相关论文: Do You Need a Hand? -- a Bimanual Robotic Dressing…
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…
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 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…
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…
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…
Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
Robots hold significant promise to assist with providing care to an aging population and to help overcome increasing caregiver demands. Although a large body of research has explored robotic assistance for individuals with disabilities and…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
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…
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…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Human manipulation skills represent a pinnacle of their voluntary motor functions, requiring the coordination of many degrees of freedom and processing of high-dimensional sensor input to achieve remarkable dexterity. Thus, we set out to…
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…
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…
While there are many examples in which robots provide social assistance, a lack of theory on how the robots should decide how to assist impedes progress in realizing these technologies. To address this deficiency, we propose a pair of…
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,…
Bimanual coordination is essential for many real-world manipulation tasks, yet learning bimanual robot policies is limited by the scarcity of bimanual robots and datasets. Single-arm robots, however, are widely available in research labs.…