Project Title: Vision-Guided 3D-Printed Assistive Feeding Arm Robot
Description:
Independent feeding requires the coordinated performance of perception, utensil manipulation, motion control, and safe interaction with the user. This project presents the mechanical redesign and prototype implementation of a vision-guided assistive feeding robot based on a custom 3D-printed multi-joint manipulator. The redesigned architecture moves beyond conventional feeding prototypes in which a spoon is permanently attached to the terminal link. Instead, the proposed end-effector is designed to establish distributed contact around a lightweight feeding utensil, thereby improving tool stabilization and allowing the manipulation module to be replaced or modified according to the required task. The mechanical components, including the articulated arm robot, radial mounting hub, actuator supports, and protective enclosure, were developed using computer-aided design and prepared for additive manufacturing. Servo-based actuation is coordinated through an embedded control architecture, while an ESP32-CAM module provides visual observation of the user and supports the initiation and supervision of the feeding sequence. Prototype-level demonstrations were conducted to examine coordinated joint motion, utensil holding, approach positioning, and withdrawal.
Uploaded At: 2026-07-05 02:24:21