US 12,458,560 B2
Therapeutic content personalization
Nicholas Akiona, New York, NY (US); Taya Quandt, New Canaan, CT (US); Andreas G. Hofmann, Cambridge, MA (US); Scott White, Alameda, CA (US); Kathleen Lockhart, Bow, NH (US); and Vikas Shivashankar, Andover, MA (US)
Assigned to Aescape, Inc., New York, NY (US)
Filed by Aescape, Inc., New York, NY (US)
Filed on Feb. 13, 2024, as Appl. No. 18/440,715.
Prior Publication US 2025/0255772 A1, Aug. 14, 2025
Int. Cl. A61H 7/00 (2006.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01)
CPC A61H 7/004 (2013.01) [B25J 9/10 (2013.01); B25J 9/161 (2013.01); B25J 9/163 (2013.01); B25J 9/1664 (2013.01); A61H 2201/0188 (2013.01); A61H 2201/164 (2013.01); A61H 2201/1659 (2013.01); A61H 2201/5007 (2013.01); A61H 2201/5038 (2013.01); A61H 2201/5046 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A robotic massage system, comprising:
a robotic arm that is actuated in order to execute a massage plan comprising a plurality of strokes;
a user interface that receives feedback from a user affecting the massage plan; and
a controller that:
receives state information during execution of the massage plan; and
dynamically modifies, based on the state information and the feedback received from the user, the massage plan to obtain a modified massage plan, wherein the modifying comprises:
implementing, based on the state information and the feedback received from the user, changes to the massage plan to obtain a changed massage plan;
determining that the changed massage plan violates a constraint of a set of constraints, wherein the changed massage plan relates to an updated plurality of strokes; and
in response to the determination that the changed massage plan violates the constraint, replanning the changed massage plan based on an objective function, wherein the massage plan is inputted into the objective function to obtain the modified massage plan, wherein the updated plurality of strokes relates to a corresponding plurality of weights to be inputted into the objective function, wherein the replanning comprises selecting a candidate massage plan from a set of candidate massage plans based on the objective function and the set of constraints, wherein the selected candidate massage plan corresponds to the modified massage plan, wherein the selected candidate massage plan comprises a candidate sequence of massage strokes and transition strokes, wherein each transition stroke moves the robotic arm to connect two of the massage strokes, wherein the selecting the candidate massage plan is based at least in part on minimizing, using the objective function, an amount of time in which the transition strokes are performed, and wherein the minimizing is facilitated at least in part by assigning different weightings of therapeutic value to the transition strokes as compared to the massage strokes.