Robotic Massage Planning With Atomic Stroke Personalization
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Solution Overview
Problem
Existing robotic massage systems are inflexible, limiting the types of massages that can be generated and the customization options for individual users, making it difficult to reuse and compose massages effectively.
Innovation Solution
A robotic massage system utilizing a library of atomic stroke paths, which are short-duration movements, allowing for customizable and adaptable massages tailored to user preferences and constraints, with a massage planner system that generates and adjusts massage plans in real-time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing techniques for generating robotic massage content are used, then the system is simpler to implement, but the system is inflexible and limits the different types of massages that can be generated
Solution Approach 1:
The patent segments massage content into atomic stroke paths - individual, reusable movement units that can be independently selected and combined. This segmentation enables flexible composition of diverse massage types from a standardized library of basic stroke elements, resolving the contradiction between versatility and complexity by providing a modular content structure.
Solution Approach 2:
The patent creates a universal library of atomic stroke paths that can serve multiple massage types and be customized for different users. These standardized stroke elements function as multi-purpose building blocks that can be recombined to generate various massage therapies, achieving versatility without proportionally increasing system complexity.
2Adaptability or versatility
If existing techniques for generating robotic massage content are used, then the system requires less computational resources, but the system limits the ways that massages can be customized for particular users
Solution Approach 1:
By dividing massage content into atomic, reusable stroke paths, the system enables granular customization where individual strokes can be selected, modified, and recombined based on user preferences. This segmentation allows personalized massage programs to be constructed from standardized elements, achieving high adaptability with manageable computational requirements.
Solution Approach 2:
The patent pre-establishes a library of atomic stroke paths with defined characteristics and parameters. This preliminary structuring of massage content allows the planning system to work with pre-defined building blocks rather than generating content from scratch, reducing computational complexity while enabling extensive customization through selection and combination of pre-prepared stroke elements.
3Adaptability or versatility
If long-duration strokes are used in robotic massage, then the massage content is simpler to manage, but the strokes are difficult to re-use and compose into new massages
Solution Approach 1:
The patent divides long-duration massage strokes into smaller atomic stroke paths that can be independently managed and recombined. This segmentation increases reusability by allowing individual atomic strokes to be selected and composed into various massage sequences, while the standardized structure keeps library management organized and systematic rather than chaotic.
Solution Approach 2:
The patent defines atomic stroke paths with specific parameters that can be systematically varied and recombined. By establishing a parameterized structure for stroke library elements, the system enables flexible reuse and composition of strokes across different massage types while maintaining organized management through consistent parameter definitions and constraints.
Data Source
AI summary
A robotic massage system includes a robotic arm that is actuated in order to execute a massage plan comprising a plurality of strokes. It further includes a communication interface that receives feedback from a user affecting the massage plan. It further includes a controller that receives state information during execution of the massage plan and modifies the strokes in the massage plan based on the state information and the feedback.