BACKGROUND OF THE INVENTION

[1] This invention relates to hair braiding apparatus, and more specifically a mechanized hair braiding to braid natural hair, artificial hair, and combinations of both.

[2] Braiding was invented in 3500 BCE in present-day Namibia. Women would spend hours braiding each other's hair by hand into intricate hairstyles. 5000 years later, nothing has changed. The process is still manual and takes hours. Globally, 8 billion hours are spent braiding hair each year among the 160 million Black women who get their hair braided regularly. In the USA, braiding is expensive ($200-400) , time-consuming (5-8 hours) , often painful and inconsistent. If braiding were quicker, 90% of people would get their hair braided more often. Learning to braid well takes many years of training to be proficient at producing consistent braids over multiple hours. Long term, braiding professionals develop inflammatory hand diseases such as arthritis from the fine motor engagement required to braid.

[3] The invention provides a hand-held or mounted device allowing humans to produce braids on scalp-attached hair much faster, and more consistently.

SUMMARY OF THE INVENTION

[4] The subject matter of this application may involve, in some cases, interrelated products, alternative solutions to a particular problem, and/or a plurality of different uses of a single system or article. [5] In one aspect an apparatus for braiding hair is disclosed. In this aspect, the apparatus includes a main body, a nest contained within the main body, and two or more bobbins located within the nest. The bobbins are configured to create a braid upon the activation of an electric motor.

[6] In another aspect a gear system is disclosed. In this aspect, the gear system includes a drive gear connected to an electric motor. The gear system also includes two motor pinion gears that are indirectly connected to the drive gear by two or more pinion gears. The gear system also includes a two concave platforms and multiple bobbins.

BRIEF DESCRIPTION OF DRAWINGS

[7] Fig. 1 provides a perspective view of one embodiment of a plate according to the present disclosure.

[8] Fig. 2 provides a perspective view of one embodiment of a hand-held apparatus for braiding hair according to the present disclosure.

[9] Fig. 3 provides a perspective view of one embodiment of a hand-held apparatus for braiding hair according to the present disclosure.

[10] Fig. 4 provides a perspective view of one embodiment of a hand-held apparatus for braiding hair according to the present disclosure. [11] Fig. 5 provides two perspective views of one embodiment of a plate attached to a plurality of bobbins according to the present disclosure.

[12] Fig. 6 provides a perspective view of another embodiment of a hand-held apparatus for braiding hair according to the present disclosure.

[13] Fig. 7 provides a side perspective view and a cross-sectional perspective view of one embodiment of an electromagnetic channel loop according to the present disclosure.

[14] Fig. 8 provides a perspective view of one embodiment of an electromagnetic magnetic plate according to the present disclosure .

[15] Fig. 9 provides a perspective view of one embodiment of an apparatus for braiding hair according to the present disclosure .

[16] Fig. 10 provides a top perspective view of one embodiment of an apparatus for braiding hair attached to a plurality of electric motors according to the present disclosure.

[17] Fig. 11 provides another perspective view of one embodiment of an apparatus for braiding hair attached to a single electric motor according to the present disclosure. [18] Fig. 12 provides a perspective view of one embodiment of a gear mechanism for the apparatus for braiding hair according to the present disclosure.

[19] Fig. 13 provides a perspective view of one embodiment of an apparatus for braiding hair attached to a tube system according to the present disclosure.

[20] Fig. 14 provides a perspective view of another embodiment of a tube system according to the present disclosure.

[21] Fig. 15 provides a perspective view of one embodiment of an apparatus for braiding hair and a hair extrusion mechanism according to the present disclosure.

[22] Fig. 16 provides cross-sectional perspective view of one embodiment of an end effector mechanism according to the present disclosure.

[23] Fig. 17 provides a cross-sectional perspective view of another embodiment of an end effector mechanism according to the present disclosure.

[24] Fig. 18 provides a cross-sectional perspective view of one embodiment of a bobbin with an air fan end effector mechanism according to the present disclosure.

[25] Fig. 19 provides a cross-sectional perspective view of yet another embodiment of an end effector mechanism according to the present disclosure. [26 ] Fig . 20 provides a perspective view of one embodiment of an apparatus for braiding hair mounted to a stand according to the present disclosure .

