Development of a Scooping up Robot System.

Osaki, Hirokazu; Kajihara, Yasuhiro; Shibutani, Kenichi; Sakai, Yutaka; Miyazaki, Satoshi

doi:10.1299/kikaic.61.1237

Cited by 1 publication

(2 citation statements)

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“…The rotational angle of the spoon tended to increase when scooping solid food that required cutting to separate from the remaining food. Osaki et al [16] also reported that the rotational angle θ S of a spoon was greater for solid food than for liquid food at the start of scooping. Meanwhile, there was no significant difference in φ S at the start of scooping among the various types of food.…”

Section: Scooping Actionmentioning

confidence: 96%

“…To apply the proposed control target to the ASF spoon, the ASF spoon itself needs to recognize the type of food and the required spoon motions such as scooping and transportation. The diameter of the grip of the spoon affects the range of wrist motion [16]. We therefore need to develop an ASF spoon with consideration of the size of the spoon grip and to assemble sensors for the identi cation of the orientation of the spoon and for distinguishing scooping and transporting actions.…”

Section: Future Workmentioning

confidence: 99%

See 1 more Smart Citation

Investigation of Food Characteristics Modulating Spoon Motions in Skilled Spoon Users: Proposal of a Control Target for the Active Self-feeding Spoon

Yasuda¹,

Fukiwake²,

Shimokasa

et al. 2017

ABE

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The present study proposes control target for the motion of an active self-feeding spoon by analyzing skilled spoon motions re ecting the grasping actions of healthy people eating speci c foods. We measured spoon motions in terms of time (t), rotational (θ) and azimuthal angles (φ) while ve healthy participants ate soup, malt balls, rm tofu, pudding, and yogurt. We developed a wireless angle measurement spoon with which to evaluate changes in the inclination angles (IAs) of the spoon and the correlation between θ and φ during scooping and transporting spoon motions. A negative θ value indicates that the surface of the spoon bowl has rotated toward the participant. A negative φ value indicates that the tip of the spoon bowl has rotated downward. After observing eating actions and measuring IAs (θ, φ, t), we examined the correlation between θ and φ using the coef cient of determination R 2 with a second-order curve regression (2OCR) model. R 2 of the scooping action exceeded 0.55 while that of the transporting action was less than 0.25. We found the effects of food type on the grasping action as follows. For soup, the scooping and transporting times were longer than those for the other foods. The spoon was rotated negatively to avoid spilling soup and malt balls at the end of scooping and at the start of transporting. Firm tofu and pudding required cutting and scooping actions. The grasping action of food at the end of transporting affected the IAs (θ, φ). The correlation R of the relationship between the 2OCR model for pudding (R 2 = 0.79, highest among food types) and the 2OCR models for other foods exceeded 0.94. We suggest the control target of the active self-feeding spoon as follows: set IAs (θ, φ, t) at the start and end of scooping and transporting actions to avoid spillage induced by the inertial force of foods and to facilitate putting food into the mouth. IAs (θ, φ, t) during the scooping and transporting actions were applied to the 2OCR models for pudding (highest R 2 ) and liquid food.

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Section: Scooping Actionmentioning

confidence: 96%

Section: Future Workmentioning

confidence: 99%