• Data-Driven Haptic Perception for Robot-Assisted Dressing 

      Kapusta, Ariel; Yu, Wenhao; Bhattacharjee, Tapomayukh; Liu, C. Karen; Turk, Greg; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-08)
      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 ...
    • A Model that Predicts the Material Recognition Performance of Thermal Tactile Sensing 

      Bhattacharjee, Tapomayukh; Bai, Haoping; Chen, Haofeng; Kemp, Charles C. (2016)
      Tactile sensing can enable a robot to infer properties of its surroundings, such as the material of an object. Heat transfer based sensing can be used for material recognition due to differences in the thermal properties ...
    • A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning 

      Bhattacharjee, Tapomayukh; Grice, Phillip M.; Kapusta, Ariel; Killpack, Marc D.; Park, Daehyung; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
      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 ...