manicure of the first nail. Next, the removal tool 300 may wipe the first nail while allowing the remover to act on the manicure of the second nail. A similar method may be applied to the third nail while the manicure is removed from the second nail, and so on. The movable system 1000 may replace the enamel removal tool 300 in the holding area. Optionally, the holding area may be partially or fully resealed to prevent the enamel removal tool 300 from drying (this is advantageous, for example, if the user pauses the manicure process); and / or if the enamel removal process is interrupted or paused, the enamel removal system 300 may be replaced with a consumable cartridge 1600.
[0786]
[0786] The precise nail identification method may include one or both of the following operations shown in any particular order. When the enamel is removed, precise nail identification may be performed and / or one or more of several techniques including the following may be used for precise nail identification. In photometric (illuminance difference) stereo where an object is imaged by illumination from different light sources, surface features (such as height) can be estimated from the analysis of image variations and the changes in the way light is reflected from various surfaces. In geometric stereo where the same object is imaged by cameras at different positions, the relative positions of features within the image are calculated from the differences between the images. These calculations may be used to gather additional information (such as the three-dimensional position of the nail) or to perform additional verification of information obtained by other means (such as using the three-dimensional position of the nail plate features to verify or improve nail shape estimation developed from photometric stereo). Edge detection using any of various algorithms (such as nested edge detection overall). Additionally, other methods described in this document.
[0787]
[0787] The nail shaping method may include one or both of the following operations shown in any particular order. This nail shaping method may be performed before or after (or without) the cuticle management method. The mobility system 1000 selects the nail shaping tool 400. An image of the user's nail is displayed to the user on the user's device 1800 along with options for various nail shapes and lengths. In some embodiments, only the nail shapes and lengths that can currently be created on the user's nail are displayed (e.g., in other embodiments, "impossible" nail shapes are displayed and made gradually achievable over successive manicures as the nail grows). In some embodiments, the step of selecting the nail shape and length is performed before other operations of the manicure are initiated. The mobility system 1000 moves the nail shaping tool 400 along the free end of the nail plate using a path designed to create the user's desired nail shape and length when material is removed by the nail shaping tool 400. In some embodiments, multiple passes of the nail shaping tool 400 are used, each pass removing only a small amount of material, and the successive operation of the passes ultimately achieves the desired nail shape and length. In some embodiments of the system, small sections of the length of the free end of the nail plate are individually adapted to the user's desired nail shape and length, and the desired nail shape and length are achieved when all small sections of the length of the free end of the nail plate are shaped. In some embodiments, an image is obtained from the camera of the nail identification system during the nail shaping method. In some embodiments, when the user's hand is removed from the system 100, the operation is paused. In some embodiments, when the user's hand changes position, the nail shaping path is updated to reflect the new position of the hand in order to continue creating the user's desired nail shape and length. And / or when the nail shaping method is completed, the mobility system 1000 replaces the nail shaping element 400 in its holder. In some embodiments, the images obtained from the camera of the nail identification system during the nail shaping method are used to perform one or more of the following caused. Determine whether the user's hand still exists. And / or, determine whether the user's hand has moved. And / or, monitor the progress of nail shaping. And / or, display the progress of nail shaping on the user's device 1800. And / or, estimate the difference between the user's desired nail shape and length and the current progress towards the desired shape and length. And / or, provide an estimate of the remaining time to complete nail shaping.
[0788]
[0788] The nail shaping system 400 may be composed of a polishing element having specified operating parameters (e.g., revolutions per minute (RPM), pressure on the nail, vibration period, angular displacement including angular displacement of vibration, etc.). The nail shaping system 400 may be configured according to a path plan. The vision system 200 may be configured to constantly monitor the current shape of the nail and compare it with the desired shape in order to update the planned path of the tool.
[0789]
[0789] In some exemplary embodiments, the nail shaping system 400 may include a vibrating disk 440 (e.g., FIG. 32). The vibrating disk 440 may have a diameter of about 0.5 inches (about 1.27 centimeters). The vibrating disk 440 may reciprocate about 20 degrees in each direction. The vibrating disk 440 may vibrate at a frequency of about 37 Hz. The vibrating disk 440 may include an abrasive. The abrasive may be glass. The coarseness of the abrasive may be about 180 grit. In some specific exemplary embodiments, the abrasive may be selected such that the abrasive poses little or no risk of discomfort or injury to the user. For example, some embodiments consist of a file composed of glass having a surface with a number of small, relatively smooth fine ridges (in contrast to sandpaper which may include a number of or sharper, more angular features). Such ridges have little or no effect on the skin while being able to effectively remove nail plate material (keratin).
[0790]
[0790] The cuticle management method may include one or more operations shown below in any particular order. This step may be performed optionally, either before or after nail shaping. The mobility system 1000 may select the cuticle management tool 500 from the holding area. The mobility system 1000 may move the cuticle management tool 500 over and around the nail surface according to a path developed to optimally remove the cuticle without the need to accurately identify the position and extent of the cuticle. Optionally, a nail identification system may be used in conjunction with cuticle management. And / or, optionally, the camera of the nail identification system may be used to capture an image of the user's cuticle. The image captured by the camera of the nail identification system may be used to determine whether the user's hand is still present, and / or whether the user's hand has moved, and / or to monitor the progress of cuticle management, and / or to display the progress of cuticle management on the user's device 1800, and / or to estimate the extent of the user's cuticle, and / or to plan a path for the cuticle management tool 500 to most effectively and efficiently remove the cuticle, and / or to estimate whether the cuticle management operation is complete, and / or to provide an estimated value of the time required until cuticle management is completed.
[0791]
[0791] The cleaning method may include one or more operations listed below in any particular order. The enamel removal system 300 may be reused to remove any dust or debris resulting from nail shaping or cuticle management. The mobility system 1000 may select a suitable tool from the consumable cartridge 1600. A previously used sponge / brush may be used. Another sponge / brush may be used. The mobility system 1000 may move a cleaning tool, e.g., the system 300, over the surface of the nail and surrounding tissue along a path that effectively removes dust and debris. Optionally, the vision system 200 may be used for cleaning. And / or, the mobility system 1000 may replace a cleaning tool (e.g., 300) within the consumable cartridge 1600.
[0792]
[0792] The coating method may include one or more operations listed below in any particular order. The mobility system 1000 may select the coating tool 600. As part of selecting the coating tool 600, a reservoir or reservoirs containing the manicure and any auxiliary fluids (e.g., base coat or top coat) may be unsealed and made available for use. One or more processors control the dispensing device of the coating tool 600 to supply a precise amount of liquid (e.g., base coat, manicure, or top coat) to the nozzle of the tool 600. The nozzle may be moved on the surface of the nail plate along a path that ensures one or more of complete coverage, the manicure not being applied to the tissue surrounding the nail plate, and / or maximum uniformity of the coat (e.g., uniformity of thickness, no dripping, no thin spots, etc.). In some embodiments, the nozzle may first describe the outer boundary of the nail plate and then move to fill most of that area. In some embodiments, the nozzle may trace a bull plow path (corn row). In some embodiments, the nozzle may trace a spiral path. In some embodiments, the spiral may start towards the center of the nail plate and gradually change its shape as it spreads, eventually conforming to the extension of the nail plate. In other embodiments, the spiral path may start by tracing the outer shape of the nail plate and gradually become approximately circular as it spirals towards its end point. In some embodiments, the distal tip of the nozzle may be intentionally held in contact with the nail plate. In some embodiments, the distal tip of the nozzle may maintain a small distance (e.g., about 0.5 mm (about 0.01969 inches)) above the nail plate and have only fluid contact with the nail plate. This can help prevent subsequent coats from damaging previously applied coats. When the coating method is complete, the mobility system 1000 may replace the coating tool 600. When the coating method is interrupted or paused, the mobility system 1000 may replace the coating tool 600 of the consumable cartridge 1600.And / or, in some embodiments, the exchange functions so that any fluid present within the application system 600 (e.g., at the nozzle tip) does not cure.
[0793]
[0793] The drying method may include one or more of the operations listed below in any particular order. The drying system 700 (e.g., a fan) may also be driven to dry the user's nails more quickly. In some embodiments, the drying system 700 may be integral with the system 100 and operate on the user's nails while within the housing 1100. In other embodiments, the user may remove their hand from the housing 1100 and place it near the housing 1100 at a location where the drying system 700 operates. In some embodiments, an image from a camera of the nail identification system may be used to estimate how dry the user's nails are and provide guidance on when it is appropriate to remove the hand from the housing 1100. And / or, in other embodiments, the drying system 700 may be completely separate from the system 100. The user can operate the drying system 700 after properly positioning their hand.
[0794]
[0794] The user interaction method may include one or more operations shown below in any particular order. A machine vision method (e.g., 2650). In some embodiments, the cameras of the nail identification system may be used to provide images of the manicure operations or the results of those operations. In some embodiments, augmented reality technology may be used to display the results of applying a particular shade or type of manicure to the user's nails. In some embodiments, an image of the user's nails may be used to provide confirmation or verification of an operation indicated to be performed by the user. In some embodiments, information regarding an image of the user's nails, and / or the shade of the manicure previously used by the user, and / or information on current or upcoming fashion trends may be used to provide recommendations to the user for future manicure selections. In some embodiments, the user may provide an image of clothing or an accessory such that a shade or type of manicure is proposed. In some embodiments, the LEDs used in photometric stereo may also be used to provide the user with status or hints to guide the user's actions (e.g., after the pod 1600 is inserted into the housing 1100, the photometric stereo LEDs may be illuminated to indicate that the user should place a hand inside the housing 1100). During the manicure operation, LEDs of different colors may be lit to provide the user with various instructions. And / or, in some embodiments, a small motor having an offset weight, etc. may be included in or near the handle rest 1200. Subsequently, the vibration may, in some cases, be used in combination with the LEDs and / or a display on the user's device 1800 to provide the user with a display regarding the status of the manicure or its operation.
[0795]
[0795] Although various general methods related to the system 100 have been described, the present disclosure will describe each of the systems that may be provided to the nail care system 100 in detail.
[0796]
[0796] The housing 1100 may be configured to house and protect the system of the nail care system 100 (for example, 200, 300, 400, 500, 600, 700, 800, etc.). The housing 1100 may further include at least some status displays and user controls. The housing 1100 may be substantially opaque to the frequency of light used by the nail identification system and can serve to limit and control ambient light to improve imaging of the user's hand, fingers, and nails. The housing 1100 may further include features that allow the user to conveniently place the device 1800 (for example, a phone or a tablet) so that the device can be easily viewed and operated with one hand while the operation of the device is being performed. The area of the housing 1100 around the user's hand may be colored to improve the discrimination between the range of human skin color and the background. The housing 1100 may further include a power supply and / or data connection part (for example, USB 1160). The power connection 1150 may be intended to supply power to an auxiliary device (for example, the user's device 1800). The electrical connection 1150 may permit charging of the user's device 1800 or may be used by a service technician to test and / or debug the system 100. The electrical connection 1150 may provide backup means for connection to an external device.
[0797]
[0797] FIG. 2 is a front perspective view of a first type of housing 1100 of a first nail care system 100 that includes a consumable pod / cartridge system 1600 and a hand / footrest system 1200. The housing 1100 may include a recessed pocket 1105 for receiving the fingers of a person lifting the system 100 having an integrated handle 1110. The housing 1100 may include a cartridge receiving slot 1120 for receiving the cartridge 1600. The housing 1100 may include an on-device control device 1130 that may be a push button, a touch screen, or any other suitable control device. The housing 1100 may include a bay 1140 configured to receive substantially all or a portion of a user's hand. The housing may be configured to include a handrest system. The bay 1140 may have a recess 1145 in its bottom surface to allow attachment and movement of the handrest system 1200 therein.
[0798]
[0798] FIG. 3 is a front perspective view of a second type of housing 1100 of a first nail care system 100 that includes a user device 1800. In this exemplary embodiment, the user device 1800 may be used as a control device. The user device 1800 may be placed on a shelf of the housing 1100. The housing 1100 may include a user control device or status indicator 1130 instead of, or in addition to, other control devices. The housing 1100 may include a device support function 1140 on the front panel of the disclosure 1100.