DETAILED DESCRIPTION OF THE INVENTION

[27 ] The detailed description set forth below in connection with the appended drawings is intended as a description of presently preferred embodiments of the invention and does not represent the only forms in which the present disclosure may be constructed and/or utili zed . The description sets forth the functions and/or the sequence of steps for constructing and operating the invention in connection with the illustrated embodiments .

[28 ] An apparatus for braiding hair is contemplated here . The apparatus may have a first bobbin or arm that has an attachment method for grasping a strand of hair, ribbon, or extensions , and a second bobbin or arm that has an attachment method for grasping a strand of hair, ribbon, or extensions . In further embodiments , the apparatus may have a third or more bobbin or arms that has an attachment method for grasping a strand of hair, ribbon, or extensions . These bobbins may be placed in, on top of , or within a channel that creates a loop which allows the bobbin to move completely through the loop . In some embodiments , the loop could also create a figure of 8 shape or be comprised of two or more intersecting loops thus allowing the bobbins to move in a continuous motion through the loop . The channel loop may also accommodate multiple bobbins and may allow the bobbins to travel in di f ferent directions or reverse direction .

[29 ] In certain embodiments , the bobbins are propelled through the braiding channels by any of the following mechanisms : a . Mechanical interaction between gears or motors to drive . b . Electromagnetic force and induction to create a force and acceleration on charge carriers in the system to direct them through the channel or control the vertical position of the bobbins within the channel . In such embodiments , the bobbins may be controlled in motion and position by one or a plurality of electromagnets which may control movements of the bobbin or bobbins in the channel . In certain embodiments , the bobbins may be " levitated" so as to not contact the channel walls during operation . c . Air in j ets or constant streams or combinations thereof too . d . Liguid propulsion . e . A system of tracks akin to train tracks guiding the bobbins along the channel . f . Spring powered propulsion . g . Powered wheels to push the bobbin along the braiding channels .

[ 30 ] In certain embodiments , the bobbins may be comprised of a cylindrical component that can attach to a flexible stranded material such as human hair, synthetic hair or extensions , ribbon, yarn, or thread . The bobbins may be defined as a component that attaches to and secures hair, or using some other method, drives the hair in a speci fic motion . [31] In certain embodiments, the braider channels (or "loops") and/or bobbins may include: a. A sensor to detect the location and position in all axes of the bobbins. b. A sensor to detect the direction the bobbins are traveling in. c. A mechanism to control the angle of orientation of the hair and bobbins in order to create tension or a specific look . d. A sensor to detect the tension applied to the hair by the bobbins or the tension on the bobbin itself and mechanism to create even tension in the braid. e. A sensor to detect the speed the bobbins are traveling at . f. Various sensors collecting inputs that permit braiding. g. A mechanism or algorithm that uses inputs in the sensor to control and perform the braiding process by controlling factors such as: the speed of the motion of the bobbins; the direction of motion of the bobbins and hair; the vertical position of the bobbin; the angle of orientation of the bobbin; the tension on hair strands attached to the bobbin or on the bobbin itself, and other factors to provide consistent speed and vertical height and smooth motion to ensure even tight braids, or the desired look and feel of the braids. h. A mechanism or algorithm to release hair or extensions as the braider braids by revolving the bobbin or releasing a spring based clamp on the hair. i. A mechanism to traverse down the strands of hair as the braider performs braiding by retracting the braid on a spring or pulley controlled system. j . A sensor such as a newton meter or force gauge to detect the extent of force. k. A sensor attached to the top of the device to observe the previous braided portion of the braid or otherwise, nearby braid and assess the style, thickness, and tightness of the braid in order to recreate the braid it observes .

[32] In certain embodiments, this sensor may use methods of detection such as vision recognition, or infrared laser reflection to interpret the braid or infrared. The sensor may be used for tracking any of: a. Even length braids, b. Detect when it is approaching the end of the braid in order to stop, or c. Detect when it is approaching the end of the braid in order to perform a different braiding motion.

[33] In many cases, it is important if not critical that tension be continually applied to and created in the braid. In various embodiments, tension may be created in the braid by one or more of: a. Motors to push, b. Actuation motors, c. Springs, d. Flexors, or e. Adaptable controls that are set by the user or control system in order to achieve a desired style.

