---
publication_id: "OT-2026-000002158"
title: "Force sensitive end effector"
published_at: "2026-09-15T19:11:09.895335Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002158"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "a61h7/004"
  - "b25j9/1633"
  - "b25j9/1633"
  - "a61h7/004"
  - "b25j11/008"
  - "b25j11/008"
---

# Force sensitive end effector

## 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.