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 human thus supporting/guiding the human in the dressing process while the dressing robot performs the dressing task. We identify a key feature: the elbow angle that affects the dressing action and propose an optimal strategy for the interactive robot using the feature. A dressing coordinate based on the posture of the arm is defined to better encode the dressing policy. We validate the interactive dressing scheme with extensive experiments and also an ablation study.

The robotic manipulation of composite rigid-deformable objects (i.e., those with mixed nonhomogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has not been sufficiently studied in the literature. To deal with this issue, in this article, we propose a new visual servoing method that has the capability to manipulate this broad class of objects (which varies from soft to rigid) with the same adaptive strategy. To quantify the object's infinite-dimensional configuration, our new approach computes a compact feedback vector of 2-D contour moments features. A sliding mode control scheme is then designed to simultaneously ensure the finite-time convergence of both the feedback shape error and the model estimation error. The stability of the proposed framework (including the boundedness of all the signals) is rigorously proved with Lyapunov theory. Detailed simulations and experiments are presented to validate the effectiveness of the proposed approach. To the best of the author's knowledge, this is the first time that contour moments along with finite-time control have been used to solve this difficult manipulation problem.

This paper proposes a general approach to design automatic controls to manipulate elastic objects into desired shapes. The object’s geometric model is defined as the shape feature based on the specific task to globally describe the deformation. Raw visual feedback data is processed using classic regression methods to identify parameters of data-driven geometric models in real-time. Our proposed method is able to analytically compute a pose-shape Jacobian matrix based on implicit functions. This model is then used to derive a shape servoing controller. To validate the proposed method, we report a detailed experimental study with robotic manipulators deforming an elastic rod.

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of explicitly defining the features by geometries or functions, the robot automatically learns the visual features from processed vision data. Our method simultaneously generates – from the same data – both visual features and the interaction matrix that relates them to the robot control inputs. Extraction of the feature vector and control commands is done online and adaptively, and requires little data for initialization. Our method allows the robot to manipulate an object without knowing whether it is rigid or deformable. To validate our approach, we conduct numerical simulations and experiments with both deformable and rigid objects.

Soft object manipulation has recently gained popularity within the robotics community due to its potential applications in many economically important areas. Although great progress has been recently achieved in these types of tasks, most state-of-the-art methods are case-specific; They can only be used to perform a single deformation task (e.g. bending), as their shape representation algorithms typically rely on "hard-coded" features. In this paper, we present LaSeSOM, a new feedback latent representation framework for semantic soft object manipulation. Our new method introduces internal latent representation layers between low-level geometric feature extraction and high-level semantic shape analysis; This allows the identification of each compressed semantic function and the formation of a valid shape classifier from different feature extraction levels. The proposed latent framework makes soft object representation more generic (independent from the object's geometry and its mechanical properties) and scalable (it can work with 1D/2D/3D tasks). Its high-level semantic layer enables to perform (quasi) shape planning tasks with soft objects, a valuable and underexplored capability in many soft manipulation tasks. To validate this new methodology, we report a detailed experimental study with robotic manipulators.