A medical apparatus for performing electroacupuncture for treatment of traumatic brain injury and cerebral thrombosis is disclosed. The device comprising a 6-DOF (Degree of freedom) Robotic arm, a multi-functional tool tip, an acupuncture friendly MRI helmet and a Magnetic resonance imaging (MRI). The Acupuncture Robot is able to operate with certain needles automatically by inserting a needle, turning, or shaking in certain frequency ranges and apply electrical stimulation to enhance the effects.

A transfer device (110) for transferring sample containers in a sample handling system (112) is disclosed. The transfer device (110) comprises: at least one transport device (114) comprising an array (116) of electromagnetic actuators (118), specifically electromagnetic actuators (118) comprising electromagnetic coils (120); at least one moving unit (122) comprising at least one permanent magnet (124), wherein the moving unit (122) is movable in at least one movement plane (126), specifically in at least one movement plane (126) of the moving unit (122) defined by at least two moving directions (128), through the array (116) by magnetic interaction of the permanent magnet (124) with the electromagnetic actuators (118); and at least one gripper unit (130) for positioning at least one of the sample containers, wherein the gripper unit (130) is movable in at least one gripping direction (132) essentially perpendicular to the movement plane (126), wherein the gripping unit (130) is attached to the moving unit (122).

Further disclosed is a sample handling system (112) for handling a plurality of sample containers and a method for transferring sample containers in a sample handling system (112).

A magnetic end effector utilizing a switchable Halbach array includes a pair of opposing members that can move towards and away from each other. The switchable Halbach arrays are located on or near the inner surface of the opposing members. A mechanical switching system is used to control the switchable Halbach arrays by moving one or more magnets that make up the switchable Halbach arrays. When manipulated in a certain way, the switchable Halbach arrays cause the opposing members to move towards each other, and when manipulate in a different manner, cause the opposing members to move away from each other.

A robot assembly for transporting a substrate is presented. The robot assembly having a first arm and a second arm supported by a column, the first arm further having a first limb, the first limb having a first set of revolute joint/line pairs configured to provide translation and rotation of the distal most link of the first limb in the horizontal plane. The assembly further having a second arm further having a second limb, the second limb comprising a second set of revolute joint/link pairs configured to provide translation and rotation of a distalmost link of the second limb in the horizontal plane. The first limb and second limb further having proximal revolute joints having a common vertical axis of rotation and a proximal inner joint housed in a common housing. The assembly further having an actuator assembly coupled to the first set of revolute joint/link pairs and to the second set of revolute joint/link pairs to effect rotation and translation of the distalmost links of the first limb and the second limb, each of the first limb and the second limb defining, in conjunction with the actuator assembly, at least three degrees of freedom per limb, whereby the distalmost links of the first limb and the second limb are independently horizontally translatable for extension and retraction.

A magnetic end effector utilizing a switchable Halbach array includes a pair of opposing members that can move towards and away from each other. The switchable Halbach arrays are located on or near the inner surface of the opposing members. A mechanical switching system is used to control the switchable Halbach arrays by moving one or more magnets that make up the switchable Halbach arrays. When manipulated in a certain way, the switchable Halbach arrays cause the opposing members to move towards each other, and when manipulate in a different manner, cause the opposing members to move away from each other.

A gripper mechanism and a movement mechanism which utilize an electromagnetic actuator which can secure a sufficient thrust force at least at a certain level over a wide range of displacement. The movement mechanism includes a pair of electromagnetic actuators disposed inside a pair of rails and an intermediate actuator provided between the electromagnetic actuators. The electromagnetic actuators function as a gripper mechanism to be gripped by the rails. The electromagnetic actuators each include a displacement amplification mechanism including a magnetic body, and coils provided in the displacement amplification mechanism. A magnetic flux is generated in the magnetic body by passing an electric current through the coils so as to displace the displacement amplification points of the displacement amplification mechanism.

Various embodiments relate to magnetically moveable displacement devices or robotic devices. Particular embodiments provide systems and corresponding methods for magnetically moving multiple movable robots relative to one or more working surfaces of respective one or more work bodies, and for moving robots between the one or more work bodies via transfer devices. Robots can carry one or more objects among different locations, manipulate carried objects, and/or interact with their surroundings for particular functionality including but not limited to assembly, packaging, inspection, 3D printing, test, laboratory automation, etc. A mechanical link may be mounted on planar motion units such as said robots.

A system configured to process prerolled cigarettes can include one or more prerolled cigarette holders, an adhesive spraying station, and a fluidized bed coating station. The adhesive spraying station can apply adhesive to prerolled cigarette(s) held by the prerolled cigarette holder(s) and inserted therein. The fluidized bed coating station can apply a coating to prerolled cigarette(s) held by the prerolled cigarette holder(s) after the prerolled cigarette(s) have had adhesive applied thereto. The system can form cannabis based infused prerolled cigarettes. The prerolled cigarette holders can be magnetic collet devices. Additional system components can include a prerolled cigarette holder loading station, a robotic arm, and an end effector.

A collet device configured to hold a separate object includes an enclosure, collet, and internal magnetic component. The enclosure can be configured to house internal components and can define an elongated shape having an enclosure opening at a distal end thereof. The collet can be situated within the enclosure and configured to accept a separate object inserted through the enclosure opening and into the collet. The collet can include a collet opening and a plurality of clamping components configured to actuate between an open position to release the separate object and a closed position to hold the separate object. The internal magnetic component can be within the enclosure and configured to facilitate actuation of the collet between the open and closed positions based on magnetic interactions between the internal magnetic component and a separate external activating magnetic component located outside the collet device and proximate the internal magnetic component.

A system configured to apply adhesive to prerolled cigarettes can include an adhesive tank, spraying chamber, adhesive nozzles, and spraying chamber heating component. The adhesive tank can hold a fluid adhesive material therein. The spraying chamber can include a bottom, one or more outer walls, and an upper opening to define an internal volume. The spraying chamber can receive prerolled cigarettes inserted into the internal volume during a spraying operation. The adhesive nozzles can be located within the internal volume to receive the fluid adhesive material from the adhesive tank and spray the fluid adhesive material onto the prerolled cigarettes inserted into the internal volume during the spraying operation. The spraying chamber heating component can heat the spraying chamber during the spraying operation. The system can be part of an overall system configured to process prerolled cigarettes that can also include prerolled cigarette holders and a fluidized bed coating station.