IRI - I-DRESS: Assistive interactive robotic system for support in dressing

The main objective of the project is to develop a system that will provide proactive assistance with dressing to disabled users or users such as high-risk health-care workers, whose physical contact with the garments must be limited to avoid contamination. The proposed robotic system consists of two highly dexterous robotic arms, sensors for multi-modal human-robot interaction and safety features.

The system will comprise three major components, each of strong impact to the field of assistive service robotics: (a) intelligent algorithms for user and garment detection and tracking, specifically designed for close and physical human-robot interaction, (b) cognitive functions based on the multi-modal user input, environment modelling and safety, allowing the robot to decide when and how to assist the user, and (c) advanced user interface that facilitates intuitive and safe physical and cognitive interaction for support in dressing. The developed interactive system will be integrated on commercial WAM robotic arms and validated through experimentation with users and human factor analysis in two assistive-dressing scenarios.

Consortium:
Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Spain (Coordinator)
Bristol Robotics Lab, University of West of England, United Kingdom
IDIAP Research Institute, Switzerland

Funding: 740,000 € (European CHIST-ERA 2014 Call*)
*Funds are provided by national research funding organisations, IRI is funded by the Spanish Ministry of Economy and Competitiveness (MINECO).

Project website: https://i-dress-project.iri.upc.edu/

Project Publications

Journal Publications

A. Jevtić, A. Flores, G. Alenyà, G. Chance, P. Caleb-Solly, S. Dogramadzi and C. Torras. Personalized robot assistant for support in dressing. IEEE Transactions on Cognitive and Developmental Systems, 11(3): 363-374, 2019.

Abstract Info PDF
G. Canal, G. Alenyà and C. Torras. Adapting robot task planning to user preferences: An assistive shoe dressing example. Autonomous Robots, 43(6): 1343-1356, 2019.

Abstract Info PDF
A. Jevtić, A. Colomé, G. Alenyà and C. Torras. Robot motion adaptation through user intervention and reinforcement learning. Pattern Recognition Letters, 105: 67-75, 2018.

Abstract Info PDF
G. Chance, A. Jevtić, P. Caleb-Solly, G. Alenyà, C. Torras and S. Dogramadzi. "Elbows out" - predictive tracking of partially occluded pose for robot-assisted dressing. IEEE Robotics and Automation Letters, 3(4): 3598-3605, 2018.

Abstract Info PDF
A. Colomé and C. Torras. Dimensionality reduction in learning Gaussian mixture models of movement primitives for contextualized action selection and adaptation. IEEE Robotics and Automation Letters, 3(4): 3922-3929, 2018.

Abstract Info PDF
C. Torras. Social networks and robot companions: Technology, ethics, and science fiction. Mètode Science Studies Journal, 99: 47-53, 2018.

Abstract Info PDF
E. Corona, G. Alenyà, A. Gabás and C. Torras. Active garment recognition and target grasping point detection using deep learning. Pattern Recognition, 74: 629-641, 2018.

Abstract Info PDF
A. Colomé and C. Torras. Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes. IEEE Transactions on Robotics, 34(3): 602-615, 2018.

Abstract Info PDF
A. Agudo, J.M. Martínez, L. Agapito and B. Calvo. Modal space: A physics-based model for sequential estimation of time-varying shape from monocular video. Journal of Mathematical Imaging and Vision, 57(1): 75–98, 2017.

Abstract Info PDF
G. Chance, A. Jevtić, P. Caleb-Solly and S. Dogramadzi. A quantitative analysis of dressing dynamics for robotic dressing assistance. Frontiers in Robotics and AI, 4(13): 1-14, 2017.

Abstract Info PDF
P. Jiménez. Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview. Robotics and Autonomous Systems, 92: 107-125, 2017.

Abstract Info PDF
A. Agudo and F. Moreno-Noguer. Combining local-physical and global-statistical models for sequential deformable shape from motion. International Journal of Computer Vision, 122(2): 371-387, 2017.

Abstract Info PDF
E. Simo-Serra, C. Torras and F. Moreno-Noguer. 3D human pose tracking priors using geodesic mixture models. International Journal of Computer Vision, 122(2): 388-408, 2017.

Abstract Info PDF
C. Torras. Els reptes de la robòtica assistencial. Memòries de la Reial Acadèmia de Ciències i Arts de Barcelona: 433-457/66/8, 2017.

Abstract Info PDF
L. Porzi, S. Rota-Bulò, A. Penate-Sanchez, E. Ricci and F. Moreno-Noguer. Learning depth-aware deep representations for robotic perception. IEEE Robotics and Automation Letters, 2(2): 468-475, 2017.

