Towards Soft Fixture-Based Manipulation Primitives Enabling Safe Robotic Manipulation in Hazardous Healthcare and Food Handling Applications

Información del proyecto

SoftEnable

Identificador del acuerdo de subvención: 101070600

DOI

10.3030/101070600

Proyecto cerrado

Fecha de la firma de la CE 23 Junio 2022

Fecha de inicio 1 Octubre 2022

Fecha de finalización 30 Septiembre 2026

Financiado con arreglo a

• Digital, Industry and Space

Coste total

€ 2 568 721,00

Aportación de la UE

€ 2 568 721,00

Coordinado por

KUNGLIGA TEKNISKA HOEGSKOLAN
Sweden

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

Demonstrators, pilots, prototypes (1)

Robotic PPE Handling evaluator system setup and initial demonstration

Other (2)

Software for Manipulation Planning with Macro States
Software for Deformable Object Shape Control with Soft Fixtures

Data Management Plan (1)

Data Management Plan

Documents, reports (6)

Ethical Project Framework towards Human Study Participants
Requirements and use case KPIs
Co-design of Hand-Held Tools Supporting Soft Fixture-Based Manipulation
Software integration framework
SOFTCARE Exploitation and Dissemination Plan
Intermediate Exploitation and Dissemination Report

Data sets, microdata, etc (2)

Dataset demonstrating soft fixture candidates
Primitive Taxonomy and Demonstration Mocap/Video Dataset for PPE handling

Primitive Taxonomy and Demonstration MocapVideo Dataset for PPE handling

Websites, patent fillings, videos etc. (1)

SOFTCARE Web-portal & Intranet

SOFTCARE Webportal Intranet

Publicaciones

Conference proceedings (18)

Robotic Tight Packaging using a Hybrid gripper with Variable Stiffness

Autores: M. Moroni, A.E.H. Martin, L. Klupfel, A.M. Sundaram, W. Friedl, and M.A. Roa
Publicado en: Towards Autonomous Robotic Systems Conference (TAROS) 2024, 2024
Editor: Springer-Verlag

Evaluating the Pre-Dressing Step: Unfolding Medical Garments via Imitation Learning

Autores: David Blanco-Mulero, Julia Borras, Carme Torras
Publicado en: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Editor: IEEE
DOI: 10.1109/IROS60139.2025.11247713

Dynamic manipulation of deformable objects using imitation learning with adaptation to hardware constraints

Autores: E. Hannus, T. Nguyen Le, D. Blanco-Mulero and V. Kyrki
Publicado en: IEEE/RSJ IROS 2024
Editor: IEEE

Zero-shot transfer of a tactile-based continuous force control policy from simulation to robot

Autores: L.M. Lach, R. Haschke, D. Tateo, J. Peters, H. Ritter, J. Borràs and C. Torras
Publicado en: IEEE/RSJ IROS 2024, 2024
Editor: IEEE

Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing

Autores: Luca Lach, Niklas Funk, Robert Haschke, Severin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki
Publicado en: IEEE/RSJ IROS, 2023
Editor: IEEE/RSJ

Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects

Autores: Y. Dong, F.T. Pokorny
Publicado en: IEEE ICRA 2024
Editor: IEEE

CloSE: A Geometric Shape-Agnostic Cloth State Representation

Autores: Jay Kamat, Júlia Borràs, Carme Torras
Publicado en: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Editor: IEEE
DOI: 10.1109/ICRA57385.2026.11696937

A gripper for flap separation and opening of sealed bags

Autores: Sergi Foix, Jaume Oriol, Carme Torras, Júlia Borràs
Publicado en: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Editor: IEEE
DOI: 10.1109/ICRA57385.2026.11697438

Scene Understanding in Deformable Object Manipulation via Taxonomy-Guided Vision-Language Models

Autores: Gawtam Chithra Ramesh, David Blanco-Mulero, Yifei Dong, Júlia Borràs Sol, Carme Torras, Florian T. Pokorny
Editor: ROMADO Workshop, IROS 2025

Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance

Autores: Yifei Dong, Yan Zhang, Sylvain Calinon, Florian T. Pokorny
Publicado en: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Editor: IEEE
DOI: 10.1109/ICRA57385.2026.11695929

Task-Oriented Stiffness Setting for a Variable Stiffness Hand

Autores: Ana Elvira H. Martin; Ashok M. Sundaram; Werner Friedl; Virginia Ruiz Garate; Máximo A. Roa
Publicado en: IEEE ICRA 2023, 2023
Editor: IEEE
DOI: 10.1109/ICRA48891.2023.10161053

A Virtual Reality Framework For Fast Dataset Creation Applied to Cloth Manipulation with Automatic Semantic Labelling

Autores: Borràs Sol, Júlia; Boix Granell, Arnau; Foix Salmerón, Sergi; Torras, Carme
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editor: IEEE
DOI: 10.1109/ICRA48891.2023.10161122

CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization

Autores: Yifei Dong, Shaohang Han, Xianyi Cheng, Werner Friedl, Rafael I. Cabral Muchacho, Máximo A. Roa, Jana Tumova, Florian T. Pokorny
Publicado en: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Editor: IEEE
DOI: 10.1109/IROS60139.2025.11246485

Towards Transferring Tactile-based Continuous Force Control Policies from Simulation to Robot

Autores: L Lach, R Haschke, D Tateo, J Peters, H Ritter, J Borràs, C Torras
Publicado en: 1st Workshop on Touch Processing: a new Sensing Modality for AI at NeurIPS 2024, 2023
Editor: 1st Workshop on Touch Processing: a new Sensing Modality for AI at NeurIPS 2024

Adaptive Bayesian Optimization for Robotic Pushing on Thin Fragile Deformable Objects

Autores: R. Herguedas, A. M. Sundaram, G. Lopez-Nicolas, M. A. Roa, C. Sagues
Publicado en: Sixth Iberian Robotics Conference. Coimbra, Portugal, 22-24 Nov 2023, 2024
Editor: n/a
DOI: 10.1007/978-3-031-58676-7_28

A Human-Inspired Linear Scoop Gripper and Grasping Framework for Manipulation of Thin Deformable Food Products

Autores: Werner Friedl, Ashok M. Sundaram, Francesco Porta, Mykhaylo Marfeychuk, Wesley Wimshurst, Mariana De Paula Assis Fonseca, Leonard Klüpfel, Jelizaveta Konstantinova, Máximo A. Roa
Publicado en: 2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2026
Editor: IEEE
DOI: 10.1109/AIM65483.2026.11658272

Soft Fixtures: Towards Practical Caging-Based Manipulation of Rigid and Deformable Objects

Autores: Yifei Dong; Florian T. Pokorny
Publicado en: 3rd Workshop on Representing and Manipulating Deformable Objects at IEEE ICRA 2023, 2023
Editor: 3rd Workshop on Representing and Manipulating Deformable Objects, ICRA2023

Advancing Robust Multi-Object Manipulation with Energy Margin

Autores: Yifei Dong, Xianyi Cheng, Werner Friedl, Aurel Schröter, Ashok M. Sundaram, Máximo A. Roa, Florian T. Pokorny
Publicado en: IEEE ICRA 2024 Workshop on Multi-Object Grasping: Progress and Prospects, 2024
Editor: IEEE ICRA 2024 Workshop on Multi-Object Grasping: Progress and Prospects

Peer reviewed articles (7)

Dual Arm Steering of Flexible Linear Objects in 2-D and 3-D Environments Using Euler's Elastica Solutions

Autores: A. Levin, I. Grinberg, E. D. Rimon, A. Shapiro
Publicado en: IEEE Robotics and Automation Letters, Edición 10, 2025, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3586475

Benchmarking the sim-to-real gap in cloth manipulation

Autores: D. Blanco-Mulero, O. Barbany, G. Alcan, A. Colomé, C. Torras and V. Kyrki
Publicado en: IEEE Robotics and Automation Letters, Edición 9, 2024, ISSN 2377-3766
Editor: IEEE
DOI: 10.48550/arXiv.2509.23926

Unfolding the literature: a review of robotic cloth manipulation

Autores: A. Longhini, Y. Wang, I. Garcia-Camacho, D. Blanco-Mulero, M. Moletta, M.C. Welle, G. Alenyà, H. Yin, Z. Erickson, D. Held, J. Borràs and D. Kragic
Publicado en: Annual Review of Control, Robotics, and Autonomous Systems, Edición 8, ISSN 0000-0000
Editor: Annual Review of Control, Robotics, and Autonomous Systems
DOI: 10.48550/arXiv.2407.01361

A context-adaptive policy framework for robust and reactive robotic manipulation via uncertainty-aware imitation learning

Autores: Tim R. Winter, Leonard Klüpfel, Ashok M. Sundaram, Werner Friedl, Maximo A. Roa, Freek Stulp, João Silvério
Publicado en: Robotics and Autonomous Systems, Edición 205, 2026, ISSN 0921-8890
Editor: Elsevier BV
DOI: 10.1016/J.ROBOT.2026.105649

Characterizing Manipulation Robustness Through Energy Margin and Caging Analysis

Autores: Yifei Dong; Xianyi Cheng; Florian T. Pokorny
Publicado en: IEEE Robotics and Automation Letters, Edición 9, 2024, ISSN 0000-0000
Editor: IEEE
DOI: 10.48550/ARXIV.2404.12115

Evaluation of different robotic grippers for simultaneous multi-object grasping

Autores: Friedl, Werner
Publicado en: Frontiers in Robotics and AI, Edición 11, 2024, ISSN 0000-0000
Editor: Frontiers in Robotics and AI
DOI: 10.3389/FROBT.2024.1351932

Ethics of Social Robotics: Individual and Societal Concerns and Opportunities

Autores: Torras, Carme
Publicado en: Annual Review of Control, Robotics, and Autonomous Systems, Edición 7, 2024, ISSN 0000-0000
Editor: Annual Reviews
DOI: 10.1146/ANNUREV-CONTROL-062023-082238