[0799]
[0799] FIG. 4 is a rear perspective view of the first type of housing 1100 of FIG. 2 or the second type of housing 1100 of FIG. 3. The housing 1100 may include a power connection 1150 and / or a USB connection 1160.
[0800]
[0800] The consumable cartridge / pod system 1600 (which may sometimes be simply referred to as a cartridge or pod) may be configured as shown in FIGS. 2-4 or as otherwise shown or described in any other embodiment of the present disclosure. In some embodiments, specific consumables required for manicure (e.g., enamel, base coat, top coat, enamel remover, etc.) may be housed within an insertable / removable cartridge or pod 1600.
[0801]
[0801] The pod 1600 may be designed for one use (e.g., one complete manicure of both hands or both feet). The advantages of such a design may include, for example, improved flexibility for a user to select a specific color for any given manicure, or improved reliability since hardening or blockage of the fluid connection may be limited to a removable cartridge 1600 and may thus be easily improved by replacing the cartridge where hardening or blockage is a problem.
[0802]
[0802] The consumable cartridge 1600 can also function to minimize the size and cost of the nail care system 100 by eliminating the need to store a relatively large amount (e.g., about 500 mL (about 30.51 cubic inches)) of enamel remover or a significant amount (e.g., about 500 mL (about 30.51 cubic inches)) of an enamel removal sponge, etc. The consumable cartridge 1600 can also improve safety by eliminating the need to store a significant volume of acetone, which is flammable. The consumable cartridge 1600 may also enable a subscription model so that the user is guaranteed a steady supply of cartridges without excessive storage requirements. The subscription model may enable the user to keep up with current fashion trends without incurring significant expense on out-of-date colors.
[0803]
[0803] In one embodiment, the consumable cartridge 1600 may include one or more of the following. One or more reservoirs, each containing a fluid (e.g.,、 Base coat, top coat, enamel, enamel remover). One or more fluids within the reservoir. One or more dispensers each having a provision for operably coupling to the mobility system 1000 of the nail care system 100 to dispense one or more fluids from one or more reservoirs. One or more nozzles for dispensing one or more fluids onto one or more nails of a user. An enamel removal tool 300 (e.g., 、 Sponge, bristles, etc.) that can have a fluid connection to one or more reservoirs (e.g., those containing acetone). And / or other tubing necessary to transport fluid from the reservoir.
[0804]
[0804] In an exemplary embodiment, all fluids that can be cured (e.g., base coat, top coat, enamel), as well as all related reservoirs, dispensers, nozzles, and interconnecting tubes, may be housed within a consumable cartridge / pod 1600. The advantage of this embodiment is that, as described above, any undesirable curing results are limited to the consumable cartridge / pod 1600 and can be easily improved by replacing it.
[0805]
[0805] In an exemplary embodiment, the cartridge / pod 1600 may constitute an operable connection to the mobility system 1000 for the tools that require it. For example, the dispenser(s) (e.g., enamel / manicure application system 600) may be provided with an operable connection that allows the mobility system 1000 to operate the dispenser without a permanent connection. Similarly, the shaping tool (e.g., nail shaping system 400) may be configured with an operable connection to the mobility system 1000 such that the mobility system 1000 can move (e.g., rotate, vibrate) the shaping tool 400 without the need for a permanent connection or components such as a relatively expensive motor within the consumable cartridge / pod 1600. A similar configuration may be applied to the cuticle management tool 500 or the enamel removal tool 300.
[0806]
[0806] In some embodiments, the operable connection between the mobility systems 1000 can provide additional degrees of freedom of operation. For example, the enamel removal tool 300 may include an additional axis of rotation operable by the mobility systems 1000.
[0807]
[0807] The handrest system 1200 may be configured to provide a comfortable place for the user's hand to rest while the nail care instrument is being operated.
[0808]
[0808] The handrest 1200 may be configured to guide the user to place their hand in an optimal position for operating the nail care device 100. Further, the handrest 1200 may assist in aligning and positioning one or more of the user's fingers or toes in a favorable position for manicure operations. For example, it is useful to have a certain amount of space between fingers to allow a margin for tool operation on one finger and not affect adjacent fingers nearby. The handrest 1200 may further position the thumb to minimize the angular rotation of the thumb nail relative to other nails.
[0809]
[0809] The handrest 1200 may be configured to accommodate a wide range of hand sizes (e.g., from the 1st percentile female hand to the 99th percentile male hand).
[0810]
[0810] The handrest 1200 may be configured to function equally well for either the left or right hand.
[0811]
[0811] The handrest 1200 may be colored to provide the best discrimination between the range of human skin tones and the background.
[0812]
[0812] System 100 may optionally further include a wrist rest or forearm rest 1300 (which may be disposed outside the housing 1100) to ensure an optimal hand posture for user comfort and optimal operation of the device. The wrist or forearm rest 1300 may be permanently attached to the housing 1100, removably fixed to the housing 1100, or completely separated from the housing 1100.
[0813]
[0813] The hand rest 1200 may have a fixed position and orientation relative to the housing 1100.
[0814]
[0814] In some embodiments, the hand rest 1200 may be movably attached to the housing 1100. The movable attachment of the hand rest 1200 may allow translation along any of three mutually perpendicular axes (e.g., FIG. 8, i.e., the X-axis 1202, the Y-axis 1204, and the Z-axis 1206). The movable attachment of the hand rest 1200 may further allow rotation about two mutually perpendicular axes (e.g., FIG. 8, rotation about the azimuth 1214 and the elevation angle 1212). FIG. 8 is a front perspective view of the first type of housing 1100 of FIG. 2 or the second type of housing 1100 of FIG. 3, emphasizing the range of motion of the hand / foot rest system 1200.
[0815]
[0815] In some embodiments, the hand rest 1200 may be designed to have detents or stops at various positions. The stops or detents may provide a number of discrete positions (translations) and / or orientations (azimuth angle and elevation angle) of the hand rest 1200.
[0816]
[0816] In some embodiments, the hand rest 1200 may have continuously variable positions (translations) and / or orientations (azimuth angle and elevation angle).
[0817]
[0817] In other embodiments, the handrest 1200 may further include motors and / or sensors that allow the device to autonomously change the position (translation) and / or orientation (azimuth and elevation angle) of the handrest 1200.
[0818]
[0818] The handrest 1200 may include markings or other features (e.g., reference (reference), see FIG. 5) that appear to a claw identification system. The reference can, for example, improve geometric stereo, or allow the vision system 200 to calibrate the position and angle of the camera, or allow verification of the operation of the vision system 200.
[0819]
[0819] FIG. 5 is a rear perspective view of the hand / footrest system 1200. The handrest 1200 may include a plurality of reference markings. The reference markings may include a first reference marking 1210A for the thumb, little finger, or one of the sides of the handrest 1200, a second reference marking 1210C for the middle finger or the center of the handrest 1200, a third reference marking 1210E for the thumb, little finger, or the other side of the handrest 1200, a fourth reference marking 1210X indicating a position near the leading edge and / or protruding ridge of the handrest 1200, and the like. The second reference marking 1210C may be oriented about the Y-direction center line 1221 of the handrest 1200. The first reference 1210A, the second reference marking 1210C, and the third reference marking 1210E may be oriented about the X-direction center line 1223 of the handrest 1200. The first reference line 1223A and the second reference line 1223E may be parallel to the center line 1221 and may correspond to the target positions of the user's thumb or little finger. Relatively shallow depressions on the surface of the handrest 1200 are provided proximate to the first reference line 1223A and the second reference line 1223E and may serve to guide the placement of the user's little finger, thumb, and / or side of the hand and provide known points to the vision system 200.
[0820]
[0820] Multiple finger depressions may be provided on the surface of the handrest 1200. For example, on the surface of the handrest 1200, an index finger / ring finger depression 1220B, a middle finger depression 1220C, and a ring finger / index finger depression 1220D are provided. Each of the index finger / ring finger depression 1220B, the middle finger depression 1220C, and the ring finger / index finger depression 1220D may have respective inflection points 1222B, 1222C, 1222D where they intersect the surrounding surface of the handrest 1200. Each of the index finger / ring finger depression 1220B, the middle finger depression 1220C, and the ring finger / index finger depression 1220D may descend from their respective inflection points 1222B, 1222C, 1222D into respective relatively deep wells 1224B, 1224C, 1224D. For each of the index finger / ring finger depression 1220B, the middle finger depression 1220C, and the ring finger / index finger depression 1220D, a reference centerline 1226 may be provided. Each of the index finger / ring finger depression 1220B, the middle finger depression 1220C, and the ring finger / index finger depression 1220D may rise from their respective relatively deep wells 1224B, 1224C, 1224D to respective inflection points 1228B, 1228C, 1228D to complete the shape of the depression.
[0821]
[0821] In some exemplary embodiments, the handrest 1200 may have a length of about 180 mm (about 7.087 inches) (y direction), a width of about 140 mm (about 5.512 inches) (x direction), and a height of about 35 mm (about 1.378 inches) (z direction), which is sized to comfortably fit a wide range of adult hands for at least about 15 minutes. The handrest 1200 may be equally suitable for the left or right hand. The handrest 1200 may exhibit bilateral symmetry so as to be equally suitable for the left or right hand.
[0822]
[0822] FIG. 6A is a front elevation view of the first type of housing 1100 of FIG. 2 or the second type of housing 1100 of FIG. 3. An exemplary width 1102 of the housing 1100 may be on the order of about 290 mm (about 11.42 inches). FIG. 6B is a right side elevation view of the first type of housing 1100 of FIG. 2 or the second type of housing 1100 of FIG. 3. An exemplary height 1104 of the housing 1100 may be on the order of about 220 mm (about 8.661 inches). FIG. 6C is a top view or a plan view of the first type of housing 1100 of FIG. 2 or the second type of housing 1100 of FIG. 3. An exemplary depth 1106 of the housing 1100 may be on the order of about 320 mm (about 12.6 inches). These dimensions are merely exemplary. The housing 1100 may be scaled up, scaled down, or proportioned at different ratios as needed.
[0823]
[0823] The housing 1100 may be configured to enclose all the functional systems of the nail care system 100, including, for example, one or more of the vision system 200, the enamel / manicure removal system 300, the nail shaping system 400, the cuticle management system 500, the enamel / manicure application system 600, the quick-dry system 700, the hand massage system 800, the nail identification / diagnosis / condition estimation system 900, the movement mechanism system 1000, the hand / foot rest system 1200, the computer software system 1400, the computer hardware system 1500, the consumable cartridge / pod system 1600, the user device 1800, and the multi-tool system 1900.
[0824]
[0824] The scaled-up first prototype 2000 of the system 100 is provided. FIG. 7A is a front cross-sectional view of the first prototype 2000 of the nail care system 100, FIG. 7B is a right-side cross-sectional view of the first prototype 2000 of the nail care system 100, and FIG. 7B is a cross-sectional view of the top or plane of the first prototype 2000 of the nail care system 100. An exemplary width 2002 of the prototype 2000 may be about 850 mm (about 33.46 inches), an exemplary height 2004 of the prototype 2000 may be about 830 mm (about 32.68 inches), and an exemplary depth 2006 of the prototype 2000 may be about 890 mm (about 35.04 inches). These dimensions are merely exemplary. The prototype 2000 is intended to be scaled down, but may be scaled down as needed or proportioned at different ratios.
[0825]
[0825] The prototype 2000 may include all the functional systems of the nail care system 100, including, for example, the vision system 200 (including cameras 210, 220, 230 as shown in FIGS. 7A, 7B, 7C), the enamel / manicure removal system 300, the nail shaping system 400, the cuticle management system 500, the enamel / manicure application system 600, the quick-dry drying system 700, the hand massage system 800, the nail identification / diagnosis / condition estimation system 900, the movement mechanism system 1000 (not shown), the hand / foot rest system 1200 (not shown), the computer software system 1400, the computer hardware system 1500, the consumable cartridge / pod system 1600, and the multi-tool system 1900.
[0826]
[0826] A claw identification / diagnosis / status estimation system 900 may be provided. The system 900 may include a vision system 200. FIG. 9 is a front / top or plan perspective view of the vision system 200 and the hand / footrest system 1200 with the hand H of the user U placed on the handrest 1200. The vision system 200 may include three cameras 210, 220, 230 and three corresponding LED lighting arrays 215, 225, 235 for illuminating the hand H of the user including each finger F, each fingernail FN, the thumb T, and the thumbnail TN of the user U.
