Related papers: Balancing Efficiency and Comfort in Robot-Assisted…
Robot-assisted feeding can greatly enhance the lives of those with mobility limitations. Modern feeding systems can pick up and position food in front of a care recipient's mouth for a bite. However, many with severe mobility constraints…
Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating…
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…
We develop data-driven models to predict when a robot should feed during social dining scenarios. Being able to eat independently with friends and family is considered one of the most memorable and important activities for people with…
A successful robot-assisted feeding system requires bite acquisition of a wide variety of food items. It must adapt to changing user food preferences under uncertain visual and physical environments. Different food items in different…
Ensuring safe and comfortable bite transfer during robot-assisted feeding is challenging due to the close physical human-robot interaction required. This paper presents a novel approach to modeling physical human-robot interaction in a…
Robot-assisted bite acquisition involves picking up food items with varying shapes, compliance, sizes, and textures. Fully autonomous strategies may not generalize efficiently across this diversity. We propose leveraging feedback from the…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Millions of people around the world need assistance with feeding. Robotic feeding systems offer the potential to enhance autonomy and quality of life for individuals with impairments and reduce caregiver workload. However, their widespread…
A robot-assisted feeding system must successfully acquire many different food items. A key challenge is the wide variation in the physical properties of food, demanding diverse acquisition strategies that are also capable of adapting to…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Robot-assisted feeding has the potential to improve the quality of life for individuals with mobility limitations who are unable to feed themselves independently. However, there exists a large gap between the homogeneous, curated plates…
The paper presents REPeat, a Real2Sim2Real framework designed to enhance bite acquisition in robot-assisted feeding for soft foods. It uses `pre-acquisition actions' such as pushing, cutting, and flipping to improve the success rate of bite…
Physical caregiving robots hold promise for improving the quality of life of millions worldwide who require assistance with feeding. However, in-home meal assistance remains challenging due to the diversity of activities (e.g., eating,…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Autonomous feeding is challenging because it requires manipulation of food items with various compliance, sizes, and shapes. To understand how humans manipulate food items during feeding and to explore ways to adapt their strategies to…
This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…
In everyday life, we often find that we can maintain an object's equilibrium on a tray by adjusting its orientation. Building upon this observation and extending the method we previously proposed to suppress sloshing in a moving vessel,…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
This study investigates the subjective experiences of users in two robotic object delivery methods: direct handover and table placement, when users are occupied with another task. A user study involving 15 participants engaged in a typing…