110 citations · 322 across the 29 of their papers we have counts for
6 papers · 1 filter
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…
Learning to Collaborate from Simulation for Robot-Assisted Dressing
Alexander Clegg, Zackory Erickson, Patrick Grady +3
We investigated the application of haptic feedback control and deep reinforcement learning (DRL) to robot-assisted dressing. Our method uses DRL to simultaneously train human and r…
Towards Markerless Grasp Capture
Samarth Brahmbhatt, Charles C. Kemp, James Hays
Humans excel at grasping objects and manipulating them. Capturing human grasps is important for understanding grasping behavior and reconstructing it realistically in Virtual Reali…
Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing
Zackory Erickson, Henry M. Clever, Vamsee Gangaram +3
Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain di…
ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging
Samarth Brahmbhatt, Cusuh Ham, Charles C. Kemp +1
Grasping and manipulating objects is an important human skill. Since hand-object contact is fundamental to grasping, capturing it can lead to important insights. However, observing…
Active Robot-Assisted Feeding with a General-Purpose Mobile Manipulator: Design, Evaluation, and Lessons Learned
Daehyung Park, Yuuna Hoshi, Harshal P. Mahajan +4
Eating is an essential activity of daily living (ADL) for staying healthy and living at home independently. Although numerous assistive devices have been introduced, many people wi…