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

arXiv: https://arxiv.org/abs/2401.15159 · HTML: https://mlsanity.com/paper/2401.15159/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Jan 2024.

## Built on by (most cited first, 5 of 5)

- [GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings](https://mlsanity.com/paper/2501.17855/) (2025)
- [INPROVF: Leveraging Large Language Models to Repair High-level Robot Controllers from Assumption Violations](https://mlsanity.com/paper/2503.13660/) (2025)
- [PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction](https://mlsanity.com/paper/2509.18447/) (2025)
- [No Calibration, No Depth, No Problem: Cross-Sensor View Synthesis with 3D Consistency](https://mlsanity.com/paper/2602.23559/) (2026)
- [GenPHRI: Agentic Generative Simulation for Physical Human-Robot Interaction](https://mlsanity.com/paper/2604.08664/) (2026)

## Abstract (arXiv)

This paper introduces RABBIT, a novel robot-assisted bed bathing system designed to address the growing need for assistive technologies in personal hygiene tasks. It combines multimodal perception and dual (software and hardware) compliance to perform safe and comfortable physical human-robot interaction. Using RGB and thermal imaging to segment dry, soapy, and wet skin regions accurately, RABBIT can effectively execute washing, rinsing, and drying tasks in line with expert caregiving practices. Our system includes custom-designed motion primitives inspired by human caregiving techniques, and a novel compliant end-effector called Scrubby, optimized for gentle and effective interactions. We conducted a user study with 12 participants, including one participant with severe mobility limitations, demonstrating the system's effectiveness and perceived comfort. Supplementary material and videos can be found on our website https://emprise.cs.cornell.edu/rabbit.