[0827]
[0827] The vision system 200 and the claw identification system 900 may be configured to include three cameras 210, 220, 230. One of the cameras 220 may be mounted above and substantially over the fingernail of the middle finger of the user such that the camera 220 can image at least a portion of all four fingers and either the left or right thumb. The other two cameras 210, 230 may be mounted on either side above the plane of the hand H such that each of the cameras 210, 230 can image either the left or right thumb along with at least some of the other fingers.
[0828]
[0828] Another embodiment of the vision system 200 and the identification system 900 may consist of one camera and further include a motor, sensors, and electronics that enable the camera to be moved to determined positions under the control of one or more processors (which may be part of the system 1400).
[0829]
[0829] Yet another embodiment of the vision system 200 and the identification system 900 may be composed of two cameras oriented such that each camera can image the entire hand H from a different angle.
[0830]
[0830] Still other embodiments of vision system 200 and identification system 900 may consist of one or more cameras and may further include one or more mirrors that serve to enable imaging of regions of a hand H, finger F / T, or fingernail FN / TN that are outside the field of view of the one or more cameras.
[0831]
[0831] In some embodiments of vision system 200 and identification system 900, one or more mirrors may be movably attached, and the apparatus may further include electronics, motors, and / or sensors that enable one or more mirrors to be repositioned or redirected under the control of one or more processors (e.g., 1400).
[0832]
[0832] Regardless of the particular number and location of the cameras, each is controlled by a processor (e.g., part of 1400) that can configure all of the functions of the camera (e.g., aperture, focus, shutter speed, etc.).
[0833]
[0833] Some LEDs (e.g., about 100 LEDs) may be mounted within housing 1100 so that illumination of the user's hand H, fingers F / T, and fingernails FN / TN can be provided from a wide range of angles (e.g., through a range of about 180 degrees).
[0834]
[0834] Each of the LEDs can be controlled (i.e., turned off, illuminated at any level of brightness, or pulsed in any pattern at any level of brightness) by one or more processors (e.g., 1400).
[0835]
[0835] Still other embodiments of vision system 200 and identification system 900 may include other light sources such as structured light emitters that project dot or line patterns onto the user's hand, fingers, and fingernails (see below). Analysis of the distortion of these patterns in the captured image may reveal the shape or position or both of features (such as fingernail FN / TN, or finger F / T, etc.) within the image (again, see below).
[0836]
[0836] In addition to, or instead of, the above embodiments, still other embodiments of the vision system 200 and the identification system 900 may further include a distance sensor (e.g., a geometric distance sensor or a laser rangefinder) to assist in determining the position of the nail FN / TN or finger F / T.
[0837]
[0837] Still other embodiments of the vision system 200 and the identification system 900 may include an acoustic sensor (e.g., an ultrasonic transducer) to assist in identifying the extension, shape, or position of the nail.
[0838]
[0838] Figure 10 is a flowchart of a first computer device or system 1400 for a nail care system 100. System 1400 may include a camera and lighting controller 1405. The controller may be operably connected to one or more cameras 210, 220, 230. The camera and lighting controller 1405 may be operably connected to a lighting device 1425, which may be LED arrays 215, 225, 235. The camera and lighting controller 1405 may be configured to operate the lighting device 1425 and capture an image or a plurality of images from one or more cameras 210, 220, 230, which may be transmitted and collected as an image set 1430. The image set 1430 may be analyzed by an edge and / or feature detection system 1435. The image set 1430 may be analyzed by a photometric stereo and / or surface normal calculation system 1440. The image set 1430 may be analyzed by a geometric stereo and / or pixel positioning system 1445 in space. The output from the photometric stereo and / or surface normal calculation system 1440 may be input to the edge and / or feature detection system 1435 for additional analysis. The output from the edge and / or feature detection system 1435 may be input to a nail mask system 1450. One or more of the photometric stereo and / or surface normal calculation system 1440, the geometric stereo and / or pixel positioning system 1445 in space, and the nail mask system 1450 may transmit an output for nail positioning by an algorithm(s) system 1455. The output from the nail positioning by the algorithm(s) system 1455 may be transmitted to a path planning system 1470.
[0839]
[0839] One or more of the tool information / offset system 1460, the user operation selection system 1465 (which may receive input from the user's device 1800), and the encoder and / or sensor 1485 may output information to the path planning system 1470. Also, the encoder and / or sensor 1485 may output information to the motion controller 1480.
[0840]
[0840] The path planning system 1470 may send commands to the motion controller 1480. Also, the image set 1430 may be sent to a system for detecting hand movement by the camera 1475. The system for detecting hand movement by the camera 1475 may output commands to the motion controller 1480. The motion controller 1480 may be configured to send commands to the mobility system 1490, which may be part of the system 1400 or part of the mobility system 1000.
[0841]
[0841] FIG. 11 is a front / top or plan perspective view of the mobility mechanism system 1000 and the hand / footrest system 1200. The mobility system 1000 may include a gantry with multiple degrees of freedom. The gantry may have degrees of freedom along three mutually perpendicular linear axes (e.g., X1015, Y1025, and Z1035) and degrees of freedom around two mutually perpendicular rotational axes (e.g., the azimuth axis 1045 and the elevation axis 1055).
[0842]
[0842] In other embodiments, the gantry may include more or fewer degrees of freedom. In other embodiments, the mobility system 1000 may consist of a delta robot and / or a Stewart platform (not shown), i.e., a type of parallel manipulator that may have six prismatic actuators, typically hydraulic jacks or electric linear actuators, attached in pairs at three positions on the base plate of the platform and spanning three attachment points on the top plate, with all 12 connections made via universal joints.
[0843]
[0843] The mobility system 1000 may further include a stepping motor to achieve accurately adjusted motion along and between degrees of freedom. The stepper motor may enable accurate open-loop control. In other embodiments, the mobility system 1000 may include a standard DC brush motor.
[0844]
[0844] The mobility system 1000 may include encoders for some or all of the degrees of freedom. The encoders may be absolute or relative.
[0845]
[0845] In some embodiments, one or more sensors may be used to measure the force applied to the user's finger, toe, or nail. For example, an in-line force sensor may be attached between the gantry system and the attachment point of a tool (e.g., the removal tool 300, the shaping tool 400, the cuticle management tool 500, and / or the application tool 600). The force sensor may then provide an estimate of the amount of force being applied to the control software. This estimate may be used to improve control. In one exemplary embodiment, force feedback may be used during the shaping operation of the shaping tool 400 to correct the intended path of the shaping tool 400 if the force being applied begins to increase beyond an appropriate limit. Such an increase in force may indicate that the shaping tool 400 risks moving the user's finger or toe and may potentially reduce shaping accuracy. In this case, the shaping tool 400 can move away from the user's nail so that an appropriate amount of force is applied. Also, for example, force sensing may be used to prevent the cuticle management tool 500 from pressing too hard against the user's nail plate or the skin near the nail plate.
[0846]
[0846] In an exemplary embodiment, the mobility system 1000 includes a first arm 1010 configured to move in the X direction 1015, a pair of parallel second arms 1020 and 1022 configured to move in the Y direction 1025, and a third arm 1030 configured to move in the Z direction 1035. The first arm 1010 may be orthogonal to the second arms 1020, 1022 and may also be orthogonal to the third arm 1030. A fourth arm 1040 may be suspended from the third arm 1030 and configured to rotate about the azimuth axis 1045. A fifth arm or plate 1050 may be suspended from the fourth arm 1040 and configured to rotate about the elevation axis 1055.
[0847]
[0847] FIG. 12 is a front / top or plan perspective view of a multi-tool or tool swap system 1900 and a mobility mechanism system 1000. The tool exchange system 1900 may include two bayonet-style protrusions 1910. The protrusions 1910 may be adapted to fit into sockets of various tools of the device (e.g., removal tool 300, shaping tool 400, cuticle management tool 500, and / or application tool 600, etc.). Also, the protrusions 1910 may be adapted to fit into corresponding bayonet sockets 1052 of the movable-side tool swap plate 1050 (as shown). The tool swap system 1900 may further include one or more holding magnets 1054. The holding magnets 1054 can serve to maintain the bayonet-style protrusions 1910 within the matching sockets 1052 on the plate 1050 or on the tools 300, 400, 500, 600. The magnets 1054 may function in a similar manner to a cotter pin in that they do not directly support the weight of the tool or the forces on the tool, but rather serve to ensure the engagement between the mobility system protrusions 1910 and the tool sockets.
[0848]
[0848] The tool exchange system 1900 may further include one or more power and / or data connections. In other embodiments, a reversible latch may be used instead of the magnet 1054. In other embodiments, the bayonet projection 1910 may be designed to be reversibly latched to the corresponding socket 1052. In still other embodiments, the bit may be used with a shaft to lock the tool to the mobility system 1000.
[0849]
[0849] FIG. 13 is a perspective view of a first holder 1920 for a multi-tool system 1900 and a first enamel / manicure remover system 300. The enamel removal system 300 may include one or more sponges. The sponge may have a bottom / engagement surface 302, a first side surface 304, a second side surface 306, and a third side surface 308 (see, for example, FIG. 28). The second side surface 306 may be longer and larger than a fourth side surface (not shown). As seen in FIG. 13, the first side surface 304 is relatively short adjacent to the cleaning bristles 320 and relatively long adjacent to the second side surface 306. The sponge may include a semi-circular groove 303 on the bottom / engagement surface 302 (i.e., the area typically contacted by the user's finger or nail). In some exemplary embodiments, the semi-circular groove 303 improves the performance of the remover system 300.
[0850]
[0850] The bristles 320 may be made of polyester. The bristles 320 may have a moisture-absorbing ability. The bristles 320 may be configured to hold acetone and / or the removed manicure. The bristles 320 may have a length of about 15 mm (about 0.5906 inches). The diameter of each of the bristles 320 may be between about 0.20 mm and about 0.30 mm, or between about 203 microns and about 305 microns (between about 0.008 inches and about 0.012 inches).
[0851]
[0851] The bottom / engagement surface 302 of the sponge may have each side surface with a length of about 26 mm (about 1 inch). The total area of the sponge may be about 676 mm2 (about 1 inch2). The range of the force exerted on the nail by the sponge of the enamel removal system 300 having a bottom / engagement surface with a total area of about 676 mm2 (about 1 inch2) may be between about 2.0 N and about 5.0 N (between about 0.45 psi and about 1.1 psi).
[0852]
[0852] FIG. 15 is an end perspective view of the first enamel / manicure remover system 300 of FIG. 13 highlighting the semi-circular groove 303 of the sponge, which is configured to spread a portion of the sponge laterally in the directions of arrows 314 and 316 when pressed against a user's finger or nail such that the sponge tends to passively conform to the shape of the user's finger or nail. The sponge may be compressed against the nail at a distance between about 2.0 mm and about 8.0 mm (between about 0.079 inch and about 0.31 inch).
[0853]
[0853] FIG. 14 is a perspective view of a second type of holder 1930 for the multi-tool system 1900 and a second type of enamel / manicure remover system 330 having a sponge with a groove pattern 332 on its bottom surface. The sponge may further include a plurality of notches 333 and / or protrusions designed to more effectively conform to the shape of the nail folds around the user's nail (e.g., lateral nail folds and proximal nail folds). The notches 333 or protrusions may be configured to act on the nail folds when the sponge is pressed against the user's finger or nail. Specifically, as shown in FIG. 14, seven grooves 333 and eight protrusions may be formed on the bottom surface of the sponge. Six of the grooves may be angled. The seventh groove may be aligned along the center line of the sponge, which is configured to align with the approximate center line of the user's finger or nail. In this exemplary embodiment, the protrusions form a shape on the bottom surface that includes two relatively large right triangles at two corners, a relatively small right triangle with respect to the center line of the sponge, a pair of trapezoids on both sides of the center line, and a pair of irregular pentagonal shapes at the other two corners when viewed from below. In some exemplary embodiments, the configuration of the bottom surface of the sponge of the system 330 improves the performance of the remover system 330.
