Patent Document

CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application is a continuation of U.S. Non-Provisional application Ser. No. 13/834,245, filed Mar. 15, 2013 which is a continuation-in-part of U.S. Non-Provisional application Ser. No. 13/529,536 (now U.S. Pat. No. 8,442,669), filed Jun. 21, 2012. U.S. Non-Provisional application Ser. No. 13/529,536 claims the benefit of U.S. Provisional Application No. 61/545,305 filed on Oct. 10, 2011. The disclosures of the above applications are incorporated herein by reference in their entirety. 
     
    
     BACKGROUND 
       [0002]    The present application relates to a self-feeding device and in particular to a self-feeding device for use by an individual or multiple individuals and a method of controlling the self-feeding device. 
         [0003]    Nutrition is a basic human need, and the ability to feed one&#39;s self is a skill that is critical to fulfilling this need. However, at times, the ability to feed one&#39;s self may be compromised due factors such as a physical disability, age, schedules or the like. For such an individual, they may be reliant on a caregiver to provide assistance in eating and drinking. Such reliance may be a source of frustration for the individual, since they do not have control over the meal, including food choice, order, rate or other requirements. 
         [0004]    While an assistive aid that allows for self-feeding is available, these devices have certain limitations that restrict their use. Some self-feeding devices only accommodate a limited range of user capabilities, requiring a high degree of user dexterity or mobility. Other self-feeding devices constrain the user in selecting the order of food intake, or even in the types of foods that can be accommodated, i.e. soups or other liquids. Still other self-feeding devices have limited acceptance since they are bulky, and non-portable. Others do not facilitate drinking of beverages during the meal. 
         [0005]    Thus, there is a need in the art for a portable self-feeding device that can accommodate a wide range of users and their specific needs; requires minimal physical interaction by the user; that in appearance, form and function is highly compatible with a conventional dining experience, and allows the user to choose among the various foods presented by the device. Further, there is a need for a self-feeding device that can be remotely controlled, so that a plurality of users may each use a device concurrently with minimal supervision or interaction. 
       SUMMARY OF THE DISCLOSURE 
       [0006]    The present disclosure describes a feeding device and a method of operation thereof. The feeding device transfers food from a food compartment to a feed position, typically adjacent an individual. The apparatus includes a feed arm assembly, a timing circuit initiated upon movement of the feed arm assembly and an indicator that activates when the feed arm remains stationary for a period of time that exceeds a predetermined time period. Another aspect of the apparatus and method enables the user to cycle the feeding device; however, should the feeding device remains stationary in any one position for a predetermined period, an alarm activates to prompt the user to cycle the feeding device. 
         [0007]    The present disclosure contemplates using a feeding device or apparatus as disclosed herein with the method and apparatus for prompting use of the feeding device by an individual. The feeding device transfers food from the food compartment either directly to an individual or to a feed location adjacent an individual. The feeding device may include a user input device wherein the user can cycle the feeding device; that is initiate operation of the feeding device to transfer food from the food compartment to the individual and return the device to its initial position. 
         [0008]    Other features and advantages of the present disclosure will become readily appreciated based upon the following description when considered in conjunction with the accompanying drawings. 
     
    
     
       DESCRIPTION OF THE DRAWINGS 
         [0009]      FIG. 1  is an elevational view of a self-feeding device. 
           [0010]      FIG. 2  is a diagrammatic view of a system for using the self-feeding device of  FIG. 1  with multiple users. 
           [0011]      FIG. 3  is another elevational view of the self-feeding device of  FIG. 1 . 
           [0012]      FIG. 4  is an exploded view of the self-feeding device of  FIG. 1 . 
           [0013]      FIG. 5  is an exploded view of the plate assembly for the self-feeding device of  FIG. 1 . 
           [0014]      FIG. 6  is an enlarged elevational view of a plate positioning mechanism for the self-feeding device of  FIG. 1 . 
           [0015]      FIG. 7  is an enlarged elevational view of a portion of the plate positioning mechanism of  FIG. 6   
           [0016]      FIG. 8   a  is a perspective view of a base assembly for the self-feeding device of  FIG. 1 . 
           [0017]      FIG. 8   b  is a bottom view of the base assembly of  FIG. 8   a.    
           [0018]      FIG. 9  is a perspective view of a feed arm assembly for the self-feeding device of  FIG. 1 . 
