MORPHeus: a Multimodal One-armed Robot-assisted Peeling System with Human Users In-the-loop
Ruolin Ye,Yifei Hu,Yuhan Anjelica Bian,Luke Kulm,Tapomayukh Bhattacharjee,Ruolin Ye,Yifei Hu,Yuhan Anjelica Bian,Luke Kulm,Tapomayukh Bhattacharjee
Meal preparation is an important instrumental activity of daily living (IADL). While existing research has explored robotic assistance in meal preparation tasks such as cutting and cooking, the crucial task of peeling has received less attention. Robot-assisted peeling, conventionally a bimanual task, is challenging to deploy in the homes of care recipients using two wheelchair-mounted robot arms ...
