RABBIT: A Robot-Assisted Bed Bathing System with Multimodal Perception and Integrated Compliance

There is a large, growing demand for assistance with activities of daily living, such as bathing. Bathing is a central component of hygiene, but traditional bathing methods may not be available to people with mobility limitations. This paper introduces RABBIT, a robot-assisted bed bathing system. Our key contributions include: 1) the integration of multimodal perception techniques to differentiate between dry, wet, and soapy skin; 2) the implementation of human caregiving-inspired motion primitives; and 3) the incorporation of both active and passive compliance ensuring safe and comfortable physical human-robot interaction (pHRI). A user study involving 12 participants, including an individual with multiple sclerosis, which underscores the perceived effectiveness and comfort of our system.