           [0019]      FIG. 10  is a perspective view of a combined spoons and straw for use with the self-feeding device of  FIG. 1 . 
           [0020]      FIG. 11   a  is an enlarged view illustrating an input device for operating the self-feeding device of  FIG. 1 . 
           [0021]      FIG. 11   b  is another enlarged view illustrating another example of an input device for operating the self-feeding device of  FIG. 1 . 
           [0022]      FIG. 12  is a schematic view of a system diagram for the self-feeding device of  FIG. 1 . 
           [0023]      FIG. 13  is a flowchart illustrating a method of using the self-feeding device of  FIG. 1 . 
           [0024]      FIG. 14  is a schematic view illustrating user operation of the self-feeding device of  FIG. 1 . 
           [0025]      FIG. 15   a  is an elevational view illustrating the self-feeding device of  FIG. 1  in a storage position. 
           [0026]      FIG. 15   b  is an elevational view illustrating the select food compartment mode of the self-feeding device of  FIG. 1 . 
           [0027]      FIG. 15   c  is an elevational view illustrating a first transfer position of the feed arm assembly for the self-feeding device of  FIG. 1 . 
           [0028]      FIG. 15   d  is an elevational view illustrating a scooping motion of the feed arm assembly for the self-feeding device of  FIG. 1 . 
           [0029]      FIG. 15   e  is an elevational view illustrating a second transfer position of the feed arm assembly for the self-feeding device of  FIG. 1 . 
           [0030]      FIG. 15   f  is an elevational view illustrating a mouth locating position of the self-feeding device for the self-feeding device of  FIG. 1 . 
           [0031]      FIG. 16  is an elevational view of a self-feeding device according to another embodiment of the present invention. 
           [0032]      FIG. 17  is a schematic view of a system diagram for the self-feeding device of  FIG. 16 . 
           [0033]      FIG. 18  is an elevational view of a self-feeding device according to another embodiment of the present invention. 
           [0034]      FIG. 19  is a schematic view of a system diagram for the self-feeding device of  FIG. 18 . 
           [0035]      FIG. 20  is an elevational view of a self-feeding device according to another embodiment of the present invention. 
           [0036]      FIG. 21  is a schematic view of a system diagram for the self-feeding device of  FIG. 20 . 
           [0037]      FIG. 22  is an elevational view of a self-feeding device according to another embodiment of the present invention. 
           [0038]      FIG. 23  is a schematic view of a system diagram for the self-feeding device of  FIG. 22 . 
           [0039]      FIG. 24  is an elevational view of a self-feeding device according to another embodiment of the present invention. 
           [0040]      FIG. 25  is a schematic view of a system diagram for the self-feeding device of  FIG. 24 . 
           [0041]      FIG. 26  is an elevational view of a self-feeding device according to another embodiment of the present invention. 
           [0042]      FIG. 27  is a schematic view of a system diagram for the self-feeding device of  FIG. 26 . 
       
    
    
     DESCRIPTION 
       [0043]    Referring to  FIGS. 1-12 , a self-feeding device  10  for feeding a user is generally illustrated herein. The self-feeding device  10  may be utilized by one user  12 , or a plurality of self-feeding devices  10  can concurrently be used to feed move than one user  12  as shown in  FIG. 2 . The self-feeding device  10  allows a user  12  to independently and selectively feed themselves according to the user&#39;s desires and specific intention. The self-feeding device  10  is portable, and can be used in a variety of settings, such as a table, bed, or the like. Also, the self-feeding device  10  is adaptive, and learns where to place the food item  8  according to the user&#39;s anatomy. The self-feeding device  10  is flexible, and a variety of food types may be accommodated, including solid, liquid, pureed, or the like. 
