In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing

Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating assistance, a semi-autonomous robotic platform can provide independence and a healthier lifestyle. We demonstrate an essential capability of this platform: safe, comfortable, and effective transfer of a bite-sized food item from a utensil directly to the inside of a person's mouth. Our system uses a force-reactive controller to safely accommodate the user's motions throughout the transfer, allowing full reactivity until bite detection then reducing reactivity in the direction of exit. Additionally, we introduce a novel dexterous wrist-like end effector capable of small, unimposing movements to reduce user discomfort. We conduct a user study with 11 participants covering 8 diverse food categories to evaluate our system end-to-end, and we find that users strongly prefer our method to a wide range of baselines. Appendices and videos are available at our website: https://tinyurl.com/btICRA.Comment: Accepted to ICRA 202

Mexican Modernism’s Other: The Contemporáneos, Gender, and National Identity, 1920–1940

In postrevolutionary Mexico, a group of artists known as the Contemporáneos redefined the parameters of modernism through personal expressions of otherness and difference. This thesis examines works by artists including Abraham Ángel, Julio Castellanos, María Izquierdo, and Manuel Rodríguez Lozano in relation to shifting discourses surrounding gender and national identity