MORPHeus: a Multimodal One-armed Robot-assisted Peeling system with Human Users in-the-loop

Eating is a fundamental activity of daily living (ADL), yet for millions of people with mobility limitations around the globe, meal preparation poses significant challenges. While existing research has explored robotic assistance in meal preparation tasks like cutting and cooking, the crucial task of peeling has received less attention. Our robot-assisted peeling system uses visual, tactile, and auditory sensing modalities to peel a diverse range of food items with varying physical properties and can successfully adapt to different environments featuring multiple specialized cutting boards.