Human interface using PC display with head pointing device for eating assist robot and emotional evaluation by GSR sensor

This paper proposes the human interface of an eating assistant robot to assist people with severe disability to gain/regain independence in eating. A spoon and a CCD camera are attached on the tip of the robotic arm. The spoon can be actuated in three orthogonal directions, and can also be rotated. The PC display indicates the image of the CCD camera and a control panel of the robot. The human interface proposed uses the PC display and a head pointing device. A user can easily control the eating assist robot by using his/her head action and a puff activated switch. This paper describes also the evaluation of user's emotion during the operation of the eating assistant robot. A galvanic skin reflex (GSR) sensor is used to detect the user's emotion. Using the experimental results of the GSR sensor, an optimal movement scheme by considering the user's emotion has been decided. The eating assistant experiments on a disabled person with cervical vertebrae damage are also described briefly.