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Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…

Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…

We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…

The progress in artificial intelligence and machine learning algorithms over the past decade has enabled the development of new methods for the objective measurement of eating, including both the measurement of eating episodes as well as…

The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…

Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual feedback. However, the distinct nature of these modalities poses significant challenges. In this paper, we introduce a system that leverages visual and…

General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a proof-of-concept…

What we eat is one of the most frequent and important health decisions we make in daily life, yet it remains notoriously difficult to capture and understand. Effective food journaling is thus a grand challenge in personal health…

The food packaging industry handles an immense variety of food products with wide-ranging shapes and sizes, even within one kind of food. Menus are also diverse and change frequently, making automation of pick-and-place difficult. A popular…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

The increasing prevalence of stress-related eating behaviors and their impact on overall health highlights the importance of effective and ubiquitous monitoring systems. In this paper, we present MeciFace, an innovative wearable technology…

This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…

We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…

The nutritional quality of diets has significantly deteriorated over the past two to three decades, a decline often underestimated by the people. This deterioration, coupled with a hectic lifestyle, has contributed to escalating health…

Ingestive behavior plays a critical role in health, yet many existing interventions remain limited to static guidance or manual self-tracking. With the increasing integration of sensors, context-aware computing, and perceptual computing,…

Automatic detection of individual intake gestures during eating occasions has the potential to improve dietary monitoring and support dietary recommendations. Existing studies typically make use of on-body solutions such as inertial and…

The seafood processing industry provides fertile ground for robotics to impact the future-of-work from multiple perspectives including productivity, worker safety, and quality of work life. The robotics research challenge is the realization…

In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…

Receiving a hug is one of the best ways to feel socially supported, and the lack of social touch can have severe negative effects on an individual's well-being. Based on previous research both within and outside of HRI, we propose six…

Food journaling is an effective method to help people identify their eating patterns and encourage healthy eating habits as it requires self-reflection on eating behaviors. Current tools have predominately focused on tracking food intake,…