Robotic Massage System Real-Time Trajectory Adjustment
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Solution Overview
Problem
Robotic massage systems face challenges in achieving effective communication and user-adjusted massage techniques, as they lack the two-way feedback mechanism present in human massages, making it difficult to ensure accurate positioning and therapeutic effectiveness.
Innovation Solution
A robotic massage system with articulated arms, end effectors, and a user interface that allows users to adjust massage strokes and pressure in real-time, using data structures and architectures to facilitate automated control and user feedback integration, enabling dynamic adjustments to the massage trajectory based on user input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robotic massage systems operate without real-time user feedback, then automation is maintained, but positioning accuracy and therapeutic effectiveness deteriorate
Solution Approach 1:
The system implements real-time feedback mechanisms where users can provide input during massage sessions through various interfaces (touchscreen, voice, sensors). This feedback loop allows the robotic system to adjust its positioning and massage parameters dynamically, resolving the contradiction between maintaining automation and achieving precise positioning.
Solution Approach 2:
The robotic massage system transitions from static pre-programmed routines to dynamic, real-time adjustable operations. The system can modify its trajectory, pressure, and speed based on user feedback received during the session, enabling it to adapt to individual needs while maintaining automated operation.
2Device complexity
If robotic massage systems lack two-way communication, then device complexity is reduced, but therapeutic effectiveness deteriorates
Solution Approach 1:
The system incorporates feedback mechanisms that allow users to communicate preferences and responses during the massage session. This two-way communication enhances therapeutic effectiveness by enabling the system to adapt to user needs, while the feedback is integrated through existing control interfaces rather than requiring separate complex communication systems.
Solution Approach 2:
The robotic system utilizes existing multi-functional interfaces (touchscreen displays, sensors, actuators) for both control and feedback purposes. The same hardware components serve dual functions: controlling the massage robot and receiving user feedback, thereby avoiding additional complexity while improving therapeutic effectiveness.
3Ease of operation
If real-time adjustments to massage trajectory are enabled, then user comfort and effectiveness improve, but control system complexity increases
Solution Approach 1:
The control system is designed to dynamically adjust the robotic trajectory in real-time based on user input. The system can modify position, speed, and pressure parameters during the massage session, providing ease of operation while managing complexity through modular control architecture and real-time processing capabilities.
Solution Approach 2:
The system introduces an intermediary control layer that processes user feedback and translates it into appropriate robotic commands. This intermediate processing layer simplifies the overall control architecture by buffering and mediating between user input and robotic actuation, making real-time adjustments more manageable.
Data Source
AI summary
Adjusting of robotic trajectory includes continuously generating a sequence of goals for a robotic arm in accordance with the trajectory. It further includes receiving a command from an input device. It further includes selectively modifying a next goal based at least in part on the command received from the input device. An end effector interacts with a deformable body based at least in part on the modifying of the next goal.