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

Informazioni relative al progetto

SoftEnable

ID dell’accordo di sovvenzione: 101070600

DOI

10.3030/101070600

Progetto chiuso

Data della firma CE 23 Giugno 2022

Data di avvio 1 Ottobre 2022

Data di completamento 30 Settembre 2026

Finanziato da

• Digital, Industry and Space

Costo totale

€ 2 568 721,00

Contributo UE

€ 2 568 721,00

Coordinato da

KUNGLIGA TEKNISKA HOEGSKOLAN
Sweden

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

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

Pubblicazioni

Conference proceedings (18)

Robotic Tight Packaging using a Hybrid gripper with Variable Stiffness

Autori: M. Moroni, A.E.H. Martin, L. Klupfel, A.M. Sundaram, W. Friedl, and M.A. Roa
Pubblicato in: Towards Autonomous Robotic Systems Conference (TAROS) 2024, 2024
Editore: Springer-Verlag

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

Autori: David Blanco-Mulero, Julia Borras, Carme Torras
Pubblicato in: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Editore: IEEE
DOI: 10.1109/IROS60139.2025.11247713

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

Autori: E. Hannus, T. Nguyen Le, D. Blanco-Mulero and V. Kyrki
Pubblicato in: IEEE/RSJ IROS 2024
Editore: IEEE

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

Autori: L.M. Lach, R. Haschke, D. Tateo, J. Peters, H. Ritter, J. Borràs and C. Torras
Pubblicato in: IEEE/RSJ IROS 2024, 2024
Editore: IEEE

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

Autori: Luca Lach, Niklas Funk, Robert Haschke, Severin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki
Pubblicato in: IEEE/RSJ IROS, 2023
Editore: IEEE/RSJ

Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects

Autori: Y. Dong, F.T. Pokorny
Pubblicato in: IEEE ICRA 2024
Editore: IEEE

CloSE: A Geometric Shape-Agnostic Cloth State Representation

Autori: Jay Kamat, Júlia Borràs, Carme Torras
Pubblicato in: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Editore: IEEE
DOI: 10.1109/ICRA57385.2026.11696937

A gripper for flap separation and opening of sealed bags

Autori: Sergi Foix, Jaume Oriol, Carme Torras, Júlia Borràs
Pubblicato in: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Editore: IEEE
DOI: 10.1109/ICRA57385.2026.11697438

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

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

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

Autori: Yifei Dong, Yan Zhang, Sylvain Calinon, Florian T. Pokorny
Pubblicato in: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
Editore: IEEE
DOI: 10.1109/ICRA57385.2026.11695929

Task-Oriented Stiffness Setting for a Variable Stiffness Hand

Autori: Ana Elvira H. Martin; Ashok M. Sundaram; Werner Friedl; Virginia Ruiz Garate; Máximo A. Roa
Pubblicato in: IEEE ICRA 2023, 2023
Editore: IEEE
DOI: 10.1109/ICRA48891.2023.10161053

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

Autori: Borràs Sol, Júlia; Boix Granell, Arnau; Foix Salmerón, Sergi; Torras, Carme
Pubblicato in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editore: IEEE
DOI: 10.1109/ICRA48891.2023.10161122

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

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

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

Autori: L Lach, R Haschke, D Tateo, J Peters, H Ritter, J Borràs, C Torras
Pubblicato in: 1st Workshop on Touch Processing: a new Sensing Modality for AI at NeurIPS 2024, 2023
Editore: 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

Autori: R. Herguedas, A. M. Sundaram, G. Lopez-Nicolas, M. A. Roa, C. Sagues
Pubblicato in: Sixth Iberian Robotics Conference. Coimbra, Portugal, 22-24 Nov 2023, 2024
Editore: 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

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

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

Autori: Yifei Dong; Florian T. Pokorny
Pubblicato in: 3rd Workshop on Representing and Manipulating Deformable Objects at IEEE ICRA 2023, 2023
Editore: 3rd Workshop on Representing and Manipulating Deformable Objects, ICRA2023

Advancing Robust Multi-Object Manipulation with Energy Margin

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

Autori: A. Levin, I. Grinberg, E. D. Rimon, A. Shapiro
Pubblicato in: IEEE Robotics and Automation Letters, Numero 10, 2025, ISSN 2377-3766
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3586475

Benchmarking the sim-to-real gap in cloth manipulation

Autori: D. Blanco-Mulero, O. Barbany, G. Alcan, A. Colomé, C. Torras and V. Kyrki
Pubblicato in: IEEE Robotics and Automation Letters, Numero 9, 2024, ISSN 2377-3766
Editore: IEEE
DOI: 10.48550/arXiv.2509.23926

Unfolding the literature: a review of robotic cloth manipulation

Autori: 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
Pubblicato in: Annual Review of Control, Robotics, and Autonomous Systems, Numero 8, ISSN 0000-0000
Editore: 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

Autori: Tim R. Winter, Leonard Klüpfel, Ashok M. Sundaram, Werner Friedl, Maximo A. Roa, Freek Stulp, João Silvério
Pubblicato in: Robotics and Autonomous Systems, Numero 205, 2026, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/J.ROBOT.2026.105649

Characterizing Manipulation Robustness Through Energy Margin and Caging Analysis

Autori: Yifei Dong; Xianyi Cheng; Florian T. Pokorny
Pubblicato in: IEEE Robotics and Automation Letters, Numero 9, 2024, ISSN 0000-0000
Editore: IEEE
DOI: 10.48550/ARXIV.2404.12115

Evaluation of different robotic grippers for simultaneous multi-object grasping

Autori: Friedl, Werner
Pubblicato in: Frontiers in Robotics and AI, Numero 11, 2024, ISSN 0000-0000
Editore: Frontiers in Robotics and AI
DOI: 10.3389/FROBT.2024.1351932

Ethics of Social Robotics: Individual and Societal Concerns and Opportunities

Autori: Torras, Carme
Pubblicato in: Annual Review of Control, Robotics, and Autonomous Systems, Numero 7, 2024, ISSN 0000-0000
Editore: Annual Reviews
DOI: 10.1146/ANNUREV-CONTROL-062023-082238