Kiri-Spoon：A Kirigami Utensil for Robot-Assisted Feeding。

We propose Kiri-Spoon，a feeding utensil that combines：shape of regular spoons functionality of soft grippers。

Shape-changing kirigami sheet。

Traditional Utensils when autonomously。

We first compared Kiri-Spoon to acquiring a diverse range of foods。

Autonomous Acquisition Experiments。

Kiri-Spoon's Advantages。

Kiri-Spoon's Limitations。

Larger Than Bite Size Objects。

Autonomous Acquisition Results。

cereal jello mac & pop-Kiri-Spoon was better at picking slippery foods than traditional utensils but struggled to pick large flat foods.

We collaborated with users who have disabilities to determine if Kiri-Spoon addresses their needs。

Study with Stakeholders：Visit 2。

During our first visit，we obtained feedback from the users to improve an initial Kiri-Spoon design.

"The rigid metallic hoop"I like to manipulate the Kiri-Spoon in any way"。

In our second visit，we compared our new Kiri-Spoon design toTraditional Spoon using a medical feeding device，Obi.

Comment："Spoon was not better than the Kiri-Spoon in any way"。

Finally，we tested Kiri-Spoon with participants who are non-disabled in two robot-assisted feeding tasks。

We varied the robot along two axis：Feeding utensils：We compared Kiri-Spoon to traditional utensils。

e.g，spoons and forks。

Control algorithms：We compared autonomous food acquisition tomanual teleoperation of the robot.

Manual Control。

Autonomous Control。

Traditional Utensils。

Users acquired the most food in the fewest attempts when using Kiri-Spoon with autonomous control.

Users preferred the Kiri-Spoon over traditionalutensils，especially to acquire and carry food.

Kiri-Spoon：A Kirigami Utensil for Robot-Assisted Feeding。

Bhattacharjee，Dylan P.Losey，and Heramb Nemlekar。