Abstract: This invention is directed towards a patient single surface system, PS3, which is a next generation system solution for patient accommodation, diagnosis, treatment, transfer and transport. PS3 provides a single surface for the patient to remain on from the trauma site through diagnosis, treatment and convalescence. Needs addressed by the PS3 system include improved patient treatment through reduction in time to treatment, reduced or eliminated unnecessary patient movement and injury, as well as improved comfort throughout treatment and convalescence. In addition, the PS3 system solves significant economic considerations.

Abstract: A bed for nursing care comprises a mat unit including a hip receiving portion for supporting a hip portion of a care-dependent person, an upper half body receiving portion for supporting an upper half body portion that is upper than the hip portion, and a lower half body portion for supporting a lower half body portion that is lower than the hip portion; a bed frame unit for supporting the mat unit; and a toilet unit moveable to an opening portion formed when the hip receiving portion is stored in a lower portion. The lower half body portion comprises a thigh receiving portion that supports thigh portions of the care-dependent person, wherein the thigh portion is lifted with rising of the thigh receiving portions.

Abstract: A bed including an articulation system is provided. The bed includes a frame and an actuator coupled to the frame. The bed further includes an arcuate member and a plurality of deck sections. The arcuate member is coupled to the actuator and one of the plurality of deck sections. The actuator operates to move the arcuate member to rotate the thigh section around a natural hip pivot point of a person positioned on the bed.

Abstract: An adjustable bed system includes a first frame having four actuators coupled thereto and disposed between the head and foot ends thereof. The actuators define a generally-rectangular configuration wherein first and third actuators are diagonally-opposed and wherein second and fourth actuators are diagonally-opposed. A second frame coupled to the first frame includes a first section secured to the first frame, a second section pivotably coupled to the first section towards the head end of the first frame, and a third section pivotably coupled to the first section towards the foot end of the first frame. The first and third actuators arc coupled to the second and third sections, respectively, for articulating the second and third sections, respectively. First and second leg assemblies are coupled to the second and fourth actuators, respectively, for selectively raising and lowering the first frame.

Abstract: A bed comprises a fixed width deck section, a wing movably coupled to the fixed width section, a leadscrew having a rotational axis, a leadscrew driver coupled to the leadscrew for rotating the leadscrew about its axis, and a release unit. The release unit is coupled to the wing and configured to move between a) an engaged position in which the release unit engages the lead screw and moves therealong as the leadscrew rotates about the rotational axis thereby causing the wing to translate relative to the fixed width section; and b) a disengaged position in which the release unit is disengaged from the leadscrew.

Abstract: A tilt bed for assisting a patient to a standing position comprises a frame, a tilting mechanism, a mattress support plate, a mattress, and a foot support. The tilting mechanism attaches to the frame. The tilting mechanism is movable between a generally horizontal position, and a generally vertical position. The foot support is fixedly mounted to the tilting mechanism. The main portion of the mattress and the patient thereon moves closer to the foot support during tilting of the bed from the generally horizontal position to the generally vertical position, and the main portion of the mattress and the patient thereon moves distal the foot support during tilting of the bed from the generally vertical position to the generally horizontal position in a low shear manner.

Abstract: A central bed having a single longitudinal bed frame and a bed section mounted to the frame for rotation about a substantially vertical axis between a home position aligned with the bed frame and an away position and with a lower leg bed section that is movable away from the central bed section to enable rotation of the central bed section.

Abstract: A bed frame with a support structure has a rigid structural frame for carrying an articulating structure for an adjustable bed. The support structure extends substantially to the extents of the articulating structure in an unarticulated position and has a padded bolster. The bolster incorporates a mounting support attached to the structural frame and a resilient foam bumper received on the mounting support with a fabric covering surrounding the bumper and fastened to the mounting support. The articulating structure includes rigid planar supports having edges with a surrounding resilient foam layer having a fabric covering secured to the planar support. The bumper and foam layer are resilient to deform upon contact with an intruding appendage inserted between them. For an exemplary embodiment, an electrical outlet is mounted in a housing which penetrates the support frame, mounting support and bumper.

