Attachable and detachable end effector for beauty robotics

Abstract

To provide a process in which an eyelash extension is automatically attached.SOLUTION: Devices (515 and 516) are configured to secure safe operation of a robot (530) that is used in beauty use application, which includes built-in of the robot that is not originally designed for such use application. The robot (530) is used for automatically arranging an eyelash extension (502) on natural eyelashes of an object person (301). Safety barriers (515 and 516) are provided by physical barriers (515 and 516) or light curtains, in some embodiments. The robot (530) uses an end effector (1140). The end effector (1140) is configured to extend through the safety barrier and includes a releasing mechanism configured to easily come off from the robot when contacting the object person, which can prevent the person from being injured.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001]

[0001] The present invention relates to a process for automatically attaching eyelash extensions.

Background Art

[0002]

[0002] Eyelash extensions are gaining popularity worldwide. Eyelash extensions are typically distinguished from what is called an "artificial eyelash" or "artificial eyelash structure" by the fact that they are affixed one-to-one to natural lash fibers. An "artificial eyelash" is a set of lash fibers (usually for one eye) connected to a backing material (a thin strip located at the proximal end of the lash fibers) that is affixed to the eyelid. Thus, this process is simpler and provided for home use. However, eyelash extensions are laboriously affixed one by one to each natural lash fiber by a beautician, typically using a cyanoacrylate adhesive. The extensions may have branches, such as those shown in U.S. Patent No. 8,127,774, and there are several ways to connect them to nearby lashes, such as those disclosed in U.S. Patent No. 8,113,218.

[0003]

[0003] When false eyelashes are applied for the first time, it may take a considerable amount of time to apply them, up to 2 hours in some cases. During application, each false eyelash extension must be picked up with tweezers in the appropriate orientation, dipped in an adhesive, and then placed in contact with one of the subject's natural lash fibers until adhesion occurs. This significant labor and cost for beauty salons, as well as the length of time and cost required, deter some customers. As a result, several labor-saving devices have been proposed. One such device is the handheld dispenser for false eyelashes disclosed in U.S. Patent Application Publication No. 2014 / 0261514. Labor-saving proposals have also been made regarding the trays on which extensions come from the factory, as seen in U.S. Patent No. 8,701,685. These trays are intended to counter the fact that it is not only the adhesion step of the process that is difficult for humans. Simply picking up false eyelashes with tweezers is also bone-breaking work. It has also been proposed that by providing each extension with a pre-applied heat-shrinkable tube piece used to secure the extension to the natural lash fiber, the handling of the adhesive and the step of dipping the extension in the adhesive can be eliminated. The invention described herein applies to all false eyelash extensions, whether branched, interconnected, or otherwise, and to all methods of adhering to natural lashes, whether by adhesive, heat-shrinkable tube, or other means.

[0004]

[0004] Therefore, there is a need for a method for more efficiently applying eyelash extensions that reduces both the time and cost incurred in performing it. Further, it is necessary that such a system be demonstrably safe so that the recipient of the extension is comfortable with the procedure. It is very difficult to create a robotic system that can be guaranteed to be safe while in contact with humans. The robotic systems disclosed herein provide such safety, but do so in a much less expensive way than what is commonly referred to as "inherently safe" or "collaborative" robotics. In such systems, safety is typically ensured through the use of redundant feedback (to eliminate axis runaway when the feedback device fails), and through extensive code reviews associated with verification and validation testing of all software used in the system. Examples of such systems are the da Vinci® robot of Intuitive Surgical® Corporation of Sunnyvale, California, and the ARTAS® robot of Restoration Robotics™, Inc. of San Jose, California. n Jose, California's Restoration Robotics (trademark), Inc.'s ARTAS (registered trademark) robot.

[0005]

[0005] For example, the ARTAS (registered trademark) robot is based on a version of an industrial robot arm that is expensive but evaluated to be safe for human-robot collaboration. Further, any software that could pose a dangerous situation to nearby humans needs to be reviewed and tested very carefully. This unfortunately raises costs again and separates programming staff from reusing most commercially available as well as open-source software libraries and tools. Guaranteeing the safety of such software is difficult, and in the case of medical devices, such software is regarded by regulatory bodies such as the U.S. Food and Drug Administration (U.S. FDA) as "software with an unclear development process" and is almost impossible to use in any application that affects human safety.

