Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer

Maria J. Danford

Assistive robot arms can assistance to offer treatment for these with disabilities. A latest paper on appears to be into robot-assisted feeding. A bite transfer technique will have to optimize its trajectories on the fly by bringing food items into a mouth devoid of sacrificing user comfort.

Feeding on. Image credit rating: bohed by means of Pixabay, free of charge licence

In order to accomplish that, the scientists current a bite transfer algorithm for picking out trajectories in a constant room of mouth dimensions, food items geometries, and poses. The solution usually takes as enter a food items mesh and an acquisition pose on the fork from the real environment and generates an analogous simulation ecosystem. A constraint product is learned to sample intention food items poses around the mouth. Motion preparing is executed to form the perceived comfort and bite volume efficiency of each and every transfer.

A user review exhibits that the proposed solution of mixing comfort and efficiency is the only technique to outperform a fastened pose baseline with statistical significance.

Robot-assisted feeding in home environments is difficult mainly because it involves robots to deliver trajectories that efficiently convey food items items of various shapes and dimensions into the mouth when making sure the user is snug. Our critical perception is that in order to address this challenge, robots will have to stability the efficiency of feeding a food items item with the comfort of each and every specific bite. We formalize comfort and efficiency as heuristics to include in movement preparing. We current an solution based mostly on heuristics-guided bi-directional Speedily-discovering Random Trees (h-BiRRT) that selects bite transfer trajectories of arbitrary food items item geometries and shapes employing our designed bite efficiency and comfort heuristics and a learned constraint product. Serious-robot evaluations exhibit that optimizing each comfort and efficiency considerably outperforms a fastened-pose based mostly technique, and consumers favored our technique considerably extra than that of a technique that maximizes only user comfort. Movies and Appendices are identified on our web page: this https URL.

Investigation paper: Belkhale, S., Gordon, E. K., Chen, Y., Srinivasa, S., Bhattacharjee, T., and Sadigh, D., “Balancing Performance and Consolation in Robot-Assisted Bite Transfer”, 2021. Url: muscles/2111.11401

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