This work introduces an approach for automatic hair combing by a lightweight robot. For people living with limited mobility, dexterity, or chronic fatigue, combing hair is often a difficult task that negatively impacts personal routines. We propose a modular system for enabling general robot manipulators to assist with a hair-combing task. The system consists of three main components. The first component is the segmentation module, which segments the location of hair in space. The second component is the path planning module that proposes automatically-generated paths through hair based on user input. The final component creates a trajectory for the robot to execute. We quantitatively evaluate the effectiveness of the paths planned by the system with 48 users and qualitatively evaluate the system with 30 users watching videos of the robot performing a hair-combing task in the physical world. The system is shown to effectively comb different hairstyles.

中文翻译：

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通用机械臂理发系统的设计与评估

这项工作介绍了一种由轻型机器人自动梳理头发的方法。对于行动不便、灵巧或长期疲劳的人来说，梳理头发通常是一项艰巨的任务，会对个人日常生活产生负面影响。我们提出了一种模块化系统，使通用机器人操纵器能够协助完成梳理头发的任务。该系统由三个主要部分组成。第一个组件是分割模块，它对头发在空间中的位置进行分割。第二个组件是路径规划模块，它根据用户输入建议通过头发自动生成的路径。最后一个组件为机器人创建一个轨迹来执行。我们用 48 个用户定量评估系统规划的路径的有效性，并用 30 个用户观看机器人在物理世界中执行梳理头发任务的视频对系统进行定性评估。该系统被证明可以有效地梳理不同的发型。