WAFFLE: ウェアラブルセンサによるロボット食事支援のための一口タイミング推定
WAFFLE: A Wearable Approach to Bite Timing Estimation in Robot-Assisted Feeding
ウェアラブルセンサのデータからユーザの頭の動きや咀嚼・会話を検出し、ロボットが食べ物を口に運ぶ適切なタイミング（一口タイミング）を予測するシステムを開発した。健常者15名と運動障害者2名の実験で、制御感や作業負荷の面で従来法と同等以上、多くの参加者に好まれることを示した。
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著者: Akhil Padmanabha, Jessie Yuan, Tanisha Mehta, Rajat Kumar Jenamani, Eric Hu, Victoria de León, Anthony Wertz, Janavi Gupta, Ben Dodson, Yunting Yan, Carmel Majidi, Tapomayukh Bhattacharjee, Zackory Erickson
分類: cs.RO
原文アブストラクト
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 adoption has been limited by technical challenges such as estimating bite timing, the appropriate moment for the robot to transfer food to a user's mouth. In this work, we introduce WAFFLE: Wearable Approach For Feeding with LEarned bite timing, a system that accurately predicts bite timing by leveraging wearable sensor data to be highly reactive to natural user cues such as head movements, chewing, and talking. We train a supervised regression model on bite timing data from 14 participants and incorporate a user-adjustable assertiveness threshold to convert predictions into proceed or stop commands. In a study with 15 participants without motor impairments with the Obi feeding robot, WAFFLE performs statistically on par with or better than baseline methods across measures of feeling of control, robot understanding, and workload, and is preferred by the majority of participants for both individual and social dining. We further demonstrate WAFFLE's generalizability in a study with 2 participants with motor impairments in their home environments using a Kinova 7DOF robot. Our findings support WAFFLE's effectiveness in enabling natural, reactive bite timing that generalizes across users, robot hardware, robot positioning, feeding trajectories, foods, and both individual and social dining contexts.
関連論文
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- ロボットによる食事支援のための逐次獲得方策の学習食事支援ロボティクス
- 視覚・触覚センシングを用いた口内へのロボットによる食事の運搬食事支援ロボティクス