[0854]
[0854] FIG. 16 is a side perspective view of the multi-tool system 1900, the second enamel / manicure remover system 330, an end of the movement mechanism system 1000, and / or a first holder 1930 for the hand / foot rest system 1200. The multi-tool system 1900 having the second enamel / manicure remover system 330 may be configured to move along, across, or into the user's fingernail and / or rotate about the surface of the nail to remove the manicure. Specifically, the multi-tool system 1900 equipped with the second enamel / manicure remover system 330 may be configured to move left and right in the X direction 342, move in and out in the Y direction 344, and / or rotate in an arcuate motion 346 about the Y axis 344.
[0855]
[0855] Figure 17 is a diagram of a first method 2100 for moving a user's fingertip and an enamel / manicure remover system 300. The first method 2100 can include one or more of the following steps in any suitable order. Start at 2101 at the center of the nail 2105 (step 1 in FIG. 21). Next, drive the center of the sponge into the lateral nail contour of the nail 2110 (step 2). Step 2110 may be assisted using rough vision. Step 2110 may include movement in the negative Z direction and movement in the positive and negative X directions depending on which side of the tool 300 is wiping. Next, wipe the length of the nail (about 10 mm (about 0.3937 inches) to 29 mm (1.142 inches)) 2115 (step 3). Next, lift the tool 300 and drive it back to the center / starting point 2120 (step 4). Next, repeat the operation for the other lateral nail contours 2125 and 2130 (which may correspond to steps 2110 and 2115) (steps 5 and 6). Finally, return to the center 2135 (step 7), repeat steps 2110 and 2115 about 2 to 5 times for one side, and repeat steps 2125 and 2130 about 2 to 5 times for the other side. Thereafter, method 2100 may end at 2199.
[0856]
[0856] Figure 18 is a diagram of a second method 2200 for moving a user's fingertip and an enamel / manicure remover system 300. The second method 2200 can include one or more of the following steps in any suitable order. Start at 2201 (see, FIG. 22) at the center of the nail 2205 (step 1). Next, drive forward about 5 mm (about 0.1969 inches) 2210 (step 2). Next, drive about 10 mm (about 0.3937 inches) backward to configure the end of the sponge to the proximal nail contour of the nail 2215 (step 3). Next, lift the sponge and drive it back to the center while lowering the sponge at the starting point 2220 (step 4). Step 2220 can prevent the end of the sponge from catching on the edge of the nail or the adhesive surface. Finally, repeat steps 2210, 2215, 2220 about 2 to 5 times 2225 (step 5). Thereafter, method 2200 may end at 2299.
[0857]
[0857] Figure 19 is a diagram of a third method 2300 for moving the user's fingertip and the enamel / manicure remover system 300. The third method 2300 can include one or more of the following steps in any suitable order. Start at 2301 (reference, Figure 23) at the center of the nail 2305 (Step 1). Next, drive in the positive X direction, negative Z direction, and positive Y direction, incrementing by 2310 each time, approximately 2 - 5 mm (about 0.07874 - 0.1969 inches) at a time, using coarsening to drive to one of the lateral nail profiles of the nail (Step 2). Next, increment in the positive Y direction and drive to the center 2315 (Step 3). Next, drive in the negative X direction, negative Z direction, and positive Y direction 2320 to the lateral nail profile on the opposite side of the nail (Step 4). Next, increment in the positive Y direction 2325 and drive back to the center (Step 5). Finally, continue until the entire length of the nail is covered as determined visually, or until an average of approximately 20 mm (about 0.7874 inches) is covered in the Y direction 2330 s Repeat steps 2310, 2315, 2320, and 2325 (Step 6). Thereafter, method 2300 may end at 2399.
[0858]
[0858] Figure 20 is a side view of the user's fingertip and the orientation of the bristles 320 of the enamel / manicure remover system 300 with respect to the user's nail. The bristles 320 may be oriented at an angle 399 of about 10 degrees to 30 degrees with respect to the horizontal direction.
[0859]
[0859] Figure 21 is a flowchart of the first method 2100 of Figure 17.
[0860]
[0860] Figure 22 is a flowchart of the second method 2200 of Figure 18.
[0861]
[0861] Figure 23 is a flowchart of the third method 2300 of Figure 19.
[0862]
[0862] FIG. 24 is a flowchart of a fourth method 2400 of operation of the enamel / manicure remover system 300. The fourth method 2400 can include one or more of the following steps in any suitable order. Immerse the nail in the sponge 2405 of the system 300. Scrub the nail with the bristles 320 of the system 300 at 2410. Step 2410 may be performed in any suitable pattern including those described with reference to the first, second, and third methods 2100, 2200, 2300. Step 2410 may be performed in a zigzag pattern. Wipe into the proximal nail fold of the nail with the sponge 2415 of the system 300. Clean the nail with a wiping operation at 2420. Step 2420 may be performed by wiping along the length of the nail starting from the lateral fold and then wiping towards the center of the nail or in any suitable direction relative to the nail.
[0863]
[0863] FIG. 25 is a top perspective view of the upper part of the second holder 1930, focusing on the operating range of the enamel / manicure remover system 300 with respect to the multi-tool system 1900, the second enamel / manicure remover system 330, the end of the mobility mechanism system 1000, and / or a part of the hand / footrest system 1200, and the approximate orientation of the enamel / manicure remover system 300 with respect to the fingers F of the hand H of the user U. The system 300 may be moved back and forth or laterally on the nail surface in direction 342. The system 300 may be moved in and out or laterally on the nail surface in direction 344.
[0864]
[0864] FIG. 26 is an end perspective view emphasizing the engagement of the multi-tool system 1900, the enamel / manicure remover system 300, the end of the movement mechanism system 1000, and / or the second holder 1930 for the hand / footrest system 1200, with the nail TN of the left thumb T of the user U's hand H of the enamel / manicure remover system 300. Note that the system 300 and the holder 1930 are rotated by the movement mechanism system 1000 to an angle suitable for normally (orthogonally) contacting the system 300 with the dominant surface of the nail TN of the user's thumb T. The reference marker 1210E can assist the system 100 in identifying the position of the thumb T, which is particularly useful in this type of engagement.
[0865]
[0865] The sponge of the enamel / manicure remover system 300 may further be shaped to provide support for the bristles (e.g., 320), or can serve to position the bristles for optimal removal effect.
[0866]
[0866] The sponge of the enamel / manicure remover system 300 may be a material that is substantially immune to the effects of the manicure remover (e.g., acetone) used by the system 100. In one embodiment, the sponge is composed of a melamine foam.
[0867]
[0867] The sponge of the enamel / manicure remover system 300 may have foaming properties that assist in the removal of softened manicure. For example, an open-cell foam having relatively narrow and stiff cell walls may be used to provide a slightly abrasive texture.
[0868]
[0868] The sponge of the enamel / nail polish remover system 300 may have a size and shape for effectively absorbing the removed nail polish and preventing the removed nail polish from reattaching to the user's finger or nail. Further, the sponge of the enamel / nail polish remover system 300 may be a material selected to draw the absorbed nail polish away from the surface of the sponge and upward into the interior of the sponge.
[0869]
[0869] The enamel / nail polish remover system 300 may have one or more sponges, which may be completely separate or combined.
[0870]
[0870] When multiple sponges of the enamel / nail polish remover system 300 are combined, the rotation about one of the degrees of rotational freedom (e.g., up and down) may be configured to assist in positioning one sponge or another sponge in a suitable position for use. bring about to be useful.
[0871]
[0871] The enamel / nail polish remover system 300 may further include one or more brushes (e.g., 320). The brush may be attached to operate parallel to the long axis of the user's finger, may be attached to operate laterally with respect to the finger, or may operate at any angle therebetween. The brush may be of any hair shape, length, stiffness, composition, and / or configuration. The brush may be composed of various hair types or configurations within a single brush.
[0872]
[0872] In one embodiment, a single brush of the enamel / nail polish remover system 300 is attached laterally inward with respect to the user's finger and in a direction transverse to the user's finger (i.e., behind the sponge as the sponge moves from the base of the nail plate to the free end).
[0873]
[0873] In another embodiment, the two brushes of the enamel / manicure remover system 300 may be attached to both sides of the primary brush and aligned parallel to the direction of the user's finger.
[0874]
[0874] FIG. 27 is a side perspective view emphasizing the angle of the brush 360 of the third enamel / manicure remover system 350 for the end of the multi-tool system 1900, the third enamel / manicure remover system 350, and / or the movement mechanism system 1000. The sponge may have a bottom surface / engagement surface 352, a first side surface 354, a second side surface 356, and the like. The side opposite the second side surface may include a tapered portion adjacent to the bristles 360. The sponge may include a semi-circular groove 353 in the bottom surface / engagement surface 352, and this groove has similar characteristics to that of the groove 303 described above. The angle 362 of the bristles 360 with respect to the vertical direction of the holder 1950 is about 30 degrees. This angle 362 and the tapered sponge allow the bristles 360 to be in closer contact with the nail and the sponge.
[0875]
[0875] FIG. 28 is a side perspective view showing the first holder 1920 of the multi-tool system 1900, the first enamel / manicure remover system 300, and the end of the movement mechanism system 1000, emphasizing the engagement between the first enamel / manicure remover system 300 and the nail of the user's left middle finger. Only the nails FN of the ring finger and the little finger F are clearly shown in FIG. 28, but the semi-circular groove 303 of the sponge is aligned to be directly adjacent to the nail of the user's left middle finger by the movement of the movement mechanism system 1000.
[0876]
[0876] Figure 29 is a side perspective view of a fourth holder 1990 for an end of a mobility mechanism system 1000 that focuses on the engagement of a multi-tool system 1900, a second enamel / manicure remover system 330, a third enamel / manicure remover system 350, and the nail of the index finger of the left hand H of a user. The mobility mechanism system 1000 may include a motor and gearbox 1032 for rotating about the Z axis. The mobility mechanism system 1000 may include a sensor 1034 for determining the position of the axis of rotation. The mobility mechanism system 1000 may include a shaft and bearing 1036 for supporting rotation while maintaining rigidity. The mobility mechanism system 1000 may include a motor and gearbox 1042 for rotating about an axis in the XY plane. The mobility mechanism system 1000 may include a sensor 1044 for determining the position of the axis of rotation. The mobility mechanism system 1000 may include a plate 1050 including alignment features, latches, and electrical connections to the system 100. The multi-tool system 1900 may include a plate 1910 including corresponding alignment features, latches, and electrical connections attached to the removal system 330. The fourth holder 1990 may be attached to the plate 1910, and this plate 1910 may be attached to the plate 1050. The mobility mechanism system 1000 may include a cable 1060 configured to transmit data and power between a controller (e.g., 1500) within the system 100 and sensors and motors in the tool head (e.g., 330). The cable 1060 may include a plurality of windings and / or slip rings about a predetermined axis to enable the mobility mechanism system 1000 to complete a plurality of rotations about the predetermined axis without interrupting the system 1000.
[0877]
[0877] FIG. 30 is a side perspective view of an end of a movable mechanism system 1000 highlighting the engagement of a three-piece holder for a multi-tool system 1900 including three enamel / manicure remover systems and a second one of the three enamel / manicure remover systems with the nail of the left middle finger of a user's hand H. That is, in some embodiments, a plurality of removal tools 300, 300 may be provided, which may be of the same or different configurations, for example, one or more of systems 300, 400, 500, 600, etc. The alternative tool may be selected by a tool swap mechanism or tool swap system 1900, or may be combined into one tool that serves for rotation (e.g., elevation angle) about the degree of freedom of rotation to be appropriate for the bring about tool.
[0878]
[0878] The different enamel removal tools 300 may be supplied with different removal liquids (e.g., water) for use at different points of the manicure. The enamel removal system 300 may be supplied as part of a consumable cartridge 1600. The enamel removal system 300 may be supplied within a consumable cartridge 1600 that is already saturated with an enamel removal fluid (e.g., acetone).
[0879]
[0879] The enamel removal tool 300 may be supplied with a separate reservoir of a remover (e.g., acetone) separated from the enamel removal tool 300 (e.g., sponge / brush) by a barrier. The barrier may be penetrated when the tool is selected and may be arranged to saturate the enamel removal tool with the enamel remover. For example, FIG. 31 is a side cross-sectional view of a first holder 1920 for a multi-tool system 1900, a first enamel / manicure remover system 300, and a reservoir 395 for the remover for the enamel / manicure remover system 300.
