Structural design and performance analysis of an auxiliary dining robot_Journal of Biomedical Engineering

Authors：

 LI Shutong ¹ , XIAO Jinzhuang ¹ , MENG Gong ² , SHI Xiaoshuo ³ , GUAN Lianwu ⁴ , WANG Yan ¹

1. College of Electronic Information Engineering, Hebei University, Baoding, Hebei 071002, P. R. China;
2. Beijing Aerospace Automatic Control Institute, Beijing 100854, P. R. China;
3. Department of Stomatology, Affiliated Hospital of Hebei University, Baoding, Hebei 071000, P. R. China;
4. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China;

Corresponding author：

LI Shutong, Email: shutongli@hbu.edu.cn

Keywords：

Robot; Dining function; Structural design; Work space

DOI：

10.7507/1001-5515.202105088

Video：

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An auxiliary dining robot is designed in this paper, which implements the humanoid feeding function with theory of inventive problem solving (TRIZ) theory and aims at the demand of special auxiliary nursing equipment. Firstly, this robot simulated the motion function of human arm by using the tandem joints of the manipulator. The end-effector used a motor-driven spoon to simulate the feeding actions of human hand. Meanwhile, the eye in hand installation style was adopted to instead the human vision to realize its automatic feeding action. Moreover, the feeding and drinking actions of the dining robot were considered comprehensively with the flexibility of spatial movement under the lowest degree of freedom (DOF) configuration. The structure of the dining robot was confirmed by analyzing its stresses and discussing the specific application scenarios under this condition. Finally, the simulation results demonstrate high-flexibility of the dining robot in the workspace with lowest DOF configuration.

Citation： LI Shutong, XIAO Jinzhuang, MENG Gong, SHI Xiaoshuo, GUAN Lianwu, WANG Yan. Structural design and performance analysis of an auxiliary dining robot. Journal of Biomedical Engineering, 2022, 39(1): 149-157. doi: 10.7507/1001-5515.202105088 Copy

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19.	常桐博, 王宽, 黄尚军, 等. 太极拳搂膝拗步动作的踝关节生物力学分析. 生物医学工程学杂志, 2021, 38(1): 97-104.
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22.	Corke P I. A computer tool for simulation and analysis: the Robotics Toolbox for MATLAB// Proceedings of the 1995 National Conference of the Australian Robot Association. Melbourne: Australian Robot Association, 1995: 319-330.
23.	赵耀虹, 夏昊, 夭银银, 等. 球面外骨骼并联机构的运动学及工作空间分析. 生物医学工程学杂志, 2019, 36(2): 213-222.

1. United Nation. World Population Prospects 2019. New York: Department of Economic and Social Affairs Population Dynamics, 2019.
2. 刘琪. 联合国发表多项议题, 关注世界人口老龄化问题. 上海城市管理, 2017, 26(5): 96.
3. 邵觉黎. 基层医院护理人力资源短缺的思考. 中医药管理杂志, 2014, 22(2): 219-220.
4. 高从军. 欧洲康复机器人发展现况及前景. 机器人技术与应用, 1999(5): 2-4.
5. Mounir M, Mohamed A F, Bessam A B G. Toward a human-friendly user interface to control an assistive robot in the context of smart homes. J Adv Rehabil Robot, 2004, 306: 47-56.
6. Topping M. Flexibot-a multi-function general purpose service robot. Ind Robot, 2001, 28(5): 395-401.
7. Soyama R, Ishii S, Fukase A. Selectable operating interfaces of the meal-assistance device “My Spoon”. Adv Rehabil Robot, 2004: 155-163.
8. Irving M. Obi robot arm gives disabled diners a helping hand (2016-07-16)[2021-05-28]. https://newatlas.com/obi-robot-feeding-arm/44394/.
9. Mehta Y D, Khot R A, Patibanda R, et al. “Arm-A-Dine”: Towards understanding the design of playful embodied eating experiences// Proceedings of the 2018 Annual Symposium on Computer-Human Interaction in Play. Melbourne: ACM, 2018: 299-313.
10. 程子真, 张琪, 甘燕玲. 机器人在老年人家庭护理中的应用研究进展. 护理学报, 2019, 26(9): 42-45.
11. 何瑛, 李伦. 机器人在护理领域中的应用进展. 中华护理杂志, 2018, 53(9): 1140-1143.
12. 张立勋, 李彦涛, 高峻, 等. 助餐机器人轨迹规划研究. 系统仿真学报, 2010, 22(5): 1232-1236.
13. 杨清亮. 发明是这样诞生的. 北京: 机械工业出版社, 2008: 33-68.
14. 马广韬, 丁娟. 坐卧类家具设计的人体静态尺寸研究. 沈阳建筑大学学报(自然科学版), 2012, 28(1): 176-181.
15. 国家卫生健康委员会. 中国居民营养与慢性病状况报告. 北京: 国家卫生健康委员会, 2020.
16. Zhong F, Wang Z, Chen W, et al. Hand-eye calibration of surgical instrument for robotic surgery using interactive manipulation. IEEE Robot Autom Let, 2020, 5(2): 1540-1547.
17. Muis A, Ohnishi K. Eye-to-hand approach on eye-in-hand configuration within real-time visual servoing. IEEE-ASME T Mech, 2005, 10(4): 404-410.
18. 田野, 陈晓鹏, 贾东永, 等. 仿人机器人轻型高刚性手臂设计及运动学分析. 机器人, 2011, 33(3): 332-339.
19. 常桐博, 王宽, 黄尚军, 等. 太极拳搂膝拗步动作的踝关节生物力学分析. 生物医学工程学杂志, 2021, 38(1): 97-104.
20. 张奇, 刘蓉, 李耀柱, 等. 仿生小脑运动控制模型及其在手臂控制中的应用. 生物医学工程学杂志, 2020, 37(6): 1065-1072.
21. Gao Jianhua. Design and kinematic simulation for six-DOF leg mechanism of hexapod robot// 2006 IEEE International Conference on Robotics and Biomimetics. Kunming: IEEE, 2006: 625-629.
22. Corke P I. A computer tool for simulation and analysis: the Robotics Toolbox for MATLAB// Proceedings of the 1995 National Conference of the Australian Robot Association. Melbourne: Australian Robot Association, 1995: 319-330.
23. 赵耀虹, 夏昊, 夭银银, 等. 球面外骨骼并联机构的运动学及工作空间分析. 生物医学工程学杂志, 2019, 36(2): 213-222.

Journal of Biomedical Engineering

Structural design and performance analysis of an auxiliary dining robot

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