Abstract: Method and devices for the prevention and treatment of pressure ulcers are described in which a portable support assembly may be worn by a bed-stricken individual around particular regions of the body where pressure ulcers tend to form. The portable support assembly may generally include one or more individual fluid filled pods which are enclosed entirely within an inner fluid pad localized along a central portion. Both the one or more pods and inner fluid pad are then enclosed entirely by another layer of fluid within an outer fluid pad which extends over the entire assembly. Each of the fluid layers may be secured to an outer shell which is relatively stiffer than the fluid layers and may restrict or limit the expansion or movement of the fluid pods and/or fluid pads.

Abstract: A method for operating an occupant support, at least part of which is orientation adjustable relative to other parts of the occupant support, is disclosed. The method comprises providing, in response to a change of orientation of the orientation adjustable part, a relatively lower occupant/support interface pressure (OSIP) at a location A and a relatively higher OSIP at a location B followed by providing a relatively higher OSIP at the location A and a relatively lower OSIP at the location B.

Abstract: An assembly for magnetic resonance imaging (MRI) of a patient and a method of magnetic resonance imaging (MRI) of a patient using different MRI scanners is disclosed. In one example, the assembly includes a plurality of RF coils, wherein the RF coils are configured to be positioned adjacent to an anatomy of interest, a patient support structure configured to support of the patient, a base removably coupled to the patient support structure, the base and the patient support being configured for receipt in the bore of an MRI scanner, and an interface coupled to the plurality of RF coils and to the MRI scanner and configured to connect the plurality of RF coils and the MRI scanner and to selectively control a first RF coil and a second RF coil included in the plurality of RF coils.

Abstract: A patient support apparatus includes a base, a frame coupled to the base, a deck supported by the frame and capable of moving relative to the frame, and a siderail assembly movable between a raised position above the deck and a first lowered position below the deck. The patient support apparatus further includes a siderail mover coupled to the deck to move the siderail assembly from the first lowered position to a second lowered position in response to movement of the deck relative to the frame.

Abstract: A person support surface configured to maximize pressure relief when the various portions of the support surface are at an angle with respect to a reference plane.

Abstract: This invented multiple-phase dynamic cushion comprises a frame, at least a driving source, at least a transmission assembly, and clusters of plural strips interleaved in parallel. Taking a two-phase embodiment as an example, the two-phase strips interleave with each other, in parallel, to form the cushion's surface and alternate their tensions in turn; when one phase's strips periodically tighten to support the user's body, the other phase's strips will loosen, allowing the user's body covered by the loosened strips to take a rest, averting a pressure-ulcer risk. The driving source is energized by an altering energy, making the two strip groups alternate in loosening and tightening states periodically in turn. This invention can be converted into a portable dynamic chair when the four holes on the bottom of its four corners are inserted with legs; it can also be converted into a dynamic support for a lying human body.

Abstract: A patient support structure includes a pair of independently height-adjustable supports, each connected to a patient support structure. The supports may be independently raised, lowered, rolled or tilted about a longitudinal axis, laterally shifted and angled upwardly or downwardly. Position sensors are provided to sense all of the foregoing movements. The sensors communicate data to a computer for coordinated adjustment and maintenance of the inboard ends of the patient support structures in an approximated position during such movements. Longitudinal translation structure provides for compensation in the length of the structure when the supports are angled upwardly or downwardly. Patient translation structure provides coordinated translational movement of the patient's upper body along the respective patient support in a caudad or cephalad direction as the support structures are angled upwardly or downwardly for maintaining proper spinal biomechanics and avoiding undue spinal traction or compression.

Abstract: A patient support apparatus for supporting a patient in a prone position during a surgical procedure includes a patient support structure incorporating an open fixed frame suspended above a floor and a pair of spaced opposed radially sliding joints cooperating with the frame, each joint including a virtual pivot point and an arc of motion spaced from the pivot point, the joints being movable along the arc providing a pivot-shift mechanism for a pair of pelvic pads attached to the joints. A base supports and suspends the patient support structure above the floor, for supporting a patient during a surgical procedure, the base including a pair of spaced opposed vertical translation subassemblies reversibly attachable to the support structure, a cross-bar, and a rotation subassembly having two degrees of rotational freedom; wherein a location of each vertical translation subassembly is substantially constant during operation of the patient support structure.

