2023
DOI: 10.48550/arxiv.2301.02749
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Do You Need a Hand? -- a Bimanual Robotic Dressing Assistance Scheme

Abstract: 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, which greatly limited the performance of the dressing assistance. In fact, healthcare professionals perform the task bimanually. Inspired by them, we propose a bimanual cooperative scheme for robotic dressing assistance. In the scheme, an interactive robot joins hands with the… Show more

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Cited by 2 publications
(2 citation statements)
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“…Deformable object manipulation has been a growing research area with various applications, such as assembling cables in factories [23]- [26], assisted dressing and laundry folding [27]- [30] and food production [31], [32]. These tasks mainly rely on visual perception [23], [28], [32]- [34].…”
Section: B Thin and Flexible Object Graspingmentioning
confidence: 99%
“…Deformable object manipulation has been a growing research area with various applications, such as assembling cables in factories [23]- [26], assisted dressing and laundry folding [27]- [30] and food production [31], [32]. These tasks mainly rely on visual perception [23], [28], [32]- [34].…”
Section: B Thin and Flexible Object Graspingmentioning
confidence: 99%
“…Among such tasks, picking large objects in unstructured environments (Fig. 1) [1], assisting the elderly [3], [4], surgery tasks [5], or complex assembly tasks [6] are shown to require dexterous bimanual setups. Factory assembly, logistics, and household applications of bimanual robots have been known for decades [7], [8].…”
mentioning
confidence: 99%