Vision-force fusion robot dressing handles moving arms: 85% arm coverage across 264 real trials
stepjamUK · x · 2026-09-10
A paper under review tackles a gap in robot-assisted dressing research: most methods assume a static arm, which real users can't maintain. The system fuses visual and force feedback into a single policy, trained in simulation and fine-tuned with real-world data, adapting to natural, uncooperative arm movement and handling long-sleeved garments with added friction and occlusion.
Tested across 12 participants and 264 real dressing trials, it successfully dressed an average of 85% of each person's arm length despite the arm moving throughout.
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