Towards robotic drinking assistance: low cost multi-sensor system to limit forces in human-robot-interaction

Assistive robotic manipulators have the potential to support individuals with severe motor impairments at performing activities of daily life. With the help of robotic manipulators, the individuals may eat and drink independently of caregivers. The presented research work focuses on interactive drinking with a cup without a straw. The interaction exposes the user to potential harm due to the direct contact with the robot. In the presented work, a multi-sensor system is outlined, which ensures harmless contact forces between robot and human during an interactive drinking task. Tests on a healthy subject are performed and indicate pain-free interaction with the system. The sensor system is designed to allow the user an intuitive control of the task. The lip pressure is measured at the contact points and will be used in future work to control the tilting angle of the cup, which is grasped by the robot.