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US 2026/0061606 A1Published application
Force sensitive end effector
OwnerEric A. Litman, James S. Bowen +4inventors
InventorsEric A. Litman, James S. Bowen, Nicholas Akiona, Kamil Taufique Saigol, Andrea Bajo, Cynthia Lynne Morgan
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Abstract
A robotic massage system includes a robotic arm. An end effector is positioned at the end of the robotic arm. The end effector includes a plurality of contact sensors embedded in the end effector. The robotic arm is controlled to engage a deformable body with the end effector. The force sensors embedded in the end effector provide force feedback indicating a contact patch where the end effector is contacting the deformable body.
Claims20
A robotic massage system, comprising:
- a robotic arm;
- an end effector positioned at an end of the robotic arm;
- and
- a controller configured to control the robotic arm to engage a deformable body with the end effector;
- wherein:
- the end effector comprises a plurality of contact sensors embedded in the end effector;
- and
- the plurality of contact sensors provide force feedback indicating a contact patch where the end effector is contacting the deformable body.
5 more elements
A method, comprising:
- controlling a robotic arm to engage a deformable body with an end effector positioned at an end of the robotic arm;
- receiving force feedback provided by a plurality of contact sensors embedded in the end effector;
- and
- determining a contact patch where the end effector is contacting the deformable body based at least in part on the force feedback provided by the plurality of contact sensors embedded in the end effector.
1 more element
Dependencies are inferred from the claim text.