ORBiT: Optimizing Robot-Assisted Bite Transfer Leveraging a Real2Sim2Real Framework
Sherwin Stephen Chan, J.-Anne Yow, Yi Heng San, Vasanthamaran Ravichandram, Yifan Wang, Lek Syn Lim, Wei Tech Ang
Abstract
Robot-assisted feeding has the potential to enhance the independence of individuals requiring assistance, yet the bite transfer process remains particularly challenging, especially for those with complex conditions. In this paper, we present ORBiT, a novel Real2Sim2Real framework designed to optimize bite transfer in robot-assisted feeding. By integrating motion capture-driven, high-fidelity soft-body simulation with systematic parameter tuning, ORBiT effectively replicates realistic head, neck and jaw dynamics during feeding interactions to provide a safe simulation-driven approach to optimize bite transfer strategies. In our approach, motion capture data drives a personalized dynamic head model that, together with a comprehensive parameter search over variables such as entry angle, exit angle, exit depth, height offset, and distance to mouth, identifies the bite transfer parameters that minimize contact forces on the user. The optimal parameters are then transferred to a real-world robotic system and validated through a pilot user study involving five subjects. Results from real user evaluations mirror the trends in simulation, indicating that bite transfer parameters, especially those related to entry and exit angles, substantially affect user comfort and overall satisfaction. Our findings validate that simulation-derived optimizations can effectively guide improvements in bite transfer strategies, laying the groundwork for a safe, personalized approach to robot-assisted feeding. Supplementary videos can be found at: https://youtu.be/a2pklEIAkOA.
BibTeX
@inproceedings{iros2025_orbitoptimizingr,
title = {ORBiT: Optimizing Robot-Assisted Bite Transfer Leveraging a Real2Sim2Real Framework},
author = {Sherwin Stephen Chan and J.-Anne Yow and Yi Heng San and Vasanthamaran Ravichandram and Yifan Wang and Lek Syn Lim and Wei Tech Ang},
booktitle = {IROS 2025},
year = {2025}
}