Trial Development of a Mobile Feeding Assistive Robotic Arm for People with Physical Disabilities of the Extremities

摘要

A mobile feeding assistive robotic arm for people with physical disabilities of the extremities has been developed in this paper. This system is composed of a robotic arm, microcontroller, and its interface. The main unit of the robotic arm can be contained in a laptop computer's briefcase. Its weight is 5kg, including two 12-V lead acid rechargeable batteries. This robotic arm can be also mounted on a wheelchair. To verify performance of the mobile robotic arm system, drinking tea task was experimentally performed by two able-bodied subjects as well as three persons suffering from muscular dystrophy. From the experimental results, it was clear that they could smoothly carry out the drinking task, and that the robotic arm could firmly grasp a commercially available 500-ml plastic bottle. The eating task was also performed by the two able-bodied subjects. The experimental results showed that they could eat porridge by using a spoon without any difficulty.