  Meal preparation is an important instrumental activity of daily
living~(IADL). While existing research has explored robotic assistance in meal
preparation tasks such as cutting and cooking, the crucial task of peeling has
received less attention. Robot-assisted peeling, conventionally a bimanual
task, is challenging to deploy in the homes of care recipients using two
wheelchair-mounted robot arms due to ergonomic and transferring challenges.
This paper introduces a robot-assisted peeling system utilizing a single
robotic arm and an assistive cutting board, inspired by the way individuals
with one functional hand prepare meals. Our system incorporates a multimodal
active perception module to determine whether an area on the food is peeled, a
human-in-the-loop long-horizon planner to perform task planning while catering
to a user's preference for peeling coverage, and a compliant controller to peel
the food items. We demonstrate the system on 12 food items representing the
extremes of different shapes, sizes, skin thickness, surface textures, skin vs
flesh colors, and deformability.