[0006]

[0006] The invention described herein addresses this problem by using a novel strategy to make robots that come into contact with humans safe. The invention is applicable not only to the work of eyelash extensions but also to other treatments performed on human subjects that can be done by robots.

Summary of the Invention

Means for Solving the Problems

[0007]

[0007] The attachment of eyelash extensions can be automated by a robotic mechanism that positions the extensions without the need for manual application by a human. However, a safety system must be provided to ensure the safety of the extension process in the event of a robotic malfunction, except when using an extremely expensive and complex fail-safe robotic mechanism and software. The subject of the present invention is the combined use of an inherently safe end effector, a release mechanism attached to the end effector, and a safety barrier attached to the robotic mechanism. A specific method of attaching an end effector that can grip eyelash extensions and can operate near a human face without risking injury to the human even if the end effector comes into contact with the human is also disclosed. The present invention is also applicable to other areas of beauty, and in particular, an inherently safe embodiment in tattooing is presented.

[0008]

[0008] Further objects, features, and advantages of the present invention will become more readily apparent when the following detailed description of the preferred embodiments of the present invention is read in conjunction with the drawings in which the same reference numerals denote common parts in several figures.

Brief Description of the Drawings

[0009]

Figure 1

[0009] A diagram showing manual eyelash extensions.

Figure 2

[0010] A diagram showing a 6-axis robot performing automatic eyelash extensions.

Figure 3

[0011] A diagram showing an end effector used with a robot.

Figure 4

[0012] A diagram showing a runaway state where the robot is malfunctioning but the subject remains safe due to the use of the end effector.

Figure 5

[0013] Figure 5A is a diagram showing a simple break away end effector.

[0014] Figure 5B is a diagram showing the end effector of Figure 5A in the detached state.

[0015] Figure 5C is a diagram showing an alternative geometry of a simple break away end effector.

[0016] Figure 5F is a diagram showing the end effector of Figure 5C in the detached state.

Figure 6

[0017] Figure 6A is a diagram showing another variant of an end effector including a detent and other details.

[0018] Figure 6B is a diagram showing another variant of an end effector including a directional detent and other details.

[0019] Figure 6C is a diagram showing an alternative version of the end effector of Figure 6B.

Figure 7

[0020] A diagram showing an end effector used in cooperation with a computer vision system.

Figure 8

[0021] A diagram showing a novel tip for one version of an end effector used to isolate natural human eyelashes.

Figure 9

[0022] Figure 9A is a diagram showing another embodiment of a detachable joint of an end effector having a different configuration.

[0023] Figure 9B is a side view of an assembled version of the end effector of Figure 9A.

Figure 10

[0024] Figure 10A is a diagram showing an eyelash extension handling end effector incorporating a detachable joint.

[0025] Figure 10B is a diagram showing the eyelash extension handling end effector of Figure 10A in the detached state.

Figure 11

[0026] Figure 11A is a diagram showing an alternative routing of the Bowden cable shown in Figures 10A and 10B.

[0027] Figure 11B is a diagram showing the lower layer detachable end effector structure of Figure 11A shown separately for clarity.

[0028] FIG. 11C is a view showing the Bowden cable 1144 of FIG. 11A shown separately for clarity. DETAILED DESCRIPTION OF THE INVENTION

[0010]

[0029] There are several embodiments of the present invention. The discussion begins with a background for comparison and a fairly simple embodiment for eyelash extensions. Next, various improvements to the eyelash extension end effector are discussed. Then, several embodiments using the same basic safety system for other cosmetic applications are presented. Finally, exemplary embodiments for use with eyelash extensions are provided.

[0011]

[0030] The following description sets forth numerous specific configurations, parameters, etc. However, it should be recognized that such description is not intended as a limitation on the scope of the present invention, but rather is provided as an illustration of exemplary embodiments.

[0012]

[0031] In the following description, when the term "eyelash" is used, it is intended to mean one or more natural eyelash fibers of an individual. When the term "eyelash extension" or "extension" is used, it is intended to mean an artificial eyelash extension.

[0013]

[0032] Background and Simplest Embodiment First, consider FIG. 1, a fairly simple diagram showing the current method of eyelash extensions. In this process, an esthetician (not shown) uses tweezers 500 to manipulate the eyelash extension 502. After applying an adhesive to the eyelash extension 502, the esthetician aligns the eyelash extension 502 with one natural eyelash of the subject 301's eyelashes 505 and waits for the adhesive to cure. The safety in this operation is ensured by the training of the esthetician, who has spent hours applying extensions to a dedicated mannequin. However, the risk associated with operating the tweezers 500 in very close proximity to the subject 301's eye is obvious. Even a slight graze of the eye by the sharp tweezers used for eyelash extensions can result in serious injury.

