A multimodal execution monitor with anomaly classification for robot-assisted feeding

Park, Daehyung; Kim, Hokeun; Hoshi, Yuuna; Erickson, Zackory; Kapusta, Ariel; Kemp, Charles C.

doi:10.1109/iros.2017.8206437

Cited by 51 publications

(51 citation statements)

References 22 publications

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“…A workshop publication described an early, less-capable version of the meal-assistance system that required fiducial markers placed on the person's head and the bowl [28]. Otherwise, our publications involving meal-assistance have focused on execution monitoring [29,15,30,16]. The newer meal-assistance system that we present now was used in a conference paper [15] to evaluate an execution monitoring system, but the paper provided no details about the meal-assistance system.…”

Section: Our Prior Work On Robot-assisted Feedingmentioning

confidence: 99%

“…We introduce an improved version of a web-based GUI. Our previous work [28,15] introduced an earlier GUI. This GUI was based on a web-based GUI that transmits task commands and displays video from the camera for self-care tasks around a user's head [39].…”

Section: User Interfacementioning

confidence: 99%

“…Multimodal Execution Monitor. We have previously presented our research on a multimodal execution monitor [30,15] that enables a robot to detect and classify anomalies during robotassisted feeding (see Fig. 11).…”

Section: Safety Systemmentioning

confidence: 99%

“…The classifier can enable a robot to detect, classify, and respond appropriately to common anomalies for effective and safer assistance. Further details are described in [15]. Figure 13: Examples of foods we used during the long-term evaluation.…”

Section: Safety Systemmentioning

confidence: 99%

“…The system also allows users to access its interface from a web browser, enabling the use of a variety of devices and increasing accessibility [8]. To improve safety, we designed the system to use compliant arm motions with a low-gain controller as well as a multimodal execution monitor to detect and react to anomalous events during assistance [15,16].…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Active robot-assisted feeding with a general-purpose mobile manipulator: Design, evaluation, and lessons learned

Park

Hoshi

Mahajan

et al. 2020

Robotics and Autonomous Systems

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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 due to the devices' physical or perceptual limitations. In this work, we present a new meal-assistance system and evaluations of this system with people with motor impairments. We also discuss learned lessons and design insights based on the evaluations. The meal-assistance system uses a general-purpose mobile manipulator, a Willow Garage PR2, which has the potential to serve as a versatile form of assistive technology. Our active feeding framework enables the robot to autonomously deliver food to the user's mouth, reducing the need for head movement by the user. The user interface, visually-guided behaviors, and safety tools allow people with severe motor impairments to successfully use the system. We evaluated our system with a total of 10 able-bodied participants and 9 participants with motor impairments. Both groups of participants successfully ate various foods using the system and reported high rates of success for the system's autonomous behaviors. In general, participants who operated the system reported that it was comfortable, safe, and easy-to-use.

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