Abstract: A patient handling device includes a controller, with a plurality of sensors, control panels, and lamps electrically connected to the controller. The patient handling device records the normal/desired state of the various components when power is applied. When one of the components goes outside the normal/desired state, the controller issues an alarm. This alarm includes illuminating a plurality of amber alert lamps which can normally be viewed by a user at any position around the outside of the patient handling device. The patient handling device also includes a position control. This control restricts movement of an upper (fowler) portion of the patient handling device in a certain range of angular positions, while permitting movement of the upper portion outside the certain range.

Abstract: The present invention includes an integrated system and methods for patient treatment, the system includes a hospital bed; a plurality of patient diagnostic and treatment devices connected to a network, wherein each of the devices can communicate to a network and exchange information with the network about the care of a patient; and a processor accessible adjacent to the bed and connected to the network to integrate information obtained from the devices through the network with one or more additional sources of information databases, wherein the processor can communicate to one or more patient treatment devices either directly or via the network and the processor directs the one or more patient treatment devices to change the treatment of the patient.

Abstract: An articulating bed incorporates a support frame having an upper body support section. A lumbar actuation lever extends from a rotatable torque tube with angle arms extending from the torque tube to a lumbar support element. The lumbar support element is retracted against the upper body support section creating minimal deflection in a lumbar region of a mattress. The torque tube is rotated with to elevate the lumbar support element. A head support bracket is mounted to a neck angle adjustment section. The neck angle adjustment section is aligned with the upper body support section. or rotated about hinge elements to provide an angled head and neck position with respect to the upper body support section.

Abstract: A bed assembly is provided that comprises a frame and a mattress member array. The mattress member array includes a plurality of discrete, resiliently compressible mattress segment members. The frame defines a plurality of upwardly opening support sockets sized and shaped to mateably receive an associated one of the mattress segment members therein. A support surface for at least one person is formed when each of the support sockets holds one associated mattress segment member therein.

Abstract: A movable part which combines with a stationary part to form a bed includes: a contact sensor (50); wheels (44) rotatable in all directions; a body drive unit (31) which drives the wheels (44); an avoidance instruction unit (51) which generates an avoidance instruction according to a result of detection by a contact sensor (50); a rotation center setting unit (52) which sets a rotation center Q2 for the avoidance instruction; an avoidance instruction translation unit (54) which translates the avoidance instruction and the rotation center Q2 into a move instruction; and a position detection unit (34) which detects a positional relationship to a docking area (20), and the rotation center setting unit (52) sets the rotation center according to the positional relationship detected by the position detection unit (34).

Abstract: An adjustable bed (10) includes an adjustable bed base (12) for supporting a mattress (14). The adjustable bed base (12) comprises an articulated deck (50) comprising head, seat, leg and foot deck boards (52, 54, 56, 58) hingedly joined together and supported by a frame (32). A foam shroud is secured to the periphery of the articulated deck (50). The foam shroud may have multiple openings made by removing material from the shroud to aid in articulation of the shroud.

Abstract: The multi-position bed for the infirm or physically disabled patients includes a multi-positional support surface. The support surface includes separate pivotally attached segments adapted to support various parts of a patient's body. Segmented lower portions support the patient's feet and lower legs. An upper segment supports the patient's back, neck and head. A central segment is adapted to support patient's buttocks. All portions can be pivoted through a range of positions. The central segment is provided with movable panels, which can be arranged to form an opening in the bed. A toilet is fixed beneath the bed in alignment with the formed opening. The entire support surface can be vertically adjusted.

Abstract: A system for changing width of a person support apparatus is disclosed. A person support apparatus comprises at least one deck extension which is configured to be retracted or extended by at least one motor controlled by a bed controller. A mattress controller communicates with a bed controller and controls a fluid supply device to inflate or deflate a mattress supported by the person support apparatus to alter the width of the mattress. The mattress may also be inflated or deflated in response to manual extension or retraction of the deck extension.

Abstract: A patient support system includes independently adjustable end columns supporting a centrally hinged, jointed or breaking patient support structure. At least one column includes a powered rotation assembly. The patient support includes at least two sections. A coordinated drive system provides for both upwardly and downwardly breaking or jointed orientations of the two sections in various inclined and tilted positions. Cable, cantilevered and pull-rod systems are included.

Abstract: A patient support system includes independently adjustable end columns supporting a centrally hinged, jointed or breaking patient support structure. At least one column includes a powered rotation assembly. The patient support includes at least two sections. A coordinated drive system provides for both upwardly and downwardly breaking or jointed orientations of the two sections in various inclined and tilted positions. Cable, cantilevered and pull-rod systems are included.

