6自由度ロボットを用いた箸型食事支援ロボットの箸動作の高機能化

抄録

In the past chopsticks-type meal support robot, the movement of chopsticks were only catch, so there was little food which can be grasped. Therefore, 6 DOF robot which can be achieved all of postures of the chopsticks is replaced and the exclusive unit of chopsticks which is possible to press food has been developed. A miniature camera is installed at the tip of robot arm, and take a picture of food. By carrying out processing of images, the preprocessing program of grouping such as division of large size food into parts is executed. A demonstration experiment using food on the market was performed, and it was confirmed that it became easy to grasp with chopsticks.