Related papers: In-Mouth Robotic Bite Transfer with Visual and Hap…
Cutting is a common form of manipulation when working with divisible objects such as food, rope, or clay. Cooking in particular relies heavily on cutting to divide food items into desired shapes. However, cutting food is a challenging task…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
Robot-assisted feeding requires reliable bite acquisition, a challenging task due to the complex interactions between utensils and food with diverse physical properties. These interactions are further complicated by the temporal variability…
Accurate monitoring of eating behavior is crucial for managing obesity and eating disorders such as bulimia nervosa. At the same time, existing methods rely on multiple and/or specialized sensors, greatly harming adherence and ultimately,…
In this preliminary study, we investigate changes in handover behaviour when transferring hazardous objects with the help of a high-resolution touch sensor. Participants were asked to hand over a safe and hazardous object (a full cup and an…
The increased worldwide prevalence of obesity has sparked the interest of the scientific community towards tools that objectively and automatically monitor eating behavior. Despite the study of obesity being in the spotlight, such tools can…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
For millions of adults with mobility limitations, eating meals is a daily challenge. A variety of robotic systems have been developed to address this societal need. Unfortunately, end-user adoption of robot-assisted feeding is limited, in…
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,…
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…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
Detecting an ingestion environment is an important aspect of monitoring dietary intake. It provides insightful information for dietary assessment. However, it is a challenging problem where human-based reviewing can be tedious, and…
Eating is a fundamental activity in people's daily life. Studies have shown that many health-related problems such as obesity, diabetes and anemia are closely associated with people's unhealthy eating habits (e.g., skipping meals, eating…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficult to manipulate -- resulting in accidental spills and…
Obesity and being over-weight add to the risk of some major life threatening diseases. According to W.H.O., a considerable population suffers from these disease whereas poor nutrition plays an important role in this context. Traditional…
Accurate assessment of dietary intake requires improved tools to overcome limitations of current methods including user burden and measurement error. Emerging technologies such as image-based approaches using advanced machine learning…
Robot-assisted feeding enables people with disabilities who require assistance eating to enjoy a meal independently and with dignity. However, existing systems have only been tested in-lab or in-home, leaving in-the-wild social dining…
The development of novel texture adaptations for the management of swallowing disorders could be accelerated if reliable in vitro tests were made available. This study addresses some of the limitations of swallowing in vitro models, by…
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…