3 papers
cs.RO2026
TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation
Rishabh Madan, Angchen Xie, Samantha Saak +7
Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and brea…
cs.RO2025
WAFFLE: A Wearable Approach to Bite Timing Estimation in Robot-Assisted Feeding
Akhil Padmanabha, Jessie Yuan, Tanisha Mehta +10
Millions of people around the world need assistance with feeding. Robotic feeding systems offer the potential to enhance autonomy and quality of life for individuals with impairmen…
cs.RO2025
CART-MPC: Coordinating Assistive Devices for Robot-Assisted Transferring with Multi-Agent Model Predictive Control
Ruolin Ye, Shuaixing Chen, Yunting Yan +6
Bed-to-wheelchair transferring is a ubiquitous activity of daily living (ADL), but especially challenging for caregiving robots with limited payloads. We develop a novel algorithm…