{
  "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.",
  "assignees": [
    "AESCAPE INC"
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    "AKIONA NICHOLAS",
    "BAJO ANDREA",
    "BOWEN JAMES S",
    "LITMAN ERIC A",
    "MORGAN CYNTHIA LYNNE",
    "SAIGOL KAMIL TAUFIQUE"
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  "source_date": "2026-03-05",
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  "title": "Force sensitive end effector",
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