Abstract Info PDF
J.G. Hoyos, F. Prieto, G. Alenyà and C. Torras. Execution Fault Recovery in Robot Programming by Demonstration Using Multiple Models. IEEE Latin America Transactions , 14(2): 517-523, 2016.

Abstract Info PDF
A. Agudo, F. Moreno-Noguer, B. Calvo and J.M. Martínez. Real-time 3D reconstruction of non-rigid shapes with a single moving camera. Computer Vision and Image Understanding, 153(12): 37–54, 2016.

Abstract Info PDF
A. Ramisa, G. Alenyà, F. Moreno-Noguer and C. Torras. A 3D descriptor to detect task-oriented grasping points in clothing. Pattern Recognition, 60: 936-948, 2016.

Abstract Info PDF
F. Moreno-Noguer and J.M. Porta. A Bayesian approach to simultaneously recover camera pose and non-rigid shape from monocular images. Image and Vision Computing, 52: 141-153, 2016.

Abstract Info PDF
C. Torras. Service robots for citizens of the future. European Review, 24(1): 17-30, 2016.

Abstract Info PDF

Conference Publications

G. Canal, E. Pignat, G. Alenyà, S. Calinon and C. Torras. Joining high-level symbolic planning with low-level motion primitives in adaptive HRI: application to dressing assistance, 2018 IEEE International Conference on Robotics and Automation, 2018, Brisbane, Australia, pp. 3273-3278.

Abstract Info PDF
A. Pumarola, A. Vakhitov, A. Agudo, A. Sanfeliu and F. Moreno-Noguer. PL-SLAM: Real-time monocular visual SLAM with points and lines, 2017 IEEE International Conference on Robotics and Automation, 2017, Singapore, pp. 4503-4508.

Abstract Info PDF
F. Moreno-Noguer. 3D human pose estimation from a single image via distance matrix regression, 2017 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2017, Honolulu, HW, USA, pp. 1561-1570, IEEE.

Abstract Info PDF
A. Agudo and F. Moreno-Noguer. DUST: Dual union of spatio-temporal subspaces for monocular multiple object 3D reconstruction, 2017 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2017, Honolulu, HW, USA, pp. 1513-1521, IEEE.

Abstract Info PDF
L. Porzi, A. Penate-Sanchez, E. Ricci and F. Moreno-Noguer. Depth-aware convolutional neural networks for accurate 3D pose estimation in RGB-D images, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada, pp. 5777-5783.

Abstract Info PDF
G. Chance, P. Caleb-Solly, A. Jevtić and S. Dogramadzi. What's “up”? — Resolving interaction ambiguity through non-visual cues for a robotic dressing assistant, 26th IEEE International Symposium on Robot and Human Interactive Communication, 2017, Lisbon, Portugal, pp. 284-291.

Abstract Info PDF
A. Rubio, L. Yu, E. Simo-Serra and F. Moreno-Noguer. Multi-modal joint embedding for fashion product retrieval, 24th IEEE International Conference on Image Processing, 2017, Beijing, pp. 400-404.

Abstract Info PDF
A. Colomé and C. Torras. Demonstration-free contextualized probabilistic movement primitives, further enhanced with obstacle avoidance, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada, pp. 3190-3195.

Abstract Info PDF
G. Canal, G. Alenyà and C. Torras. A taxonomy of preferences for physically assistive robots, 26th IEEE International Symposium on Robot and Human Interactive Communication, 2017, Lisbon, Portugal, pp. 292-297.

Abstract Info PDF
A. Agudo and F. Moreno-Noguer. Global model with local interpretation for dynamic shape reconstruction, 17th IEEE Winter Conference on Applications of Computer Vision, 2017, Santa Rosa, CA, USA, pp. 264-272, IEEE.

Abstract Info PDF
N. Covallero, D. Martínez, G. Alenyà and C. Torras. Planning clearing actions in cluttered scenes by phasing in geometrical constraints, 20th Catalan Conference on Artificial Intelligence, 2017, Deltebre, in Recent Advances in Artificial Intelligence Research and Development, Vol 300 of Frontiers in Artificial Intelligence and Applications, pp. 233-238, 2017, IOS Press.

Abstract Info PDF
A. Colomé, S. Foix, G. Alenyà and C. Torras. Reward-weighted GMM and its application to action-selection in robotized shoe dressing, 3rd Iberian Robotics Conference, 2017, Seville, in Robot 2017: Third Iberian Robotics Conference, Vol 694 of Advances in Intelligent Systems and Computing, pp. 141-152, Springer.

