There is a considerable need for assistive dressing among people with disabilities, and robots have the potential to fulfill this need. However, training such a robot would require extensive trials in order to learn the ...

We present a system that enables a robot to reach locations in dense clutter using only haptic sensing. Our system integrates model predictive control [1], learned initial conditions [2], tactile recognition of object ...

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 ...

Dressing is an important activity of daily living (ADL) with which many people require assistance due to impairments. Robots have the potential to provide dressing assistance, but physical interactions between clothing ...

We present a robotic system designed to provide physical assistance to a person in bed. The system consists of a robotic bed (Autobed) and a mobile manipulator (PR2) that work together. The 3 degree-of-freedom (DoF) ...

Robots can provide assistance with activities of daily living (ADLs) to humans with motor impairments. Specialized robots, such as desktop robotic feeding systems, have been successful for specific assistive tasks when ...

We present a new method for reaching in an initially unknown environment with only haptic sensing. In this paper, we propose a haptically-guided interleaving planning and control (HIPC) method with a haptic mapping ...

Often in highly-cluttered environments, a robot can observe the exterior of the environment with ease, but cannot directly view nor easily infer its detailed internal structure (e.g., dense ...