| 1. |
- Oka, T., et al.
(författare)
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Chopstick-type gripper mechanism for meal-assistance robot capable of adapting to size and elasticity of foods
- 2019
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Ingår i: Mechanisms and Machine Science. - Cham : Springer Netherlands. - 2211-0984 .- 2211-0992. ; 66, s. 284-292
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Tidskriftsartikel (refereegranskat)abstract
- This paper proposed a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and the contact force with the target food according to the size and the elasticity of the food. Solely using position control of the driving motor for the mechanism, this feature was enabled without relying on force sensors. The gripper was designed based on the concept of under-actuation and a planar mechanism with 2 DOF composed of a combination of 2 four-bar mechanisms having a torsion spring in a passive joint. To clarify the gripping motion and relationship among the contact force, food’s size and elasticity, a simulation based on kineto-elasto-static analysis was performed. Finally, to verify the theoretical analysis, a simple prototype was manufactured and an experiment to measure the contact force has been conducted.
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| 2. |
- Solis, Jorge, 1976-, et al.
(författare)
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Japan-Sweden Academia-industry international collaboration : Challenges in developing a robotic assistive eating device for frail elderly's independent life
- 2017
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Ingår i: CEUR Workshop Proceedings, Volume 2059. - : RWTH Aachen University. ; , s. 61-65, s. 61-65
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Konferensbidrag (refereegranskat)abstract
- This project aims at making a mock-up of a multi grip tool for a robotic assistive device and a camera system which enable frail elderly to live more independently and to keep track of their food intake. The robot will be developed through user centered design with analyses of real use cases in Japan and Sweden. Thanks to the collaborating researchers with a strong applied research approach as well as the companies with a strong experience in engineering solutions in both the Japanese and Swedish teams, the functionalities of Bestic, an assistive eating device, could be enhanced for commercial use, and distributed to municipalities and to the general pub.
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| 3. |
- Venture, G., et al.
(författare)
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Preface
- 2021
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Ingår i: ROMANSY 23 - Robot Design, Dynamics and Control. - : Springer Science+Business Media B.V..
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Konferensbidrag (refereegranskat)
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