Towards Assistive Feeding with a General-Purpose Mobile ManipulatorReport as inadecuate

Towards Assistive Feeding with a General-Purpose Mobile Manipulator

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General-purpose mobile manipulators have thepotential to serve as a versatile form of assistive technology.However, their complexity creates challenges, including the riskof being too difficult to use. We present a proof-of-conceptrobotic system for assistive feeding that consists of a WillowGarage PR2, a high-level web-based interface, and specializedautonomous behaviors for scooping and feeding yogurt. As astep towards use by people with disabilities, we evaluated oursystem with 5 able-bodied participants. All 5 successfully ateyogurt using the system and reported high rates of successfor the system’s autonomous behaviors. Also, Henry Evans, aperson with severe quadriplegia, operated the system remotelyto feed an able-bodied person. In general, people who operatedthe system reported that it was easy to use, including Henry.The feeding system also incorporates corrective actions designedto be triggered either autonomously or by the user. In anoffline evaluation using data collected with the feeding system,a new version of our multimodal anomaly detection systemoutperformed prior versions.

Healthcare Robotics Lab Publications - Healthcare Robotics Lab -

Author: Park, Daehyung - Kim, You Keun - Erickson, Zackory - Kemp, Charles C. - -


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