Robotic Control System for Autonomous Object Manipulation Patent Published

Strategic Insights -

A patent for a robotic control system that allows for the autonomous manipulation of soft tissue and nonuniform objects has been published. The system, invented by Matthew DiCicco, Eric A. Litman, Charles Paul Pace, and David N. Walsh, enables a robotic manipulator to contact a deformable surface and apply a predefined amount of force while sensing force data to manage progression and maintain contact. This technology has potential applications in medical procedures, device testing, and manufacturing.

Key Takeaways:

  • The patent, filed on April 26, 2024, and published on October 14, 2025, describes a system that includes a robotic manipulator and one or more processors configured to cause the end effector to contact a deformable surface and apply a predefined amount of force.
  • The system senses force data based on the interaction of the end effector and the object, and generates a manipulation plan to manage progression while maintaining contact.
  • The system can detect if a generated torque command would exceed a joint torque limit and modify the stored representation of the generated torque command to be at or below the joint torque limit.
  • The system can also modify a gain parameter associated with a controller of the robotic manipulator based on the orientation of the deformable surface.
  • The system can determine the structure or state of the object based on the sensed force data and generate a manipulation plan accordingly.
  • The system can attribute the sensed force data to structural constituency or changes in the object.
  • The system can determine a friction component and manage progression based on the determined friction component.
  • The system can determine a contact patch and a contact pressure between the surface of the end effector and the deformable surface of the object.

Statistics:

  • The patent has 20 claims, including system and method claims.
  • The system uses one or more processors to control the robotic manipulator.
  • The system applies a predefined amount of force to the deformable surface.
  • The system senses force data based on the interaction of the end effector and the object.
  • The system generates a manipulation plan based on the sensed force data to manage progression and maintain contact.

Sources:

  • DiCicco, Matthew. Method and system for autonomous object manipulation. U.S. Patent Number 12440974, filed April 26, 2024, and published online on October 14, 2025. Patent URL (for desktop use only): https://ppubs.uspto.gov/pubwebapp/external.html?q=(12440974)&db=USPAT&type=ids