[0880] [
[0880] ]FIG. 32 is a top perspective view of a nail shaping system 400 that focuses on the engagement of the nail shaping system 400 with the nail FN of the left middle finger F of the user's hand H. The nail shaping system 400 may include a motor 410, a gearbox or mechanism 420 for generating a vibrating and / or rotational output motion, a compliant member 430, and / or a polishing element 440. FIG. 33 is an end perspective view of a mobility mechanism system 1000 and an end perspective view of the nail shaping system 400 that focuses on the engagement of the nail shaping system 400 with the nail FN of the left middle finger F of the user's hand H.
[0881] [
[0881] ]The nail shaping tool 400 may include one or more nail shaping elements, and / or one or more tool selection mechanisms, and / or one or more means for transmitting mechanical power from the mobility mechanism system 1000 to the shaping elements. The nail shaping element may be composed of a circular disk of abrasive material, for example, the polishing element 440. The nail shaping element may consist of a drum of abrasive material or other rotationally symmetric shape (e.g., hourglass, cone, truncated cone, etc.). The nail shaping element may consist of a substantially planar element of abrasive material (e.g., an emery board). The abrasive material may be composed of abrasive grit or powder applied to a substrate (e.g., an emery board). The abrasive material may be shaped and adhered (e.g., sintered or glued) such that the entire element is essentially composed of abrasive material (e.g., a grindstone). The abrasive material may be composed of a solid (e.g., a glass file or a metal file) that has been scored, etched, or otherwise processed to form a series of ridges.
[0882] [
[0882] ]Alternatively, or in addition, the application method can be selected to reduce or further reduce the risk of discomfort or injury to the user. For example, a vibrating rotational motion may be effective in removing relatively hard nail plate material while simply moving the skin back and forth without causing other significant effects.
[0883]
[0883] In some embodiments, the use of an essentially safe and comfortable nail shaping element and / or method allows the use of less sophisticated imaging and control methods without loss of effectiveness. For example, an essentially safe shaping tool can be pressed against the "corner" of one or more of the user's nails - i.e., where the distal edge of the nail plate meets the lateral nail contour - such that the skin naturally moves and the "corner" of the nail plate can be shaped as desired. This can be particularly appropriate for users with short nails where the distal edge of the nail plate projects minimally from the fingertip and it is necessary to round the "corner" of the nail for the best appearance.
[0884]
[0884] The nail shaping element can be of almost any shape. 。 A disc-shaped or rotationally symmetric shape is useful for rotational (e.g., spinning) or rotational vibration, and generally a planar or relatively large-radius curve may be suitable for reciprocating (e.g., back-and-forth) motion.
[0885]
[0885] In some embodiments, a compliant material may be disposed between the surface of the material intended for use in shaping the nail and any structural support (e.g., a sponge pad behind a circular sanding disk). The compliant material can help limit the torque required when the shaping element is pressed against the nail during the shaping operation, or can help reduce the requirements for the accuracy with which the shaping element is applied to the nail.
[0886]
[0886] Other means of providing compliance are also possible. For example, the entire shaping device may have a compliance member (e.g., 430) between the shaping element and the mobility system 1000.
[0887]
[0887] The shaping element may be operably connected to the mobility system 1000 such that a motor on the mobility system 1000 operates (e.g., rotates or vibrates) the shaping element. This connection can be through a shaft of either the shaping element or the mobility system 1000 and a related socket of the other mechanism.
[0888]
[0888] The operable connection may cause rotational movement, linear reciprocating movement (e.g., back and forth), and / or rotational vibration (e.g., clockwise / counterclockwise).)
[0889]
[0889] In some embodiments, mechanical means may be used to convert the rotational movement of the motor into reciprocating or oscillating movement.)
[0890]
[0890] In other embodiments, the motor itself may be controlled to rapidly reverse direction in order to generate reciprocating or oscillating movement of the shaping element.)
[0891]
[0891] The operable connection mechanism can minimize the cost of providing a new shaping disk to the consumable cartridge 1600 by limiting the components required in the consumable device.)
[0892]
[0892] The nail shaping tool 400 may be included in the consumable cartridge 1600 (e.g., if frequent replacement is required), may be replaceable independently of the consumable cartridge 1600 (e.g., if frequent replacement is not required), or may be a permanent part of the system 100 (e.g., if replacement is not required within the life of the machine).)
[0893]
[0893] The size, shape, and configuration of the polishing element 440 may be a disk, drum, etc.)
[0894]
[0894] The polishing element 440 may be configured such that the polishing element 400 poses little or no risk of discomfort or injury to the user. The grit of the polishing element 440 may be sufficient to clean or shape the nails without damaging the user's skin.)
[0895]
[0895] For details of the cuticle management system 500, refer to FIGS. 198 and 199A - 199J below.)
[0896]
[0896] FIG. 34A is a side view and partial cross-sectional view of an enamel / manicure coating system 600. The coating system 600 can include one or more of a plunger 610, a reservoir 620, an intermediate portion 625, a flexible connecting tube 630 that provides compatibility to a nozzle 650, a support structure 640 that guides compatibility, and a nozzle 650, which together provide a fluid path 660 to a consumable such as enamel.
[0897]
[0897] The alternative enamel / manicure coating system 600 of FIGS. 34B - 34E is viscous and configured to be used with a manicure, i.e., enamel, top coat, or base coat, that can undesirably entrain air if mishandled. Specifically, FIG. 34B is a perspective view of a displaceable (full) vial 621 of an alternative enamel / manicure coating system 600 having a cap 627 thereon. FIG. 34C is a side view of an enamel / manicure coating system 600 having a displaceable (full) vial 621 and a cap 627. FIG. 34D is a perspective side view of an enamel / manicure coating system 600 having a displaceable (full) vial 621 and a cap 627. FIG. 34E is a partially angled side view of an enamel / manicure coating system 600 having a displaceable (nearly empty) vial 621 and a cap 627.
[0898]
[0898] The alternative enamel / manicure application system 600 advantageously supplies air over the manicure or enamel within the vial 621. The alternative enamel / manicure application system 600 includes one or more plastic or glass vials 621 filled with a fluid to be dispensed, with a cap 627 configured to move within the inner diameter of the vial 621 and an opening in the cap 627 through which fluid is discharged from the vial 621 when the cap 627 is displaced within the vial 621, and may include a pump suitable for an enamel, top coat, or base coat. The vial 621 and the cap 627 may be installed in a carrier 641 that secures the cap 627 and attaches the output to a fluid channel or tube 630 within the carrier 641. The carrier 641 / vial 621 assembly may be installed in a machine (such as the mobility system 1000, etc.) configured to displace the vial 621 towards the cap 627, discharge the fluid into the assembly's tube 630, and exit through the nozzle 650.
[0899]
[0899] All parts of the application tool 600 that come into contact with the manicure may be included in a part of the tool 600 supplied by the consumable cartridge 1600 and may be configured to be used only once. This ensures that even if there is clogging or curing of the manicure, it is not an obstacle to the entire system 100, but only the need to replace the consumable cartridge 1600. bring about This is guaranteed.
[0900]
[0900] Any electronic device (such as a motor driving a pump or a sensor determining a fluid level) may be included within the system 100 and may be operably connected to the disposable section of the application tool 600 when the mobility system 1000 selects the tool 600. For example, the pump motor may have a mechanical interface to the pump such that the motor is part of the system 100 while the pump is in the disposable portion 1600. Similarly, any fluid level sensor may be configured not to directly contact the fluid within the application tool 600, but may establish an operable contact when the tool 600 is selected. One embodiment of the application tool 600 includes a capacitive sensor, and when the application tool 600 is selected, the metal contacts of the capacitive sensor are positioned against the wall of the disposable reservoir 620.
[0901]
[0901] In some embodiments, the capacitive sensor may be used to determine proximity or contact between the nozzle 650 and the user's finger or nail. In some embodiments, the nozzle 650 may be conductive and may form one part of the capacitive sensor.
[0902]
[0902] In one embodiment, other sensors such as a geometric distance sensor or an ultrasonic range sensor may be provided to determine proximity or contact between the nozzle 650 and the user's finger or nail.
[0903]
[0903] In one embodiment, the application tool 600 may include a hollow cylinder as a reservoir 620 having a plunger 610 (e.g., a syringe) that moves to expel fluid from a narrow opening within the cylinder. In an embodiment, the pump assembly within the consumable cartridge 1600 may include a captive plunger disk without an associated shaft. The shaft may be part of the mobility system 1000 configured such that selecting the application tool 600 attaches the shaft to the captive plunger within the consumable cartridge 1600.
[0904]
[0904] In some embodiments of the syringe, the plunger 610 can be pushed down and pulled up, enabling either fluid to be discharged or withdrawn. Such control can enable the application rate to be accurately adjusted in conjunction with the path being used to ensure the most uniform application possible. In embodiments having a captive plunger within the consumable cartridge 1600 and a shaft on the mobility system 1000, a locking interconnect can be provided so that the shaft can either push or pull the plunger. The locking interconnect may include a quarter-turn lock.
[0905]
[0905] FIG. 35 is a side view of an end of the mobility mechanism system 1000 and / or the enamel / manicure application system 600.
[0906]
[0906] FIG. 36 is a side perspective view of an end of the mobility mechanism system 1000 and / or the enamel / manicure application system 600, with emphasis on the engagement of the enamel / manicure application system 600 with the fingernail FN of the left middle finger F of the user's hand H.
[0907]
[0907] In another embodiment, the enamel / manicure application system 600 may include a flexible bladder having an opening such that fluid is discharged from the opening when the bladder is pushed or squeezed between rigid surfaces.
[0908]
[0908] The nozzle 650 may be conformable such that the nozzle 650 rests on the surface of the nail plate with a very small force. This compatibility reduces the need for high-precision shape estimation of the nail since the nozzle passively follows the contour of the nail. Most of the conformability is perpendicular (i.e., "up and down") to the surface of the nail, but there will also be some side-to-side conformability such that when the nozzle 650 contacts the epithelium, it tends to deflect rather than ride up over the epithelium.
[0909]
[0909] In one embodiment, the compatibility of the nozzle 650 can be achieved by using a flexible connection tube 630 between rigid tubes or between a rigid tube and the output of the pump. The distal end of the tube may have a 90-degree bend to orient the nozzle essentially perpendicular to the nail plate. The flexible connection tube 630 acts to bend and allow the distal end of the nozzle 650 to follow the contour of the nail.
[0910]
[0910] In another embodiment, the compatibility of the nozzle 650 can be achieved by having a narrower tube inside a wider tube. A spring or a weight (optionally including only the weight of the inner tube) acts to slide the inner tube up and down within the outer tube and may thus follow the contour of the nail plate.
[0911]
[0911] In another embodiment, the compatibility of the nozzle 650 can be actively achieved by using a very accurate nail shape estimation to modify the path followed when applying the manicure so that the nozzle 650 is held at an exact distance (e.g., about 100 microns (about 3937 microinches)) above the nail.
[0912]
[0912] FIG. 37 is a flowchart of a second computer device or system 2500 for nail care. The system 2500, which may be part of the computer software system 1400, may include a path planning application 2510 having one or more features in common with the path planning system 1470. The path planning application 2510 may include a user interface 2520, a nail shape model system 2530, an operation setting system 2540, a hand model system 2550, a kinematic model system 2560, and a path planning system 2570.
[0913]
[0913] The route planning application 2510 may transmit the output to the vision system and / or receive the input from the vision system 200. The vision system 200 may include a photometric stereo system 240 and / or a geometric stereo system 250. The route planning application 2510 may receive input from the user U, and the route planning application 2510 may output information to the microcontroller 1500. The microcontroller 1500 may include a motor controller 1520 and / or an LED controller 1530. The microcontroller 1500 may be operably connected to the housing 1100, or the microcontroller 1500 may be integrated into the housing 1100 and various systems included therein. The various components included in the housing 1100 engage with the user U as described herein.
[0914]
[0914] The user interface system 2520 may include a configuration procedure system 2522 and / or a start procedure system 2524. The start procedure system 2524 may be configured to send instructions to the action configuration system 2540 and / or the route planning system 2470.
[0915]
[0915] The claw shape model system 2530 may include a round model 2532, an oval model 2534, a square model 2536, and any other optional claw models. The claw shape model system 2530 may be configured to send information to the shaping system 2546 of the action configuration system 2540.