Abstract: The present invention relates to an articulated bed which comprises a perimetric tubular frame, two mattress support portions articulated at the ends opposite to the respective ends of the frame, and articulated to one another at facing ends by means of a common rotating shaft; a geared motor assembled in the frame which rotationally operates a transverse shaft provided with at least one crank coupled by means of a connecting rod with the common shaft for the articulation of the two mattress support portions, transmitting a vertical oscillation to the common shaft and to the facing ends of the mattress support portions. In one embodiment variant it comprises a second geared motor which transmits an longitudinal alternating movement to the mattress support portions by means of a connecting rod-crank mechanism.

Abstract: A central control braking system includes: a pedestal; at least one caster mounted at a bottom portion of the pedestal; a brake transmission shaft for controlling the caster; a plate girder movably connected to the pedestal; a pedal fixed to the plate girder; and a reversing rotary assembly connecting the plate girder and the brake transmission shaft, wherein the reversing rotary assembly enables the brake transmission shaft to rotate in reverse under the control of the pedal.

Abstract: A patient support structure includes a pair of independently height-adjustable supports, each connected to a patient support. The supports may be independently raised, lowered, rolled or tilted about a longitudinal axis, laterally shifted and angled upwardly or downwardly. Position sensors are provided to sense all of the foregoing movements. The sensors communicate data to a computer for coordinated adjustment and maintenance of the inboard ends of the patient supports in an approximated position during such movements. A longitudinal translator provides for compensation in the length of the structure when the supports are angled upwardly or downwardly. A patient trunk translator provides coordinated translational movement of the patient's upper body along the respective patient support in a caudad or cephalad direction as the patient supports are angled upwardly or downwardly for maintaining proper spinal biomechanics and avoiding undue spinal traction or compression.

Abstract: A support device for persons, such as a bed, treatment or operating table, chair, comprises: —a frame; —a first and a second movable member, which movable members can be adjusted independently of one another and which are designed to support the person or one or more parts of the person in various positions, and —a hydraulic system for adjusting the movable members, the hydraulic system comprising: —a reservoir for hydraulic liquid; —a first and a second hydraulic actuator associated with the first and second movable member, respectively, which hydraulic actuators can each be moved in two directions; —a hydraulic pump; —a pump activating member which is operatively connected to the pump in order for an operator to activate the pump; —a valve assembly which is provided in the hydraulic circuit between the pump and the respective actuators, and —a valve assembly operating member which can be mechanically operated by an operator and is mechanically connected to the valve assembly for selecting and providing a co

Abstract: A patient support structure includes a pair of independently height-adjustable supports, each connected to a patient support structure. The supports may be independently raised, lowered, rolled or tilted about a longitudinal axis, laterally shifted and angled upwardly or downwardly. Position sensors are provided to sense all of the foregoing movements. The sensors communicate data to a computer for coordinated adjustment and maintenance of the inboard ends of the patient support structures in an approximated position during such movements. Longitudinal translation structure provides for compensation in the length of the structure when the supports are angled upwardly or downwardly. Patient translation structure provides coordinated translational movement of the patient's upper body along the respective patient support in a caudad or cephalad direction as the support structures are angled upwardly or downwardly for maintaining proper spinal biomechanics and avoiding undue spinal traction or compression.

Abstract: The chair/bed for the disabled is a wheeled, medical appliance for disabled persons that can alternately convert from a chair to a bed when desired. The appliance incorporates structure for applying body massages and for moving the patient in a rollover motion. Ancillary features, such as a pillow, a night light, study and dining tables and a support for mounting a television or tablet are included on the appliance. A control module is provided to allow the appliance to be operated by a remote control device.

Abstract: A patient support including a frame, plurality of wheels coupled to the frame, a deck, and a scissor mechanism coupled to the frame and the deck to move the deck from a raised position to a lowered position. The support includes brake mechanism including a brake pad to contact the floor to prevent the patient support from rolling.

