设计可断裂餐具装置，遇碰撞自动脱开保护用户安全。
Design of a Breakaway Utensil Attachment for Enhanced Safety in Robot-Assisted Feeding
- 机械式断开结构，在受力过大时自动分离
- 1毫米槽深+3个壁环，65牛顿力下可靠断裂
- 可调参数适配不同用户的耐痛阈值
机器人辅助进食系统能提升运动障碍者独立性并减轻照护负担。现有系统多依赖软件安全机制应对意外碰撞，本文提出一种机械式断开防护设计。我们开发了一种可断裂餐具附件，在机器人施加过大力时实现力的解耦。通过有限元分析预测不同载荷下的失效点，并使用3D打印样品验证，测试了槽深与壁环数量的影响。为支持测试，搭建并验证了跌落测试装置。结果表明，槽深1毫米、三壁环结构在65牛顿力下实现稳定断裂，且该参数可依据用户舒适度与痛阈定制。完整CAD文件与组装说明见：https://tinyurl.com/rfa-utensil-attachment
原文摘要 · Abstract (English)
Robot-assisted feeding systems enhance the independence of individuals with motor impairments and alleviate caregiver burden. While existing systems predominantly rely on software-based safety features to mitigate risks during unforeseen collisions, this study explores the use of a mechanical fail-safe to improve safety. We designed a breakaway utensil attachment that decouples forces exerted by the robot on the user when excessive forces occur. Finite element analysis (FEA) simulations were performed to predict failure points under various loading conditions, followed by experimental validation using 3D-printed attachments with variations in slot depth and wall loops. To facilitate testing, a drop test rig was developed and validated. Our results demonstrated a consistent failure point at the slot of the attachment, with a slot depth of 1 mm and three wall loops achieving failure at the target force of 65 N. Additionally, the parameters can be tailored to customize the breakaway force based on user-specific factors, such as comfort and pain tolerance. CAD files and utensil assembly instructions can be found here: https://tinyurl.com/rfa-utensil-attachment
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