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.

翻译：摘要：本文介绍了RABBIT，一种新颖的机器人辅助床浴系统，旨在解决个人卫生护理任务中对辅助技术日益增长的需求。该系统结合多模态感知与双重（软件与硬件）柔顺性，以实现安全舒适的人机物理交互。通过利用RGB与热成像技术精准分割干燥、皂化及湿润皮肤区域，RABBIT能够依据专业护理实践有效完成清洗、冲淋及干燥任务。我们的系统包含受人类护理技术启发而设计的定制化运动基元，以及名为Scrubby的新型柔顺末端执行器，该执行器针对温和且高效的交互进行优化。我们开展了一项包含12名参与者的用户研究，其中包含一名行动严重受限者，验证了系统的有效性与舒适感。补充材料与视频可访问网站https://emprise.cs.cornell.edu/rabbit。