# US 11,992,455 B1 · User adjustment of robotic massage > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,455 B1 - Document ID: US11992455B1 - Status: Granted - Kind: B1 - Application number: 18/144,643 - Filed: 2023-05-08 - Granted: 2024-05-28 - Earliest claimed: 2023-05-08 - Assignees: Aescape, Inc. - Applicants: Aescape, Inc. - Inventors: Nicholas Akiona; Taya Quandt; Eric A. Litman; Anchit Sood - Web page: https://patentgrep.com/patent/US11992455B1 ## CPC - A61H 7/004: {power-driven, e.g. electrical} - A61H 2201/5007: computer controlled - A61H 2201/5038: freely programmable by the user - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The robotic system of claim 1, wherein the controller is further configured to determine whether the next goal is eligible for modification. ### Claim 3 (depends on 1) The robotic system of claim 1, wherein the controller is further configured to determine a permissible boundary of modification for the next goal. ### Claim 4 (depends on 1) The robotic system of claim 1, wherein the command comprises a planar user-specified adjustment. ### Claim 5 (depends on 1) The robotic system of claim 1, wherein the controller is further configured to selectively modify the next goal based at least in part on information associated with a body of a subject. ### Claim 6 (depends on 5) The robotic system of claim 5, wherein the information associated with the body of a subject comprises one or more representations of the body of the subject. ### Claim 7 (depends on 6) The robotic system of claim 6, wherein the controller is configured to selectively modify the next goal at least in part by converting between at least some of the one or more representations of the body of the subject. ### Claim 8 (depends on 5) The robotic system of claim 5, wherein the controller is configured to selectively modify the next goal at least in part by querying a representation of the body of the subject. ### Claim 9 (depends on 5) The robotic system of claim 5, wherein the information associated with the body comprises resistance encountered at least in part by the first end effector, and wherein the controller is configured to selectively modify the next goal based at least in part on the encountered resistance. ### Claim 10 (depends on 1) The robotic system of claim 1, wherein the controller is further configured to generate a second sequence of goals for the second robotic arm in accordance with the trajectory. ### Claim 11 (depends on 10) The robotic system of claim 10, wherein based at least in part on the command received from the input device, the controller is configured to selectively modify next goals of one or both sequences of goals. ### Claim 12 (depends on 11) The robotic system of claim 11, wherein the controller is configured to modify the next goals of both sequences of goals to follow each other. ### Claim 13 (depends on 11) The robotic system of claim 11, wherein the controller is configured to mirror modifications to the next goals of both sequences of goals. ### Claim 14 (depends on 11) The robotic system of claim 11, wherein the controller is configured to limit modification to one of the next goals. ### Claim 15 (depends on 1) The robotic system of claim 1, wherein the controller is configured to transition between goals based at least in part on one or more thresholds. ### Claim 16 (depends on 15) The robotic system of claim 15, wherein the one or more thresholds comprise a maximum permitted velocity, a maximum permitted acceleration, a maximum permitted jerk, or a maximum permitted change in force over time. ### Claim 17 (depends on 1) The robotic system of claim 1, wherein the controller is configured to transition between goals at least in part by injecting an interpolated goal. ### Claim 18 (depends on 1) The robotic system of claim 1, wherein the next goal is implemented at least in part by issuing a torque command. ### Claim 19 (depends on 1) The robotic system of claim 1, wherein interaction with the deformable body in a subsequent interaction session is configured based at least in part on the command. ### Claim 20 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. ### Claim 21 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.