可手握或机器人使用的折纸餐勺，通过挤压把手夹住食物防洒。
A Pivot-Based Kirigami Utensil for Hand-Held and Robot-Assisted Feeding
- 采用铰链结构，挤压把手即可夹紧食物
- 用户测试中防洒效果优于现有工具
- 4个3D打印部件组装，适配手用与机器人
超过6000万患有原发性震颤或其他运动障碍的成年人面临进食困难。传统餐具难以操控，常导致食物洒落并限制饮食种类。以往研究开发了刚性手用工具（易滑脱）或仅用于机器人的软性变形工具。为服务更广泛人群，我们提出kiri-spoon——一种既可手握又可安装于机器人的新设计。核心是铰链式结构：用户挤压手柄时，餐具形似钳子，包裹食物以防掉落。实际使用中，可作为勺子舀取或叉子夹持；闭合时能牢固固定食物。我们测量了开合所需力，并展示可通过运动学或材料调整该力。亮点在于低门槛：手用版仅需4个3D打印件卡扣组装。加装伺服电机后，同一结构可拓展至机器人辅助进食。在用户测试中，残障成人及帕金森老人均表示其更贴合需求，防洒效果优于现有方案。
原文摘要 · Abstract (English)
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficult to manipulate -- resulting in accidental spills and restricting the types of food that can be consumed. Prior work has developed rigid, hand-held utensils that often fail to secure food, as well as soft, shape-changing utensils made strictly for robot-assisted feeding. To assist a broader range of users, we introduce a re-designed kiri-spoon that can be leveraged as either a hand-held utensil or a robot-mounted attachment. Our key idea -- developed in collaboration with stakeholders -- is a pivot-based design. With this design the kiri-spoon behaves like a pair of pliers: users squeeze the handles to change the shape of the utensil and enclose food morsels. In practice, users can apply this kiri-spoon as either a spoon (that scoops food) or as a fork (that pinches food); when the handles are closed, the utensil wraps around the morsel and prevents it from accidentally falling. We characterize the amount of force required to open or close the kiri-spoon, and show how designers can modify this force through kinematic or material changes. A highlight of our design is its accessibility: the hand-held version consists of just four 3D printed parts that snap together. By adding a servo motor, we can extend this same kinematic structure to robot-assisted feeding. Across our user studies, adults with disabilities and elderly adults with Parkinson's reported that the kiri-spoon better met their needs and provided a more effective means of spill prevention than existing alternatives. See a video of our kiri-spoon here: https://youtu.be/FFIomm5RL98
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