[0014]

[0033] Now, due to advancements in robotics and computer vision, it has become possible to consider automating eyelash extensions. Although not strictly an object of the present invention, a brief description of the main features of such a system will be helpful, and one system is illustrated in FIG. 2 and described in more detail by WO2018 / 093971, which is hereby incorporated by reference herein. Here, the robot 530 is composed of six actuators that roughly resemble a human arm. Such a configuration is common in the field of robotics and is often referred to as a six-axis robotic arm. The robot 530 terminates at a tweezer mount 531, which attaches the tweezers 500 to the robot 530 and actuates the tweezers 500. In this design, the tweezers 500 are simply the same as those that would be used by an esthetician. The tweezers 500 grip the eyelash extension 502, and the robot 530 aligns the eyelash extension 502 along a single eyelash of the eyelashes 505. A computer vision system 504 provides the exact position of the eyelashes 505.

[0015]

[0034] Providing safety to this design requires ensuring that the robot 530 does not accidentally push the gripper 500 into the head of the subject 301, especially the eyes. Such robots exist. For example, surgical robots have become increasingly common in recent years and are used inside patients' bodies along with sharp surgical tools. Nevertheless, there are several difficulties with such designs. First, excellent redundancy must be incorporated into the hardware system. Typically, at least minimal redundancy in sensing and computing is provided. This adds cost and complexity to the robot. Second, more attention must be paid to the software. While the methods for creating safety-conscious design software are well understood, they are very time-consuming and significantly increase development costs. Third, many such systems are directly operated by humans and do not operate autonomously, adding a layer of safety in that a human operator can monitor the behavior of the robot. Finally, such processes generally rule out more advanced computational techniques such as machine learning and artificial intelligence (specifically, the advanced types of techniques that are often used in conjunction with computer vision). This is because it can be difficult to prove that such techniques function accurately and continue to function accurately under all circumstances.

[0016]

[0035] For these reasons, it would be desirable if there were a way to perform light cosmetic type work using less expensive and more conventional robots without sacrificing safety. That is, would it be possible to design a robot that is inherently safe without incurring these additional difficulties? After all, there are a very large number of relatively inexpensive and small robots assembled for industrial use that are capable of performing operations such as eyelash extensions, but the limitation in their application is the desire to obtain sufficient safety for use around humans. The invention disclosed herein is a device that solves this problem for the small and lightweight payload required in cosmetic applications. Of course, it should be noted that there are many techniques for safety that can be used alone or in conjunction with the embodiments disclosed herein to provide the required level of safety to the subject.

[0017]

[0036] One embodiment of the present invention is shown in FIG. 3. Here, a robot 530 is equipped with an end effector 1140. The end effector 1140 protrudes through a physical barrier 515 in a gap 517, but the robot flange 532 cannot pass through the gap 517. A second barrier 516 controls how close the face of the subject 301 can approach the barrier 515 and the gap 517. The physical barrier 515 is a first example of a safety barrier and can be made from any material strong enough to resist the maximum impact of the robot 530 (very suitable are metals and impact-resistant plastics such as polycarbonate). The end effector 1140 is configured to have a release connector or release mechanism. The release mechanism is configured such that the structural connection between the tip of the end effector 1140 and the robot 530 is released when a significant load is applied to the end effector 1140 (such as when an unintended collision with the subject 301 occurs). This protects the subject 301 from any significant forces between the subject himself and the end effector 1140. Some of these components may be omitted in certain embodiments, but in general, with an appropriate end effector and barrier, it is possible to improve the robot to be essentially safe.

[0018]

[0037] Figure 4 shows the result of a situation where the robot 530 inadvertently contacts the subject 301 by the end effector 1140 at the contact point 520. While good practice in robot design would limit such an event, it is well understood in the art that the end effector 506 may contact the subject 301 at some point, for example when not due care is taken in a robotic surgical device. However, since the end effector 1140 includes a release mechanism, the tip of the end effector 1140 easily separates. Further, the robot 530 is in contact with the physical barrier 515, thereby preventing further movement, and the upstream portion of the end effector 1140 (this portion is still connected to the robot) cannot reach the face of the subject 301 enclosed by the second barrier 516. Thus, the embodiment of Figure 4 shows an essentially safe robot system for use in the vicinity of a human subject, where safety is provided by mechanical means.

