Provided is a device, comprising: a barrier configured to impeded or prevent particles shed by a robot in a first volume of space from entering a second volume of space in which the robot manipulates a workpiece; and a robot having three or more degrees of freedom, the robot comprising: a first portion disposed on a first side of the barrier in the first volume, the first portion comprising an actuator of the robot, the actuator being configured to drive movement of the robot to manipulate the workpiece; and a second portion disposed on a second side of the barrier in the second volume, the second portion comprising an end-effector of the robot by which the robot makes contact with the workpiece.

Various automated and semi-automated beverage preparation systems and methods are shown. The beverage preparation system can include a container assembly configured to receive beverage, such as a milk. The container assembly can be configured to receive a flow of steam, air, or additional gasses and vapors to heat and/or aerate the beverage residing therein. The container assembly can include a temperature sensor configured to monitor the rate of heating, and automatically adjust the heating and aeration parameters accordingly.

Provided is an alimentary-product assembling and dispensing device comprising: a plurality of alimentary-ingredient dispensers positioned to dispense respective ingredients in a plurality of different locations of a robotic work environment; a robot configured to receive an open-top vessel from an open-top-vessel dispenser and move the open-top vessel to the different locations to receive different ingredients from the plurality of alimentary-ingredient dispensers, wherein the robot comprises four or fewer degrees of freedom; and a vending aperture through which consumers retrieve vended alimentary products assembled by the robot from ingredients dispensed from the plurality of alimentary-ingredient dispensers.

A method of printing with coffee-based ink comprises providing a thermal ink-jet cartridge having a quantity of a coffee-based ink disposed within; receiving optical density data from a user via a touch-screen computerized interface, where the data describes an optical density of the coffee-based ink present within an ink-jet pod; and computing a customized droplet-size for the coffee-based ink in its current state within the thermal ink-jet cartridge. A suitable printing apparatus can include coffee-based ink in a cartridge, an image-processing system, an image processing module for determining, inter alia, droplet size and missing/defective nozzles, and a nozzle-compensation module. Suitable ink formulations are human-edible and aqueous.

The coffee dispenser disclosed herein may serve a single serving of coffee. The coffee dispenser may include a coffee concentrate grinder which receives a single serving of dehydrated and hardened single serve of coffee for 8 fluid ounces. The grinder may be disposed above a mixing chamber which receives hot water. The hot water dissolves the ground dehydrated coffee.

A method and apparatus for frothing a beverage, e.g., using a beverage preparing device and an ejector is described. Within a housing of the beverage preparing device, an air supply and steam supply may be arranged to deliver air and steam to an ejector outside of the housing. Beverage liquid may be frothed by providing steam and air, then steam alone to achieve frothing and heating. An ejector may supply a mixture of steam and air and a controller may be used to regulate the flow of steam and air through the ejector. The ejector may have a venturi that uses steam flow to create a low pressure region, which draws air into the ejector.

An automated self-cleaning frothing appliance includes: a housing having a base, a tower extending upwardly from the base, and a canopy extending from an upper portion of the tower above the base; a vessel mounted beneath the canopy, the vessel having an outlet at a lower end; a frothing tool extending from the canopy into the vessel; a first fluid pathway in the housing to receive water from a water source and deliver water into the vessel; a valve positioned to selectively open and close the outlet to the vessel; a valve-opening mechanism attached to the housing to selectively open and close the valve; a drain positioned beneath the outlet to receive water draining from the outlet; a second fluid pathway routed from the drain to deliver water to an external receptacle; and a controller operatively connected with the drive unit, the first fluid pathway and the valve-opening mechanism.

An apparatus for preparing a coffee beverage. The apparatus comprises a holder for receiving a coffee container. The holder comprising at least one outlet opening having at least one orifice for generating a coffee beverage flow when coffee beverage is fed to the outlet opening. A liquid flow path extends between the orifice and at least one outflow opening for discharging coffee beverage from the apparatus, a coffee outlet chamber being included in the liquid flow path. The apparatus further comprises an air flow generator for during operation- generating a flow of air in the coffee outlet chamber for entraining in the flow of air an aroma of the coffee beverage; said coffee outlet chamber comprising at least one dispenser opening for dispensing coffee beverage aroma in a direction away from the apparatus, in particular into the direction of the user. The at least one dispenser opening is separate from the at least one outflow opening. A method for preparing coffee beverage comprises the step of generating a flow of air in the coffee outlet chamber.

A method for producing different types of milk-air emulsions with a milk-air emulsion generating device, comprising: producing the milk-air emulsions in dependence on at least one determined physical material characteristic of the milk-air emulsion.

A device (1) for preparing a beverage on the basis of interaction between a beverage extract and an extracting fluid, particularly a beverage having a crema layer, comprises a brewing chamber (10) for accommodating a quantity of the beverage extract, having an inlet (11) for receiving the extracting fluid and an outlet (12) for discharging the beverage. Furthermore, the device (1) comprises restricting means (60) which are movable between an activated position for realizing a restriction (61) in the outlet (12) of the brewing chamber (10) and an inactivated position for minimizing the restriction (61) in the outlet (12) of the brewing chamber (10), and also actuator means (70) for controlling the position of the restricting means (60) in relation to an actual state of pumping means (30) as present in the device (1) for realizing a flow of the extracting fluid.