[34] In the case of a braiding mechanism driven by electromagnetism, the invention may further comprise: Guidance magnets to ensure the bobbins stay on the track and/or Guidance magnets to ensure the bobbins maintain a consistent vertical position in order to ensure even braiding .

[35] Any algorithms used by the device may be cloud based with controls being driven by cloud based decisions wherein the input from the sensors is compiled from multiple devices or individual braiding machines and sent to a remote server or in order to provide improved controls to one specific individual braiding machine or compiled and distributed to all machines.

[36] In some embodiments, the apparatus incorporates an advanced system that identifies tangles or the braid's completion, and safely releases hair. This release may be achieved by opening grippers or ejecting hair from the apparatus. In some embodiments, the system may utilize mechanical methods, such as force-limiting structures, including, but not limited to springs or hinges to release or eject hair. Excessive force on a strand may trigger removal, preventing hair damage. In certain embodiments, the system may utilize electrical approaches, such as inertial sensors to detect sudden device movements (e.g., impacts or falls) . Release mechanisms may include magnetic deactivation, screw-driven, spring-loaded, or solenoid-driven actions.

[37] In order to achieve a consistent, tight, and even braid, some embodiments of the apparatus may harmonize the speed of strand rotation with the speed of braid extrusion to the scalp. For example, in one embodiment a control system may synchronize strand rotation with real-time data on extrusion speed, braid tension, strand tension, and the position of the braid node (i.e., the point of braiding) . For handheld embodiments of the apparatus, user-initiated pulling speed may be linked to the braid rotation speed, ensuring a desired braid tension. Alternatively, a user-applied force may dictate rotation speed, with greater force corresponding to faster rotation.

[38] For hands-free or mounted embodiments of the apparatus, the retraction or pulling speed may be correlated with the braid rotation to maintain a desired force, position, speed, or braid thickness. This control system may operate through one of several methods: a. Braid thickness may be measured using a mechanical or electrical sensor that gauges the angle of the formed braid and calculates its thickness. This measurement may inform the ratio between retraction or extrusion speed and braid rotation speed. b. The position of the braiding point may be monitored through sensors like light sensors, ultrasonic sensors, computer vision, infrared ("IR") sensors, and motion sensors . The control system may adjust the braid rotation speed to maintain the point of braiding for high-quality results . c . Braid tension may be assessed by mechanical or electrical sensors like strain gauges , load cells , force sensors , and piezoresistive sensors . The control system may regulate braid tension by controlling the retraction or extrusion rate and the speed of strand rotation or action used to create the braid .

[39 ] In addition to the sensors integrated into critical components , such as the grippers and bobbins , the apparatus for braiding hair may also incorporate sensors in various other areas of the device to enhance its functionality and performance . These supplementary sensors can be strategically positioned above channels or within the extrusion mechanism, for example . By monitoring parameters such as the position of the braiding point , the thickness of the braid, or the tension in the strands , these sensors contribute to the precision and control of the braiding process . These real-time data inputs enable the device to make instantaneous adj ustments , ensuring that every braid is consistently tight and even, all while safeguarding against tangles and excessive force .

[40 ] Various embodiments and features of the present disclosure are shown in the enclosed figures .

[41 ] Turning now to Fig . 1 , which provides a perspective view of one embodiment of a plate 1 for attachment to an apparatus for braiding hair, which may be hand-held or mounted . For example , a hand-held embodiment of the apparatus 2 is depicted in Figs . 2 , 3 , and 4 . In this embodiment , the apparatus 2 generally comprises a handle 3 connected to a housing 4 . The plate 1 is connected to the exterior of the housing 4 and is also attached to multiple bobbins 5.

[42] The housing 4 contains the electrical and mechanical components necessary to allow the bobbins 5 to rotate on the plate 1, such as, for example, a power source, control circuitry, motors, gears, shafts, and the like. One or more of these components may be activated upon the pressing of a switch or button 6. In the embodiment depicted in Figs. 2, 3, and 4, the button 6 is attached to the handle 3. This ergonomic placement allows users to easily control the braiding operation with a simple press of the button, initiating or halting the rotation of the bobbins 5, as needed.

