Comprehensive Support for Dressing Bottoms in Hemiplegic Individuals Using a Branching Arm Robot

This paper presents a robotic system designed to assist hemiplegic individuals in dressing, specifically focusing on the process of putting on bottoms. Assisting a hemiplegic patient with this task involves several complex actions, such as maneuvering through tight spaces and coordinating simultaneous movements with both hands. In this study, we analyze the assistive techniques used by caregivers and propose a branching arm robot equipped with two end-effectors to address these challenges. The proposed robot has a sufficient range of motion and torque, enabling it to assist in dressing while maintaining a compact design. Additionally, it includes a specialized end-effector capable of performing a multi-stage release of the bottoms, accommodating the intricate handling of clothing. Experimental results demonstrate that the robot effectively aids hemiplegic individuals in dressing, from threading the legs through the hems to pulling the bottoms up to the waist.