Abstract Info PDF
A. Gabás, E. Corona, G. Alenyà and C. Torras. Robot-aided cloth classification using depth information and CNNs, 9th Conference on Articulated Motion and Deformable Objects, 2016, Palma de Mallorca, Spain, in Articulated Motion of Deformable Objects, Vol 9756 of Lecture Notes in Computer Science, pp. 16-23, 2016, Springer.

Abstract Info PDF
A. Agudo and F. Moreno-Noguer. Recovering pose and 3D deformable shape from multi-instance image ensembles, 13th Asian Conference on Computer Vision, 2016, Taipei, Taiwan, in Computer Vision – ACCV 2016, Vol 10114 of Lecture Notes in Computer Science, pp. 291-307, 2017, Springer.

Abstract Info PDF
G. Canal, G. Alenyà and C. Torras. Personalization framework for adaptive robotic feeding assistance, 8th International Conference on Social Robotics, 2016, Kansas City, USA, in Social Robotics, Vol 9979 of Lecture Notes in Computer Science, pp. 22-31, 2016, Springer.

Abstract Info PDF
A. Jevtić, A. Colomé, G. Alenyà and C. Torras. User evaluation of an interactive learning framework for single-arm and dual-arm robots, 8th International Conference on Social Robotics, 2016, Kansas City, USA, in Social Robotics, Vol 9979 of Lecture Notes in Computer Science, pp. 52-61, 2016, Springer.

Abstract Info PDF
G. Martín, F. Husain, H. Schulz, S. Frintrop, C. Torras and S. Behnke. Semantic segmentation priors for object discovery, 23rd International Conference on Pattern Recognition, 2016, Cancún, Mexico, pp. 549-554.

Abstract Info PDF
A. Rubio, L. Yu, E. Simo-Serra and F. Moreno-Noguer. BASS: Boundary-aware superpixel segmentation, 23rd International Conference on Pattern Recognition, 2016, Cancún, Mexico, pp. 2824-2829.

Abstract Info PDF
A. Agudo, J.M. Martínez, B. Calvo and F. Moreno-Noguer. Mode-shape interpretation: Re-thinking modal space for recovering deformable shapes, 16th IEEE Winter Conference on Applications of Computer Vision, 2016, Lake Placid, NY, USA, pp. 1-8, IEEE.

Abstract Info PDF
A. Vakhitov, J. Funke and F. Moreno-Noguer. Accurate and linear time pose estimation from points and lines, 14th European Conference on Computer Vision, 2016, Amsterdam, Netherlands, in Computer Vision - ECCV 2016, Vol 9911 of Lecture Notes in Computer Science, pp. 583-599, 2016.

Abstract Info PDF
D. Martínez, G. Alenyà, C. Torras, T. Ribeiro and K. Inoue. Learning relational dynamics of stochastic domains for planning, 26th International Conference on Automated Planning and Scheduling, 2016, London, pp. 235-243.

Abstract Info PDF
A. Quattoni, A. Ramisa, P. Swaroop, E. Simo-Serra and F. Moreno-Noguer. Structured prediction with output embeddings for semantic image annotation, 2016 Conference of the North American Chapter of the Association for Computational Linguistics: Human Language Technologies , 2016, San Diego, pp. 552-557.

Abstract Info PDF

Other Publications

A. Colomé and C. Torras. Reinforcement Learning of Bimanual Robot Skills. Volume 134 of Springer Tracts in Advanced Robotics. Springer, 2020.

Abstract Info
C. Torras. The Vestigial Heart. A Novel of the Robot Age. The MIT Press, 2018.

Abstract Info PDF
C. Torras. Aprenentatge Automàtic en Xarxes i Robots: Reptes Tecnocientífics i Implicacions Ètiques. Institut d'Estudis Catalans. Secció de Ciències i Tecnologia, 2018.

Abstract Info PDF

R. Jangir, G. Alenyà and C. Torras. Learning cloth manipulation with demonstrations. Technical Report IRI-TR-19-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2019.

Abstract Info PDF
M. Arduengo, S.J. Jorgensen, K. Hambuchen, L. Sentis, F. Moreno-Noguer and G. Alenyà. ROS wrapper for real-time multi-person pose estimation with a single camera. Technical Report IRI-TR-17-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2017.

Abstract Info PDF

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Research Project

I-DRESS: Assistive interactive robotic system for support in dressing

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Project Publications

Journal Publications

A. Jevtić, A. Flores, G. Alenyà, G. Chance, P. Caleb-Solly, S. Dogramadzi and C. Torras. Personalized robot assistant for support in dressing. IEEE Transactions on Cognitive and Developmental Systems, 11(3): 363-374, 2019.