[43] Refe rring to Fig. 5, the hair braiding process may be initiated by wrapping a strand of hair 7 around a single bobbin 5. This step can be repeated for one or more bobbins 5, depending on the desired braid pattern. Each bobbin 5 is designed to securely hold and maintain the tension of the hair strand 7, ensuring a precise and controlled braiding operation .

[44] As shown in Fig. 6, once the strands of hair 7 are mounted on each of the bobbins 5, the apparatus 2 may be activated to commence the braiding process. This activation triggers a coordinated movement within the apparatus, causing the bobbins 5 to rotate about a channel loop 8. The channel loop 8 is defined in the plate 1, and serves as a guiding mechanism for the bobbins 5.

[45] Fig. 7 provides both a side and a cross-sectional perspective view of an electromagnetic channel loop 8 and plate 1, respectively. In this embodiment, the bobbin 5 attached to hair strand 7 is magnetized, and the bottom of the channel loop 8 has the same polarity as the bottom component 9 of the bobbin 5. This causes the bobbin 5 to levitate and not contact the interior walls of the channel loop 8.

[46] The magnetic repulsion effect that causes the bobbin 5 to levitate within the channel loop 8 can also be used as a driving mechanism to cause the bobbins 5 to rotate. For example, as shown in Fig. 8, each of the bobbins 5 are magnetized, having both north and south poles. The plate 1 is electro-magnetized, with individual portions of the plate comprising both north and south poles. Upon activation, the polarity of the bobbins 5 and individual portions of the electromagnetic plate 1 will cause the magnetic bobbins to rotate about the channel loop 8. This interaction is polaritybased. As the same and opposing magnetic forces repel and attract, the rotational movement of the bobbins 5 is created.

[47] Referring now to Fig. 9, which provides a perspective view of an apparatus 10 for braiding hair 7. In this embodiment, the apparatus 10 comprises a main body 11 containing a nest 12, which may be curved or nearly spherical in shape. The bobbins 5 are contained within the nest 12, and each of the bobbins 5 comprise grippers 13 for grasping the ends of hair strands 7. The grippers 13 ensure that the hair 7 remains taut and in place, creating a foundation for precise and controlled braiding .

[48] The combination of the nest 12 and grippers 13 attached to the bobbins 5 allows all strands to remain approximately equidistant and close to the node, typically around one centimeter (1cm) from the starting point. Notably, the apparatus 10 shown in Fig. 9 does not comprise angled grippers or re-grabs (i.e., an apparatus component configured to reincorporate slack hair) , simplifying the braiding process and preventing double braiding for hair lengths up to approximately twenty-four centimeters (24cm) . [49 ] The bobbins 5 rotate according to the movement of motor pinion gears 14 located between the main body 11 and the nest 12 . These gears 14 serve as the driving force behind the rotation of the bobbins 5 , ensuring that the hair strands are ef ficiently woven into braids . This precise rotation not only enhances the overall braid quality but also reduces flyaways ( i . e . , loose strands of hair that stick out of a completed braid) , resulting in a neater and more polished final look .

[50 ] As depicted in a top view of the apparatus 10 shown in Fig .

10 , the nest 12 houses precisely three bobbins : a first bobbin 5a, a second bobbin 5b, and a third bobbin 5c . Additionally, two motor pinion gears are at the core of the apparatus : a first motor pinion gear 14a and a second motor pinion gear 14b . The first motor pinion gear 14a is connected to a first electric motor 15a, while the second motor pinion gear 14b is linked to a second electric motor 15b .

[51 ] Before the electric motors 15a and 15b are activated, the bobbins are positioned in a speci fic arrangement . The first bobbin 5a is situated on the left side , the second bobbin 5b on the right side, and the third bobbin 5c is at the center of the nest 12 . The first electric motor 15a and the second electric motor 15b are configured or operable to activate alternatively in sequence , causing the first motor pinion gear 14a and the second motor pinion gear 14b to spin at di f ferent times , one after the other . This alternating rotation of the motor pinion gears 14a and 14b serves as the driving force behind the overall rotation of the bobbins 5a, 5b, and 5c .

