Abstract: A body model representing a massage recipient of an automated massage that is provided via a robotic arm is received. A user input is received via a control object in a user interface. The user input is output where the user input is used to update the automated massage that is provided via the robotic arm. The body model, the control object associated with controlling the automated massage that is provided via the robotic arm, and massage information associated with the automated massage that is provided via the robotic arm are displayed via the user interface.

Abstract: 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.

Abstract: An apparatus includes a base and a robotic arm operatively coupled to the base via a connector. The robotic arm includes a set of links interconnected by a set of joints. A first link from the set of links is operatively coupled to the connector. Each joint from the set of joints includes a brake from a set of brakes, each brake from the set of brakes configured to be enabled or disabled. The apparatus further comprises an end effector operatively coupled to the robotic arm via a second link from the set of links different from the first link. The apparatus further comprises a controller, communicably coupled to at least one of the base, the robotic arm, or the end effector. The controller is configured to cause the robotic arm to perform a task, and determine, during the task, that movement of the robotic arm is to be restricted.

Abstract: A massage robot arm end effector includes a mounting interface that is attachable to a robot arm. It further includes a surface distal from the mounting interface having a variable curvature that comprises a plurality of interaction regions. The surface is paired with a garment worn by a subject.

Abstract: A body model representing a massage recipient of an automated massage that is provided via a robotic arm is received. A user input is received via a control object in a user interface. The user input is output where the user input is used to update the automated massage that is provided via the robotic arm. The body model, the control object associated with controlling the automated massage that is provided via the robotic arm, and massage information associated with the automated massage that is provided via the robotic arm are displayed via the user interface.

Abstract: A robotic system includes a robotic arm that interacts with an object during operation. It further includes a locking component that, during operation, locks a multi-position component in an operating position. Responsive to a triggering event, locking of the multi-position component in the operating position is released and the multi-position component moves away from its operating position, facilitating separation between the robotic arm and the object.

Abstract: A system, method, and apparatus for a robot system that manipulates the surface of an object effect programmed manipulation goals such as reaching specific locations on the surface of the object, displacing the surface of the object, applying a predetermined force and torque to the surface of the object, dynamically changing the contact point between the robot and the object, and applying force to structures below the surface of the object. The system and method determine the state of the object through a sensing method that includes, without limitation: torque and force measurement, visible light sensors, range and depth sensors, ultrasound sensors, thermographic sensors, and worktable force measurement.

Abstract: A system, method, and apparatus for autonomous body interaction system is provided. A system and method for a robot interacting with a human or other soft or deformable body is provided for the purpose of active application of pressure to specific points or regions of the body. The system and method conducts at least one of: localizing the position of the body, detecting the configuration of the body, identifying the surface region(s) of the body, predicting the underlying anatomy of the body, assessing the state of the body, preparing a plan for manipulation of the body, and executing a predetermined and/or dynamically updated plan on the body.

Abstract: An apparatus includes a base and a robotic arm operatively coupled to the base via a connector. The robotic arm includes a set of links interconnected by a set of joints. A first link from the set of links is operatively coupled to the connector. Each joint from the set of joints includes a brake from a set of brakes, each brake from the set of brakes configured to be enabled or disabled. The apparatus further comprises an end effector operatively coupled to the robotic arm via a second link from the set of links different from the first link. The apparatus further comprises a controller, communicably coupled to at least one of the base, the robotic arm, or the end effector. The controller is configured to cause the robotic arm to perform a task, and determine, during the task, that movement of the robotic arm is to be restricted.

Abstract: Controlling movement of an end effector coupled to a robotic arm includes receiving an indication of a massage technique to be performed. It further includes determining a surface in a plurality of surfaces of the end effector to interact with a massage recipient when performing the massage technique. It further includes determining an operating space for the end effector in performing the massage technique based at least in part on the determined surface of the end effector. It further includes controlling the movement of the end effector to operate within the determined operating space.

Abstract: A system, method, and apparatus for autonomous body interaction system is provided. A system and method for a robot interacting with a human or other soft or deformable body is provided for the purpose of active application of pressure to specific points or regions of the body. The system and method conducts at least one of: localizing the position of the body, detecting the configuration of the body, identifying the surface region(s) of the body, predicting the underlying anatomy of the body, assessing the state of the body, preparing a plan for manipulation of the body, and executing a predetermined and/or dynamically updated plan on the body.

Abstract: A system includes a first robotic arm and a second robotic arm, each coupled to a support structure configured to support an object. The first robotic arm includes a first end effector having a first shape, and the second robotic arm is separate from the first robotic arm and includes a second end effector having a second shape that mirrors the first shape when observed from a common perspective. The first end effector and/or the second end effector is asymmetric about at least one two-dimensional plane of that is perpendicular to an end effector plane of the at least one of the first end effector or the second end effector. At least one processor is operatively coupled to the first robotic arm and the second robotic arm, and configured to perform coordinated body work on the object using the first robotic arm and the second robotic arm.

Abstract: A body model representing a massage recipient of an automated massage that is provided via a robotic arm is received. A user input is received via a control object in a user interface. The user input is output where the user input is used to update the automated massage that is provided via the robotic arm. The body model, the control object associated with controlling the automated massage that is provided via the robotic arm, and massage information associated with the automated massage that is provided via the robotic arm are displayed via the user interface.

Abstract: 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.

Abstract: A controller receives an input associated with adjusting a position of a moveable arm interface and generates a control signal based at least in part on the input. An arm interface actuator adjusts the position of the moveable arm interface, from a less extended position to a more extended position, based at least in part on the control signal. Prior to the adjustment, a targeted body part associated with a massage recipient, in a prone position on a massage platform with at least one arm in contact with the moveable arm interface in the less extended position, is inaccessible. After the adjustment, the targeted body part associated with the massage recipient, in the prone position on the massage platform with at least one arm in contact with the moveable arm interface in the more extended position, is accessible.

Abstract: A system includes a first robotic arm and a second robotic arm, each coupled to a support structure configured to support an object. The first robotic arm includes a first end effector having a first shape, and the second robotic arm is separate from the first robotic arm and includes a second end effector having a second shape that mirrors the first shape when observed from a common perspective. The first end effector and/or the second end effector is asymmetric about at least one two-dimensional plane of that is perpendicular to an end effector plane of the at least one of the first end effector or the second end effector. At least one processor is operatively coupled to the first robotic arm and the second robotic arm, and configured to perform coordinated body work on the object using the first robotic arm and the second robotic arm.

Abstract: 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.

Abstract: 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.

Abstract: A system, method, and apparatus for a robot system that manipulates the surface of an object effect programmed manipulation goals such as reaching specific locations on the surface of the object, displacing the surface of the object, applying a predetermined force and torque to the surface of the object, dynamically changing the contact point between the robot and the object, and applying force to structures below the surface of the object. The system and method determine the state of the object through a sensing method that includes, without limitation: torque and force measurement, visible light sensors, range and depth sensors, ultrasound sensors, thermographic sensors, and worktable force measurement.