# US 12,214,509 B2 · Robot system to perform coordinated body work > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,214,509 B2 - Document ID: US12214509B2 - Status: Granted - Kind: B2 - Application number: 18/184,825 - Filed: 2023-03-16 - Published: 2024-09-19 - Granted: 2025-02-04 - Earliest claimed: 2023-03-16 - Assignees: Aescape, Inc. - Applicants: Aescape, Inc. - Inventors: Eric A. Litman; Nicholas Akiona; Jonathan Herman; Chris Casey - Web page: https://patentgrep.com/patent/US12214509B2 ## CPC - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - A61H 7/004: {power-driven, e.g. electrical} - A61H 15/0078: {power-driven} - B25J 9/0084: {comprising a plurality of manipulators} - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 9/1669: {characterised by special application, e.g. multi-arm co-operation, assembly, grasping} - B25J 11/008: {Manipulators for service tasks} - B25J 15/0019: {End effectors other than grippers} - A61H 2201/1659: Free spatial automatic movement of interface within a working area, e.g. Robot - A61H 2201/5002: Means for controlling a set of similar massage devices acting in sequence at different locations on a patient - A61H 2201/5007: computer controlled - A61H 2201/5035: Several programs selectable - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - 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 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. ## Claims ### Claim 1 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 having a second end effector comprising a second plurality of surfaces including a second surface with 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 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, wherein performing the coordinated body work comprises sending, via the at least one processor, at least one signal to cause 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 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. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein performing the coordinated body work includes: sending a first signal to cause the first end effector to apply a first pressure to a first location on the object during a predefined period of time; and sending a second signal to cause the second end effector to apply a second pressure to a second location on the object different than the first location and during the predefined period of time, such that at least a portion of the first pressure opposes at least a portion of the second pressure within a common plane. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein performing the coordinated body work includes: sending a first signal to cause, during a period of time, the first end effector to perform a first contacted motion across a first region of the object while applying a first set of at least one pressure to the object; and sending a second signal to cause, during the period of time, the second end effector to perform a second contacted motion across a second region of the object while applying a second set of at least one pressure to the object, each pressure from the second set of at least one pressure being greater than an associated co-occurring pressure from the first set of at least one pressure. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein performing the coordinated body work includes: 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; 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. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein performing the coordinated body work includes: sending a first signal to cause, at a first time, the first end effector to contact a region of the object using a first portion of the first end effector; and sending a second signal to cause, at a second time different than the first time, the first end effector to contact the region of the object using a second portion of the first end effector different than the first portion. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein performing the coordinated body work includes: causing the first end effector to apply compression to a region of the object at a first time; and subsequent to the first time, causing the first end effector to rotate while maintaining contact with the object. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the first end effector is not symmetric about any two-dimensional plane that passes through a center of at least one first mounting flange associated with at least one of the first end effector or the first robotic arm, and the second end effector is not symmetric about any two-dimensional plane that passes through a center of at least one second mounting flange associated with at least one of the second end effector or the second robotic arm. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein performing the coordinated body work includes: sending a first signal to cause, during a first period of time, the first end effector to perform a first contacted motion across a first region of the object; and sending a second signal to cause, during a second period of time after the first period of time, the second end effector to perform a second contacted motion across a second region of the object, a portion of the first region intersecting with a portion of the second region. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein performing the coordinated body work includes: causing the first end effector to apply a first force to the object in a first direction at a first time; causing the second end effector to apply a second force to the object in a second direction substantially opposite to the first direction at a second time after the first time; causing the first end effector to apply a third force to the object in the first direction at a third time after the second time; and causing the second end effector to apply a fourth force to the object in the second direction at a fourth time after the third time. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the mapping from cartesian coordinates to barycentric coordinates is performed using a body model of the object. ### Claim 11 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. ### Claim 12 (depends on 11) The non-transitory, processor-readable medium of claim 11, wherein sending the at least one signal includes: sending a first signal to cause the first end effector to apply a first pressure to a first location on the object during a predefined period of time; and sending a second signal to cause the second end effector to apply a second pressure to a second location on the object different than the first location and during the predefined period of time, such that at least a portion of the first pressure opposes at least a portion of the second pressure within a common plane. ### Claim 13 (depends on 11) The non-transitory, processor-readable medium of claim 11, wherein performing the massage includes: sending a first signal to cause, during a period of time, the first end effector to perform a first contacted motion across a first region of the object while applying a first set of pressures to the object; and sending a second signal to cause, during the period of time, the second end effector to perform a second contacted motion across a second region of the object