  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.
