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Assistance during eating is essential for those with severe mobility issuesor eating risks. However, dependence on traditional human caregivers is linkedto malnutrition, weight loss, and low self-esteem. For those who require eatingassistance, a semi-autonomous robotic platform can provide independence and ahealthier lifestyle. We demonstrate an essential capability of this platform:safe, comfortable, and effective transfer of a bite-sized food item from autensil directly to the inside of a person's mouth. Our system uses aforce-reactive controller to safely accommodate the user's motions throughoutthe transfer, allowing full reactivity until bite detection then reducingreactivity in the direction of exit. Additionally, we introduce a noveldexterous wrist-like end effector capable of small, unimposing movements toreduce user discomfort. We conduct a user study with 11 participants covering 8diverse food categories to evaluate our system end-to-end, and we find thatusers strongly prefer our method to a wide range of baselines. Appendices andvideos are available at our website: https://tinyurl.com/btICRA.

In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing