Development a feeding assistive robot for eating assist

An ageing population could lead to a shortage of workers in the fields of welfare and nursing care. To solve this problem, researchers are developing welfare robots such as an upper extremity motion assistance robot and a meal assistance robot to help the older people and people with disabilities for their daily life. In This paper, we designed a feeding assistive robot which could meet the needs of elderly and people with upper limb disabilities or dysfunctions in gaining independence in eating. The feeding assistive robot was a 4 degree of freedom (DOF) robot arm and consisted of four joints. We did forward kinematic analysis and trajectory planning to the feeding assistive robot. We checked forward kinematics equation and done the simulation experiment.