Related papers: In-Mouth Robotic Bite Transfer with Visual and Hap…
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…
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…
Robot-assisted feeding in household environments is challenging because it requires robots to generate trajectories that effectively bring food items of varying shapes and sizes into the mouth while making sure the user is comfortable. Our…
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…
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…
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…
This project introduces a Feeding Assistive Robot tailored to individuals with physical disabilities, including those with limited arm function or hand control. The core component is a precise 6-degree freedom robotic arm, operated…
This paper describes a study to test the accuracy of a method that tracks wrist motion during eating to detect and count bites. The purpose was to assess its accuracy across demographic (age, gender, ethnicity) and bite (utensil, container,…
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…
Eating is an essential activity of daily living (ADL) for staying healthy and living at home independently. Although numerous assistive devices have been introduced, many people with disabilities are still restricted from independent eating…
Mindless eating, or the lack of awareness of the food we are consuming, has been linked to health problems attributed to unhealthy eating behaviour, including obesity. Traditional approaches used to moderate eating behaviour often rely on…
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…
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…
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…
Eating speed is an important indicator that has been widely investigated in nutritional studies. The relationship between eating speed and several intake-related problems such as obesity, diabetes, and oral health has received increased…
Accurately assessing dietary behavior change receptivity is essential for designing effective just-in-time adaptive interventions (JITAIs) that promote healthier eating habits. However, self-report-based assessment of behavior change…
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,…
Acquiring food items with a fork poses an immense challenge to a robot-assisted feeding system, due to the wide range of material properties and visual appearances present across food groups. Deformable foods necessitate different skewering…
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…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…