Patent ID: 8496410

Claim:
An apparatus for penetrating a particulate substrate, the apparatus comprising: a) a rod; and b) an end-effector rigidly linked to the rod and moveable by retraction of the rod from a first position to a second position, the end-effector including: i) a plurality of arms that move in relation to each other in a direction normal to the path of movement of the end-effector from the first position to the second position; and ii) a displacement module that is a wedge between the arms, wherein movement of the wedge parallel to the path of movement from the first to the second position causes movement of the arms relative to each other in a direction normal to the path of the movement of the end-effector from the first position to the second position, whereby actuation of the displacement module fluidizes the particulate substrate adjacent to the path of penetration of the apparatus, and whereby retraction of the end-effector from the first position to the second position fluidizes the particulate substrate in a path of penetration and subsequent actuation of the displacement module fluidizes the particulate substrate adjacent the path of penetration, thereby reducing resistance of the particulate substrate to movement of the end-effector and causing penetration of the apparatus through the particulate substrate.