[0019]

[0038] In some embodiments, a detachable connection is provided as part of the end effector. This can be advantageous for several reasons, such as that the maximum force resulting from a collision with the end effector can be precisely controlled, that the force generated upon detachment can be highly directional, that the end effector need not be deformable under low loads, that no sharp edges are created by a broken end effector, and as a secondary benefit, that the distal portion of the end effector can be replaced (e.g., for hygienic reasons).

[0020]

[0039] Let's first consider a fairly simple embodiment of an end effector that includes a detachment or release mechanism as shown fitted in FIG. 5A. Here, the end effector shown is one half of a pair of end effectors used to isolate eyelashes, but the present invention is not limited to this application. The end effector consists of a proximal portion 1002 and a distal portion 1004, a proximal magnet 1006 fixed to the proximal portion 1002, and a distal magnet 1008 fixed to the distal portion 1004. The proximal magnet 1006 and the distal magnet 1008 are arranged to attract each other. For example, this can be achieved by making the N pole of the proximal magnet 1006 face downwards and the S pole of the distal magnet 1008 face upwards, but there are many similar arrangements that will also cause the two magnets to attract each other, including in the case of magnets with multiple poles. The magnets are fixed here by an adhesive (not shown), but they may be fixed using a mechanical fastener, press fitting, or any of many methods known in the art for firmly fixing a magnet to another surface.

[0021]

[0040] In the presence of a low interaction load 1010, the distal magnet 1008 and the proximal magnet 1006 remain in contact without moving. In FIG. 5B, a high interaction load 1012 causes the distal magnet 1008 to be peeled away from the proximal magnet 1006, disconnecting the distal portion 1004 from the proximal portion 1002. In an embodiment where the proximal portion 1002 is connected to a robotic system and the distal portion 1004 is an end effector or is connected to an end effector, this action can be used as one element for ensuring safety and also as a method for replacing the distal portion 1004 to maintain hygiene. By ensuring that the high interaction load 1012 is greater than any working load that will be received during operation and lower than any load that could cause damage or injury to the object of the end effector, the safety and integrity of the object being handled by the end effector can be ensured if it is guaranteed (through the use of appropriately designed safety barriers) that the proximal portion 1002 cannot come into contact with the subject 301.

[0022]

[0041] The characteristics of this design are such that the ultimate load when the end effector disengages (or detaches) depends not only on the strength of the magnets used (and there are a very large number of options within this design space), but also on the geometric relationship between the load interaction point and the magnetic coupling, which in turn depends on the geometry of the magnets, and which also depends on the coefficient of friction between the magnets and any other surfaces in contact between the proximal portion 1002 and the distal portion 1004. This gives the designer a great deal of freedom not only in choosing the magnitude of the ultimate load when the end effector disengages, but also in choosing that magnitude according to the angle at which the load is applied. That is, the end effector can be designed to disengage preferentially over other parts under a load in a certain direction. Due to the variability of the friction coefficients, the exact analytical solution, while possible, is somewhat limited in use, as the mode of operation that occurs first upon disengagement (e.g., peeling separation versus magnet sliding) can be changed. The inventors have found that, in practice, it is most beneficial to perform empirical characterization and design iteration to obtain the desired disengagement characteristics.

[0023]

[0042] High force density magnets such as "rare earth" magnets (e.g., neodymium magnets) are preferred, but various other types of magnets such as ferrite and alnico are also suitable, non-exclusively. In some embodiments, other means of connecting the proximal and distal portions, such as adhesives, double-sided tape, and elastic bands, may be used.

[0024]

[0043] Figures 5C and 5D show a variant form in which the axis of the magnet is rotated so that the magnets are coupled longitudinally rather than laterally. By doing so, the misalignment is changed, and thus the manner of separation between the proximal magnet 1026 and the distal magnet 1028 can be changed (since the orientation of the magnets at the misalignment point changes with respect to the resultant force). In this embodiment, the distal portion 1024 has a slightly different geometry such that a pure compressive force along the dashed line 1032 generates a pure tensile force between the proximal magnet 1026 and the distal magnet 1028. Thus, the level of the compressive force 1030 that causes the disengagement is simply the level of the force that separates the proximal magnet 1026 and the distal magnet 1028, making it very simple to design the disengagement mechanism. This simplicity of design is an advantage of this embodiment.

