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US 11,992,455 B1Granted
User adjustment of robotic massage
AssigneeAescape, Inc.
InventorsNicholas Akiona, Taya Quandt, Eric A. Litman, Anchit Sood
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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.
Claims21
A robotic system, comprising:
- a first robotic arm associated with a first end effector;
- a second robotic arm associated with a second end effector;
- an input device;
- and
- a controller that continuously generates a sequence of goals for the first robotic arm in accordance with a trajectory, wherein the controller is configured to receive a command from the input device and selectively modify a next goal of the first robotic arm based at least in part on the command, wherein the first end effector interacts with a deformable body based at least in part on the modifying of the next goal, and wherein selectively modifying the next goal of the first robotic arm comprises preventing collision between the first robotic arm and the second robotic arm at least in part by:
- determining positions of the first end effector associated with the first robotic arm and the second end effector associated with the second robotic arm;
- and
- constraining an allowed amount of offset of the next goal of the first robotic arm based at least in part on the determined positions of the first and second end effectors.
5 more elements
A method, comprising:
- continuously generating a sequence of goals for a first robotic arm in accordance with a trajectory;
- receiving a command from an input device;
- and
- selectively modifying a next goal of the first robotic arm based at least in part on the command received from the input device, wherein a first end effector associated with the first robotic arm interacts with a deformable body based at least in part on the modifying of the next goal, and wherein selectively modifying the next goal of the first robotic arm comprises preventing collision between the first robotic arm and a second robotic arm at least in part by:
- determining positions of the first end effector associated with the first robotic arm and a second end effector associated with the second robotic arm;
- and
- constraining an allowed amount of offset of the next goal of the first robotic arm based at least in part on the determined positions of the first and second end effectors.
4 more elements
A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions for:
- continuously generating a sequence of goals for a first robotic arm in accordance with a trajectory;
- receiving a command from an input device;
- and
- selectively modifying a next goal of the first robotic arm based at least in part on the command received from the input device, wherein a first end effector associated with the first robotic arm interacts with a deformable body based at least in part on the modifying of the next goal, and wherein selectively modifying the next goal of the first robotic arm comprises preventing collision between the first robotic arm and a second robotic arm at least in part by:
- determining positions of the first end effector associated with the first robotic arm and a second end effector associated with the second robotic arm;
- and
- constraining an allowed amount of offset of the next goal of the first robotic arm based at least in part on the determined positions of the first and second end effectors.
4 more elements
Dependencies are inferred from the claim text.