         [0044]    The self-feeding device  10  includes a base assembly  32  that contains the food item  8  and supports a feed arm assembly  26  in a manner to be described. The base assembly  32  includes a housing  34  having an upper wall  34   a , an opposed lower wall  34   b , and a sidewall  34   c  extending therebetween. An interior cavity is formed by the walls of the housing assembly  34 , to house and protect the components, such as motors, electronics and controls, for the self-feeding device  10  in a manner to be described. Further, the housing upper wall  34   a  may completely or partially enclose the interior space of the base assembly  32 . The housing upper wall  34   a  may be a separate member, i.e. part of the plate assembly, or integral with the housing lower wall and side wall. The housing upper wall  34   a  or plate assembly  44  may serve as a food compartment receiving portion  36  of the base assembly  32  in a manner to be described. The base assembly  32  also includes a feed arm support portion  38 , which in this example is adjacent the food compartment plate receiving portion  36 , and provides an attachment surface for the feed arm assembly  26 . The feed arm  26  is removably mounted to the base assembly  32  using a fastening mechanism, such as via a magnetic attachment, fastener or the like. In an example, the feed arm support portion  38  may include an aperture  34   d  formed in the housing upper wall  34   a  for receiving a portion of the feed arm assembly  26 , and the feed arm assembly  26  is secured to the housing lower wall  34   b  via a fastener. 
         [0045]    The base assembly  32  may having a mounting element  40  coupled thereto an outer surface of the housing lower wall  34   c . The mounting element  40  aids in establishing stable placement of the self feeding device  10  on a planar surface such as a table, tray, or the like. The mounting element  40  may be any type of tacky material made of a plastic, rubber, silicon, or a suction cup or the like. In another example, the mounting element  40  may be a fastener that has one end secured to the feeding device and a clamp mechanism on the opposing side, such as to attach or secure the assembly to a stand or crane (not illustrated). For example, the clamping mechanism could also allow the self-feeding device  10  to be securely mounted to another surface, such as a non-flat surface or other types of surfaces. For example, the self-feeding device  10  could be mounted to a portion of a chair or bed. 
         [0046]    The self-feeding device  10  includes a plate assembly  44  for holding the food item  8 , and the plate assembly  44  is operatively disposed in the base assembly  32 . The plate assembly  44  may be fixed or rotatable via selective actuation of a plate positioning mechanism  46 . In an example, the plate positioning mechanism  46  is a motor, although other types of mechanisms for facilitating a predetermined orientation of a position of the plate assembly  44  with respect to the feed arm assembly are contemplated. 
         [0047]    The plate assembly  44  of this example is generally round and concave in cross-sectional shape. The plate assembly  44  is adapted to be removably attached to the base assembly  32 . For example, the plate assembly  44  may have an attachment feature (not illustrated) located on an underside of the plate (not shown), such as a socket or the like, to secure the plate assembly  44  to the plate positioning mechanism  46 . The plate assembly  44  of this example includes an inner plate  48  secured to an outer plate  50 . In this example, the outer plate serves as a portion of the housing upper wall  36  to enclose the base assembly  32 . An interior of the inner plate  48  forms a compartment  54  for receiving and holding the food item  8 . The inner plate  48  could contain one or more food compartments  54 . The inner plate  48  and outer plate  50  when removed from the plate assembly  44  can be cleaned, such as by a typical industrial or home dishwasher apparatus. 
         [0048]    In an example of a removable food compartment  54 , the inner plate  48  includes a frame  52  having an opening  52   a , and the food compartment  54  is supported within the frame opening  52   a . The frame  52  may have a plurality of openings  52   a  and a food compartment  54  is supported within the corresponding frame opening  52   a , although other configurations are contemplated. In an example of a plate assembly having a fixed food compartment  54 , the frame  52  and food compartment  54  are integral and formed as one member. An outermost edge of the frame  52  forms a rim  56  which provides a support feature for the inner plate  48  with respect to the outer plate  50 . In the illustrated example, the inner plate  48  contains four food compartments  54 , and the shape and number of food compartments is non-limiting. The inner plate  48  may have additional features, such as a cut-away portion integrally formed in the in the rim as shown at  48   a , that acts as a removal handle for disengaging the inner plate  48  from an outer plate  50 . 
         [0049]    The inner plate  48  may also include an integrally formed tab  58  that extends from an edge of the food compartment into a center of the food compartment  54 . The tab  58  may serve as a food guard. The tab or food guard  58  may extend upwardly away from the food compartment  54  and at a predetermined angle towards a center of the food compartment  54 . Further, a tab or food guard  58  may be associated with each corresponding food compartment  54 . In another example of a removable food compartment, the tab  58  may be formed in the food compartment  54  and also provide a gripping surface for removing the food compartment  54  in addition to a serving as a food guard. 
