Design Principles for Robot-Assisted Feeding in Social Contexts

Nanavati, Amal; Alves‐Oliveira, Patrícia; Schrenk, Tyler; Gordon, Ethan K.; Çakmak, Maya; Srinivasa, Siddhartha S.

doi:10.1145/3568162.3576988

Cited by 13 publications

(6 citation statements)

References 33 publications

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“…By operating as a web app on these devices, the feeding app can integrate with all of these systems without requiring additional configuration. Further, the app is designed to provide users high levels of control over and transparency into the system, to align with user preferences [9] and empower them to use the system without researcher intervention. Unlike previous iterations of the feeding system, the app represents the "seat" of the logic for our system.…”

Section: Softwarementioning

confidence: 99%

“…The system should provide users control over the feeding process [9]. This is partially achieved by making the user interface the seat of logic (Sec.…”

Section: Design Principle: User Controlmentioning

confidence: 99%

“…and dependence among care recipients and places a significant burden on caregivers [9], especially because feeding is among the most time-consuming activity of daily living [4]. Robot-assisted feeding systems offer a promising solution for improving the quality of life for care recipients and alleviating caregiver burden.…”

mentioning

confidence: 99%

“…Through a web app interface, the user controls the execution of bite acquisition (Section 2.4), which involves picking up food from a plate, and bite transfer (Section 2.5), which involves delivering the food to the care-recipient's mouth. Our design has been informed by studies with end-users [1,9] and ongoing work with community researchers with mobility impairments [9]. This system has been rigorously tested through end-user studies and deployments over several years [2,5,8], successfully feeding care-recipients with severe medical conditions such as Multiple Sclerosis, Spinal Cord Injury, Spinal Muscular Atrophy, and Arthrogryposis.…”

mentioning

confidence: 99%

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An Adaptable, Safe, and Portable Robot-Assisted Feeding System

Gordon,

Jenamani,

Nanavati

et al. 2024

Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

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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 be mounted on and powered by any powered wheelchair, and a custom web-app allowing care-recipients to leverage their own assistive devices for robot control. For bite acquisition, we leverage multi-modal online learning to tractably adapt to unseen food types. For bite transfer, we leverage real-time mouth perception and interaction-aware control. Co-designed with community researchers, our system has been validated through multiple end-user studies. CCS CONCEPTS• Computer systems organization → Robotics; Robotic autonomy; • Human-centered computing → Accessibility systems and tools; Accessibility technologies.

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Section: Softwarementioning

confidence: 99%

“…The system should provide users control over the feeding process [9]. This is partially achieved by making the user interface the seat of logic (Sec.…”

Section: Design Principle: User Controlmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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An Adaptable, Safe, and Portable Robot-Assisted Feeding System

Gordon,

Jenamani,

Nanavati

et al. 2024

Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

Self Cite

View full text Add to dashboard Cite

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“…It means that the form of a robot needs to reflect its function. This principle has been well tested and applied for robots which provide labour services, such as floor cleaning robots ( Prassler et al, 2000 ), a feeding robot ( Nanavati et al, 2023 ) and a navigation robot ( Asakawa, 2023 ). In recent decades, robots have been used more widely in social domains, such as education, healthcare, and entertainment ( Bartneck et al, 2020 , p.163).…”

Section: Background and Related Workmentioning

confidence: 99%

Freedom comes at a cost?: An exploratory study on affordances’ impact on users’ perception of a social robot

Huang,

Moore

2024

Front. Robot. AI

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Along with the development of speech and language technologies, the market for speech-enabled human-robot interactions (HRI) has grown in recent years. However, it is found that people feel their conversational interactions with such robots are far from satisfactory. One of the reasons is the habitability gap, where the usability of a speech-enabled agent drops when its flexibility increases. For social robots, such flexibility is reflected in the diverse choice of robots’ appearances, sounds and behaviours, which shape a robot’s ‘affordance’. Whilst designers or users have enjoyed the freedom of constructing a social robot by integrating off-the-shelf technologies, such freedom comes at a potential cost: the users’ perceptions and satisfaction. Designing appropriate affordances is essential for the quality of HRI. It is hypothesised that a social robot with aligned affordances could create an appropriate perception of the robot and increase users’ satisfaction when speaking with it. Given that previous studies of affordance alignment mainly focus on one interface’s characteristics and face-voice match, we aim to deepen our understanding of affordance alignment with a robot’s behaviours and use cases. In particular, we investigate how a robot’s affordances affect users’ perceptions in different types of use cases. For this purpose, we conducted an exploratory experiment that included three different affordance settings (adult-like, child-like, and robot-like) and three use cases (informative, emotional, and hybrid). Participants were invited to talk to social robots in person. A mixed-methods approach was employed for quantitative and qualitative analysis of 156 interaction samples. The results show that static affordance (face and voice) has a statistically significant effect on the perceived warmth of the first impression; use cases affect people’s perceptions more on perceived competence and warmth before and after interactions. In addition, it shows the importance of aligning static affordance with behavioural affordance. General design principles of behavioural affordances are proposed. We anticipate that our empirical evidence will provide a clearer guideline for speech-enabled social robots’ affordance design. It will be a starting point for more sophisticated design guidelines. For example, personalised affordance design for individual or group users in different contexts.

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Sonic Sleight of Hand: Sound Induces Illusory Distortions in the Perception and Prediction of Robot Action

Currie,

Giannaccini,

Bach

2024

Int J of Soc Robotics

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For efficient human–robot interaction, human operators need to be able to efficiently represent the robot’s movements in space and predict its next steps. However, according to frameworks of Bayesian multisensory integration, features outside the motion itself—like the sounds a robot makes while it moves—should affect how otherwise identical motions are perceived. Here, we translate an established psychophysical task from experimental psychology to a human–robot interaction context, which can measure these distortions to motion perception. In two series of preregistered studies, participants watched a humanoid robot make forward and backward reaching movements. When the robot hand suddenly disappeared, they reported its last seen location, either with the mouse cursor (Experiment 1a and 1b) or by matching it to probe stimuli in different locations (Experiment 2a and 2b). The results revealed that even small changes to the robot’s sound robustly affect participants’ visuospatial representation of its motions, so that the motion appeared to extend further in space when accompanied by slightly (100 ms) longer sounds compared to slightly shorter sounds (100 ms shorter). Moreover, these sound changes do not only affect where people currently locate the robot’s motion, but where they anticipate its future steps. These findings show that sound design is an effective medium for manipulating how people represent otherwise identical robot actions and coordinate its interactions with it. The study acts as proof of concept that psychophysical tasks provide a promising tool to measure how design parameters influence the perception and prediction of robot motion.

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Design Principles for Robot-Assisted Feeding in Social Contexts

Cited by 13 publications

References 33 publications

An Adaptable, Safe, and Portable Robot-Assisted Feeding System

An Adaptable, Safe, and Portable Robot-Assisted Feeding System

Freedom comes at a cost?: An exploratory study on affordances’ impact on users’ perception of a social robot

Sonic Sleight of Hand: Sound Induces Illusory Distortions in the Perception and Prediction of Robot Action

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