[0916]
[0916] The action configuration system 2540 may include an application system 2542, a removal system 2544, and a shaping system 2546. The action configuration system 2540 may be configured to send information to the route planning system 2570.
[0917]
[0917] The hand model system 2550 may include a 3D mesh system 2552, a 3D point cloud system, and / or a left / right system 2556. The hand model system 2550 may be configured to transmit information to the path planning system 2570.
[0918]
[0918] The kinematic model system 2560 may include a gantry system 2562 configured to be used with the gantry of the mobility system 1000. The kinematic model system may include an application tool system 2564, a removal tool system 2566, and / or a shaping tool system 2568. The kinematic model system 2560 may be configured to transmit information to the path planning system 2570.
[0919]
[0919] The path planning system 2570 may include a procedure sequencer 2571, an application algorithm 2572, a removal algorithm 2574, a shaping algorithm 2576, and / or an operation planner 2578. The path planning system 2570 may be configured to receive information from the UI system 2520 (in particular, the start procedure system 2524), the operation setting system 2540, the hand model system 2550, and / or the motion model system 2560. The path planning system 2570 may be configured to output information to the vision system 200 and / or the microcontroller 1500.
[0920]
[0920] Figure 38A is a system diagram and flowchart of a third computer device or system 2600 for nail care. System 2600, which may be part of computer software system 1400, may include a route planning application 2510 that may have one or more features in common with route planning system 1470. System 2600 may include housing 1100 of system 100 that contains various components such as cameras 210, 220, 230, LEDs 215, 225, 235, sensor 1044, motor driver 1041, and / or motor 1042. A host computer may be provided that includes vision system 200, route planning application 2510 (1470), and UI system 2520. Microcontroller 1500 may be operatively connected to housing 1100 of system 100 and the host computer.
[0921]
[0921] Microcontroller 1500 may be configured to send commands to cameras 210, 220, 230, LEDs 215, 225, 235, sensor 1044, and / or motor driver 1041. Microcontroller 1500 may be configured to send information (including status updates, sensor readings, etc.) to route planning application 2510 (1470) and / or receive information (including movement commands, lighting control commands, sensor reading commands, etc.) from route planning application 2510 (1470).
[0922]
[0922] The path planning application 2510(1470) may be configured to send requests to the cameras 210, 220, 230 and / or may be configured to receive images from the cameras 210, 220, 230. The path planning application 2510(1470) may be configured to send images for processing to the vision system 200 and / or may be configured to receive the detected pose and shape of the nail from the vision system 200. The path planning application 2510(1470) may be configured to send progress updates, error prompts, etc. to the UI system 2520 and / or may be configured to receive the procedures and settings selected by the user U from the UI system 2520.
[0923]
[0923] In some exemplary embodiments, the path planning application 2510 may include certain types of input and processing. For example, the input for the path planning application 2510 may include one or more of the following. The position, orientation, and 3D shape of the finger in either point cloud or 3D mesh format. All subsets of fingers selected by the user. The type(s) of operation(s) selected by the user, including application, removal, shaping, and / or combinations thereof. The operations of the application system 600 (e.g., pump speed, chip speed, polishing thickness, etc.), the operations of the removal system 300 (e.g., immersion time, number of repetitions, standoff height (from the nail surface), etc.), the operations of the shaping system 400 (e.g., desired nail length, nail shape (e.g., specific parameters for each shape such as oval, round, square, radius of rounding, etc.), and / or shaping tool speed), and / or gantry parameters (e.g., tool offset, motor and machine parameters (e.g., microstepping, gear ratio, minimum / maximum RPM, etc., and / or calibration information)), including operating parameters.
[0924]
[0924] The processes executed by the path planning application 2510 may include one or more of the following. Vision result processing including the conversion of nail representations from the vision system 200 to an internal data format (e.g., structured 3D point cloud) used within the path planning application 2510 (e.g., from the vision system 200). Filtering, smoothing, or other types of vision result cleanup. Calibration between the gantry 1000 and the vision system 200. Configuring the vision system 200 using a calibration pattern attached to either the floor of the gantry 1000, the handrest 1200, or the gantry 1000 itself to align the coordinate system used by the vision system 200 to report detection results to the gantry 1000 coordinate system. Modeling of the machine system and tools. The path planning application 2510 may include a kinematic model 2560 having parameters that describe the geometry and kinematics of the gantry device 1000 and the geometry and physics of one or more tools (e.g., 、 300, 400, 500, 600). Deformable modeling (e.g., modeling of the removal tool 300). For example, modeling of the shaping tool 400 as a rotating disk having different shaping speeds at different contact points. Modeling of the coating tool 600 including the polishing flow rate during priming, flow rate versus tool direction, etc. And / or one or more of the various applications described in detail herein and particularly below.
[0925]
[0925] Machine vision processing steps for nail position and extent
[0926]
[0926] Figure 38B is a flowchart of a machine vision method 2650 according to an exemplary embodiment. The vision system 200 may include the machine vision method 2650, which may be part of a computer software system 1400, and / or a computer hardware system 1500, and / or a cloud computing system 1700, and / or a path planning application 2510(147), and / or a host computer. The machine vision method 2650, also known as machine vision processing, may start at 2651 by obtaining a certain input 2654 (step 1 in Figure 38B). The certain input may include one or more of the following. An acquired image and auxiliary information. A "main" image of a widely illuminated finger acquired by each of three fixed RGB cameras (e.g., 、Images obtained by 210, 220, 230, i.e., approximately in front of / above the finger (image of the "top" camera) and on the left and right sides of the hand (images of the "left" and "right" cameras). The images of the side cameras may be used to obtain a clear and useful image of the user's thumb. All top camera images can orient the finger in a standard direction (referred to as "up" here when displayed conventionally). A "stack" of images from the same camera illuminated by a local light source (single LED) at a fixed position. Optionally, images from the same camera illuminated only by ambient lighting, illuminated by a local light source (single LED) at a fixed position. A reference frame (RF) for coordinates consisting of an origin position and the directions of three orthogonal coordinate axes (x, y, z) is defined. (The machine vision (MV) components of the device can transmit position and orientation information to the robot components with reference to the RF). The three-dimensional position of the camera within the RF (in some embodiments, the camera and the handrest 1200 are fixed and all images are registered with each other. Assuming that a certain feature exists in one pixel of an image and the hand is not moving, that feature exists in all other pixels). The three-dimensional position of the LED within the RF for any LED used in the image stack. The three-dimensional position of a point on the handrest 1200 within the RF. And / or, the characterization of the expected finger positions on the handrest 1200, e.g., the approximate row and column ranges of each finger in the image of each camera based on the known arrangement of the handrest 1200.
[0927]
[0927] The images are preprocessed 2657 (step 2). The preprocessing may be performed with a 3x3 median filter. Also, unless otherwise specified, all primary images may be locally histogram equalized in luminance (while maintaining their hue and saturation). The preprocessing may remove broken pixels that are either fully on or fully off. Outliers may be excluded by averaging each pixel with its nearest neighbor.
[0928]
[0928] The range and height profile of the claws (e.g., height vs. horizontal position) are determined at 2660 (step 3). The range and height profile of the claws may generally be determined by a series of steps that are applied separately to each finger. For example, for the top camera image, the steps may perform one or more of the following in any suitable order. Determine an approximate finger and claw placement 2663 (step 4). Determine a specific "edge map" 2666 (step 5). Combine the four edge maps into one "average" map 2669 (step 6). Determine pixel positions 2672 (step 7). Perform watershed processing 2675 (step 8). And / or define a mask 2678 of the final claw range (step 9).
[0929]
[0929] Specifically, the step 2663 of determining the finger and claw placement may be defined by a binary "mask" NB, i.e., a binary map that identifies pixels that appear to include the finger and the claws of the handrest 1200 and portions near them. In this description, "appear to include" means that the pixel has an appropriate color, is organized in a region of appropriate size and texture, is seen near pixels with certain other characteristics, etc. More specifically, this process may proceed as follows. Specifically, two finger masks (a binary mask FB for identifying pixels that appear to include a part of the finger and a fuzzy logic mask FZ for identifying the degree (ranging from 0 to 1) to which each individual pixel appears to include a part of the finger) are determined based on the main image without histogram equalization, and also, the axis of the claw or the distal phalanx (the last segment of the finger) and the axis of the centroid of the binary mask that is an approximation of the center of the claw or at least the distal phalanx of the finger are calculated.
[0930]
[0930] Expand the mask FB to include several pixels of the background (handrest 1200) as the new BB. Currently, this step expands by 11 pixels, approximately 1 / 2 mm (approximately 0.01969 inches). (All filtering operations, both linear and morphological, use a circular neighborhood unless otherwise specified).
[0931]
[0931] Calculate several simple geometric bins (left, right, top, bottom, upper left, upper right, lower left, lower right half-spaces of the centroid) based on the above centroid. These, and their combinations, are useful for concentrating processing on specific sides of the nail, such as the proximal contour and the free end.
[0932]
[0932] Determine the fuzzy mask EZ of the free end of the nail (if any).
[0933]
[0933] Determine the fuzzy mask NZ for the presence (part) of the nail. This algorithm consists of expanding FZ and EZ by 5 pixels (about 1 / 4 mm (about 0.009843 inches)) each, using the larger one at each pixel, which corresponds to a fuzzy logic Or operation, eroding only the same 5 pixels, and performing a flood fill of the resulting "depression", i.e., low pixel values. Note that the last operation is an analog of gray value to fill all holes in the binary mask.
[0934]
[0934] Binarize NZ as a new bin. In this step, use the threshold of the Otsu algorithm, i.e., the threshold that equalizes the variances of the distributions below and above the gray value threshold. This new bin is processed to determine the largest connected region of "on" pixels, and all other pixels are turned "off", generating an approximate nail region of the handle 1200 and a bin NB of adjacent pixels. NB is used to provide information for all subsequent processing, especially the processing of the nail boundary.
[0935]
[0935] Determine a specific "edge map" step 2666. That is, an image reflecting the transition between regions, especially the nail / finger and the nail / handle 1200, can be executed according to various criteria. These criteria are color (RGB pixel value), surface normal direction, and albedo (surface reflectance). The procedure is as follows.
[0936] For each color channel of the main image masked by both FB and BB, form binary masks GB for the gradients, i.e., for both increasing (+) and decreasing (-) pixel values in both the x and y pixel directions (a total of 12 such masks). Since the pixels of increasing and decreasing values along the boundary line are separated by a characteristic distance (approximately 2 mm (0.07874 inches) across each contour), cancel each + / - pair of the x or y masks by half of this distance and subtract the minus from the plus. Thus, high values represent high-gradient regions where the appropriate cancellation of both signs has occurred. Next, generate an edge map by averaging (in the sense of the root mean square) across the color channels and also across dimensions x and y.
[0937] For each color channel of the main image, form a "degree of edge" measurement value at each pixel (as by morphological gradient).
[0938] For a stack of single LED images, convert the R+G+B pixel values to gray and use photometric stereo techniques to determine the surface normal vector and albedo at each pixel. Next, determine a similar "edgeness" scale for the normal vector and a different scale for the albedo.
[0939] Step 2669 of combining the above four edge maps into one "average" map can be performed by forming the mean of the squares of the respective square roots. Mask these with a combination of BB and NB, i.e., suppress any "edge" information except for the pixels within either NB or BB. Finally, histogram equalize this map EA.
[0940] Step 2672 of determining the pixel position may be performed by determining a pixel position C that is certain to be within the claw region.
[0941] Step 2675 for performing watershed processing can include performing watershed processing on the EA and marking the C and the outer boundary of the entire image as the "bottom" of each watershed. When most of the boundary of the claw is well identified in the EA, this forms a complete - perhaps distorted - boundary between the pixels of the claw (a single region connected to C) and the outside (the region connected to the outer boundary). Next, the pixels of the region connected to the outer boundary line are excluded and masked with the BB. Also, the remaining small connected regions (less than 35 pixels, for example a circle with a diameter of ~1 / 3 mm (0.01312 inch)) are excluded. Finally, the remaining largest region is retained and opened (eroded / dilated) by 7 pixels (~1 / 3 mm (0.01312 inch)) to generate a binary watershed-based map WB.
