Robotic Massage Control Adapting to Soft Tissue
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Solution Overview
Problem
Existing robotic systems are not equipped to handle soft, nonuniform body tissues effectively, as they lack the capability to adapt to varying textures and pressure points, making them unsuitable for therapeutic massage applications.
Innovation Solution
A robotic control system that continuously adjusts its contact point and controller gain based on sensed force and orientation, using motion planning to direct robotic arms in a sequence of motions that maintain contact with the subject, applying variable pressures and motion overlays to execute specific therapies at different tissue depths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional robotic systems are used for massage therapy, then automation and productivity are improved, but the ability to handle soft, nonuniform body tissues effectively deteriorates
Solution Approach 1:
The robotic system implements dynamic control by continuously adjusting contact point position and controller gain based on real-time sensed force and surface orientation. This allows the robot to adapt its behavior dynamically to the nonuniform characteristics of body tissues, resolving the contradiction between automation and adaptability.
Solution Approach 2:
The system employs force sensing feedback to detect tissue characteristics and automatically adjusts its control parameters accordingly. The sensed force information is fed back to the controller, which modifies contact point position and controller gain to appropriately handle varying tissue textures and pressure requirements, enabling automated adaptation to soft, nonuniform bodies.
2Measurement precision
If real-time control is used for medical procedures, then precision and reliability are improved, but the capability to automatically handle soft body objects deteriorates
Solution Approach 1:
The robotic system performs self-adjustment by automatically modifying its own control parameters based on sensed feedback from the tissue. The system serves itself by detecting tissue characteristics through force sensing and autonomously adjusting contact point position and controller gain without human intervention, achieving both precision and automation.
Solution Approach 2:
The controller dynamically changes operational parameters (contact point position and controller gain) based on real-time sensed force and surface orientation. This parameter adaptation enables the system to maintain measurement precision while automatically handling the variable characteristics of soft body tissues.
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.