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arXiv · 2603.06716

A Pivot-Based Kirigami Utensil for Hand-Held and Robot-Assisted Feeding

Keone Leao·Grace Brotherson·Iain Mischel·Sagar Parekh·Dylan P. Losey
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Abstract

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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Keone Leao, Grace Brotherson, Iain Mischel, Sagar Parekh, Dylan P. Losey. 2026-03-05. A Pivot-Based Kirigami Utensil for Hand-Held and Robot-Assisted Feeding. https://arxiv.org/abs/2603.06716

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