Related papers: Learning Human Behaviors for Robot-Assisted Dressi…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…
We investigated the application of haptic feedback control and deep reinforcement learning (DRL) to robot-assisted dressing. Our method uses DRL to simultaneously train human and robot control policies as separate neural networks using…
Robot-assisted dressing could benefit the lives of many people such as older adults and individuals with disabilities. Despite such potential, robot-assisted dressing remains a challenging task for robotics as it involves complex…
Robotic-assisted dressing has the potential to significantly aid both patients as well as healthcare personnel, reducing the workload and improving the efficiency in clinical settings. While substantial progress has been made in robotic…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
Dressing is a fundamental task of everyday living and robots offer an opportunity to assist people with motor impairments. While several robotic systems have explored robot-assisted dressing, few have considered how a robot can manage…
Developing physically assistive robots capable of dressing assistance has the potential to significantly improve the lives of the elderly and disabled population. However, most robotics dressing strategies considered a single robot only,…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with mobility limitations. Currently, the majority of research on…
Robotic caregivers could potentially improve the quality of life of many who require physical assistance. However, in order to assist individuals who are lying in bed, robots must be capable of dealing with a significant obstacle: the…
As the population continues to age, a shortage of caregivers is expected in the future. Dressing assistance, in particular, is crucial for opportunities for social participation. Especially dressing close-fitting garments, such as socks,…
Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies on global properties of the interaction to succeed---rather…
When performing cloth-related tasks, such as garment hanging, it is often important to identify and grasp certain structural regions -- a shirt's collar as opposed to its sleeve, for instance. However, due to cloth deformability, these…
We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or…
We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…
Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…
While robots present an opportunity to provide physical assistance to older adults and people with mobility impairments in bed, people frequently rest in bed with blankets that cover the majority of their body. To provide assistance for…
Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…