4 papers
Geometry-Aware Reinforcement Learning for Close-Fitting Wearable Insertion
Takuma Tsukakoshi, Elle Miller, Tamon Miyake +5
Robot-assisted dressing is particularly challenging due to narrow openings and articulated body parts. Even small errors in the relative pose between the body part and garment open…
TaSA: Two-Phased Deep Predictive Learning of Tactile Sensory Attenuation for Improving In-Grasp Manipulation
Pranav Ponnivalavan, Satoshi Funabashi, Alexander Schmitz +2
Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is st…
Close-Fitting Dressing Assistance Based on State Estimation of Feet and Garments with Semantic-based Visual Attention
Takuma Tsukakoshi, Tamon Miyake, Tetsuya Ogata +3
As the population continues to age, a shortage of caregivers is expected in the future. Dressing assistance, in particular, is crucial for opportunities for social participation. E…
Dual-arm Motion Generation for Repositioning Care based on Deep Predictive Learning with Somatosensory Attention Mechanism
Tamon Miyake, Namiko Saito, Tetsuya Ogata +2
Caregiving is a vital role for domestic robots, especially the repositioning care has immense societal value, critically improving the health and quality of life of individuals wit…