[0942] Step 2678 for defining the final claw range mask may include opening the WB by 15 pixels (~2 / 3 mm (0.02625 inch)), processing the result with the Chan-Vese version of the active contour (or "snakes") algorithm, and using the adjusted main image as the reference image of the algorithm to define the final claw range mask XB.
[0943] Machine vision method 2650 may end at 2699 with a height map for each finger's claw region and the output of the claw or phalangeal axis, or other suitable output obtained from those including steps 2654 - 2678.
[0944]
[0944] Figure 39 is a flowchart of the first path planning program 2700. The first path planning program 2700 may provide full-hand application path planning. The first path planning program 2700 may include one or more of the following steps in any suitable order. Start 2705. Next, call the vision system 200 to capture an image and detect the pose and shape of the nail 2710. Next, query whether the vision capture was successful 2715; if the vision capture was not successful, warn the user about the failure and prompt to confirm the capture 2720. If the vision capture fails, warn the user to confirm a re-capture. If the vision capture is successful, compare the detected nail pose and shape with the list of nail poses and shapes 2725. Next, generate a pump priming path for the application tool 600 2730. Next, start with a nail index of i = 0 2735. Next, generate a path to move the application tool 600 from the tool shed (or current position) to the center of the cuticle of nail i 2740. Next, generate a manicure application path for the application tool 600 for nail i 2745. Next, query whether the last nail has been painted 2750. If the last nail has not been painted, lift the application tool 600, pass to a position above the next nail, and generate a path to lower it to the center of the cuticle of the next nail i = i + 1 2755 (and return to step 2745). If the last nail has been painted, a path for de-priming the application pump 2760; then output all the execution paths 2765. Perform a stop 2795.
[0945]
[0945] Figure 40 is a flowchart of the second path planning program 2800. The second path planning program 2800 may provide a single nail application path plan. The second path planning program 2800 may include one or more of the following steps in any suitable order. Start 2805. Next, call the vision system 200 to capture an image and detect the pose and shape of the nail 2810. Next, sample a matrix of points (for example 、Sample the point cloud) in the surface of each nail in a grid pattern and then query whether the shape of the nail is sufficiently symmetric 2820. If the shape of the nail is not sufficiently symmetric, reshape the point cloud of the nail to be more symmetric while maintaining the position on the original nail 3D surface 2825 and proceed to step 2830. If the shape of the nail is sufficiently symmetric, generate the point cloud of the nail for path planning 2830. Next, start an empty full_path (which can contain a list of 3D points having the normal vectors that the application tool tip needs to track) 2835. Next, generate a boundary painting path by gathering points at the ends of the point cloud 2840. Next, apply a filter (median filter, moving average, or other filter) to smooth the boundary 2845. Next, shrink the boundary path inward by a ratio of the width of the painting tool tip to avoid soaking the cuticle and transverse folds 2850. Next, add the generated boundary path to the full_path 2855. Next, generate a nail painting area path by completely covering the points within the boundary path in an S pattern, spiral pattern, or other pattern 2860. Next, add it to the full_path 2865 of the generated area path and further add it to the full_path 2865. Next, use inverse kinematics to transform the full_path into a sequence of gantry configurations and motor step commands 2970. Next, assign a smooth velocity profile to the motor commands for X, Y, Z, theta, and phi by limiting the acceleration and deceleration during the speed-up and slow-down periods of each motor 2875. Next, based on the type of manicure used and the tool tip speed of the path te Assign a pump motor speed profile throughout the taper path and stop the pump X seconds before the end of the path to avoid damage at the end of the path 2880. Next, generate a single nail application path and motor commands 2885 and stop 2895.
[0946]
[0946] Other parts of this specification describe details regarding variations of paths for the application operation. The path planning application 2510 may use inverse kinematics to calculate the motor positions necessary to achieve the selected application path and calculate the motor speeds to track the path while reducing jerkiness.
[0947]
[0947] The path planning application 2510 may be configured to adjust the flow rate by changing the pump motor speed based on the geometry of the path in order to achieve a uniform polishing surface. The path planning application 2510 may adjust the flow rate to compensate for the manicure flowing downward due to gravity. The path planning application 2510 may adjust the flow rate at the corners of the path to avoid excessive deposition of the manicure. The path planning application 2510 may use a specially designed flow rate profile to prime the syringe. The path planning application 2510 may use a specially designed flow rate profile to decelerate and stop the pump before the end of a section of the path in order to achieve a better finish.
[0948]
[0948] The path planning application 2510 may be configured to generate a smoothed boundary path for a more refined appearance. The path planning application 2510 may generate a boundary path shifted inward from the tip of the nail to avoid painting the surrounding tissue. The path planning application 2510 may round the corners of the shape of the nail or change the shape of the boundary path (and actually the area path) to be more symmetric and / or pleasing for aesthetic purposes for nails of irregular shapes. The path planning application 2510 may provide options for the user on the UI to adjust the shape of the nail application.
[0949]
[0949] The path planning application 2510 may be configured to lift the tool tip at the end of each "cone wax" in order to achieve a cleaner application. For this purpose, FIG. 41 is, for example, a three-dimensional rendering of a boustrophedonic path generated by the first path planning program 2700 or the second path planning program 2800. The path planning application 2510 may be configured to approach each fingernail in a configuration of the gantry 1000 that is specially designed to avoid interference.
[0950]
[0950] The boustrophedonic path may start from the outline and then be filled in row by row. The spikes shown in FIG. 41 correspond to lifting the application tool 600 from the nail and gradually returning it downward to different locations on the nail. FIG. 41 is plotted with respect to a three-axis framework having two angles, namely, for example, x (mm), y (mm), z (mm), θ (degrees), and φ (degrees).
[0951]
[0951] The removal system 300 may include various removal applications. The removal application may include multiple phases of removal for each nail, focusing on different behaviors. The multiple phases may include four phases as follows. Phase 1: A straight sponge wipe from back to front, cleaning the upper part of the nail, and the amount of time the sponge remains stationary on the nail to soak the acetone / manicure remover into the manicure decreases after the first pass, maximizing the speed of manicure removal while effectively soaking the manicure. Phase 2: A straight sponge wipe from back to front. The sponge wipes from the center of the nail to the back, cleaning the manicure at the back edge. Phase 3: Switch to using a brush instead of the sponge, and the brush makes a zigzag movement across the width of the nail, moving forward from the back to polish the nail, and / or Phase 4: Switch to using the sponge and wipe the sponge into the front corner of the nail.
[0952] The removal path may be automatically adjusted for any nail position, orientation, or size. The path planning may be described in a modular fashion such that the manicure can be removed from a number of nails other than five, or such that the user can select a subset of their nails, or to accommodate people with different numbers of nails (finger amputations, polydactyly, etc.). The path planning may use the edge or corner of a sponge or brush to enter the folds of the user's nails to better remove the manicure. The removal sponge may have a curved surface configured to match the curvature of most users' nails. The path planning may plan the removal path such that the removal path maximizes the use of the clean surface of the sponge or brush and avoids depositing the removed manicure on the user's skin or nails. The path planning may obtain visual feedback from the vision system 200 by moving the removal system 400 so as not to interfere with the camera, waiting for the detection result, and then adjusting the path to focus on the removal of the remaining detected manicure.
[0953]
[0953] The shaping system 400 may include various shaping applications. FIG. 42 is a schematic diagram of a fingertip and nail model 2900 including nail features according to a nail shape formula. The desired nail shape may be specified according to the nail shape formula Y = f(x)*w + y0, where f(x) is a continuous function defined within the range [0.5, 0.5] and satisfying f(0) = 0, w is the nail width, and y0 is the desired nail length after shaping. The schematic diagram includes a nail and finger model 2900 including a nevus (e.g., nail root) 2905, a proximal nail contour 2910, a cuticle (e.g., epithelium) 2915, a lunula 2920, a lateral nail contour 2925, a nail plate 2930, a smile line 2935, a free end 2940, a width w 2945, a distance in along the x-axis 2950, and a distance along the y-axis 2955. The x-axis 2950 and the y-axis 2955 may intersect at a point where the cuticle 2915 is closest to the finger and / or is aligned with the centerline of the finger and / or nail.
[0954]
[0954] The different definitions of f(x) may be implemented for each of the nail shapes 3000, or any other arbitrary shape, as shown in FIG. 43, which includes 14 schematic views of the nail shape. The nail shape 3000 can include an ellipse 3005, a dagger 3010, an almond 3015, a lipstick 3020, a circle 3025, a pointed tip 3030, a cut-off 3035, a square (rounded corners) 3040, an edge 3045, a square ellipse 3050, a ballerina or coffin 3055, a trapezoid 3065, a stiletto square 3070, etc.
[0955]
[0955] The path planning pre - cation 2510 may be configured to receive a desired nail shape specified by the user, analyze the shape to ensure that it is achievable based on the current nail shape, and is provided with nail detection including free - margin information and does not damage the user's nail plate.
[0956]
[0956] Figure 44 is a flowchart of the nail shaping path planning program 3100. The nail shaping path planning program 3100 can include one or more of the following steps in any suitable order. Start 3105. Next, call the vision system 200 to capture an image and detect the pose and shape of the nail 3110. Next, query whether the vision capture was successful 3115. If the vision capture was not successful, warn the user about the failure and prompt for re-capture 3120. If the vision capture was successful, compare the detected nail pose and shape with the nail pose and shape list 3125. Next, ask the user to specify the desired nail shape and length via the UI 3130. Next, determine the desired shape and length of the nail 3135. Next, project the 3D nail shape onto the 2D top view of the nail and overlay the desired shape on the image to determine the area of the nail to be removed 3140. Next, query whether the nail to be removed is at least delta_length mm 3145. If the nail to be removed is not at least Δ_length mm, query whether the shaping is complete 3150. If the nail to be removed is at least Δ_length mm, generate a path to remove Δ_length mm from the longest point of the nail 3155. If the nail shaping is complete, stop 3195. If the nail shaping is not complete, generate and execute a path directly along the edge of the final target shape 3160. After completion of step 3155 or 3160, call the vision system 200 to detect the pose and shape of the nail again 3165. Next, query whether the vision capture was successful 3170. If the vision capture was successful, return to step 3140. If the vision capture was not successful, determine whether the vision capture has been retried more than N times (e.g., 3 times) 3175. If the vision capture has not been retried more than 3 times, return to step 3165. If the vision capture has been retried more than 3 times, report a shaping failure and abort the procedure 3180, then stop 3195.
[0957]
[0957] Figure 45 is a three-dimensional rendering of the nail FN of the user U using the nail point cloud method.
[0958]
[0958] FIG. 46 is a two-dimensional top view of a three-dimensional rendering of a nail FN of user U using the nail point cloud method.
[0959]
[0959] FIG. 47 is a two-dimensional top view of a three-dimensional rendering of a nail FN of user U using the nail point cloud method, with the third round of the target shape for path planning superimposed.
[0960]
[0960] FIG. 48 is a two-dimensional top view of a three-dimensional rendering of a nail FN of user U using the nail point cloud method, with the first, second, and third rounds of the target shape for path planning superimposed. In FIG. 48, shaping is performed in multiple rounds, and in each round, a small, constant amount of nail is removed. Vision feedback from vision system 200 may be taken during the rounds of shaping.
[0961]
[0961] Path planning application 2510 may compare the target nail shape with the current nail shape and plan to remove excess material in a series of passes, where each pass approaches the nail from a direction perpendicular to the farthest contact point on the nail boundary or from a direction tangent to the contact point to remove a small amount of material. The contact point may be determined by considering which regions to shape in each pass.
[0962]
[0962] Path planning application 2510 may change the rotational speed of shaping tool 400 based on the amount of material scheduled to be removed, or may decelerate shaping tool 400 in the last few passes of shaping for a more refined finish of the nail edge.
[0963]
[0963] As an alternative way to control the shaping speed of the user's nail, path planning application 2510 can change the contact point of shaping tool 400.
[0964]
[0964] Path planning application 2510 may change the contact point on the shaping tool to achieve different shaping directions.
[0965]
[0965] The path planning application 2510 may obtain visual feedback regarding the current claw shape for each path or for several paths, and re-plan based on the observed shaping result, or determine whether the shaping is completed.
[0966]
[0966] Figure 49A is a two-dimensional image in which the tip of the finger F of the user U is overlaid with the total intensity at each of a plurality of pixels of the image.