G. Canal, G. Alenyà and C. Torras. Adapting robot task planning to user preferences: An assistive shoe dressing example. Autonomous Robots, 43(6): 1343-1356, 2019.

A. Jevtić, A. Colomé, G. Alenyà and C. Torras. Robot motion adaptation through user intervention and reinforcement learning. Pattern Recognition Letters, 105: 67-75, 2018.

G. Chance, A. Jevtić, P. Caleb-Solly, G. Alenyà, C. Torras and S. Dogramadzi. "Elbows out" - predictive tracking of partially occluded pose for robot-assisted dressing. IEEE Robotics and Automation Letters, 3(4): 3598-3605, 2018.

A. Colomé and C. Torras. Dimensionality reduction in learning Gaussian mixture models of movement primitives for contextualized action selection and adaptation. IEEE Robotics and Automation Letters, 3(4): 3922-3929, 2018.

C. Torras. Social networks and robot companions: Technology, ethics, and science fiction. Mètode Science Studies Journal, 99: 47-53, 2018.

E. Corona, G. Alenyà, A. Gabás and C. Torras. Active garment recognition and target grasping point detection using deep learning. Pattern Recognition, 74: 629-641, 2018.

A. Colomé and C. Torras. Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes. IEEE Transactions on Robotics, 34(3): 602-615, 2018.

A. Agudo, J.M. Martínez, L. Agapito and B. Calvo. Modal space: A physics-based model for sequential estimation of time-varying shape from monocular video. Journal of Mathematical Imaging and Vision, 57(1): 75–98, 2017.

G. Chance, A. Jevtić, P. Caleb-Solly and S. Dogramadzi. A quantitative analysis of dressing dynamics for robotic dressing assistance. Frontiers in Robotics and AI, 4(13): 1-14, 2017.

P. Jiménez. Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview. Robotics and Autonomous Systems, 92: 107-125, 2017.

A. Agudo and F. Moreno-Noguer. Combining local-physical and global-statistical models for sequential deformable shape from motion. International Journal of Computer Vision, 122(2): 371-387, 2017.

E. Simo-Serra, C. Torras and F. Moreno-Noguer. 3D human pose tracking priors using geodesic mixture models. International Journal of Computer Vision, 122(2): 388-408, 2017.

C. Torras. Els reptes de la robòtica assistencial. Memòries de la Reial Acadèmia de Ciències i Arts de Barcelona: 433-457/66/8, 2017.

L. Porzi, S. Rota-Bulò, A. Penate-Sanchez, E. Ricci and F. Moreno-Noguer. Learning depth-aware deep representations for robotic perception. IEEE Robotics and Automation Letters, 2(2): 468-475, 2017.

J.G. Hoyos, F. Prieto, G. Alenyà and C. Torras. Execution Fault Recovery in Robot Programming by Demonstration Using Multiple Models. IEEE Latin America Transactions , 14(2): 517-523, 2016.

A. Agudo, F. Moreno-Noguer, B. Calvo and J.M. Martínez. Real-time 3D reconstruction of non-rigid shapes with a single moving camera. Computer Vision and Image Understanding, 153(12): 37–54, 2016.

A. Ramisa, G. Alenyà, F. Moreno-Noguer and C. Torras. A 3D descriptor to detect task-oriented grasping points in clothing. Pattern Recognition, 60: 936-948, 2016.

F. Moreno-Noguer and J.M. Porta. A Bayesian approach to simultaneously recover camera pose and non-rigid shape from monocular images. Image and Vision Computing, 52: 141-153, 2016.

C. Torras. Service robots for citizens of the future. European Review, 24(1): 17-30, 2016.

Conference Publications

G. Canal, E. Pignat, G. Alenyà, S. Calinon and C. Torras. Joining high-level symbolic planning with low-level motion primitives in adaptive HRI: application to dressing assistance, 2018 IEEE International Conference on Robotics and Automation, 2018, Brisbane, Australia, pp. 3273-3278.

A. Pumarola, A. Vakhitov, A. Agudo, A. Sanfeliu and F. Moreno-Noguer. PL-SLAM: Real-time monocular visual SLAM with points and lines, 2017 IEEE International Conference on Robotics and Automation, 2017, Singapore, pp. 4503-4508.

F. Moreno-Noguer. 3D human pose estimation from a single image via distance matrix regression, 2017 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2017, Honolulu, HW, USA, pp. 1561-1570, IEEE.

