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title
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Shen Li
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2025-12-19 16:51:16
raw text
Safe Dressing Provably Safe and Efficient Motion Planning with Uncertain Human Dynamics Robotics: Science and Systems 2021 (to appear) Shen Li Nadia Figueroa Ankit Shah Julie A. Shah MIT CSAIL PDF / code / videos / talk at RSS (5:04) / slides / poster / MIT news / talk at MIT Horizon (30min, less technical) / featured in the Next Byte Podcast with the article Motivation Fig. 1: During robot-assisted dressing, the robot must remain physically close to the human arm to ensure human comfort due to the limited size of the armhole. Planners optimizing for human safety, defined as collision avoidance, might cause the robot to freeze in such a circumstance. In this work: We redefine safety as collision avoidance or safe impact in the event of a collision . This definition enables the robot to dress the person while a...
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