Abstract: Embodiments of a power and signal distribution assembly for a bed having at least one power input port, at least one controller port, and at least one output port are described. The power input port receives a first DC voltage from a power supply and the power supply receiving an AC voltage and converting it to the first DC voltage. The controller port receives the first DC voltage and outputs at least one power control signal having the first DC voltage. The output port receives signals having the first DC voltage. The power and signal distribution assembly has a first location and the power supply has a second location different from the first location. In other embodiments, the power and signal distribution assembly is located on a frame of a bed and the power supply remote therefrom. Still further, one or more additional controller ports may also be provided.

Abstract: An articulating bed incorporates a support frame having an upper body support section. A lumbar actuation lever extends from a rotatable torque tube with angle arms extending from the torque tube to a lumbar support element. The lumbar support element is retracted against the upper body support section creating minimal deflection in a lumbar region of a mattress. The torque tube is rotated with to elevate the lumbar support element. A head support bracket is mounted to a neck angle adjustment section. The neck angle adjustment section is aligned with the upper body support section. or rotated about hinge elements to provide an angled head and neck position with respect to the upper body support section.

Abstract: A patient support includes an upper support plate which is provided with a headrest. A base plate is arranged below, and separate from the upper support plate, by a floating mounting. A single narrow, narrow support column is provided, in the region of the headrest, between the support plate and the base plate. An upper face of the support plate consists of a forward zone, a mid-zone and an end zone. A width of the support plate reduces continuously from a widest point in the forward zone to a narrow space in the mid-zone and then widens continuously to the end of the support plate. Left and right sections of the patent support are formed and run horizontally arranged symmetrically about a longitudinal and symmetrical axis of the support plate.

Abstract: Articulation systems and methods of use for a person support apparatus are disclosed. A head support section of a person support apparatus is configured to translate as its inclination with respect to a horizontal surface varies. The inclination of a seat support section is configured to vary as the inclination of the head support section changes with respect to a horizontal surface. Weight acting the seat support section assists in variation of inclination of the head support section.

Abstract: This invention discloses an electric bed bedboard with embedded fixed structure. The fixed structure includes a plurality of guide pieces, multiple sliders, multiple disc sleeve and two pieces of wood, a plurality of guide pieces. Multiple guide pieces are set on top of the bed board and also have T-shaped slots on their surface. Many disc sleeves are stacked on top of the word pieces at intervals and there are internal thread inside the disc sleeves. Two pieces of wood are fixed into the bed support at intervals and the disc sleeves position matches with the guide pieces. Multiple sliders are “stem” shaped sliders and have external threads on their top. Multiple sliders are situated on top of the guide pieces inside the T-shaped grooves. Multiple sliders' tops are situated inside the multiple disc sleeves which have connection by the threads.

Abstract: A therapy mat table has an upper surface and removable mat. A portion of the mat and a separate plate is rotatably mounted within the flat top so as to be capable of being selectively raised and lowered to form a seat back for a patient reclining or sitting on the pad on an elongated side edge of the table. The table may also include transfer bars which help to move a patient on and off the table or when moving to a standing position or while simply standing. The table may further include a stowable foot stop, which prevents backward movement of the patient's feet when the patient is standing between the transfer bars. The table may also include a knee blocker, which helps to limit or prevent buckling of the patient's knees when the patient is standing between the transfer bars.

Abstract: An articulated patient support apparatus includes upper and lower body support frames hinged together to form a patient support assembly which is hinged to head and foot end supports. One end of the assembly includes a length compensator to enable hinged angulation between the body support frames. Hinge motors are connected between the frames to cause hinged articulation therebetween. One or both of the body support frames has a body slide assembly mounted thereon to enable part of a patient's body to move linearly along the particular body support frame by operation of a slide motor to compensate for hinged articulation of the frames. The hinge motors and slide motor have encoders interfaced to a controller to digitally coordinate sliding movement with hinging articulation.

Abstract: A joint assembly for forming a two part radiation therapy treatment table is disclosed. The treatment table includes a patient support panel to which one portion of the joint assembly is secured, and a table extension panel to which another portion of the joint assembly is secured. The joint assembly self-aligns, self levels, is immediately stable, and locks automatically by its weight and downward pressure. The joint assembly also includes an automatic failsafe secondary lock that resists joint release if upward forces are applied. Disengaging the secondary lock requires and results in no displacement of the two panels. Upon separation of the two panels the lock resets automatically.

