We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to be mounted on and powered by any powered wheelchair, and a custom web-app allowing care-recipients to leverage their own assistive devices for robot control. For bite acquisition, we leverage multi-modal online learning to tractably adapt to unseen food types. For bite transfer, we leverage real-time mouth perception and interaction-aware control. Co-designed with community researchers, our system has been validated through multiple end-user studies.
@article{arxiv.2403.04134,
title = {An Adaptable, Safe, and Portable Robot-Assisted Feeding System},
author = {Ethan Kroll Gordon and Rajat Kumar Jenamani and Amal Nanavati and Ziang Liu and Haya Bolotski and Raida Karim and Daniel Stabile and Atharva Kashyap and Bernie Hao Zhu and Xilai Dai and Tyler Schrenk and Jonathan Ko and Taylor Kessler Faulkner and Tapomayukh Bhattacharjee and Siddhartha Srinivasa},
journal= {arXiv preprint arXiv:2403.04134},
year = {2024}
}
Comments
HRI 2024 Demo; Corrected inaccurate author ordering in ACM DL which occurred due to formatting issues