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公开(公告)号：US11992455B1
公开(公告)日：2024-05-28
申请号：US18144643
申请日：2023-05-08
申请人： Aescape, Inc.
发明人： Nicholas Akiona , Taya Quandt , Eric A. Litman , Anchit Sood
CPC分类号： A61H7/004 , A61H2201/5007 , A61H2201/5038
摘要： 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.
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公开(公告)号：US11999061B2
公开(公告)日：2024-06-04
申请号：US17319062
申请日：2021-05-12
申请人： Aescape, Inc.
CPC分类号： B25J9/1633 , B25J9/106 , B25J9/1664
摘要： A system, method, and apparatus for a robot system that manipulates the surface of an object effect programmed manipulation goals such as reaching specific locations on the surface of the object, displacing the surface of the object, applying a predetermined force and torque to the surface of the object, dynamically changing the contact point between the robot and the object, and applying force to structures below the surface of the object. The system and method determine the state of the object through a sensing method that includes, without limitation: torque and force measurement, visible light sensors, range and depth sensors, ultrasound sensors, thermographic sensors, and worktable force measurement.
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公开(公告)号：US20240341874A1
公开(公告)日：2024-10-17
申请号：US18648905
申请日：2024-04-29
申请人： Aescape, Inc.
CPC分类号： A61B34/30 , A61B34/10 , A61B2034/101
摘要： A system, method, and apparatus are provided for a robotic system effecting autonomous therapy or treatment of a body having soft and/or hard tissue. A system, method, and apparatus are provided for a robotic control system having a fused sensing stream for predicting the deformation of a robotic end effector and the tissue that the end effector is in contact with using, e.g., a Finite Element Analysis (FEA) model. The model updates provide adjustment parameters for the control system to compensate for changes in the mechanical nature of the robotic end effector and the characteristics and/or movement of the tissue being treated by the robotic end effector.
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公开(公告)号：US12083050B1
公开(公告)日：2024-09-10
申请号：US18242999
申请日：2023-09-06
申请人： Aescape, Inc.
CPC分类号： A61G13/08 , A61G13/009 , A61G13/121 , A61G13/122 , B25J13/006 , B25J11/008
摘要： A system that includes a processor, a bolster, a headrest, and an arm interface where the processor receives an input associated with configuring at least one of the bolster, the headrest, or the arm interface. The processor generates a control signal based at least in part on the input and controls an actuator using the control signal to adjust a configuration of the at least one of the bolster, the headrest, or the arm interface.
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公开(公告)号：US20240208057A1
公开(公告)日：2024-06-27
申请号：US18497822
申请日：2023-10-30
申请人： Aescape, Inc.
CPC分类号： B25J9/1664 , A61B34/32 , B25J13/08
摘要： A system, method, and apparatus for autonomous body interaction system is provided. A system and method for a robot interacting with a human or other soft or deformable body is provided for the purpose of active application of pressure to specific points or regions of the body. The system and method conducts at least one of: localizing the position of the body, detecting the configuration of the body, identifying the surface region(s) of the body, predicting the underlying anatomy of the body, assessing the state of the body, preparing a plan for manipulation of the body, and executing a predetermined and/or dynamically updated plan on the body.
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公开(公告)号：US11998289B2
公开(公告)日：2024-06-04
申请号：US17319065
申请日：2021-05-12
申请人： Aescape, Inc.
CPC分类号： A61B34/30 , A61B34/10 , A61B2034/101
摘要： A system, method, and apparatus are provided for a robotic system effecting autonomous therapy or treatment of a body having soft and/or hard tissue. A system, method, and apparatus are provided for a robotic control system having a fused sensing stream for predicting the deformation of a robotic end effector and the tissue that the end effector is in contact with using, e.g., a Finite Element Analysis (FEA) model. The model updates provide adjustment parameters for the control system to compensate for changes in the mechanical nature of the robotic end effector and the characteristics and/or movement of the tissue being treated by the robotic end effector.
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公开(公告)号：US12122050B2
公开(公告)日：2024-10-22
申请号：US17471144
申请日：2021-09-09
申请人： Aescape, Inc.
CPC分类号： B25J9/1633 , B25J9/106 , B25J9/1664
摘要： A system, method, and apparatus are provided for generating a dynamic, autonomous, machine-learning, and modifiable therapeutic massage plan. A system, method, and apparatus are provided for determining and executing the motion planning for directing one or more robotic arms to execute a sequence of motions while maintaining contact between their end effectors and a subject.
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公开(公告)号：US20240342903A1
公开(公告)日：2024-10-17
申请号：US18648116
申请日：2024-04-26
申请人： Aescape, Inc.
CPC分类号： B25J9/1633 , B25J9/106 , B25J9/1664
摘要： A system, method, and apparatus for a robot system that manipulates the surface of an object effect programmed manipulation goals such as reaching specific locations on the surface of the object, displacing the surface of the object, applying a predetermined force and torque to the surface of the object, dynamically changing the contact point between the robot and the object, and applying force to structures below the surface of the object. The system and method determine the state of the object through a sensing method that includes, without limitation: torque and force measurement, visible light sensors, range and depth sensors, ultrasound sensors, thermographic sensors, and worktable force measurement.
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公开(公告)号：US20240307251A1
公开(公告)日：2024-09-19
申请号：US18368411
申请日：2023-09-14
申请人： Aescape, Inc.
CPC分类号： A61H7/004 , B25J11/008 , A61H2201/0207 , A61H2201/1659 , A61H2201/1685 , A61H2201/169 , A61H2201/5007 , A61H2201/5058 , A61H2205/081
摘要： A massage robot arm end effector includes a mounting interface that is attachable to a robot arm. It further includes a surface distal from the mounting interface having a variable curvature that comprises a plurality of interaction regions. The surface is paired with a garment worn by a subject.
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