Asymmetric Massage End Effectors for Coordinated Robotic Bodywork
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Solution Overview
Problem
Existing robot systems for massages require complex movements and coordination to perform high-quality massages, limiting the variety of techniques they can offer.
Innovation Solution
A robot system with two robotic arms, each equipped with asymmetric end effectors, that perform coordinated body work such as massages by applying different pressures and motions simultaneously or alternately, using a processor to control the arms and ensure synchronized movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robot systems use complex movements and coordination to perform high-quality massages, then massage quality is improved, but device complexity increases and limits the variety of performable techniques
Solution Approach 1:
The patent applies asymmetry by configuring the first end effector with a first shape and the second end effector with a second shape that mirrors the first shape. At least one of the end effectors is asymmetric about a two-dimensional plane perpendicular to the end effector plane. This asymmetric design enables the robotic arms to perform diverse massage techniques (pin and stretch, mother hand, symmetric, and walking compression) through coordinated movements of differently shaped effectors, thereby improving massage quality and technique variety without requiring overly complex individual effector designs
2Ease of manufacture
If robot systems use symmetric end effectors, then manufacturing is simplified, but the ability to perform diverse massage techniques is reduced
Solution Approach 1:
The patent employs asymmetry in the end effector design where at least one end effector is asymmetric about a two-dimensional plane perpendicular to the end effector plane. This asymmetric configuration enables diverse massage techniques to be performed while maintaining manufacturing feasibility through the mirrored shape relationship between the two end effectors
Solution Approach 2:
The asymmetric end effector design serves multiple functions: it enables pin and stretch techniques through differential pressure application, mother hand techniques through coordinated asymmetric movements, symmetric techniques through mirrored arm coordination, and walking compression through sequential pressure points. This multi-functionality achieves technique diversity without requiring multiple specialized effector types
Data Source
AI summary
A massage robot arm end effector includes a mounting interface that is attachable to a robot arm. It further includes a surface distal from the mounting interface having a variable curvature that comprises a plurality of interaction regions. The surface is paired with a garment worn by a subject.