User tracking and haptic interaction for robot-assisted dressing

Abstract

The goal of the project is to develop an interactive robotic system that will provide proactive assistance with dressing to disabled users or health-care workers whose physical contact with garments must be limited to avoid contamination. The project will explore gesture and force as modalities of human-robot interaction. A framework that integrates these two modalities will be developed to recognize user's intentions while being dressed by the robot. The framework will be tested on a Barrett WAM robot equipped with a Kinect camera for user tracking and a force sensor.