SkinGrip: An Adaptive Soft Robotic Manipulator with Capacitive Sensing for Whole-Limb Bed Bathing Assistance
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916652017254400 |
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| author | Liu, Fukang Puthuveetil, Kavya Padmanabha, Akhil Khokar, Karan Temel, Zeynep Erickson, Zackory |
| author_facet | Liu, Fukang Puthuveetil, Kavya Padmanabha, Akhil Khokar, Karan Temel, Zeynep Erickson, Zackory |
| contents | Robotics presents a promising opportunity for enhancing bathing assistance, potentially to alleviate labor shortages and reduce care costs, while offering consistent and gentle care for individuals with physical disabilities. However, ensuring flexible and efficient cleaning of the human body poses challenges as it involves direct physical contact between the human and the robot, and necessitates simple, safe, and effective control. In this paper, we introduce a soft, expandable robotic manipulator with embedded capacitive proximity sensing arrays, designed for safe and efficient bathing assistance. We conduct a thorough evaluation of our soft manipulator, comparing it with a baseline rigid end effector in a human study involving 12 participants across $96$ bathing trails. Our soft manipulator achieves an an average cleaning effectiveness of 88.8% on arms and 81.4% on legs, far exceeding the performance of the baseline. Participant feedback further validates the manipulator's ability to maintain safety, comfort, and thorough cleaning. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_02772 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | SkinGrip: An Adaptive Soft Robotic Manipulator with Capacitive Sensing for Whole-Limb Bed Bathing Assistance Liu, Fukang Puthuveetil, Kavya Padmanabha, Akhil Khokar, Karan Temel, Zeynep Erickson, Zackory Robotics Robotics presents a promising opportunity for enhancing bathing assistance, potentially to alleviate labor shortages and reduce care costs, while offering consistent and gentle care for individuals with physical disabilities. However, ensuring flexible and efficient cleaning of the human body poses challenges as it involves direct physical contact between the human and the robot, and necessitates simple, safe, and effective control. In this paper, we introduce a soft, expandable robotic manipulator with embedded capacitive proximity sensing arrays, designed for safe and efficient bathing assistance. We conduct a thorough evaluation of our soft manipulator, comparing it with a baseline rigid end effector in a human study involving 12 participants across $96$ bathing trails. Our soft manipulator achieves an an average cleaning effectiveness of 88.8% on arms and 81.4% on legs, far exceeding the performance of the baseline. Participant feedback further validates the manipulator's ability to maintain safety, comfort, and thorough cleaning. |
| title | SkinGrip: An Adaptive Soft Robotic Manipulator with Capacitive Sensing for Whole-Limb Bed Bathing Assistance |
| topic | Robotics |
| url | https://arxiv.org/abs/2405.02772 |