From the 1 of 3 linked papers with an AI index.
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TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation
Rishabh Madan, Angchen Xie, Samantha Saak +7
The paper introduces TACTIC, a receding‑horizon controller that combines RGB‑D vision and distributed tactile sensing with a contact‑centric predictive model to plan and execute wh…
PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction
Rishabh Madan, Jiawei Lin, Mahika Goel +10
Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficul…
RABBIT: A Robot-Assisted Bed Bathing System with Multimodal Perception and Integrated Compliance
Rishabh Madan, Skyler Valdez, David Kim +4
This paper introduces RABBIT, a novel robot-assisted bed bathing system designed to address the growing need for assistive technologies in personal hygiene tasks. It combines multi…
CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction
Boxin Xu, Luoyan Zhong, Grace Zhang +4
Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable t…