The μFR is levitated by contra-rotating propellers powered by four 7x2x1-mm ultrasonic motors (originally developed for wristwatches) and is balanced in mid-air by means of a stabilizing mechanism that uses a linear actuator.
The μFR includes two microprocessors, a bluetooth module, a gyro-sensor, an accelerometer and an image sensor.
It was developed in 2004 for full wireless operation paired with independent flight capability.
Epson made the robot lighter by developing a new gyro-sensor[2] that is one-fifth the weight of its predecessor.
Dynamic lift was boosted 30% by the introduction of more powerful ultra-thin ultrasonic motors and newly designed, optimally shaped main rotors.