Development of a Scooping up Robot System

Abstract

In this paper we develop a robot system which scoops up food and helps the aged and the handicapped to eat. We classify the objects (food) into three types : liquid, jelly and grains. By using a video camera we measure how a human being scoops the above-mentioned types of objects with a spoon. Next, the motion of the spoon and its rotating angle are formulated. The results are recorded in a data base and used to determine the motion of a robotic arm. Finally, we perform an applicative experiment to determine the amount of food which can be scooped at one time and where to insert the spoon in the objects. The results of the experiment are input to a controller, and the scooping robot system is developed.