More than 1 billion people in the world are estimated to experience significant disability.
These disabilities can impact people's ability to independently conduct activities of daily …

This paper reviews the robotic manipulation of deformable objects in caregiving scenarios.
Deformable objects like clothing, food, and medical supplies are ubiquitous in care tasks, yet …

We present RCareWorld, a human-centric simulation world for physical and social robotic
caregiving designed with inputs from stakeholders. RCareWorld has realistic human models …

Robot-assisted feeding can greatly enhance the lives of those with mobility limitations.
Modern feeding systems can pick up and position food in front of a care recipient's mouth for …

Robot-assisted feeding has the potential to improve the quality of life for individuals with
mobility limitations who are unable to feed themselves independently. However, there exists …

The paper presents REPeat, a Real2Sim2Real framework designed to enhance bite
acquisition in robot-assisted feeding for soft foods. It uses 'pre-acquisition actions' such as …

Recent developments in robotics have enabled humanoid robots to be used in tasks where
they have to physically interact with humans, including robot-supported caregiving. This …

Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their
surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile …

Robot caregiving should be personalized to meet the diverse needs of care recipients--
assisting with tasks as needed, while taking user agency in action into account. In physical …

Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-
world applications such as healthcare. While previous work often assumes a centralized …