Abstract: An articulated patient support apparatus includes upper and lower body support frames hinged together to form a patient support assembly which is hinged to head and foot end supports. One end of the assembly includes a length compensator to enable hinged angulation between the body support frames. Hinge motors are connected between the frames to cause hinged articulation therebetween. One or both of the body support frames has a body slide assembly mounted thereon to enable part of a patient's body to move linearly along the particular body support frame by operation of a slide motor to compensate for hinged articulation of the frames. The hinge motors and slide motor have encoders interfaced to a controller to digitally coordinate sliding movement with hinging articulation.

Abstract: A method for governing care of a person includes determining the importance of a candidate activity (84) relative to the importance of patient sleep continuity (104) and, if the candidate activity is more important than sleep continuity, carrying out the activity or indicating the acceptability of carrying out the activity (106) and, if the candidate activity is not more important than sleep continuity, refraining from carrying out the activity or indicating the unacceptability of carrying out the activity (108). A system for patient care governance comprises a decision engine (80) for determining the importance of the candidate activity relative to the importance of sleep continuity, and a controller (92) responsive to the decision engine for issuing a command to carry out the activity or indicate the acceptability of carrying out the activity (106), refrain from carrying out the activity or indicate the unacceptability of carrying out the activity (108).

Abstract: The invention relates to a bed base (7) with at least one motorized slat module (3), comprising at least one slat row (32) for carrying a mattress, and an electrical motor (31) and mechanical transmission means for moving the slat row (32) in height direction of the bed base, and an electrical control circuit and a control means (5) for controlling the motor (31). The invention also relates to a motorized slat module (3) and a ted (1).

Abstract: A bed and chair with commode for a patient is disclosed. The bed and chair with commode includes a rectangular main frame, which stands on at least four legs, four frames fitted on the main frame, patient's body over it when patient is lifted up off the bed, side guards being fixed on both sides of main frame for supporting the straps or nets over it and for avoiding the patient from falling down a lifting means for lifting the body of patient over the straps or nets, and a commode pan or pot being fitted under the middle frame with the help of hinge and linkage arrangement. The sliding back of the bed moves upwards and downwards by a mechanism when the back support frame is raised to chair position or lowered to bed position.

Abstract: An articulable occupant support system for supporting an occupant, includes an upper frame, an articulable assembly comprising at least one section articulable relative to the upper frame and a motion control system. The motion control system is arranged to govern motion of the articulable assembly based on a relationship relating scheduled motion of the sections to anthropometric information.

Abstract: A massage and chiropractic table having a supporting frame and a surface supported on the frame, and having one or more comfort features, including a recess formed in the surface of the table for accommodating a person's anatomical configuration, such as a woman's breasts, a removable recess insert that may be removed and replaced to expose the recess as desired, a neck recess for facilitating supporting a user's neck in a comfortable position, and a head rest that is configured to reduce or eliminate pressure on a user's face when the user is lying face down on the table. The massage table may be foldable and may have a handle so that it may be readily stored and transported, or, according to other embodiments may be stationary.

Abstract: A system and method for incorporating occupancy-detecting technology into furniture is provided. More particularly, the invention relates to detecting occupancy using a detection pad coupled a portion of a bed. The detection pad may include an aluminized polymer material, a metalized and/or conductive fabric, an aluminum sheet, a metal screen, an aluminum tape, a wire grid, or other metalized material or fabric. A controller determines the corresponding response based on single-occupancy or dual-occupancy detection by one or more detection pads. A processor receives information regarding changes in capacitance and determines when a change in voltage satisfies a threshold. Based on a determination of occupancy, or lack thereof, a variety of corresponding features of the adjustable bed may be activated.

Abstract: This disclosure relates to operating table top assemblies and related devices. In some aspects, an operating table top coupling assembly includes a receiver assembly and a hook assembly. The receiver assembly includes first and second spaced walls that define a central recess therebetween. The hook assembly includes an elongate hook member attached to or integrally formed with a housing that is configured to be at least partially disposed within the central recess of the receiver assembly.

Abstract: An adaptive cushion apparatus for minimizing force concentrations on body parts of a person seated or lying on a chair or bed includes an overlay cushion having a plurality of individual air bladder cells, each having thereon a stretchable piezoresistive force sensor of novel design and construction. The apparatus includes an electro-pneumatic control system for inflating and deflating individual air bladder cells to pressures measured by a pressure transducer which tend to minimize force concentrations sensed by the force sensors.