[52 ] The rotation of the first motor pinion gear 14a leads to a clockwise movement of the first concave platform 16a, which results in the first bobbin 5a and the third bobbin 5c swapping positions . In other words , the first bobbin 5a moves to the center, while the third bobbin 5c is relocated to the left side of the nest 12 . Following this , the rotation of the second motor pinion gear 14b causes the second concave platform 16b to move counterclockwise . This leads to the second bobbin 5b and the first bobbin 5a switching positions , with the first bobbin 5a now in the right position and the second bobbin 5b at the center of the nest 12 . This sequential rotation process continues until the electric motors 15a and 15b are deactivated, typically after a completed braid is formed by the grippers 13 , which also rotate along with the bobbins 5a, 5b, and 5c .

[53 ] Turning now to Fig . 11 , which provides another perspective view of the apparatus 10 for braiding hair attached to an external gear housing 17 . The external gear housing 17 is connected to the main body 11 and includes a drive gear 18 . The drive gear 18 is connected to a single electric motor 19 , which causes the clockwise rotation of the drive gear 18 when activated . The external gear housing 17 houses one or more additional pinion gears or flexible shafts that indirectly connect the drive gear 18 to the first and second motor pinion gears 14a, 14b, which facilitate the rotation of the first and second concave platforms 16a, 16b and bobbins 5a, 5b, and 5c according to the aforementioned alternating sequential rotation mechanism .

[54 ] Fig . 12 provides a perspective view of one embodiment of a gear system 20 that indirectly connects the drive gear 18 to the first and second motor pinion gears 14a, 14b . This illustration also provides a perspective view of the mechanism that allows the bobbins 5a, 5b, and 5c to continuously switch positions upon the alternating sequential rotation of the first and second concave platforms 16a, 16b . [55 ] As shown, each o f the bobbins 5a , 5b, and 5c are externally threaded with a plurality of teeth 21a, 21b, and 21c . In other words , the first bobbin 5a has a first plurality of teeth 21a, the second bobbin 5b has a second plurality of teeth 21b, and the third bobbin 5c has a third plurality of teeth 21c . Similarly, both the first and second concave platforms 16a, 16b comprise a plurality of teeth and also define a plurality of internal gaps configured to engage with the pluralities of teeth 21a, 21b, and 21c on each of the bobbins 5a, 5b, and 5c .

[56 ] Each of the pluralities of teeth on the bobbins 5a, 5b, and 5c and the concave platforms 16a and 16b are also configured to engage with the teeth on the motor pinion gears 14a, 14b . The aforementioned series of engaging teeth allow the alternating sequential rotation of the motor pinion gears 14a, 14b to cause the alternating sequential rotation of the concave platforms 16a, 16b, which in turn causes the bobbins 5a, 5b, and 5c to continuously switch positions when the electric motor 19 is activated .

[57 ] Upon activation, the electric motor 19 causes the clockwise rotation of the drive gear 18 , which leads to the alternating sequential rotation of the motor pinion gears 14a, 14b through a series of additional interconnected pinion gears . In this embodiment, still referring to Fig . 12 , there are exactly three additional pinion gears that are either directly or indirectly engaged with the drive gear 18 : a first auxiliary motor pinion gear 22 , a second auxiliary motor pinion gear 23 , and a drive pinion gear 24 .

[58 ] The teeth of the drive gear 18 are configured to alternatively engage the first auxiliary motor pinion gear 22 and the drive pinion gear 24 in sequence . The drive gear 18 does not comprise teeth on a portion of its circumference or external surface , which allows the drive gear 18 to only engage one hal f of the gear system 20 at a time . When rotating, the portion of the drive gear 18 that has teeth engages the drive pinion gear 24 , which causes both the pinion gear 24 and the second auxiliary motor pinion gear 23 to rotate in opposite directions . This rotation leads to the clockwise rotation of the second motor pinion gear 14b, causing the second concave platform 16b to rotate in a counterclockwise manner .