[0025]

[0044] It is not necessary for both the proximal segment and the distal segment to have magnets. For example, in FIG. 6A, the distal segment 1049 includes a magnetic plate 1043 made of any material (e.g., iron, nickel, and some steels) that is attracted to the magnet, while the proximal segment 1040 includes the magnet 1042. Of course, the attractive force is different between the magnet and the magnetic material than between two magnets, but this only provides the designer with further flexibility in design. Of course, the magnet and the magnetic material may be arranged in either the proximal or distal link. Here, the choice of placing the magnetic material in the distal link is made due to the desire to reduce the manufacturing cost of the disposable distal link and the fact that magnetic materials (especially steels) are generally less expensive than magnets.

[0026]

[0045] Furthermore, both the magnet 1042 and the magnetic plate 1043 are recessed into the bodies of the proximal segment 1040 and the distal segment 1049 and are flush with the surfaces. It is also possible to recess either the magnet or the magnetic material below the surface of their respective segments to create a gap between the magnet and the magnetic material that significantly reduces the attractive force and provides the designer with additional control. Of course, the gap can be filled with a non-magnetic material (e.g., most plastics and metals), which can consequently completely encapsulate the magnet or the magnetic material within the proximal or distal segment. This can help make the segment cleanable or easier to manufacture. For example, the distal portion 1049 may be an injection-molded plastic component formed over a stainless steel plate insert 1043, and the plastic material may wrap around most of the insert 1043. In this case, care must be taken when using magnetic stainless steel.

[0027]

[0046] FIG. 6A also shows a detent receiving portion 1045 and a detent protrusion 1047 that mate when the magnet 1042 and the magnetic plate 1043 are coupled. The detent receiving portion 1045 and the detent protrusion 1047 constitute a detent 1048. The detent 1048 serves to position the distal segment 1049 relative to the proximal segment 1040, which ensures a repeatable geometric arrangement between the tip of the distal segment 1049 and any robotic system driving the proximal link 1040. As shown, the detent 1048 extends within the page and inhibits movement along the bidirectional arrow 1044. Conversely, different detents may be arranged along the direction of the bidirectional arrow 1044 to inhibit movement into the page. In some embodiments, it may be desirable to use more than one detent to inhibit movement along both axes. In some embodiments, this may be achieved by two point detents rather than a detent that extends across the width or length of the segment. The detent can even have more complex keying features that control the orientation very precisely. However, it is important to note that the detent may also increase the force required to cause disengagement, and the designer must carefully balance these requirements.

[0028]

[0047] FIG. 6B shows an embodiment further including a directional detent 1051 having a directional detent receiving portion 1052 and a directional detent protrusion 1053. The directional detent protrusion 1053 "catches" when pulled to the right and does not "catch" when pulled to the left, so the disengaging force 1056 in the right direction can be greater than the disengaging force 1055 in the left direction. This is beneficial when the end effector needs to be able to pull with a greater force than it can push. In certain techniques for robotic eyelash extensions, this is beneficial for pulling the eyelash extensions from the supply without increasing the compressive force when disengagement occurs (at the supply, the eyelash extensions are often taped to a substrate).

[0029]

[0048] FIG. 6C shows another embodiment in which the detent mechanism of the foregoing embodiment is rotated by an angle of 1059, changing the relationship between the directional detent 1051 and any force applied to the end effector.

[0030]

[0049] The present invention is particularly useful in embodiments where a computer vision (sometimes referred to as machine vision) system is used. Considering FIG. 7, in FIG. 7, cameras 1153 and 1154 communicate with a computer 1160 to together form a stereoscopic computer vision system 1161. The distal segment 1049 includes a fiducial marker tang 1150 to which a fiducial marker 1152 is attached. A robot system 1058 is coupled to both the proximal segment 1040 and cameras 1153 and 1154 through various actuators and structural elements (not shown). Despite the use of detents in the design of the end effector, the orientation of the distal segment 1049 has a certain degree of uncertainty. When the fiducial marker 1152 is recognized by cameras 1153 and 1154, the computer vision system 1161 can correct errors in the orientation of the distal segment 1049, and thus can estimate the position of the distal segment tip 1163 with higher accuracy. In some embodiments where the distal segment tip 1163 is well-defined and easy to recognize, the computer vision system 1161 may be able to directly measure the position of the tip 1163, eliminating the need for the fiducial marker 1150 and associated fiducial marker tang 1150. In some embodiments, multiple fiducials may be used to provide enhanced position and orientation resolution. In some embodiments, components of the distal segment 1049 may be used directly as fiducial markers. In some embodiments, Particularly when direct measurement of the position of the tip 1163 is possible, other types of computer vision systems such as laser rangefinders, LiDAR scanners, and various structured light sensors are possible.

