Undernutrition is a common problem with older adults living in long-term care facilities [1]. Research has shown that the major factors that cause under nutrition are both behavioral and environmental. These factors include: insufficient staff to assist with meal eating; feeding assistance that does not promote independent eating; inability of staff to track the food intake of residents; and lack of social interactions during meals [1].

Our research efforts are on developing the socially assistive robot Brian 2.1 to promote healthy eating and monitor the nutritional intake of older adults. Brian 2.1, Fig. 1, has been designed to interact one-on-one with elderly users during mealtimes in order to guide them through the meal-eating activity and promote independent eating habits as well as offer social interaction [2]. Brian 2.1 utilizes a combination of verbal prompts, gestures, and facial expressions...

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