[ 59 ] Following this , the portion of the drive gear 18 that has teeth engages the first auxiliary motor pinion gear 22 , which causes the pinion gear 22 to rotate , leading to the counterclockwise rotation of the first motor pinion gear 14a . At the same time, the portion of the drive gear 18 that does not have teeth contacts the top land or top surface of the teeth of the drive pinion gear 24 , which does not cause the drive pinion gear 24 to rotate . In turn, the counterclockwise rotation of the first motor pinion gear 14a leads to the clockwise rotation of the first concave platform 16a while the second concave platform 16b does not rotate . This alternating rotation of the gear system 20 causes the bobbins 5a, 5b, and 5c to continuously switch places until the motor 19 is deactivated .

[ 60 ] Fig . 13 provides a perspective view of one embodiment of a tube system 25 attached to the apparatus 10 for braiding hair . The tube system 25 includes a first tube branch 25a , a second tube branch 25b, and a central tube trunk 25c . The first tube branch 25a and the second tube branch 25b are in contact with the bottom of the first bobbin 5a and the bottom of the second bobbin 5b, respectively . Similarly, the central tube trunk 25c contacts the bottom of the third bobbin 5c . A vacuum may be connected to the bottom of the tube trunk 25c to create suction at the top of each of the bobbins 5a, 5b, and 5c . The suction trans ferred through the tube facilitates the loading of individual strands of hair into the bobbins .

[ 61 ] Once the individual strands of hair are loaded into the bobbins , the tube system 25 may either remain in contact with the bobbins or be disconnected from the apparatus 10 . I f the tube system 25 is removed from the apparatus 10 and hair strands are allowed to dangle freely during the braiding process , then the loose strands of hair may form a braid under or outside the apparatus 10 , potentially forming a double braid or causing locking of knotting within the bobbins , which may prevent the continuation of a braid .

[ 62 ] One mechanism that may solve the aforementioned problem is a tube system 25 that has a spiral shape , as shown in Fig . 14 . This shape is used to draw hair 7 through the tube system 25 by vacuum suction or pulled using a flexible hook . The hair 7 follows the contours of the spiral tube . The spiral shape of the tube reduces the length of tube needed to store a given length of hair by a factor of 2- 10 . It also prevents hair from tangling on itsel f or being deformed as the strands of hair are prevented from doubling back or rubbing on each other . In one embodiment, the bottom or distal ends of each of the bobbins are connected to or define a spiral shaped tube . It should be expressly understood that the aforementioned spiral tube may be continuous or curvilinear or may comprise of a series of angular bends or turns with a cross-sectional profile that may be circular ( as shown) or take another geometrical form such as a curved rectangle or polygon .

[ 63 ] For example, as shown in Fig . 15 , each bobbin 5a, 5b, and 5c has a top or proximal end located within the apparatus 10 and a bottom or distal end 26 that extends outside the apparatus 10 . In this embodiment , the distal ends 26 of each of the bobbins 5a, 5b, and 5c define a straight shaped tube . A microcontroller unit including a circuit board 27 and a processor 28 are connected to the distal end 26 of each of the bobbins 5a, 5b, and 5c, along with a motor driver 29.

[ 64 ] The aforementioned electrical components , which may also include a battery, form a mechanism for actuating one or more end ef fectors located within each of the bobbin tubes . Depending on the embodiment , the end ef fectors may be located within the proximal or the distal end of the tube defined by the bobbins . The end effectors are configured to grip the hair strands 7 located within each of the bobbin tubes while the drive gear 18 , the additional pinion gears or flexible shafts housed within the external gear housing 17 , and the motor pinion gears 14a, 14b all cause the bobbins 5a, 5b, and 5c to continuously switch positions , forming a braid 33 when the electric motor 19 is activated .

[ 65 ] An extrusion mechanism 30 positioned above the apparatus 10 pulls the braid 33 upwards as it is formed . This creates tension in the braid 33 , but prevents tension on the scalp . The extrusion mechanism includes two spring-loaded wheels 31 and a motorized gear system 32 , including a series of gears connected to an electric motor . Upon activation, the electric motor of the motori zed gear system 32 causes the spring- loaded wheels 31 to rotate, pulling the braid 33 away from the apparatus 10 . The extrusion mechanism 30 may be mounted on a rail or stand above the apparatus 10 .

