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This paper presents an innovative bimanual robot-assisted dressing system, which employs MediaPipe to detect human keypoints and leverages a Multi-layer Perceptron (MLP) to output user posture information with low latency. Evaluation across 80 dressing trials demonstrated a high success rate of 95% under diverse user scenarios and clothing conditions, significantly surpassing the baseline method that relied solely on position control 61.25% significantly improving the comfort and the success rate of the dressing process, and showing a wide range of application prospects in actual healthcare environments.<\/jats:p>","DOI":"10.1142\/s297233532550005x","type":"journal-article","created":{"date-parts":[[2025,9,22]],"date-time":"2025-09-22T04:27:30Z","timestamp":1758515250000},"source":"Crossref","is-referenced-by-count":0,"title":["Intelligent Dressing: Integrating Vision Perception with Neural Trajectory Planning in a Bimanual Robotic System"],"prefix":"10.1142","volume":"02","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-7847-8070","authenticated-orcid":false,"given":"Xu","family":"Ran","sequence":"first","affiliation":[{"name":"Intelligent Robotics and Interactive System Lab, Department of Computer Science and Electronic Engineering, University of Essex, Colchester, CO4 3SQ, UK"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-8600-5011","authenticated-orcid":false,"given":"Lu","family":"Zhang","sequence":"additional","affiliation":[{"name":"Intelligent Robotics and Interactive System Lab, Department of Computer Science and Electronic Engineering, University of Essex, Colchester, CO4 3SQ, UK"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-7213-6069","authenticated-orcid":false,"given":"Chenchen","family":"Dong","sequence":"additional","affiliation":[{"name":"Intelligent Robotics and Interactive System Lab, Department of Computer Science and Electronic Engineering, University of Essex, Colchester, CO4 3SQ, UK"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-6316-7037","authenticated-orcid":false,"given":"Jingyi","family":"Wang","sequence":"additional","affiliation":[{"name":"Intelligent Robotics and Interactive System Lab, Department of Computer Science and Electronic Engineering, University of Essex, Colchester, CO4 3SQ, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4531-2596","authenticated-orcid":false,"given":"Weiyong","family":"Si","sequence":"additional","affiliation":[{"name":"Intelligent Robotics and Interactive System Lab, Department of Computer Science and Electronic Engineering, University of Essex, Colchester, CO4 3SQ, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0986-2921","authenticated-orcid":false,"given":"Dongbing","family":"Gu","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Electronic Engineering, University of Essex, Colchester, CO4 3SQ, UK"}]}],"member":"219","published-online":{"date-parts":[[2025,10,22]]},"reference":[{"key":"S297233532550005XBIB001","doi-asserted-by":"publisher","DOI":"10.1186\/s12877-019-1348-z"},{"key":"S297233532550005XBIB002","doi-asserted-by":"publisher","DOI":"10.1186\/s12877-019-1189-9"},{"key":"S297233532550005XBIB003","volume-title":"Elderly Care","author":"Thakur N.","year":"2020"},{"issue":"3","key":"S297233532550005XBIB004","first-page":"123","volume":"75","author":"Kowalska A.","year":"2019","journal-title":"J. Gerontol. Res."},{"key":"S297233532550005XBIB005","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2978207"},{"key":"S297233532550005XBIB006","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2017.00013"},{"key":"S297233532550005XBIB007","doi-asserted-by":"publisher","DOI":"10.1109\/RO-MAN57019.2023.10309329"},{"key":"S297233532550005XBIB008","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-019-09865-0"},{"key":"S297233532550005XBIB009","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2019.1636715"},{"key":"S297233532550005XBIB010","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3375712"},{"key":"S297233532550005XBIB011","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611478"},{"key":"S297233532550005XBIB012","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3183756"},{"key":"S297233532550005XBIB013","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196994"},{"key":"S297233532550005XBIB014","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3296371"},{"key":"S297233532550005XBIB015","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3518104"},{"key":"S297233532550005XBIB016","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2024.2399728"},{"key":"S297233532550005XBIB017","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3366008"},{"key":"S297233532550005XBIB018","doi-asserted-by":"crossref","unstructured":"Y. Wang, Z. Sun, Z. Erickson and D. Held, One policy to dress them all: Learning to dress people with diverse poses and garments, preprint (2023), arXiv:2306.12372v1.","DOI":"10.15607\/RSS.2023.XIX.008"},{"key":"S297233532550005XBIB019","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161335"},{"key":"S297233532550005XBIB020","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2972852"},{"key":"S297233532550005XBIB021","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-022-01078-4"},{"key":"S297233532550005XBIB022","unstructured":"C. Lugaresi, J. Tang, H. Nash, C. McClanahan, E. Uboweja, M. Hays, F. Zhang, C.L. Chang, M. G. Yong, J. Lee, W.T. Chang, W. Hua, M. Georg and M. Grundmann, Mediapipe: A framework for building perception pipelines,\n                      CoRR\n                      abs\/1906.08172\n                      (2019)."},{"key":"S297233532550005XBIB023","unstructured":"V. Bazarevsky, I. Grishchenko, K. Raveendran, T. Zhu, F. Zhang and M. Grundmann, Blazepose: On-device real-time body pose tracking,\n                      CoRR\n                      abs\/2006.10204\n                      (2020)."},{"key":"S297233532550005XBIB024","unstructured":"F. Zhang, V. Bazarevsky, A. Vakunov, A. Tkachenka, G. Sung, C.L. Chang and M. Grundmann, Mediapipe hands: On-device real-time hand tracking,\n                      CoRR\n                      abs\/2006.10214\n                      (2020)."},{"key":"S297233532550005XBIB025","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3245983"},{"key":"S297233532550005XBIB026","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068110"}],"container-title":["International Journal of Artificial Intelligence and Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S297233532550005X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,14]],"date-time":"2026-01-14T04:11:37Z","timestamp":1768363897000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/10.1142\/S297233532550005X"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1]]},"references-count":26,"alternative-id":["10.1142\/S297233532550005X"],"URL":"https:\/\/doi.org\/10.1142\/s297233532550005x","relation":{},"ISSN":["2972-3353","2972-3361"],"issn-type":[{"value":"2972-3353","type":"print"},{"value":"2972-3361","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1]]},"article-number":"2550005"}}