相关论文: FLAIR: Feeding via Long-horizon AcquIsition of Rea…
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,…
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 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…
Learning from Demonstration (LfD) approaches empower end-users to teach robots novel tasks via demonstrations of the desired behaviors, democratizing access to robotics. However, current LfD frameworks are not capable of fast adaptation to…
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…
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…
Robotic Assisted Feeding (RAF) addresses the fundamental need for individuals with mobility impairments to regain autonomy in feeding themselves. The goal of RAF is to use a robot arm to acquire and transfer food to individuals from the…
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…
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…
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…
A robot providing mealtime assistance must perform specialized maneuvers with various utensils in order to pick up and feed a range of food items. Beyond these dexterous low-level skills, an assistive robot must also plan these strategies…
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…
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…
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…
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…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living (ADLs).…
Robotic assistive feeding holds significant promise for improving the quality of life for individuals with eating disabilities. However, acquiring diverse food items under varying conditions and generalizing to unseen food presents unique…
In this study, we introduce a novel visual imitation network with a spatial attention module for robotic assisted feeding (RAF). The goal is to acquire (i.e., scoop) food items from a bowl. However, achieving robust and adaptive food…
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…
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…