while applying a second set of pressures to the object, each pressure from the second set of pressures being greater than an associated co-occurring pressure from the first set of pressures. ### Claim 14 (depends on 11) The non-transitory, processor-readable medium of claim 11, wherein performing the massage includes: 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; 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. ### Claim 15 (depends on 11) The non-transitory, processor-readable medium of claim 11, wherein performing the massage includes: causing the first end effector to apply a first set of pressures to a first region of the object during a first time period; causing the second end effector to apply a second set of pressures to a second region of the object different from the first region of the object, during a second time period that overlaps with the first time period; causing the first end effector to apply a third set of pressures to a third region of the object different from the first region of the object and during a third time period subsequent to the first time period; and causing the second end effector to apply a fourth set of pressures to a fourth region of the object different from the second region of the object and during a fourth time period subsequent to the second time period. ### Claim 16 (depends on 11) The non-transitory, processor-readable medium of claim 11, wherein performing the massage includes: sending a first signal to cause, during a first period of time, the first end effector to perform a first contacted motion across a first region of the object; and sending a second signal to cause, during a second period of time different than the first 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 region substantially mirroring the second region about a portion of the object. ### Claim 17 (depends on 11) The non-transitory, processor-readable medium of claim 11, wherein performing the massage includes: sending a first signal to cause, during a range of time, the first end effector to apply a first pressure to a first location of the object; sending a second signal to cause, during a first sub-range of time included in the range of time, the second end effector to apply a second pressure to a second location of the object; and sending a third signal to cause, during a second sub-range of time included in the range of time different from the first sub-range of time, the second end effector to apply a third pressure to a third location of the object, the third location being closer than the second location to the first location. ### Claim 18 (depends on 11) The non-transitory, processor-readable medium of claim 11, wherein performing the massage includes: sending a first signal to cause, at a first time, the first end effector to contact a region of the object using a first portion of the first end effector; and sending a second signal to cause, at a second time different than the first time, the first end effector to contact the region of the object using a second portion of the first end effector different than the first portion. ### Claim 19 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. ### Claim 20 (depends on 19) The method of claim 19, wherein the robotic arm is a first robotic arm and the end effector is a first end effector, the robot system further including a second robotic arm coupled to the support structure, the second robotic arm including a second end effector that is asymmetric about at least one two-dimensional plane that is perpendicular to an end effector plane of the second end effector, and wherein the sending the at least one signal further causes the second robotic arm to perform the massage. ### Claim 21 (depends on 20) The method of claim 20, wherein performing the massage includes: sending a first signal to cause the first end effector to apply a first pressure to a first location on the object during a predefined period of time; and sending a second signal to cause the second end effector to apply a second pressure to a second location on the object different than the first location and during the predefined period of time, such that at least a portion of the first pressure opposes at least a portion of the second pressure within a common plane. ### Claim 22 (depends on 20) The method of claim 20, wherein performing the massage includes: sending a first signal to cause, during a period of time, the first end effector to perform a first contacted motion across a first region of the object while applying a first set of pressures to the object; and sending a second signal to cause, during the period of time, the second end effector to perform a second contacted motion across a second region of the object while applying a second set of pressures to the object, each pressure from the second set of pressures being greater than an associated co-occurring pressure from the first set of pressures. ### Claim 23 (depends on 20) The method of claim 20, wherein performing the massage includes: 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; 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. ### Claim 24 (depends on 20) The method of claim 20, wherein performing the massage includes: causing the first end effector to apply a first set of pressures to a first region of the object during a first time period; causing the second end effector to apply a second set of pressures to a second region of the object different from the first region of the object, during a second time period that overlaps with the first time period; causing the first end effector to apply a third set of pressures to a third region of the object different from the first region of the object and during a third time period subsequent to the first time period; and causing the second end effector to apply a fourth set of pressures to a fourth region of the object different from the second region of the object and during a fourth time period subsequent to the second time period. ### Claim 25 (depends on 20) The method of claim 20, wherein performing the massage includes: sending a first signal to cause, during a first period of time, the first end effector to perform a first contacted motion across a first region of the object; and sending a second signal to cause, during a second period of time different than the first 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 region substantially mirroring the second region about a portion of the object. ### Claim 26 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. ### Claim 27 (depends on 26) The apparatus of claim 26, wherein at least one of the first end effector or the second end effector is 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. ### Claim 28 (depends on 26) The apparatus of claim 26, wherein at least one of: the first end effector is not symmetric about any two-dimensional plane that passes through a center of at least one first mounting flange associated with at least one of the first end effector or the first robotic arm, or the second end effector is not symmetric about any two-dimensional plane that passes through a center of at least one second mounting flange associated with at least one of the second end effector or the second robotic arm.