[ 66 ] Figs . 16 provides a cross-sectional perspective view of one embodiment of an end ef fector mechanism 34 located within the tube defined by the bobbin 5 . In this embodiment , the end ef fector mechanism 34 includes a first plate 34a and a second plate 34b connected to the interior wall of the bobbin 5 . The first and second plates 34a, 34b each have grippers 13 at their proximal ends for grasping hair strands that enter the tube defined by the bobbin 5. An electric motor 35 is mechanically connected to the end ef fector mechanism by an actuator 35a . The first and second plates 34a, 34b are held in an open position by springs 36 pressing on both the interior walls of the tube defined by the bobbin 5 and the distal ends of the plates 34a, 34b . Upon activation of the electric motor 35, the actuator 35a causes the springs 36 to compress , which in turn causes the grippers 13 to transition to a closed position, applying force to any hair within the tube . Deactivation of the motor 35 causes the grippers 13 to transition back to an open position, releasing any hair within the tube .

[ 67 ] Fig . 17 provides a cross-sectional perspective view of another embodiment of an end ef fector mechanism 37 located within the tube defined by the bobbin 5. This mechanism 37 includes an air pump 38 with an actuator tube 38a connected to a secondary tube 39. The secondary tube terminates at one or more apertures 40 defined within the interior walls of the primary tube defined by the bobbin 5 . Upon activation, the air pump 38 is operable to supply air to the secondary tube 39 through actuator tube 38a .

[ 68 ] As shown in Fig . 18 , the secondary tube 39 is defined between and extends through the interior and exterior walls of the primary tube defined by the bobbin 5 . The air 41 supplied by the air pump 38 enters the distal end of the secondary tube 39 and exits through the apertures 40 . When the air 41 exits through the apertures 40 , The configuration or shape of the apertures 40 causes the air 41 to travel down ( i . e . , back toward the distal end of the secondary tube 39 ) , which ef fectively pulls the hair strands 7 within the primary tube in the same direction. The air pump 38 may continue supplying air 41 as the hair 7 is braided.

[69] Fig. 19 provides a cross-sectional perspective view of yet another embodiment of an end effector mechanism 42. In this embodiment, the end effector mechanism 42 includes a first part 42a and a second part 42b attached to the interior walls of the bobbin 5. The first part 42a may be manufactured from a standard plastic material, such as, a standard polylactic acid ("PLA") plastic. The second part 42b may be manufactured from a flexible plastic material, such as, a flexible PLA plastic. Accordingly, by comparison, the second part 42b will be more flexible than the first part 42a. A solenoid valve or electric motor 43 having a linear actuator 43a is connected to the first part 42a, and upon activation of the solenoid, the first part 42a is configured to cause the second part 42b to close and grip any hair located within the tube defined by the bobbin 5.

[70] It should be expressly understood that the aforementioned end effector mechanisms 34, 37, and 42 may be located anywhere in the tubes defined by the bobbins, including the distal end. It should also be understood that any of the end effector mechanism 34, 37, and 42 may incorporate one or more mechanical or electrical force sensors to determine and monitor the tension on the braid or the force acting on the individual strands that create the braid.

[71] Turning now to Fig. 20, which provides a perspective view of the apparatus 10 for braiding hair mounted on a rail 44 attached to a stand 45. The rail 44 may be configured to adjust the height, angle, or position of the main body during the hair braiding process, and in one embodiment, the adjustable rail may be replaced by one or more motorized arms The extrusion mechanism 30 is connected to the top of the stand 45 above the apparatus . As previously described, the extrusion mechanism 30 is configured to pull the braid 33 up as it is formed by the apparatus 10 , creating tension in the braid 33 without putting tension on the scalp . In this embodiment, the apparatus 10 is connected to a housing 46 , which contains the mechanical and electrical components located outside the apparatus 10 that are necessary for carrying out the hair braiding process , as described herein . [ 72 ] While several variations of the present invention have been illustrated by way of example in preferred or particular embodiments , it i s apparent that further embodiments could be developed within the spirit and scope of the present invention, or the inventive concept thereof . However, it is to be expressly understood that such modi fications and adaptations are within the spirit and scope of the present invention, and are inclusive , but not limited to the following appended claims as set forth .