30 accepted papers
Different Length Alignment Sewing (DLAS), which involves stretching the shorter fabric to match the longer one and sewing them together in a straight line, is a challenging task that needs to satisfy several requirements when automating the sewing process. To address the challenges, this research pr…
Avoiding collision between the fabric and the obstacle is critical to transport fabric piece in the garment factory. If the fabric collides with the sharp-edged obstacle, it can be scratched or contaminated, resulting in poor product quality and increased waste. However, when we consider the fabric …
Inspired by human workers who perform complicated sewing tasks by repeating relatively simple operations, this paper proposes a fixture-free automated sewing system using a dual-arm manipulator and an ordinary sewing machine to sew two aligned fabrics along the edges, a common task in garment produc…
For long-horizon multi-task robotic manipulation, hierarchical approaches provide an effective way to combine high-level language-based task planning with low-level vision-language based sub-task execution. Then, we propose a framework that integrates a two-stage task planner with a multimodal low-l
Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfol…
Tactile texture is vital for robotic manipulation but challenging for camera vision-based observation. To address this, we propose TactileAloha, an integrated tactile-vision robotic system built upon Aloha, with a tactile sensor mounted on the gripper to capture fine-grained texture information and …
In this paper, we propose a method to align and place a fabric piece on top of another using a dual-arm manipulator and a grayscale camera, so that their surface textures are accurately matched. We propose a novel control scheme that combines Transformer-driven visual servoing with dual-arm impedanc
In this paper, we propose a method to align and place a fabric piece on top of another using a dual-arm manipulator and a grayscale camera, so that their surface textures are accurately matched. We propose a novel control scheme that combines Transformer-driven visual servoing with dual-arm impedanc…
Different Length Alignment Sewing (DLAS), which involves stretching the shorter fabric to match the longer one and sewing them together in a straight line, is a challenging task that needs to satisfy several requirements when automating the sewing process. To address the challenges, this research pr
Avoiding collision between the fabric and the obstacle is critical to transport fabric piece in the garment factory. If the fabric collides with the sharp-edged obstacle, it can be scratched or contaminated, resulting in poor product quality and increased waste. However, when we consider the fabric
Inspired by human workers who perform complicated sewing tasks by repeating relatively simple operations, this paper proposes a fixture-free automated sewing system using a dual-arm manipulator and an ordinary sewing machine to sew two aligned fabrics along the edges, a common task in garment produc
The fabric deforms easily due to the physical constraints of its environment. The deformation of the fabric shape, including wrinkles, makes the precise pick-and-place of a piece of fabric difficult to automate its handling. This paper proposes a <underline xmlns:mml="http://www.w3.org/1998/Math/Mat
Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfol
Tactile texture is vital for robotic manipulation but challenging for camera vision-based observation. To address this, we propose TactileAloha, an integrated tactile-vision robotic system built upon Aloha, with a tactile sensor mounted on the gripper to capture fine-grained texture information and
This paper proposes CNN-based visual servoing for simultaneous positioning and flattening of a soft fabric part placed on a table by a dual manipulator system. We propose a network for multimodal data processing of grayscale images captured by a camera and force/torque applied to force sensors. The…
A wide range of commonly performed dental procedures, from operative caries removal, crown preparation, filling, to Orthodontia, could potentially benefit from robotic assistance or enhancement. Despite the wide applicability, dental robots have received far less research attention in comparison wit
A novel compact parallel gripper with wide stroke is proposed in this paper. Conventional parallel grippers with linear guide mechanisms have been widely utilized as end effectors of robots, especially in industrial fields, because of its simple mechanism and low cost nature. However, the width of t…
Collaborative robots are expected to work in cooperation with humans to improve productivity and maintain the quality of products. In the previous study, we have proposed an incremental learning system for adaptively scheduling a motion of the collaborative robot based on a worker's behavior. Althou…
Future robots are expected to share the same workspace with humans and work in cooperation with them to improve productivity and maintain the quality of products. Considering this situation, we have developed a novel assembly task co-worker robot to support workers in their task by delivering the pa
This study analyzed the precision grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand developed for dual arm manipulation. It can grasp objects through power and precision grips. For a more detailed analysis of the performance on the grip force and…
In this study, we propose a control strategy for a power-assisted cart based on its motion state. The power-assisted cart we developed has one motor, a differential gear, and brakes. This cart uses the motor and the differential gear for moving forward, and applying brakes to either wheel allows the…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for assisting the skill learning process. Direct contact cooper
Various assistive machines have been developed to prevent falling accidents of the elderly. In order to achieve advanced support using robot technology, it is important to acquire data or real-time state estimation of user's various motions. However, a lot of expensive and sophisticated sensors util…
In this paper, we introduce a concept of passive knee exoskeleton for cycling assistance. Considering a knee moment and a knee angle varying with a pedal crank angle, the knee extension moment can be supported by a torsion spring storing energy from knee flexion in order to release it as the knee is…
Wire-driven haptic devices can easily achieve highspeed operation because of the low inertia of light and thin wires. Therefore, it is expected to be widely used as a motion support system in fields such as sports training. However, usually these wires are driven by controlling each wire's tension u…
Cycling wheelchair was developed for the way of the lower-limb-disabled individuals moving. User can move by pedaling and easily realize free locomotion although they have handicaps. When they use the cycling wheelchair in outdoors, it is necessary to solve the problem of upward slope and downward s
In this paper we present a wearable Haptic Feedback Device to convey intuitive motion direction to the user through haptic feedback based on vibrotactile illusions. Vibrotactile illusions occur on the skin when two or more vibrotactile actuators in proximity are actuated in coordinated sequence, cau…
A model predictive controller is developed for following the position of a human dancer in robot ballroom dancing. The control design uses a dynamic model of a dancer, based on a variant of the so-called 3D Linear Inverted Pendulum Mode that includes also the swing foot. This model serves as a basis…
The cycling wheelchair is a new type of mobility aid for lower-limb-disabled individuals. Patients can drive the cycling wheelchair by pressing the front pedals with their lower limbs. The device enables patients to effectively rehabilitate their disabled legs and partake in outdoor activities. Howe…
In this paper, we propose a novel robot hand called uGRIPP (Underactuated Gripper for Power and Precision Grasp) which has underactuated fingers for dual-arm manipulation tasks. A newly designed underactuated linkage enables the robot hand to achieve not only an adaptive grasp and a pinch grasp, but…