핵심 개념
Kiri-Spoon is a novel utensil designed for robot-assisted feeding, combining traditional utensil shapes with soft gripper functionalities to enhance food handling and transfer.
초록
I. Introduction
Assistive robot arms aim to aid disabled or elderly adults in feeding tasks.
Existing utensils pose challenges for robot control in feeding scenarios.
Kiri-Spoon is introduced as a novel utensil for robot-assisted feeding, combining traditional shapes with soft gripper capabilities.
II. Related Work
Research focuses on improving robot control of traditional utensils or developing novel end-effectors for food handling.
III. Kiri-Spoon Design
Kiri-Spoon is composed of a kirigami sheet that deforms into a 3D bowl with adjustable curvature.
Components, actuation, material, and fabrication details of Kiri-Spoon are discussed.
IV. Deformation Model
A spring-loaded four-bar linkage model is proposed to predict the deformation of the kirigami structure.
V. Model Validation
Experimental results validate the proposed model's accuracy in predicting the deformation and tensile forces of kirigami sheets.
VI. User Study
A user study compares Kiri-Spoon to traditional utensils in picking and transferring food items.
Results show that Kiri-Spoon leads to fewer spills, less time orienting the utensil, and similar food transfer efficiency.
VII. Conclusion
Kiri-Spoon demonstrates improved food handling and transfer compared to traditional utensils in robot-assisted feeding scenarios.
통계
로봇 지원 급식을 위한 새로운 도구인 Kiri-Spoon은 전통적인 도구 모양과 소프트 그리퍼 기능을 결합합니다.
Kiri-Spoon은 3D 그릇으로 변형되는 kirigami 시트로 구성됩니다.
실험 결과는 제안된 모델이 kirigami 시트의 변형과 인장력을 정확하게 예측하는 데 효과적임을 입증합니다.
인용구
"Kiri-Spoon은 전통적인 도구 모양과 소프트 그리퍼 기능을 결합하여 로봇 지원 급식에서 음식 처리와 이동을 향상시킵니다."