Learning Human Behaviors for Robot-Assisted Dressing

Understand

We investigate robotic assistants for dressing that can anticipate the motion of the person who is being helped.

• To this end, we use reinforcement learning to create models of human behavior during assistance with dressing.
• To explore this kind of interaction, we assume that the robot presents an open sleeve of a hospital gown to a person, and that the person moves their arm into the sleeve.
• The controller that models the person's behavior is given the position of the end of the sleeve and information about contact between the person's hand and the fabric of the gown.