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<p>Meal assistant robots (MARs) have been developed over the last 30 to 40&#xa0;years to aid the disabled and elderly in dining. While conventional MARs were equipped with only spoons or forks, the novel integrated spoon and chopstick mechanism (ISCM) was incorporated to meet the unique cultural needs of East Asian users. To enhance the commercial viability of the MAR, a high success rate in picking up food is essential. This study introduced simple and effective strategies for generating trajectories for the MAR integrated with ISCM (MAR+ISCM) and improving its mechanism. By combining a customized tray with the MAR + ISCM and dividing the tray compartment into multiple small virtual sections, we successfully demonstrated that the proposed strategies could evenly pick up cooked rice and various types of side dishes. Furthermore, all proposed strategies were integrated and validated through experiments with a meal set consisting of cooked rice, three side dishes, and soup, yielding a high success rate. We expect that these strategies will be easily applied to other MARs.</p>

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Simple and effective strategies to pick up foods for a meal assistant robot integrated with an integrated spoon and chopstick mechanism

  • 期刊论文

  • 发表日期：

    2025年1月29日

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  • Rongwan Chen,
  • Tae-Keun Kim,
  • Byung-Jin Jung,
  • Jung-Hoon Hwang,
  • Seong Young Ko

摘要

Meal assistant robots (MARs) have been developed over the last 30 to 40 years to aid the disabled and elderly in dining. While conventional MARs were equipped with only spoons or forks, the novel integrated spoon and chopstick mechanism (ISCM) was incorporated to meet the unique cultural needs of East Asian users. To enhance the commercial viability of the MAR, a high success rate in picking up food is essential. This study introduced simple and effective strategies for generating trajectories for the MAR integrated with ISCM (MAR+ISCM) and improving its mechanism. By combining a customized tray with the MAR + ISCM and dividing the tray compartment into multiple small virtual sections, we successfully demonstrated that the proposed strategies could evenly pick up cooked rice and various types of side dishes. Furthermore, all proposed strategies were integrated and validated through experiments with a meal set consisting of cooked rice, three side dishes, and soup, yielding a high success rate. We expect that these strategies will be easily applied to other MARs.