Learning-based control approaches for service robots on cloth manipulation and dressing assistance: a comprehensive review.
Journal:
Journal of neuroengineering and rehabilitation
PMID:
36329473
Abstract
BACKGROUND: Service robots are defined as reprogrammable, sensor-based mechatronic devices that perform useful services in an autonomous or semi-autonomous way to human activities in an everyday environment. As the number of elderly people grows, service robots, which can operate complex tasks like dressing tasks for disabled people, are being demanded increasingly. Consequently, there is a growing interest in studying dressing tasks, such as putting on a t-shirt, a hat, or shoes. Service robots or robot manipulators have been developed to accomplish these tasks using several control approaches. The robots used in this kind of application are usually bimanual manipulator (i.e. Baxter robot) or single manipulators (i.e. Ur5 robot). These arms are usually used for recognizing clothes and then folding them or putting an item on the arm or on the head of a person.