This paper presents a multivariate dataset of 2866 food flipping movements, performed by 4 chefs ... more This paper presents a multivariate dataset of 2866 food flipping movements, performed by 4 chefs and 5 home cooks, with different grilled food and two utensils (spatula and tweezers). The 3D trajectories of strategic points in the utensils were tracked using optoelectronic motion capture. The pinching force of the tweezers, the bending force and torsion torque of the spatula were also recorded, as well as videos and the subject gaze. These data were collected using a custom experimental setup that allowed the execution of flipping movements with freshly cooked food, without having the sensors near the dangerous cooking area. Complementary, the 2D position of food was computed from the videos. The action of flipping food is, indeed, gaining the attention of both researchers and manufacturers of foodservice technology. The reported dataset contains valuable measurements (1) to characterize and model flipping movements as performed by humans, (2) to develop bio-inspired methods to cont...
This paper was motivated by a critical need in foodservice: the ability to produce consistent and... more This paper was motivated by a critical need in foodservice: the ability to produce consistent and high-quality meals ad-hoc, without overloading the workers or harming their health. Robotic and autonomous systems are promising technologies to solve this. However, there is not a unified framework in robotics research focused on the professional foodservice environment. This paper provides two tools for researchers and engineers in this field: (i) a taxonomy of basic actions that foodservice workers perform during their physical tasks; and (ii) a systematic review of mechatronic systems being developed or already in use in foodservice. The taxonomy can be immediately useful to divide research and development by the classes of actions. In addition, we found specific categories of actions that have been rarely automated so far and need further investigation. The results of our review can be readily applied in industry, too: presently, most equipment is a custom-built machine with limite...
2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020
The study of cooking tasks, such as grilling, is hindered by several adverse conditions for senso... more The study of cooking tasks, such as grilling, is hindered by several adverse conditions for sensors, such as the proximity to humidity, fat, and heat. Still, robotics research could benefit from understanding the human control of forces and torques in important contact interactions of kitchen-utensils with food. This work presents a preliminary study on the dynamics of grilling tasks (i.e. food flipping movements). A spatula and kitchen-tweezers were instrumented to measure forces and torque in multiple directions. Furthermore, we designed an experimental setup to keep sensors distant from heat/humidity and to, simultaneously, hold the effects of grilling (stickiness/slipperiness) during the tasks execution and recording. This allowed a successful data collection of 1426 movements with the spatula (flipping hamburgers, chicken, zucchini and eggplant slices) and 660 movements with the tweezers (flipping zucchini and eggplant slices), performed by chefs and ordinary home cooks. Finally, we analyzed three dynamical characteristics of the tasks for the different food: bending force and torsion torque on the impact to unstick food, and maximum pinching with tweezers. We verified that bending on impact and maximum pinching are adjusted to the food by both chefs and home cooks.
The main idea of this work is to introduce a wireless telemedicine system developed to reduce hos... more The main idea of this work is to introduce a wireless telemedicine system developed to reduce hospital admission period and expenses. Through a radio frequency based acquisition system allied with internet connection, we present a mobile system capable of monitoring patients with chronic cardiac diseases at home. This approach also increases the patients comfort during the treatment period that occurs home based and also reduces hospital risks such as hospital infection. In addition, a signal processing algorithm was implemented in order to provide medical diagnosis informative help. As we intended to built a proof-of-concept system, only basic laboratory trials were implemented on adults from 23 to 80 years old.
This paper presents a multivariate dataset of 2866 food flipping movements, performed by 4 chefs ... more This paper presents a multivariate dataset of 2866 food flipping movements, performed by 4 chefs and 5 home cooks, with different grilled food and two utensils (spatula and tweezers). The 3D trajectories of strategic points in the utensils were tracked using optoelectronic motion capture. The pinching force of the tweezers, the bending force and torsion torque of the spatula were also recorded, as well as videos and the subject gaze. These data were collected using a custom experimental setup that allowed the execution of flipping movements with freshly cooked food, without having the sensors near the dangerous cooking area. Complementary, the 2D position of food was computed from the videos. The action of flipping food is, indeed, gaining the attention of both researchers and manufacturers of foodservice technology. The reported dataset contains valuable measurements (1) to characterize and model flipping movements as performed by humans, (2) to develop bio-inspired methods to cont...
This paper was motivated by a critical need in foodservice: the ability to produce consistent and... more This paper was motivated by a critical need in foodservice: the ability to produce consistent and high-quality meals ad-hoc, without overloading the workers or harming their health. Robotic and autonomous systems are promising technologies to solve this. However, there is not a unified framework in robotics research focused on the professional foodservice environment. This paper provides two tools for researchers and engineers in this field: (i) a taxonomy of basic actions that foodservice workers perform during their physical tasks; and (ii) a systematic review of mechatronic systems being developed or already in use in foodservice. The taxonomy can be immediately useful to divide research and development by the classes of actions. In addition, we found specific categories of actions that have been rarely automated so far and need further investigation. The results of our review can be readily applied in industry, too: presently, most equipment is a custom-built machine with limite...
2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020
The study of cooking tasks, such as grilling, is hindered by several adverse conditions for senso... more The study of cooking tasks, such as grilling, is hindered by several adverse conditions for sensors, such as the proximity to humidity, fat, and heat. Still, robotics research could benefit from understanding the human control of forces and torques in important contact interactions of kitchen-utensils with food. This work presents a preliminary study on the dynamics of grilling tasks (i.e. food flipping movements). A spatula and kitchen-tweezers were instrumented to measure forces and torque in multiple directions. Furthermore, we designed an experimental setup to keep sensors distant from heat/humidity and to, simultaneously, hold the effects of grilling (stickiness/slipperiness) during the tasks execution and recording. This allowed a successful data collection of 1426 movements with the spatula (flipping hamburgers, chicken, zucchini and eggplant slices) and 660 movements with the tweezers (flipping zucchini and eggplant slices), performed by chefs and ordinary home cooks. Finally, we analyzed three dynamical characteristics of the tasks for the different food: bending force and torsion torque on the impact to unstick food, and maximum pinching with tweezers. We verified that bending on impact and maximum pinching are adjusted to the food by both chefs and home cooks.
The main idea of this work is to introduce a wireless telemedicine system developed to reduce hos... more The main idea of this work is to introduce a wireless telemedicine system developed to reduce hospital admission period and expenses. Through a radio frequency based acquisition system allied with internet connection, we present a mobile system capable of monitoring patients with chronic cardiac diseases at home. This approach also increases the patients comfort during the treatment period that occurs home based and also reduces hospital risks such as hospital infection. In addition, a signal processing algorithm was implemented in order to provide medical diagnosis informative help. As we intended to built a proof-of-concept system, only basic laboratory trials were implemented on adults from 23 to 80 years old.
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Papers by Debora Pereira