SODA – Soft Origami Dynamic Utensil for Assisted Feeding

The design of assistive feeding systems for individuals with limited mobility faces challenges in ensuring comfort, safety, and adaptability. Traditional utensils, such as forks and spoons, are rigid, often causing discomfort or fear when operated by autonomous robotic arms, and typically require frequent changes to handle different food types, leading to inefficiencies and increased caregiver involvement. Addressing these issues is crucial for enhancing the independence and quality of life for users of assistive feeding devices. This paper introduces SODA, a novel multi-purpose 3D printed utensil incorporating origami-inspired artificial muscles to provide a flexible, adaptive approach to food handling. The SODA utensil seamlessly transitions between gripping and scooping, accommodating various food textures. Through its unique design, SODA offers a safe, comfortable, and versatile alternative to conventional utensils, improving both user experience and functional efficiency. This demonstrates the possibility of origami-inspired designs to address the complex requirements of assistive feeding technologies.