公开(公告)号：WO2015053700A1

公开(公告)日：2015-04-16

申请号：PCT/SE2014/051192

申请日：2014-10-09

Applicant: BESTIC AB

Inventor： FOGELBERG, Jonathan ,  LINDBORG, Ann-Louise

IPC: A61F4/00 ,  B25J9/00 ,  B25J11/00 ,  G05B19/00

CPC classification number: A61F4/00 ,  B25J9/1679 ,  B25J11/008 ,  B25J11/009 ,  G05B2219/45111

Abstract: An eating aid robot and a method performed thereby are provided. The robot comprises an arm capable of engaging an eating tool at an end of the arm. The arm is moveable to move the eating tool horizontally and vertically, wherein the arm is configured to be positioned with the eating tool in at least two vertical levels, a first vertical level and a second vertical level at a vertical height above the first vertical level. The robot is connectable to a manoeuvre device which sends a signal to the robot at various time instances during operation, wherein the arm follows a cycle of different vertical and horizontal movements and pauses when the arm is kept still with the eating tool in at least one of the vertical levels. The method comprises receiving (110)the signal from the manoeuvre device, and selecting (120)a subsequent movement and/or pause of the cycle for the arm based on in which of the movements or pauses of the cycle the arm currently is when receiving the signal. The method comprises executing (130)the selected subsequent movement and/or pause of the cycle until the signal is received anew from the manoeuvre device.

Abstract translation: 提供吃食辅助机器人及其方法。 机器人包括能够与臂的端部处的进食工具接合的臂。 所述臂可移动以水平和垂直地移动所述进食工具，其中所述臂被构造成与所述进食工具定位成至少两个垂直水平，第一垂直水平和垂直高度高于所述第一垂直水平的第二垂直水平 。 机器人可连接到操作装置，该操纵装置在操作期间以不同的时间实例向机器人发送信号，其中当手臂保持静止时，手臂保持在至少一个进食工具中，手臂跟随不同的垂直和水平运动的循环 的垂直水平。 该方法包括：接收（110）来自操纵装置的信号，并且基于在接收到臂时当前所在的周期的运动或暂停中的哪一个中选择（120）随后的臂的周期的移动和/或暂停 信号。 该方法包括执行（130）所选择的后续移动和/或周期的暂停，直到来自操纵装置的信号被重新接收。