A. Agudo and F. Moreno-Noguer. DUST: Dual union of spatio-temporal subspaces for monocular multiple object 3D reconstruction, 2017 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2017, Honolulu, HW, USA, pp. 1513-1521, IEEE.

L. Porzi, A. Penate-Sanchez, E. Ricci and F. Moreno-Noguer. Depth-aware convolutional neural networks for accurate 3D pose estimation in RGB-D images, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada, pp. 5777-5783.

G. Chance, P. Caleb-Solly, A. Jevtić and S. Dogramadzi. What's “up”? — Resolving interaction ambiguity through non-visual cues for a robotic dressing assistant, 26th IEEE International Symposium on Robot and Human Interactive Communication, 2017, Lisbon, Portugal, pp. 284-291.

A. Rubio, L. Yu, E. Simo-Serra and F. Moreno-Noguer. Multi-modal joint embedding for fashion product retrieval, 24th IEEE International Conference on Image Processing, 2017, Beijing, pp. 400-404.

A. Colomé and C. Torras. Demonstration-free contextualized probabilistic movement primitives, further enhanced with obstacle avoidance, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada, pp. 3190-3195.

G. Canal, G. Alenyà and C. Torras. A taxonomy of preferences for physically assistive robots, 26th IEEE International Symposium on Robot and Human Interactive Communication, 2017, Lisbon, Portugal, pp. 292-297.

A. Agudo and F. Moreno-Noguer. Global model with local interpretation for dynamic shape reconstruction, 17th IEEE Winter Conference on Applications of Computer Vision, 2017, Santa Rosa, CA, USA, pp. 264-272, IEEE.

A. Agudo and F. Moreno-Noguer. Recovering pose and 3D deformable shape from multi-instance image ensembles, 13th Asian Conference on Computer Vision, 2016, Taipei, Taiwan, in Computer Vision – ACCV 2016, Vol 10114 of Lecture Notes in Computer Science, pp. 291-307, 2017, Springer.

G. Canal, G. Alenyà and C. Torras. Personalization framework for adaptive robotic feeding assistance, 8th International Conference on Social Robotics, 2016, Kansas City, USA, in Social Robotics, Vol 9979 of Lecture Notes in Computer Science, pp. 22-31, 2016, Springer.

G. Martín, F. Husain, H. Schulz, S. Frintrop, C. Torras and S. Behnke. Semantic segmentation priors for object discovery, 23rd International Conference on Pattern Recognition, 2016, Cancún, Mexico, pp. 549-554.

A. Rubio, L. Yu, E. Simo-Serra and F. Moreno-Noguer. BASS: Boundary-aware superpixel segmentation, 23rd International Conference on Pattern Recognition, 2016, Cancún, Mexico, pp. 2824-2829.

A. Agudo, J.M. Martínez, B. Calvo and F. Moreno-Noguer. Mode-shape interpretation: Re-thinking modal space for recovering deformable shapes, 16th IEEE Winter Conference on Applications of Computer Vision, 2016, Lake Placid, NY, USA, pp. 1-8, IEEE.

A. Vakhitov, J. Funke and F. Moreno-Noguer. Accurate and linear time pose estimation from points and lines, 14th European Conference on Computer Vision, 2016, Amsterdam, Netherlands, in Computer Vision - ECCV 2016, Vol 9911 of Lecture Notes in Computer Science, pp. 583-599, 2016.

D. Martínez, G. Alenyà, C. Torras, T. Ribeiro and K. Inoue. Learning relational dynamics of stochastic domains for planning, 26th International Conference on Automated Planning and Scheduling, 2016, London, pp. 235-243.

Other Publications

A. Colomé and C. Torras. Reinforcement Learning of Bimanual Robot Skills. Volume 134 of Springer Tracts in Advanced Robotics. Springer, 2020.

C. Torras. The Vestigial Heart. A Novel of the Robot Age. The MIT Press, 2018.

C. Torras. Aprenentatge Automàtic en Xarxes i Robots: Reptes Tecnocientífics i Implicacions Ètiques. Institut d'Estudis Catalans. Secció de Ciències i Tecnologia, 2018.

R. Jangir, G. Alenyà and C. Torras. Learning cloth manipulation with demonstrations. Technical Report IRI-TR-19-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2019.

M. Arduengo, S.J. Jorgensen, K. Hambuchen, L. Sentis, F. Moreno-Noguer and G. Alenyà. ROS wrapper for real-time multi-person pose estimation with a single camera. Technical Report IRI-TR-17-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2017.