基于足部与衣物状态估计的近身穿衣辅助
Close-Fitting Dressing Assistance Based on State Estimation of Feet and Garments with Semantic-based Visual Attention
AI总结：
本研究提出基于语义信息的穿衣辅助方法，通过多模态数据融合实现对足部和衣物状态的精准估计，成功帮助10名受试者穿袜子，优于其他方法。
摘要：
随着人口老龄化加剧，未来护理人员短缺已成为一个突出问题。穿衣辅助，尤其是穿着紧身衣物如袜子，仍然具有挑战性，因为需要精细的力调整以处理与皮肤摩擦或卡顿的问题，同时考虑衣物的形状和位置。本研究介绍了一种方法，利用多模态信息，包括机器人的摄像头图像、关节角度、关节扭矩以及触觉力，以实现适当的力交互，能够适应人类个体差异。此外，通过引入基于物体概念的语义信息，而不是仅依赖RGB数据，可以推广到未见过的足部和背景。此外，结合深度数据有助于推断袜子与脚之间的相对空间关系。为了验证其对语义物体概念化的能力并确保安全，使用人形模特收集了训练数据，随后进行了人类受试者的后续实验。在实验中，机器人成功适应了之前未见过的人类足部，并能为10名受试者穿上袜子，成功率达到高于Action Chunking with Transformer和Diffusion Policy。这些结果表明，所提出的模型能够估计衣物和足部的状态，从而实现对紧身衣物的精确穿衣辅助。
英文摘要：
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. Especially dressing close-fitting garments, such as socks, remains challenging due to the need for fine force adjustments to handle the friction or snagging against the skin, while considering the shape and position of the garment. This study introduces a method uses multi-modal information including not only robot's camera images, joint angles, joint torques, but also tactile forces for proper force interaction that can adapt to individual differences in humans. Furthermore, by introducing semantic information based on object concepts, rather than relying solely on RGB data, it can be generalized to unseen feet and background. In addition, incorporating depth data helps infer relative spatial relationship between the sock and the foot. To validate its capability for semantic object conceptualization and to ensure safety, training data were collected using a mannequin, and subsequent experiments were conducted with human subjects. In experiments, the robot successfully adapted to previously unseen human feet and was able to put socks on 10 participants, achieving a higher success rate than Action Chunking with Transformer and Diffusion Policy. These results demonstrate that the proposed model can estimate the state of both the garment and the foot, enabling precise dressing assistance for close-fitting garments.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
