Cody the Robotic Nurse Performs Autonomous Bathing Tasks

Meet Cody, the robot that gives sponge baths | Crave - CNET

The autonomous robot uses lasers--because, really, robots all have lasers, or at least should--to specify a body part that needs to be scrubbed.

A camera then feeds the information to a microprocessor which, in turn, commands the robot's arm to wipe the selected area, which it swabs first

This new humanoid robot named "Cody" comes from Georgia Tech's Healthcare Robotics Lab (to which I belong).  Cody is composed of a Segway RMP 50 Omni mobile base, 1-DoF vertical linear actuator, and a pair of 7-DoF Meka Arms with series elastic actuators (the same as Simon).  This mobile manipulator has shown some pretty impressive capabilities.  It can open doors, drawers, and cabinets using equilibrium point controllers developed by Advait Jain and Prof. Charlie Kemp.  It also has a nice direct physical interface (touching interface) to reposition the robot that was developed by Tiffany Chen and Prof. Charlie Kemp. Much of the code controlling this robot is open-source and has ROS (Robot Operating System) interfaces.

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This paper describes the design and implementation of a behavior that allows a robot with a compliant arm to perform wiping motions that are involved in bed baths. A laser-based operator-selection interface enables an operator to select an area to clean, and the robot autonomously performs a wiping motion using equilibrium point control. We evaluated the performance of the system by measuring the ability of the robot to remove an area of debris on human skin.