US 12,214,509 B2
Robot system to perform coordinated body work
Eric A. Litman, Brooklyn, NY (US); Nicholas Akiona, New York, NY (US); Jonathan Herman, Scarsdale, NY (US); and Chris Casey, Lexington, MA (US)
Assigned to Aescape, Inc., New York, NY (US)
Filed by Aescape, Inc., New York, NY (US)
Filed on Mar. 16, 2023, as Appl. No. 18/184,825.
Prior Publication US 2024/0308074 A1, Sep. 19, 2024
Int. Cl. B25J 9/16 (2006.01); A61H 7/00 (2006.01); A61H 15/00 (2006.01); B25J 11/00 (2006.01); B25J 15/00 (2006.01)
CPC B25J 9/1682 (2013.01) [A61H 7/004 (2013.01); A61H 15/0078 (2013.01); B25J 9/1633 (2013.01); B25J 9/1669 (2013.01); B25J 11/008 (2013.01); B25J 15/0019 (2013.01); A61H 2201/1659 (2013.01); A61H 2201/5002 (2013.01); A61H 2201/5007 (2013.01); A61H 2201/5035 (2013.01)] 28 Claims
OG exemplary drawing
 
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.