[0031]

[0050] As described above, providing keying features sufficient to accurately align the distal segment 1049 and the proximal segment 1040 may not be practical because it can increase the disengagement force intolerably. Thus, the embodiment shown in FIG. 7 is important. The disengaging contact surface between the distal segment 1049 and the proximal segment 1040 requires two surfaces that are pressed together and thus tends to exhibit static friction (sometimes referred to as "stiction"). This means that the distal segment 1049 and the proximal segment 1040 do not move relative to each other with a slip force less than the force required to separate the segments when they disengage. Thus, below this slip force, the distal segment 1049 and the proximal segment 1040 act as a single unit. As long as this slip force is not exceeded, the geometric relationship between the segments is maintained. As a result, the computer vision system only needs to measure the orientation of the distal segment tip 1163 once, rather than continuously, in order to accurately determine the position of the distal segment tip 1163 in space. This is particularly useful when working with a robotic system in which the distal segment tip 1163 can be selectively positioned in front of a featureless background to enable the computer vision system 1160 to measure the orientation of the distal segment tip 1163 without reference 1152. Once this measurement is made and the relationship between the distal segment tip 1163 and the robotic system is known, the end effector can be reoriented and the position of the distal segment tip 1163 can be known without the need for further measurement. In some embodiments, the robotic system can have some information regarding the position of the distal segment tip 1163 in the form of known geometric parameters and its own model based on various sensors, in which case the measurement can simply be used to refine the model.

[0032]

[0051] FIG. 8 shows an embodiment of the distal segment 1049 that is particularly useful in applications for separating and isolating individual eyelashes. Detailed FIG. 1064 shows a side view of the isolation tip 1062 made of rubber or other compliant material. When the distal segment 1049 contacts a person, the isolation tip 1062 deforms, and then the snap connection to the proximal segment 1040 disengages. Front view 1065 shows the left and right isolation tips (1062L and 1062R) used to isolate a single eyelash. For the isolation to be efficient, both isolation tips must meet at their leading edges, and thus the angle 1069 must be zero or greater. In embodiments where the isolation tip does not have a flat side, it is sufficient to require that the most distal point of the tip is the first part of the tip that contacts when the tip pair is closed.

[0033]

[0052] FIG. 9A shows a perspective view of a particular snap connection embodiment, and FIG. 9B shows a side view thereof. Here, the proximal connection to the robot and the distal connection to the rest of the end effector are broken. The proximal segment 1101 and the distal segment 1102 are identical except for the male and female of the detent 1105. Thus, as long as each pair has a properly fitting detent, they are not particularly fussy about their proximal and distal designations. Four magnets 1108a - d are arranged in two pairs to hold the snap connection together and fit as shown by the arrow 1110. In this embodiment, a ramp 1103 is further included, and this ramp 1103 facilitates engagement and disengagement under a compressive load along the direction of the bi - directional arrow 1106. If the ramp 1103 were instead a vertical feature such as the vertical end 1109 shown in FIG. 9B, the mouth 1110 of the proximal segment 1101 would collide with the vertical end 1109 and receive a very high compressive load in the direction of the bi - directional arrow 1106. This would significantly increase the effective disengagement load and thus be undesirable in many situations.

[0034]

[0053] The detachable connection is useful for end effectors that are more complex than the simple eyelash isolation end effectors discussed so far. In some embodiments, they can be used with a gripping portion in which actuation of the gripping portion is provided through a flexible connection or power transmission device such that the detachable connections are not held together by an operating power transmission device. Such a flexible connection can be provided by transmitting power to the gripping portion through a fluid power connection such as a pneumatic or hydraulic connection or through a mechanical power transmission device such as a Bowden cable or a flexure shaft. Of course, electrical transmission of power beyond the detachment is possible, but having an electric motor on the distal segment increases the mass of the distal segment and the likelihood that high accelerations (common in robotics applications where time matters) can accidentally separate the detachment.

