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<!DOCTYPE html>
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<head>
<title>RABBIT</title>
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<h1 class="title is-2 publication-title">RABBIT: A Robot-Assisted Bed Bathing System with <br> Multimodal Perception and Integrated Compliance </h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://www.cs.cornell.edu/~madan/" target="_blank">Rishabh Madan</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://www.linkedin.com/in/skyler-v-b276301a9/" target="_blank">Skyler Valdez</a><sup>1</sup>,</span>
<span class="author-block">
<a href="http://heydavid.kim/" target="_blank">David Kim</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://www.linkedin.com/in/sujie-fang/" target="_blank">Sujie Fang</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://www.linkedin.com/in/luoyan-zhong-b7bba1296/" target="_blank">Luoyan Zhong</a><sup>1</sup>,
</span>
<br>
<span class="author-block">
<a href="https://www.linkedin.com/in/diego-virtue/" target="_blank">Diego Virtue</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="http://www.tapomayukh.com/" target="_blank">Tapomayukh Bhattacharjee</a><sup>1</sup>
</span>
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<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Cornell University,</span>
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<p>
<b> Abstract: </b> This paper introduces RABBIT, a novel
robot-assisted bed bathing system designed to address the growing
need for assistive technologies in personal hygiene tasks. It
combines multimodal perception and dual (software and hardware)
compliance to perform safe and comfortable physical human-robot
interaction. Using RGB and thermal imaging to segment dry, soapy,
and wet skin regions accurately, RABBIT can effectively execute
washing, rinsing, and drying tasks in line with expert caregiving
practices. Our system includes custom-designed motion primitives
inspired by human caregiving techniques, and a novel compliant
end-effector called Scrubby, optimized for gentle and effective
interactions. We conducted a user study with 12 participants,
including one participant with severe mobility limitations,
demonstrating the system's effectiveness and perceived comfort.
</p>
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<!--/ Abstract. -->
</div>
</section>
<section class="section" id="BibTeX">
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<h2 class="title">BibTeX</h2>
<pre><code>@article{madan2024rabbit,
author = {Madan, Rishabh and Valdez, Skyler and David, Kim and Sujie, Fang and Luoyan, Zhong and Diego, Virtue and Bhattacharjee, Tapomayukh},
title = {RABBIT: A Robot-Assisted Bed Bathing System with Multimodal Perception and Integrated Compliance},
journal = {HRI},
year = {2024},
}</code></pre>
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