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

Informations projet

SoftEnable

N° de convention de subvention: 101070600

DOI

10.3030/101070600

Projet clôturé

Date de signature de la CE 23 Juin 2022

Date de début 1 Octobre 2022

Date de fin 30 Septembre 2026

Financé au titre de

• Digital, Industry and Space

Coût total

€ 2 568 721,00

Contribution de l’UE

€ 2 568 721,00

Coordonné par

KUNGLIGA TEKNISKA HOEGSKOLAN
Sweden

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

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

Publications

Conference proceedings (18)

Robotic Tight Packaging using a Hybrid gripper with Variable Stiffness

Auteurs: M. Moroni, A.E.H. Martin, L. Klupfel, A.M. Sundaram, W. Friedl, and M.A. Roa
Publié dans: Towards Autonomous Robotic Systems Conference (TAROS) 2024, 2024
Éditeur: Springer-Verlag

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

Auteurs: David Blanco-Mulero, Julia Borras, Carme Torras
Publié dans: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Éditeur: IEEE
DOI: 10.1109/IROS60139.2025.11247713

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

Auteurs: E. Hannus, T. Nguyen Le, D. Blanco-Mulero and V. Kyrki
Publié dans: IEEE/RSJ IROS 2024
Éditeur: IEEE

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

Auteurs: L.M. Lach, R. Haschke, D. Tateo, J. Peters, H. Ritter, J. Borràs and C. Torras
Publié dans: IEEE/RSJ IROS 2024, 2024
Éditeur: IEEE

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

Auteurs: Luca Lach, Niklas Funk, Robert Haschke, Severin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki
Publié dans: IEEE/RSJ IROS, 2023
Éditeur: IEEE/RSJ

Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects

Auteurs: Y. Dong, F.T. Pokorny
Publié dans: IEEE ICRA 2024
Éditeur: IEEE

CloSE: A Geometric Shape-Agnostic Cloth State Representation

Auteurs: Jay Kamat, Júlia Borràs, Carme Torras
Publié dans: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Éditeur: IEEE
DOI: 10.1109/ICRA57385.2026.11696937

A gripper for flap separation and opening of sealed bags

Auteurs: Sergi Foix, Jaume Oriol, Carme Torras, Júlia Borràs
Publié dans: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Éditeur: IEEE
DOI: 10.1109/ICRA57385.2026.11697438

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

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

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

Auteurs: Yifei Dong, Yan Zhang, Sylvain Calinon, Florian T. Pokorny
Publié dans: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Éditeur: IEEE
DOI: 10.1109/ICRA57385.2026.11695929

Task-Oriented Stiffness Setting for a Variable Stiffness Hand

Auteurs: Ana Elvira H. Martin; Ashok M. Sundaram; Werner Friedl; Virginia Ruiz Garate; Máximo A. Roa
Publié dans: IEEE ICRA 2023, 2023
Éditeur: IEEE
DOI: 10.1109/ICRA48891.2023.10161053

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

Auteurs: Borràs Sol, Júlia; Boix Granell, Arnau; Foix Salmerón, Sergi; Torras, Carme
Publié dans: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Éditeur: IEEE
DOI: 10.1109/ICRA48891.2023.10161122

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

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

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

Auteurs: L Lach, R Haschke, D Tateo, J Peters, H Ritter, J Borràs, C Torras
Publié dans: 1st Workshop on Touch Processing: a new Sensing Modality for AI at NeurIPS 2024, 2023
Éditeur: 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

Auteurs: R. Herguedas, A. M. Sundaram, G. Lopez-Nicolas, M. A. Roa, C. Sagues
Publié dans: Sixth Iberian Robotics Conference. Coimbra, Portugal, 22-24 Nov 2023, 2024
Éditeur: 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

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

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

Auteurs: Yifei Dong; Florian T. Pokorny
Publié dans: 3rd Workshop on Representing and Manipulating Deformable Objects at IEEE ICRA 2023, 2023
Éditeur: 3rd Workshop on Representing and Manipulating Deformable Objects, ICRA2023

Advancing Robust Multi-Object Manipulation with Energy Margin

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

Auteurs: A. Levin, I. Grinberg, E. D. Rimon, A. Shapiro
Publié dans: IEEE Robotics and Automation Letters, Numéro 10, 2025, ISSN 2377-3766
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3586475

Benchmarking the sim-to-real gap in cloth manipulation

Auteurs: D. Blanco-Mulero, O. Barbany, G. Alcan, A. Colomé, C. Torras and V. Kyrki
Publié dans: IEEE Robotics and Automation Letters, Numéro 9, 2024, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.48550/arXiv.2509.23926

Unfolding the literature: a review of robotic cloth manipulation

Auteurs: 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
Publié dans: Annual Review of Control, Robotics, and Autonomous Systems, Numéro 8, ISSN 0000-0000
Éditeur: 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

Auteurs: Tim R. Winter, Leonard Klüpfel, Ashok M. Sundaram, Werner Friedl, Maximo A. Roa, Freek Stulp, João Silvério
Publié dans: Robotics and Autonomous Systems, Numéro 205, 2026, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/J.ROBOT.2026.105649

Characterizing Manipulation Robustness Through Energy Margin and Caging Analysis

Auteurs: Yifei Dong; Xianyi Cheng; Florian T. Pokorny
Publié dans: IEEE Robotics and Automation Letters, Numéro 9, 2024, ISSN 0000-0000
Éditeur: IEEE
DOI: 10.48550/ARXIV.2404.12115

Evaluation of different robotic grippers for simultaneous multi-object grasping

Auteurs: Friedl, Werner
Publié dans: Frontiers in Robotics and AI, Numéro 11, 2024, ISSN 0000-0000
Éditeur: Frontiers in Robotics and AI
DOI: 10.3389/FROBT.2024.1351932

Ethics of Social Robotics: Individual and Societal Concerns and Opportunities

Auteurs: Torras, Carme
Publié dans: Annual Review of Control, Robotics, and Autonomous Systems, Numéro 7, 2024, ISSN 0000-0000
Éditeur: Annual Reviews
DOI: 10.1146/ANNUREV-CONTROL-062023-082238