4 papers
Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image using Synthetic Data
Henry M. Clever, Zackory Erickson, Ariel Kapusta +3
People spend a substantial part of their lives at rest in bed. 3D human pose and shape estimation for this activity would have numerous beneficial applications, yet line-of-sight p…
Assistive Gym: A Physics Simulation Framework for Assistive Robotics
Zackory Erickson, Vamsee Gangaram, Ariel Kapusta +2
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents…
Task-centric Optimization of Configurations for Assistive Robots
Ariel Kapusta, Charles C. Kemp
Robots can provide assistance to a human by moving objects to locations around the person's body. With a well chosen initial configuration, a robot can better reach locations impor…
3D Human Pose Estimation on a Configurable Bed from a Pressure Image
Henry M. Clever, Ariel Kapusta, Daehyung Park +3
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 f…