Development of the Mark 1: A 5-DOF Assistive Feeding Robot with Facial Gesture Control for Users with Mobility Limitations

The present paper shows the development of a feeding robot controlled by facial gesture identification for patients with a condition that prevents them from feeding themselves. After reviewing the state-of-the-art and identifying areas of opportunity to support this type of prototype, we designed a 5-DOF robotic arm using CAD design software and developed its kinematic model to obtain the transformation matrix that allows us to plan the appropriate trajectories. Subsequently, the development of the computer vision program and its corresponding flowcharts are shown. Finally, the results of the trajectories of each axis for the robot and our conclusions are shown.