{"id":"https://openalex.org/W4391807531","doi":"https://doi.org/10.1109/tro.2024.3366008","title":"Do You Need a Hand? \u2013 A Bimanual Robotic Dressing Assistance Scheme","display_name":"Do You Need a Hand? \u2013 A Bimanual Robotic Dressing Assistance Scheme","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4391807531","doi":"https://doi.org/10.1109/tro.2024.3366008"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3366008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3366008","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035166402","display_name":"Jihong Zhu","orcid":"https://orcid.org/0000-0001-8185-5497"},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["GB","NL"],"is_corresponding":false,"raw_author_name":"Jihong Zhu","raw_affiliation_strings":["School of Physics, Engineering, and Technology, and Institute for Safe Autonomy, University of York, York, U.K","Cognitive Robotics, 3mE, Delft University of Technology, Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-8185-5497","affiliations":[{"raw_affiliation_string":"School of Physics, Engineering, and Technology, and Institute for Safe Autonomy, University of York, York, U.K","institution_ids":["https://openalex.org/I52099693"]},{"raw_affiliation_string":"Cognitive Robotics, 3mE, Delft University of Technology, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025560073","display_name":"Michael Gienger","orcid":"https://orcid.org/0000-0001-8036-2519"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Gienger","raw_affiliation_strings":["Honda Research Institute Europe, Offenbach, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8036-2519","affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035185207","display_name":"Giovanni Franzese","orcid":"https://orcid.org/0000-0002-9863-0291"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Giovanni Franzese","raw_affiliation_strings":["Cognitive Robotics, 3mE, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-9863-0291","affiliations":[{"raw_affiliation_string":"Cognitive Robotics, 3mE, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035229829","display_name":"Jens Kober","orcid":"https://orcid.org/0000-0001-7257-5434"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jens Kober","raw_affiliation_strings":["Cognitive Robotics, 3mE, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-7257-5434","affiliations":[{"raw_affiliation_string":"Cognitive Robotics, 3mE, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.9608,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.98454532,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"40","issue":null,"first_page":"1906","last_page":"1919"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.7601125240325928},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.6585230231285095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5732907056808472},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46167847514152527},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.45577266812324524},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4263276755809784},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4216213524341583},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4069528877735138},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39644303917884827},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.35196053981781006},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3278105556964874},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1668415665626526}],"concepts":[{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.7601125240325928},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.6585230231285095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5732907056808472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46167847514152527},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.45577266812324524},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4263276755809784},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4216213524341583},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4069528877735138},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39644303917884827},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.35196053981781006},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3278105556964874},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1668415665626526},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3366008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3366008","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W157644030","https://openalex.org/W1969865247","https://openalex.org/W1989564233","https://openalex.org/W2000317853","https://openalex.org/W2042652737","https://openalex.org/W2113325037","https://openalex.org/W2128677288","https://openalex.org/W2129182327","https://openalex.org/W2129202194","https://openalex.org/W2141098361","https://openalex.org/W2149936889","https://openalex.org/W2168175751","https://openalex.org/W2214112335","https://openalex.org/W2243880070","https://openalex.org/W2278457516","https://openalex.org/W2553530331","https://openalex.org/W2559085405","https://openalex.org/W2560940104","https://openalex.org/W2564922367","https://openalex.org/W2605907393","https://openalex.org/W2615693312","https://openalex.org/W2737170915","https://openalex.org/W2738522242","https://openalex.org/W2759109029","https://openalex.org/W2791037159","https://openalex.org/W2793070406","https://openalex.org/W2795580403","https://openalex.org/W2800779097","https://openalex.org/W2802700851","https://openalex.org/W2842478017","https://openalex.org/W2890292055","https://openalex.org/W2902791462","https://openalex.org/W2937476238","https://openalex.org/W2946514473","https://openalex.org/W2953406320","https://openalex.org/W2961077157","https://openalex.org/W2963876278","https://openalex.org/W2967466692","https://openalex.org/W2970989156","https://openalex.org/W2994446013","https://openalex.org/W2998521082","https://openalex.org/W3006497026","https://openalex.org/W3091377662","https://openalex.org/W3091416641","https://openalex.org/W3102870931","https://openalex.org/W3152047474","https://openalex.org/W3176838722","https://openalex.org/W3205866672","https://openalex.org/W3214388259","https://openalex.org/W4211240529","https://openalex.org/W4213417100","https://openalex.org/W4221153218","https://openalex.org/W4223476016","https://openalex.org/W4285263347","https://openalex.org/W4286901060","https://openalex.org/W4292347862","https://openalex.org/W4292965202","https://openalex.org/W6767411250"],"related_works":["https://openalex.org/W2292082415","https://openalex.org/W3110875495","https://openalex.org/W2390068883","https://openalex.org/W2946812255","https://openalex.org/W2343471997","https://openalex.org/W3006542628","https://openalex.org/W2345277578","https://openalex.org/W4390413434","https://openalex.org/W3202502236","https://openalex.org/W2566345632"],"abstract_inverted_index":{"Developing":[0],"physically":[1],"assistive":[2],"robots":[3],"capable":[4],"of":[5,16,37,120],"dressing":[6,25,39,60,79,83,87,99,114,129,135],"assistance":[7],"has":[8],"the":[9,14,17,35,38,46,63,71,75,78,82,86,98,107,111,118,121,128,133],"potential":[10],"to":[11,125],"significantly":[12],"improve":[13],"lives":[15],"elderly":[18],"and":[19,101,140],"disabled":[20],"population.":[21],"However,":[22],"most":[23],"robotics":[24],"strategies":[26],"considered":[27],"a":[28,54,91],"single":[29],"robot":[30,67,84,109],"only,":[31],"which":[32],"greatly":[33],"limited":[34],"performance":[36],"assistance.":[40,61],"In":[41,62],"fact,":[42],"healthcare":[43],"professionals":[44],"perform":[45],"task":[47],"bimanually.":[48],"Inspired":[49],"by":[50],"them,":[51],"we":[52],"propose":[53,102],"bimanual":[55],"cooperative":[56],"scheme":[57,136],"for":[58,106],"robotic":[59],"scheme,":[64],"an":[65,103,142],"interactive":[66,108,134],"joins":[68],"hands":[69],"with":[70,137],"human":[72,76],"thus":[73],"supporting/guiding":[74],"in":[77],"process,":[80],"while":[81],"performs":[85],"task.":[88],"We":[89,131],"identify":[90],"key":[92],"feature:":[93],"elbow":[94],"angle":[95],"that":[96],"affects":[97],"action":[100],"optimal":[104],"strategy":[105],"using":[110],"feature.":[112],"A":[113],"coordinate":[115],"based":[116],"on":[117,150],"posture":[119],"arm":[122],"is":[123,148],"defined":[124],"better":[126],"encode":[127],"policy.":[130],"validate":[132],"extensive":[138],"experiments":[139],"also":[141],"ablation":[143],"study.":[144],"The":[145],"experiment":[146],"video":[147],"available":[149],"<uri":[151],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[152],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://sites.google.com/view/bimanualassitdressing/home</uri>":[153]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}