         [0050]    The food compartment  54  likewise has a predetermined shape that is designed to allow for efficient food capture by the feed arm assembly  40 . The food compartment  54  may be formed using a material having a natural high lubricity, such as a plastic material. Such a material encourages, in conjunction with the shape of the food compartment  54 , the food product to gather in the center of the food compartment  54 , where it may be effectively captured by the feed arm assembly  26 . Each food compartment  54  may also be configured in such a way as retain the food within the food compartment  54 . The food compartment  54  may include other features, such as an integrally formed fill line  60  at one or more predetermined locations of the food compartment. For example, the fill line  60  may indicate an uppermost location at which a food item  8  may be filled to in the food compartment  54 . 
         [0051]    The outer plate  50  has a shape that is complementary to that of the inner plate  48  and the base assembly. In this example, the outer plate  50  is generally circular in shape, and includes an integrally formed food compartment corresponding in shape to that of the inner plate food compartment  54 . The inner plate  48  may be orientated and retained by the outer plate  50  in a positive manner via an engagement mechanism. For example, an engagement rib  62  may be integrally formed on an outer surface of the inner plate  48 , and a complementary engagement channel  64  may be formed in an inner surface of the outer plate  50 , such that the inner plate engagement rib  62  is retained within the outer plate engagement channel  64  in a positive manner, forming a mechanical lock that can be unlocked so that the outer plate and inner plate can be disassembled, such as for cleaning purposes or for personalization preferences. Other types of engagement mechanisms are contemplated so that the inner plate  48  and outer plate  50  can rotate together as one unit. 
         [0052]    Referring to  FIGS. 6-7 , the self-feeding device  10  may also include a plate positioning mechanism  46  for rotatably controlling positional movement of the plate assembly  44  with respect to the base assembly  32 . The plate positioning mechanism  46  is secured to the base assembly. For example, the base assembly  32  may include a mounting boss  66  projecting upwardly from an inner surface of the housing lower wall  34   b  for locating the components of the plate positioning mechanism  46 . A portion of the plate positioning mechanism  46  may be received within a socket (not illustrated) formed in the outer plate  50  in a manner to be described. An outer surface of the outer plate  50  may include a groove or indentation for receiving a roller track  70  to facilitate rotational movement of the plate assembly  44 . The roller track  70  is ring-shaped and in this example may be configured to slidably engage the plate positioning mechanism  46 . The plate assembly  44 , via the roller track  70 , may be supported within the base assembly  32  via an integrally formed support feature  72  spaced circumferentially around the housing side wall  34   c . The base assembly  32  may include other types of mounting features, such as another mounting boss situated on an inner surface of the housing. 
         [0053]    The plate positioning mechanism  46  also includes a plate actuator  74  that controls movement of the plate assembly  44 . In this example the plate actuator  74  is a motor, although other types of actuators may be utilized. The plate actuator  74  is operatively connected to a drive assembly  76 . The drive assembly  76  of this example includes a motor mount, such as a ball bearing or the like. The plate actuator  74  is coupled to the motor mount, and actuates a drive gear  80  that is coupled to a drive shaft  82 . The drive shaft  82  operatively engages the plate assembly  44  to control the rotational movement of the plate assembly  44 . In this example, the drive shaft  82  engages the socket formed in the outer plate  50  of the plate assembly  44 . 
         [0054]    The self-feeding device  10  further includes a controller  14  that operatively controls operation of the device in a manner to be described. For example, the controller  14  effectuates the rotational movement of the plate assembly  44  based on an input signal  118  from the user  12  via a user input device  28 . The controller also facilitates movement of the feed arm assembly  26  in a manner to be described. The controller  14  is located within a cavity formed in the base  32 . The controller  14  receives various signals, processes the signals and provides an output signal  120  to control the self-feeding device  10 . The input signal  118  and output signal  120  may be communicated via a signal transmission protocol, i.e. a wired connection, or a wireless connection via a signal transmission mechanism  16 . An example of a signal transmission mechanism  16  is a wireless transceiver, i.e. RFID, Wi-Fi, Bluetooth, Infrared, or the like. The signal transmission mechanism  16  may be integral with another component or stand alone. For example, the controller  14  may include a signal transceiver  16  for communicating with a user input device  28  (e.g., a food choice select button, an eat button, a drink button or the like), and the user input device  28  has a corresponding signal transceiver. The signal transceiver  16  may be integral with a sensing device  20  to transmit the sensed signal. Alternatively, the signal transceiver  16  may be a signal transmitter or a signal receiver that operates according to a predetermined communications protocol, such as a RFID communications protocol. 
