Bottom dressing by a dual-arm robot using a clothing state estimation based on dynamic shape changes
Open accessAbstract
This paper describes an autonomous robot's method of dressing a subject in clothing. Our target task is to dress a person in the sitting pose. We especially focus on the action whereby a robot automatically pulls a pair of trousers up the subject's legs, an action frequently needed in dressing assistance. To avoid injuring the subject's legs, the robot should be able to recognize the state of the manipulated clothing. Therefore, while handling the clothing, the robot is supplied with both visual and tactile sensory information. A dressing failure is detected by the visual sensing of the behaviour of optical flows extracted from the clothing's movements. The effectiveness of the proposed approach is implemented and validated in a life-sized humanoid robot.
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The system needs to detect success and different error states.
“In addition, the system needs to detect success and different error states [298,301,309,315,316,317].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [309]
The ability to recover from failures without repositioning the target human is equally significant.
“The ability to recover from failures without repositioning the target human [298,309] is equally significant.”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [309]
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- Authors
- Yamazaki, K., Oya, R., Nagahama, K., Okada, K., & Inaba, M.
- Affiliations
- Shinshu University (JP)
- The University of Toyko, Toyko, Japan
- Corresponding author
- Yamazaki, Kimitoshi
- Venue
- International Journal of Advanced Robotic Systems
- Publisher
- SAGE Publications
- Published
- 2016-01-01
- Volume
- 13
- Issue
- 1
- ISSN
- 1729-8806 (ISSN-L)
- 1729-8814
- OpenAlex
- W2278457516
- Cited by
- 34
- References
- 17
- Citations by year
- 2026: 3 · 2025: 7 · 2024: 4 · 2023: 3 · 2022: 4 · 2021: 4 · 2020: 2 · 2019: 2 · 2018: 3 · 2017: 2
- FWCI
- 1.96
- Type
- journal article
- Language
- en
- Open access
- gold
- doi.org
- Locations
- International Journal of Advanced Robotic Systems (publishedVersion, cc-by)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
- Contact-less Assessment of In-vivo Body Signals Using Microwave Doppler Radar (InTech) (submittedVersion, cc-by)
- Funders
- Japan Society for the Promotion of Science (26700024)
- Precursory Research for Embryonic Science and Technology
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Keywords
- dual-arm robot, dressing assistance, optical flow, humanoid robots, sitting posture
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