[0035]

[0054] FIG. 10A shows an end effector 1140 designed for the operation of an eyelash extension using a cord gripping portion 1141 and a Bowden cable 1134 (such as that disclosed in International Patent Application PCT / US2017 / 061899). The Bowden cable 1134 consists of a sheath 1132 and a cable 1133. In this embodiment, the cable 1133 connects to a loop of the cord gripping portion 1141 near the tip of the distal segment 1121 at a connection portion that is not visible but is located near the exit point 1129 of the cable 1133. The sheath 1132 is flexible and is coupled to the proximal segment 1120 by an oral ring 1126a and to the distal segment 1121 by an oral ring 1126b. A cable 1130, which is simply an extension of the cable 1133, extends to a robotic system (not shown), where the cable 1130 can be pulled by an actuator such as an electric motor. The detent, the proximal magnet 1122, and the distal magnetic plate 1124 are the same as in the embodiment of FIG. 6B. When the cable 1130 is pulled by the robotic system, the cord gripping portion 1141 tightens the extension 1000. When the cable 1130 is (gently) pushed by the robotic system, the cord gripping portion 1141 releases the extension 1000. Since the compressive load is supported by the sheath 1132 and balanced by the cable 1133, no load is generated at the detachment portion by the actuating force transmitted through the Bowden cable 1134. FIG. 10B simply shows the end effector 1140 with the detachment portion separated.

[0036]

[0055] FIG. 11 shows the same end effector as FIG. 10, but the Bowden cable 1144 makes a complete loop rather than an "S" shape bend. FIG. 7A shows the complete assembly, and the lower disengaged end effector structure and the Bowden cable 1144 are shown separately in FIGS. 11B and 11C respectively for clarity. The bend in the Bowden cable is necessary to provide slack so that disengagement can occur. In some embodiments, it may be possible to provide a straight Bowden cable, especially if a high tensile load on the end effector is desired as long as the required disengagement is not prevented by doing so. The operating load from the Bowden cable in these examples does not create a load at the disengagement, but the bend in the sheath creates a load due to the residual stress caused by bending the sheath from a straight state. Providing a complete loop as shown in FIG. 11 rather than the "S" bend of FIG. 10 creates a bending moment rather than a tensile force at the disengagement connection. Either design can function, and it is simply a matter of choosing a design that does not change the behavior of the disengagement part intolerably and that meets the spatial and geometric design requirements. It is also important to note that any of the other power transmission systems mentioned above (especially fluid power and flex shafts) will generate loads in a similar manner.

[0037]

[0056] Although described with respect to preferred embodiments, it should be understood that various changes and / or modifications can be made to the present invention without departing from the spirit of the present invention. Specifically while a particular preferred disengagement connector or disengagement mechanism has been disclosed, it will be readily understood that various connection configurations can be used while achieving the above objectives.

Claims

1. An essentially safe robot system configured to perform work on a human subject, a robot, a safety barrier between the human subject and the robot, configured to prevent interaction between the human subject and the robot, thereby preventing the robot from causing harm to the human subject, at least one end effector attached to the robot, configured to extend through the safety barrier and including a release mechanism configured to easily disengage from the robot upon contact with the human subject, thereby preventing the at least one end effector from causing harm to the human subject An essentially safe robot system comprising

2. The essentially safe robot system according to claim 1, wherein the at least one end effector includes a flexible strut or tube.

3. The essentially safe robot system according to claim 1, wherein the at least one end effector includes a flexible power transmission interface that traverses the release mechanism, thereby enabling actuation distal to the release mechanism without inhibiting the release mechanism.

4. The essentially safe robot system according to claim 1, further comprising a computer vision system configured to monitor the orientation of the distal portion of the end effector and to communicate the orientation to the robot.

5. The essentially safe robot system according to claim 4, wherein the robot system maintains a geometric model of the robot system and updates the model based on the orientation of the distal portion.

6. The release mechanism includes a proximal portion and a distal portion, the proximal portion being fixed to the robot system and the distal portion being fixed to the end effector, the proximal portion and the distal portion including mating detent features such that the proximal portion and the distal portion have a generally constant spatial relationship when mated.

7. The essentially safe robot system according to claim 6, wherein the engaging detent feature is asymmetric, such that disengagement in a first direction requires less force than disengagement in a second direction.

8. The essentially safe robot system according to claim 1, wherein the at least one end effector includes a nail polishing brush.

9. The essentially safe robot system according to claim 1, wherein the at least one end effector includes a tattooing device.