[0967]
[0967] Figure 49B is a depiction showing a mask used to separate the pixels corresponding to the tip of the finger F of the user U.
[0968]
[0968] Figure 49C is a two-dimensional image of the tip portion of the finger F of the user U overlaid with the normal vector at each of a plurality of points of the image.
[0969]
[0969] Figure 49D is a two-dimensional image in which the tip of the finger F of the user U is overlaid with the gradient vector at each of a plurality of points of the image.
[0970]
[0970] Figure 49E is a three-dimensional depth map image of the tip of the finger F of the user U.
[0971]
[0971] Figure 49F is a masked version of the three-dimensional depth map image of the tip of the finger F of the user U.
[0972]
[0972] Figure 50 is a schematic diagram of a computer device or system (e.g., 1400, 1500, 1700, 2100, 2200, 2300, 2400, 2500, 2600, 2700, 2800, 2900, 3000, 3100 and / or 3200) including at least one processor and a memory storing at least one program for execution by the at least one processor. Specifically, Figure 50 shows a computer device or system 3100 including at least one processor 3130 and a memory 3140 storing at least one program 3150 for execution by the at least one processor 3130. In some embodiments, the device or computer system 3100 can further include a non-transitory computer-readable storage medium 3160 storing at least one program 3150 for execution by at least one processor 3130 of the device or computer system 3100. In some embodiments, the device or computer system 3100 can further include at least one input device 3110 configured to transmit information to or receive information from any one of an external device (not shown), at least one processor 3130, the memory 3140, the non-transitory computer-readable storage medium 3160, and at least one output device 3170. The at least one input device 3110 can be configured to wirelessly transmit or receive information to or from an external device via means for wireless communication such as an antenna 3120, a transceiver (not shown), etc. In some embodiments, the device or computer system 3100 can further include at least one output device 3170 configured to transmit information to or receive information from any one of a group consisting of an external device (not shown), at least one input device 3110, at least one processor 3130, the memory 3140, and the non-transitory computer-readable storage medium 3160. The at least one output device 3170 can be configured to wirelessly transmit or receive information to or from an external device via means for wireless communication such as an antenna 3180, a transceiver (not shown), etc.
[0973]
[0973] At least one program 3150 may include one or more instructions that include one or more steps of the exemplary process 2300. The instructions of at least one program 3150 may include multiple steps not included in the processing herein, duplication of one or more steps of the processing herein, and / or deletion of one or more steps of the processing herein. The steps may be executed by at least one program 3150. The input device 3110 may be any input device of the system 100 or any other suitable component of the system 100. The output device may be any output device of the system 100 or any other suitable component of the system 100. The controller may be part of the computer device or system 3100 or separate therefrom.
[0974]
[0974] Each of the above-identified modules or programs corresponds to a set of instructions for performing the functions described above. These modules and programs (i.e., sets of instructions) need not be implemented as separate software programs, procedures, or modules, and thus various subsets of these modules may be combined or rearranged in other ways in various embodiments. In some embodiments, the memory may store a subset of the modules and data structures identified above. Additionally, the memory may store additional modules and data structures not described above.
[0975]
[0975] The illustrated aspects of the present disclosure may also be implemented in a distributed computing environment where certain tasks are performed by a remote processing device linked through a communication network. In a distributed computing environment, program modules may be located in both local and remote memory storage devices.
[0976] Furthermore, it will be understood that the various components described herein may include electrical circuits (s) that can include components and circuit elements of appropriate values to implement embodiments of the subject innovation (s). Furthermore, it can be understood that many of the various components can be implemented on at least one integrated circuit (IC) chip. For example, in one embodiment, a set of components may be implemented on one IC chip. In other embodiments, at least one of each component is fabricated or implemented on a separate IC chip.
[0977] As noted above, this includes examples of embodiments. Of course, it is not possible to describe every possible combination of components or methodologies for the purpose of describing the claimed subject matter, but it will be understood that many additional combinations and permutations of the subject innovation are possible. Accordingly, the claimed subject matter is intended to embrace all such alterations, modifications, and variations that fall within the spirit and scope of the appended claims. Further, the foregoing description of the exemplary embodiments of the subject disclosure, including what is set forth in the summary, is not intended to be exhaustive or to limit the disclosed embodiments to the precise forms disclosed. Specific embodiments and examples are described herein for illustrative purposes, but various modifications within the scope of such embodiments and examples will be apparent to those of ordinary skill in the relevant art.
[0978] In particular, also with respect to the various functions performed by the components, devices, circuits, systems, etc. described above, the terms used to describe such components are intended to correspond to the specified functions of the described components (e.g., functional equivalents) that perform the functions in the exemplary aspects illustrated herein, even if not structurally equivalent to the disclosed structure, unless otherwise indicated. In this regard, it will also be recognized that the present innovation includes not only systems, but also computer-readable storage media having computer-executable instructions for performing the various acts and / or events of the claimed subject matter.
[0979]
[0979] The foregoing system / circuit / module has been described in terms of the interactions between some of the components / blocks. It can be understood that such systems / circuits and components / blocks can include, in accordance with their components or designated sub-components, a part of the designated components or sub-components, and / or additional components, as well as the various permutations and combinations...
Claims
1. one or more of a shaping system, a nail polish removal system, and a cuticle management system; A vision system; A nail polish application system, and Nail care system, including mobility system.
2. the orthopedic system is configured for one or more of rotational motion, linear reciprocating motion, and rotational oscillation; The nail care system of claim 1 , wherein the shaping system includes an abrasive element.
3. The nail polish removal system comprises: a nail polish removal tool including one or more of a sponge, a semicircular groove or groove pattern on a surface thereof, and a brush or one or more bristles; The nail care system according to claim 1 or 2.
4. The nail care system of any one of claims 1 to 3, wherein the cuticle management system comprises a burnishing tool.
5. The nail-care system of any one of claims 1 to 4, wherein the vision system includes an image acquisition system, an illumination system, and a machine vision processing system.
6. The machine vision processing system comprises a computer device; The computing device comprises at least one processor and a memory that stores at least one program executed by the at least one processor; The at least one program includes instructions, When the instructions are executed by the at least one processor, the at least one processor: receiving image information from the vision system; pre-processing the received images; determining a nail area and a nail height profile based on an analysis of the pre-processed images; determining finger and nail configurations based on analysis of the preprocessed images; 6. The nail care system of claim 5, further comprising: outputting operational instructions for one or more of the shaping system, the nail polish removal system, the cuticle management system, the vision system, the nail polish application system, and the mobility system based on the determined nail area, the determined nail height profile, and the determined finger and nail configuration.
7. The nail care system according to any one of claims 1 to 6, wherein the nail polish application system comprises a reservoir or vial in fluid communication with a nozzle.
8. the reservoir or the vial comprises a cap; the cap is configured to remain stationary relative to the nozzle; The nail care system of claim 7 , wherein the reservoir or vial is configured to be moved relative to the nozzle such that fluid within the reservoir or vial flows out of the nozzle.
9. 9. The nail care system of claim 1, wherein the mobility system is configured to rotatably move one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system in at least three directions and about at least two axes.
10. The nail care system of any one of claims 1 to 9, further comprising a quick drying system.
11. The nail care system according to any one of claims 1 to 10, further comprising a hand massage system.
12. The nail care system of any one of claims 1 to 11, further comprising a nail identification, diagnosis, and condition estimation system.
13. 13. The nail care system of any one of claims 1 to 12, further comprising a housing system configured to enclose the mobility system and one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system and enable movement thereof in at least three directions and rotationally about at least two axes.
14. The nail care system of any one of claims 1 to 13, further comprising a hand rest or foot rest system including one or more datums and at least one finger guide with bilateral symmetry.
15. The nail care system of any one of claims 1 to 14, further comprising a cartridge or pod system containing one or more components of the nail polish application system and the nail polish removal system.
16. configured to be moved by the mobility system; 16. The nail care system of any one of claims 1-15, further comprising a multi-tool system configured to engage one or more of the cuticle system, the shaping system, the nail polish application system, and the nail polish removal system.
17. A nail care method, comprising: providing an apparatus, the apparatus comprising at least one processor; and a memory storing at least one program executed by the at least one processor; The at least one program includes instructions, The instructions, when executed by at least one processor, cause the at least one processor to coordinate operation of one or more of a shaping system, a nail polish removal system and a cuticle management system, a vision system, a nail polish application system, and a mobility system.
18. receiving image information from the vision system; pre-processing the received image information; determining a nail area and a nail height profile based on an analysis of the preprocessed image information; determining a finger and nail configuration based on an analysis of the preprocessed image information; 20. The method of claim 17, further comprising outputting driving instructions for one or more of the shaping system, the nail polish removal system, the cuticle management system, the vision system, the nail polish application system, and the mobility system based on the determined nail area, the determined nail height profile, and the determined finger and nail configuration.
19. The computer implemented tool movement method further includes: The computer implemented tool movement method includes: driving one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system to a starting point relative to the nail; driving one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system to a lateral nail fold of the nail; moving one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system in any suitable direction relative to the nail; Lifting one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system; 19. The method of any one of claims 1 to 18, comprising driving one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system to another point relative to the nail.
20. Further comprising a computer-implemented tool movement method, The tool movement method implemented in the computer is 20. The method of any one of claims 1 to 19, comprising driving one or more tools of the shaping system, the nail polish removal system, the cuticle management system, and the nail application system according to a predetermined pattern to position one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail application system at a predetermined position proximate to one or more anatomical features of the nail to perform an operation of one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail application system.
21. for a single nail, multiple nails, and / or a full hand including multiple nails; and generating instructions for driving and operating one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system; The method of any preceding claim, further comprising a computer implemented path planning method.
22. 1. A system for nail care, comprising: An apparatus having at least one processor and a memory storing at least one program for execution by the at least one processor, The at least one program includes instructions that, when executed by the at least one processor, cause the at least one processor to perform coordinated operations of one or more of the shaping system, the nail polish removal system and the cuticle management system, the vision system, the nail polish application system, and the mobility system.
23. a route planning application including a user interface; A nail shape model system; A motion configuration system and a hand model system, A kinematic model system; 23. The system of claim 22, further comprising a computer architecture including: a path planning system.
24. The computer architecture further comprises a vision system architecture; The vision system architecture comprises: A housing system; A vision system; A route planning application; A system according to any preceding claim, comprising a user interface system.
25. A non-transitory computer readable storage medium storing at least one program for nail care, comprising: at least one program for execution by at least one processor, and a memory for storing the at least one program; The at least one program includes instructions that, when executed by the at least one processor, cause the at least one processor to perform operations including one or more coordinated operations of a shaping system, a nail polish removal system, and a cuticle management system, a vision system, a nail polish application system, and a mobility system.
26. receiving image information from the vision system; pre-processing the received image information; determining a nail area and a nail height profile based on an analysis of the preprocessed image information; determining finger and nail configurations based on an analysis of the pre-processed image information; 26. The non-transitory computer readable storage medium of claim 25, further comprising outputting operational instructions for one or more of the shaping system, the nail polish removal system, the cuticle treatment system, the vision system, the nail polish application system, and the mobility system based on the determined nail area, the determined nail height profile, and the determined finger and nail configuration.
27. The non-transitory computer-readable storage medium includes a computer-implemented tool movement method, The computer implemented tool movement method includes: driving one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system to a starting point relative to the nail; driving a center of one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system into a lateral fold of the nail; moving one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system in any suitable direction relative to the nail; Lifting one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system; 27. The non-transitory computer readable storage medium of any one of claims 1 to 26, further comprising driving one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system to another point relative to the nail.
28. The non-transitory computer-readable storage medium includes a computer-implemented tool movement method, The computer implemented tool movement method includes:
28. The non-transitory computer readable storage medium of any one of claims 1 to 27, further comprising driving one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system according to a predetermined pattern to position the one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system at a predetermined position proximate to one or more anatomical features of the nail for performing an operation of the one or more of the shaping system, the nail polish removal system, the cuticle management system, and the nail polish application system.
29. 29. The non-transitory computer readable storage medium of any one of claims 1 to 28, further comprising a computer implemented path planning method for generating instructions for a single nail, multiple nails, and / or a complete hand including multiple nails, and for driving and operating one or more of a shaping system, a nail polish removal system, a cuticle management system, and a nail polish application system.