# Do You Need a Hand? -- a Bimanual Robotic Dressing Assistance Scheme

arXiv: https://arxiv.org/abs/2301.02749 · HTML: https://mlsanity.com/paper/2301.02749/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Jan 2023.

## Built on by (most cited first, 7 of 7)

- [Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Framework](https://mlsanity.com/paper/2503.09186/) (2025)
- [Learning Human-Humanoid Coordination for Collaborative Object Carrying](https://mlsanity.com/paper/2510.14293/) (2025)
- [GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings](https://mlsanity.com/paper/2501.17855/) (2025)
- [Robot Deformable Object Manipulation via NMPC-generated Demonstrations in Deep Reinforcement Learning](https://mlsanity.com/paper/2502.11375/) (2025)
- [GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Tasks](https://mlsanity.com/paper/2503.05817/) (2025)
- [Addressing Ambiguity in Imitation Learning through Product of Experts based Negative Feedback](https://mlsanity.com/paper/2603.26467/) (2026)
- [Dressing in Motion: A Human Motion-Aware Diffusion Policy for Robot-Assisted Dressing](https://mlsanity.com/paper/2609.04759/) (2026)

## Abstract (arXiv)

Developing physically assistive robots capable of dressing assistance has the potential to significantly improve the lives of the elderly and disabled population. However, most robotics dressing strategies considered a single robot only, which greatly limited the performance of the dressing assistance. In fact, healthcare professionals perform the task bimanually. Inspired by them, we propose a bimanual cooperative scheme for robotic dressing assistance. In the scheme, an interactive robot joins hands with the human thus supporting/guiding the human in the dressing process, while the dressing robot performs the dressing task. We identify a key feature that affects the dressing action and propose an optimal strategy for the interactive robot using the feature. A dressing coordinate based on the posture of the arm is defined to better encode the dressing policy. We validate the interactive dressing scheme with extensive experiments and also an ablation study. The experiment video is available on https://sites.google.com/view/bimanualassitdressing/home