What does the person feel? Learning to infer applied forces during robot-assisted dressing

@article{Erickson2017WhatDT,
  title={What does the person feel? Learning to infer applied forces during robot-assisted dressing},
  author={Zackory M. Erickson and Alexander Clegg and Wenhao Yu and Greg Turk and C. Karen Liu and Charles C. Kemp},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={6058-6065}
}
During robot-assisted dressing, a robot manipulates a garment in contact with a person's body. Inferring the forces applied to the person's body by the garment might enable a robot to provide more effective assistance and give the robot insight into what the person feels. However, complex mechanics govern the relationship between the robot's end effector and these forces. Using a physics-based simulation and data-driven methods, we demonstrate the feasibility of inferring forces across a person… 

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