Simulating Safe Bite Transfer in Robot-Assisted Feeding with a Soft Head and Articulated Jaw

TL;DR

This paper introduces a physics-based simulation model for safe and comfortable bite transfer in robot-assisted feeding, using soft-body dynamics to evaluate and optimize interaction parameters.

Contribution

It presents a novel soft-body simulation framework integrating a flexible head model with a rigid skeleton for safer robot-assisted feeding.

Findings

Straight-in-straight-out strategy reduces forces and improves comfort

Simulation enables systematic evaluation of bite transfer parameters

Approach offers a safer alternative to real-world testing

Abstract

Ensuring safe and comfortable bite transfer during robot-assisted feeding is challenging due to the close physical human-robot interaction required. This paper presents a novel approach to modeling physical human-robot interaction in a physics-based simulator (MuJoCo) using soft-body dynamics. We integrate a flexible head model with a rigid skeleton while accounting for internal dynamics, enabling the flexible model to be actuated by the skeleton. Incorporating realistic soft-skin contact dynamics in simulation allows for systematically evaluating bite transfer parameters, such as insertion depth and entry angle, and their impact on user safety and comfort. Our findings suggest that a straight-in-straight-out strategy minimizes forces and enhances user comfort in robot-assisted feeding, assuming a static head. This simulation-based approach offers a safer and more controlled alternative to real-world experimentation. Supplementary videos can be found at: https://tinyurl.com/224yh2kx.