Deployable Physical Caregiving Robots Case Study

This case study outlines the advancements in robot-assisted feeding developed by the EmPRISE Lab at Cornell University in collaboration with Kinova. The focus is on enhancing independence for individuals with mobility challenges through the deployment of assistive robots, specifically the Kinova Gen3. The study details the complexities involved in feeding assistance, including inside-mouth bite transfer and bite acquisition, which require dexterous manipulation skills and real-time adaptability to user preferences and contexts. The EmPRISE Lab's innovative solutions include a vision-parameterized library for food manipulation and an inside-mouth bite transfer system that utilizes real-time multi-view mouth perception and interaction-aware control. The effectiveness of these systems has been tested with care recipients facing severe mobility limitations across various settings. The project has received recognition at the HRI 2024 conference, highlighting its practical significance and innovative design in the field of assistive robotics.