相关论文: Bodies Uncovered: Learning to Manipulate Real Blan…

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…

We investigate robotic assistants for dressing that can anticipate the motion of the person who is being helped. To this end, we use reinforcement learning to create models of human behavior during assistance with dressing. To explore this…

Humans spend vast hours in bed -- about one-third of the lifetime on average. Besides, a human at rest is vital in many healthcare applications. Typically, humans are covered by a blanket when resting, for which we propose a multimodal…

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 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 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 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…

A fundamental challenge in manipulating fabric for clothes folding and textiles manufacturing is computing "pick points" to effectively modify the state of an uncertain manifold. We present a supervised deep transfer learning approach to…

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,…

Learning to manipulate cloth is both a paradigmatic problem for robotic research and a problem of immediate relevance to a variety of applications ranging from assistive care to the service industry. The complex physics of the deformable…

Enabling robots to grasp and reposition human limbs can significantly enhance their ability to provide assistive care to individuals with severe mobility impairments, particularly in tasks such as robot-assisted bed bathing and dressing.…

Fabric manipulation is a long-standing challenge in robotics due to the enormous state space and complex dynamics. Learning approaches stand out as promising for this domain as they allow us to learn behaviours directly from data. Most…

In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg…

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…

In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…

Robots have the potential to assist people in bed, such as in healthcare settings, yet bedding materials like sheets and blankets can make observation of the human body difficult for robots. A pressure-sensing mat on a bed can provide…

In this work, we propose a novel strategy to ensure infants, who inadvertently displace their quilts during sleep, are promptly and accurately re-covered. Our approach is formulated into two subsequent steps: interference resolution and…

Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

Cloth detection and manipulation is a common task in domestic and industrial settings, yet such tasks remain a challenge for robots due to cloth deformability. Furthermore, in many cloth-related tasks like laundry folding and bed making, it…