Robot system to perform coordinated body work

A non-transitory, processor-readable medium storing code representing instructions executable by a processor to:

• receive a signal representing an instruction to perform a massage;
• and
• send at least one signal to cause at least one of a first robotic arm of a robot system or a second robotic arm of the robot system to perform the massage on an object, the robot system including:
• a support structure comprising a track;
• the first robotic arm, coupled to the track comprised in the support structure, the first robotic arm slidable along the track, and the first robotic arm including a first end effector comprising a first plurality of surfaces including a first surface having a first shape;
• and
• the second robotic arm coupled to the support structure, the second robotic arm separate from the first robotic arm and including a second end effector comprising a second plurality of surfaces including a second surface having a second shape that mirrors the first shape when observed from a common perspective;
• at least one of the first end effector or the second end effector being asymmetric about at least one two-dimensional plane that is perpendicular to an end effector plane of the at least one of the first end effector or the second end effector;
• and
• wherein sending the at least one signal causes the first end effector to make contact with the object via a surface in the first plurality of surfaces of the first end effector that has a shape that is usable for facilitating a type of the massage, wherein a representation of a trajectory of the first end effector is stored in a barycentric space, and wherein a stroke is mapped from cartesian coordinates to barycentric coordinates.

A method, comprising:

• receiving, via at least one processor of a robot system, a signal representing an instruction to perform a massage;
• and
• sending, via the at least one processor, at least one signal to cause a robotic arm of the robot system to perform the massage on an object, the robot system including:
• a support structure comprising a track;
• and
• the robotic arm, coupled to the track comprised in the support structure, the robotic arm slidable along the track, the robotic arm including an end effector that is asymmetric about at least one two-dimensional plane that is perpendicular to an end effector plane of the end effector, and the end effector comprising a plurality of surfaces including a first surface having a first shape;
• wherein sending the at least one signal causes the end effector to make contact with the object via a surface in the plurality of surfaces of the end effector that has a shape that is usable for facilitating a type of the massage, wherein a representation of a trajectory of the end effector is stored in a barycentric space, and wherein a stroke is mapped from cartesian coordinates to barycentric coordinates.

An apparatus, comprising:

• a support structure configured to support an object, the support structure comprising a track;
• a first robotic arm coupled to the track comprised in the support structure, the first robotic arm slidable along the track, and the first robotic arm including a first end effector comprising a first plurality of surfaces including a first surface having a first shape;
• a second robotic arm coupled to the support structure, the second robotic arm separate from the first robotic arm and including a second end effector;
• and
• at least one processor operatively coupled to the first robotic arm and the second robotic arm, the at least one processor configured to:
• perform coordinated body work on the object using the first robotic arm and the second robotic arm, the coordinated body work including:
• sending a first signal to cause, during a predefined period of time, the first end effector to perform a first contacted motion across a first region of the object via a surface in the first plurality of surfaces of the first end effector that has a shape that is usable for facilitating a type of the coordinated body work, wherein a representation of a trajectory of the first end effector is stored in a barycentric space, and wherein a stroke is mapped from cartesian coordinates to barycentric coordinates;
• and
• sending a second signal to cause, during the predefined period of time, the second end effector to perform a second contacted motion across a second region of the object different than the first region of the object, the first contacted motion substantially mirroring the second contacted motion relative to a portion of the object.