Novel Assistive Robot for Self-Feeding

摘要

Assistive robots, with which users can interact directly, have attracted worldwide attention. They can assist people with disabilities and older persons in the activities of daily living. Assistive robots could be employed for improving quality of life as they can be adjusted according to demographic changes. There are several crucial issues to be considered with regard to these robots, such as customizing them according to the specific culture of the users as well as ensuring cost-effectiveness (Mann, 2005). In Korea, the official number of registered people with disabilities due to illnesses, injuries, and the natural aging process has already exceeded two million (Employment Development Institute, 2009). More than one-third of these disabled people are the elderly. Moreover, due to longer life spans and a decline in birthrate, the elderly make up over 10% of the population in Korea. As a result, effective caregiving with restricted resources is an urgent problem. In order to achieve efficient caregiving for people with disabilities and elderly persons, caregivers should physically interact with the people. For example, caregivers have to assist people in performing the routine activities of their daily lives, such as eating, changing clothes, changing their posture, moving from one location to another, and bathing. Among these activities, eating meals is one of the most essential daily activities. In this regard, caregivers must interact with people frequently to assist with food selection, feeding interval, etc. Existing robotic technologies can be utilized to take over the functions of the caregivers. Thus, assistive robots represent one of the solutions by which disabled or elderly people can receive support for performing the activities of daily life. The design of assistive robots to help with self-feeding depends strongly on the specific culture of the user. Korean food consists chiefly of boiled rice, soup, and side dishes such as Kimchi. The procedure of having a meal is as follows: the user eats the boiled rice first and then the side dishes. These steps are performed repetitively. In comparison with foreign boiled rice, Korean boiled rice sticks together very well after cooking. Handling this sticky boiled rice can be problematic. In addition, Korean soup includes meat, noodles, and various vegetables, thus the existing feeding robots find it difficult to handle Korean foods. Various assistive robots have been developed since the late 1980s, as shown in Fig. 1. Handy1 (Topping & Smith, 1999) is an assistive robot for daily activities such as eating, drinking, washing, shaving, teeth cleaning, and applying make-up. Handy1 consists of a five-DOF (degree-of-freedom) robot, a gripper, and a tray unit. The major function of Handy1 is to help with eating. Handy1 allows a user to select food from any part of the tray. A cup is attached to enable users to drink water with their meal. The walled columns of a