Force-Sensitive End Effector for Precise Robotic Massage

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Solution Overview

Problem

Existing robotic systems lack accurate force sensing capabilities for performing tasks on deformable bodies, such as robotic massage, leading to suboptimal treatment quality.

Innovation Solution

The implementation of asymmetric end effectors on robotic arms, coupled with force-sensitive resistors and integrated contact sensors, allows for precise force detection and coordinated body work, including massages, by mirroring strokes across a deformable body using a 2D or 3D texture map.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If force sensing is added to robotic end effectors, then measurement precision of force is improved, but device complexity increases

Engineering Contradiction:

Improveforce sensing accuracyVSAvoidend effector structure

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent combines force-sensitive resistor materials directly into the end effector structure, merging the sensing function with the mechanical contact surface. This integration allows force detection without adding separate complex sensing mechanisms, thereby improving measurement precision while limiting the increase in device complexity.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The end effector is designed to serve multiple functions: mechanical contact for massage, force sensing through integrated FSR materials, and potential haptic feedback. This multi-functionality allows the same component to improve measurement precision for force detection without requiring additional dedicated sensing devices that would increase complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If asymmetric end effectors are used, then adaptability to different body parts is improved, but manufacturing precision requirements increase

Engineering Contradiction:

Improvebody part compatibilityVSAvoidend effector shape accuracy

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The patent employs asymmetric end effector designs that mirror each other across a plane, allowing the same asymmetric shape to adapt to different body parts and massage techniques. This asymmetry improves adaptability to various anatomical structures while the mirroring approach simplifies manufacturing by reducing the variety of unique components that must be precisely manufactured.

Inventive Principle:

Principle #4Asymmetry

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enhances the accuracy and quality of robotic massages by enabling precise force application and synchronized movements, improving user comfort and treatment efficacy.

Implementation Method 1

The end effector 111 can include force sensitive resistor (FSR) materials or other types of contact sensors

Methodology Applied

Scientific EffectForce-sensitive resistor: Piezoresistive Effect

Data Source

PatentUS20260061606A1Force sensitive end effector

Publication Date: 2026.03.05 AESCAPE RECOVERY INC

AI summary

A robotic massage system includes a robotic arm. An end effector is positioned at the end of the robotic arm. The end effector includes a plurality of contact sensors embedded in the end effector. The robotic arm is controlled to engage a deformable body with the end effector. The force sensors embedded in the end effector provide force feedback indicating a contact patch where the end effector is contacting the deformable body.