Robotic Massage Motion Planning With Adaptive Force Feedback
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Solution Overview
Problem
Existing systems and methods for robotic handling of soft body objects, such as body tissue, are not configured to handle nonuniform or nonhomogeneous tissues in a dynamic or automated manner, lacking the necessary precision and adaptability.
Innovation Solution
A robotic control system that continuously adjusts its contact point and controller gain based on sensed force, enabling the generation of a therapeutic massage plan by directing one or more robotic arms to execute a sequence of motions while maintaining contact with a subject, incorporating motion planning and variable pressure applications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If real-time controlled systems are used for medical procedures, then precision and control are improved, but the ability to handle soft body objects in an automated manner deteriorates
Solution Approach 1:
The system dynamically adjusts control parameters including controller gain and contact points based on real-time sensed force and surface orientation. The robotic arm continuously adapts its motion and pressure application to handle the nonuniform characteristics of soft body tissue, resolving the contradiction between precise control and automated handling capability.
2Extent of automation
If robotic arms execute fixed motion sequences, then automation is improved, but the ability to handle nonuniform soft body objects deteriorates
Solution Approach 1:
The system incorporates force sensing feedback to detect variations in tissue characteristics during massage execution. Based on this feedback, the controller dynamically adjusts motion parameters, pressure, and contact points, enabling the automated robotic system to adapt to nonuniform soft body objects while maintaining high automation levels.
Solution Approach 2:
The system changes control parameters including controller gain, contact points, and motion trajectories based on sensed force and surface orientation. This dynamic parameter adjustment allows the robotic arm to handle nonuniform tissue characteristics effectively while executing automated massage sequences.
3Manufacturing precision
If variable pressure and motion adjustments are made continuously, then handling precision is improved, but system complexity deteriorates
Solution Approach 1:
The robotic system integrates multiple functions including force sensing, surface orientation detection, real-time motion planning, and variable pressure application within a single unified control framework. This multi-functionality achieves high handling precision while managing system complexity through integrated design.
Data Source
AI summary
A system, method, and apparatus are provided for generating a dynamic, autonomous, machine-learning, and modifiable therapeutic massage plan. A system, method, and apparatus are provided for determining and executing the motion planning for directing one or more robotic arms to execute a sequence of motions while maintaining contact between their end effectors and a subject.