Patent Issued for Method and system for generating a therapeutic massage plan (USPTO 12122050).

A patent has been issued for a method and system for generating a therapeutic massage plan by Aescape Inc. The invention involves a robotic control system that adjusts the robot's contact point continuously based on sensed force, allowing for the handling of soft tissue in an automated manner. The system includes motion planning for directing robotic arms to execute specific therapies at different depths of tissue by applying variable pressures. This innovation aims to address the need for a therapeutic massage plan for handling soft body objects in a dynamic or automated system. [Extracted from the article]