10. The essentially safe robot system according to claim 1, wherein the safety barrier includes at least one light curtain.

11. The essentially safe robot system according to claim 1, wherein the release mechanism includes at least one magnet. system.

12. The essentially safe robot system according to claim 11, wherein the at least one magnet is coupled to another magnet or a piece of magnetic material, thereby forming a magnetic pair that attracts each other.

13. The essentially safe robot system according to claim 12, wherein one side of the pair is permanently attached to the robot and the other side is attached to the end effector such that the end effector is structurally separated from the robot when the force between the two elements of the magnetic pair is overcome.

14. The essentially safe robot system according to claim 2, wherein the flexible strut or tube has an anvil at its distal end, the anvil has at least two holes, the at least one end effector further includes a flexible cord extending through the at least two holes to form a loop distal to the anvil, the flexible cord extends through the flexible strut or tube to the proximal end of the flexible strut or tube, the at least one end effector further includes an actuator at the proximal end of the flexible strut or tube, and the actuator is configured to selectively pull the flexible cord to selectively change the size of the loop.

15. The essentially safe robot system according to claim 14, wherein the anvil has a groove with a cross-section diameter of 5 to 150 micrometers (microns).

16. The essentially safe robot system according to claim 14, wherein the anvil is not perpendicular to the central axis of the flexible support or tube along at least one axis.

17. The essentially safe robot system according to claim 14, wherein the flexible support or tube is not straight.

18. The essentially safe robot system according to claim 14, wherein the flexible support or tube has a bend exceeding 45 degrees.

19. The essentially safe robot system according to claim 14, wherein the at least one end effector further includes a spring mechanism configured to increase the size of the wheel.

20. An essentially safe robot system configured to perform work on a human subject, a robot, a first safety barrier around the robot, the first safety barrier configured to prevent the operation of the robot beyond the first safety barrier, a second safety barrier around the human subject, the second safety barrier configured to prevent the human subject from exiting beyond the second safety barrier or to prevent the operation of the robot when the human subject exits the second safety barrier, a space between the first safety barrier and the second safety barrier including a safety area, at least one end effector attached to the robot, the at least one end effector configured to extend through the first safety barrier and the second safety barrier and including a release mechanism configured to easily detach from the robot upon contact with the human subject, the safety area being transversable only by the at least one end effector, thereby preventing direct interaction between the human subject and the robot and protecting the human subject from harm, comprising an essentially safe robot system.

21. The essentially safe robot system according to claim 20, wherein the second safety barrier is configured to allow the part to protrude such that the at least one end effector can access a part of the biological structure of the human subject.

22. The essentially safe robot system according to claim 21, wherein the part includes at least one eyelash of the human subject.

23. The essentially safe robot system according to claim 21, wherein said part includes hair of the human subject.

24. wherein said part includes any region of the human body having an allowable pressure exceeding 400 kPa (40 N / cm ２ ), the substantially safe robot system according to claim 21.

25. An essentially safe robot system configured to perform an operation on a region of a human subject, a robot, a safety barrier between the human subject and the robot, the safety barrier being configured to prevent interaction between the human subject and the robot, an allowable load or allowable pressure determined corresponding to a safety load for the region, at least one end effector attached to the robot, the at least one end effector extending through the safety barrier and being configured to structurally detach when a load below the allowable load or the allowable pressure is applied, and being restricted to the region by the safety barrier, at least one end effector An essentially safe robot system comprising.

26. A method of performing a beauty treatment on a human subject using a robot, an end effector coupled to the robot, and a safety barrier, selecting a region of the human subject for the beauty treatment, clarifying an allowable load or allowable pressure for the region, orienting the robot and the safety barrier to restrict access to the region, configuring the end effector to detach below the allowable load or the allowable pressure, performing the treatment A method comprising.

27. An essentially safe robot system configured to perform an operation on a human subject, a robot, at least one light curtain between the human subject and the robot, the at least one light curtain including a circuit configured to disable the robot when a predetermined number of light paths are blocked simultaneously, thereby preventing the robot from harming the human subject, at least one light curtain at least one end effector attached to the robot, the at least one end effector extending through the at least one light curtain and being configured to block fewer light paths than the predetermined number, and being configured to easily detach upon contact with the human subject, thereby preventing the at least one end effector from harming the human subject, the robot or a part of the robot being the at least one light curtain At least one end effector configured to block more optical paths than the predetermined number when extending through the Essentially safe robotic system comprising.

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