Host: The Japan Society of Mechanical Engineers
Name : Mechanical Engineering Congress,Japan
Date : September 11, 2016 - September 14, 2016
It is important to eat some foods for a person. However, it is very difficult motion for people who have handicapped on their upper body. Therefore they need some supports around people. If robot brings meal to handicapped person's mouth, he will be able to eat something by himself. Current, robots have been developed to carry food to the mouth for meal support robot. It is not enough to support eating by autonomous robot. For example it is one of the eating tasks to wipe mouth after eating. Then, we propose the support system on the eating task. At first, it is to get the potion information of targets, mouth and a robot hand, by using KINECT v1. Next, the robot arm make the motion to wipe the mouth using the color and depth information and kinematics. In this paper, we show that switching control and the experiment result of wiping mouth by robot arm.