         [0055]    The self feeding device  10  still further includes a power source  22  that is disposed within the cavity formed in the base assembly  32  and provides power to the various components of the self-feeding device. The power source  22  may be AC or DC or solar or the like. In an example of a battery, the battery may be rechargeable. The power source  22  provides power to the various actuators, such as the controller  14  or the feed arm assembly  26 . Access to the power source  22  may be provided via a door  84  formed in the base housing  34  as shown in  FIG. 3 . 
         [0056]    Referring to  FIG. 9 , the feed arm assembly  26  is a robotic arm assembly that transfers food or drink between the food compartment  54  or a cup  116 , and the user  12 . The feed arm assembly  26  employs multiple arms and actuators, which enables arm movement with multiple degrees of freedom, such as motion related to the angular motion in the roll (z), pitch (x), and yaw (y) direction or the like. The example provided illustrates a feed arm assembly  26  having five degrees of freedom (n), although in other examples, the feed arm assembly could have fewer or more degrees of freedom (n) depending on the how refined or natural of an arm movement is desired. The feed arm assembly  26  includes a feed arm housing  42  that encloses the feed arm and protects the individual components as shown in  FIGS. 1 and 15   a . The feed arm housing is generally cylindrical, and is formed from a plastic material or other such suitable material. The feed arm housing  42  may include a plurality of segments, which each segment interconnected so as to form a flexible joint. Various types of joints are contemplated, depending on the movement associated with the degrees of freedom of the interconnected arm segments that form the feed arm assembly  26 . 
         [0057]    The feed arm assembly  26  includes a feed arm support member  88 . The feed arm support member  88  is secured to the base assembly  32 . In an example, the feed arm support member  88  may be attached to the base assembly housing  34 . The feed arm support member  88  may be stationary or rotatable depending on the desired action of the feed arm assembly  26 . A portion of the feed arm support member  88  may be located within the base assembly housing  34  and extend through the aperture formed in the housing upper wall  34   d  to provide additional stability and support to the feed arm assembly  26 . If rotational, the feed arm support member  88  may be rotational about a first axis  90  that is vertical in order to position the feed plate assembly in a horizontal plane. A first feed arm actuator  91  positioned adjacent the feed arm support member  88 , such as a servo motor or the like, facilitates the rotational movement of the feed arm support member  88 . The rotational movement of the feed arm assembly  26  positions the arm with respect to a selected food compartment. 
         [0058]    The feed arm assembly  26  also includes one or more arms that are pivotally interconnected. The configuration of each of the arms is non-limiting, and determined by the desired movement of the feed arm assembly  26 . In this example, a first arm  92  is pivotally connected to the feed arm support member  88  at a second axis  94  that is essentially horizontal, so as to provide pivotal movement of the first arm  92 . Further, the first arm  92  of this example is a U-shaped member having a first leg  92   a , a second leg  92   b  opposite the first leg  92   a , and a third leg (not illustrated) interconnecting the first leg  92   a  and second leg  92   b . A first end of the first leg  92   a  and a first end of the second leg  92   b  are each pivotally connected to the feed arm support member  88  at the second axis  94 , and the second axis  94  is essentially perpendicular to the first leg. An example of a first feed arm actuator  91  is a servo motor or the like. A second feed arm actuator  93  controls movement of the first arm  92  in a generally vertical plane with respect to the base assembly  32  about the second pivot axis  94 . 
         [0059]    The feed arm assembly  26  includes a second arm  98  that is pivotally connected to the second end of the first arm  92  at a third pivot axis  96 . The second arm  98  of this example has a first end  98   a  that is connected to the first arm  92 , and an opposed second end  98   b  that is pivotally connected to a third arm  102 . The second arm  98  may be a single bar, or two bars, and the configuration is non-limiting. The second arm  98  is pivotal with respect to the first arm  92 . Movement of the second arm  98  is controlled by a third feed arm actuator  95 . An example of a third feed arm actuator  95  is a servo motor. The third feed arm actuator  95  may be located within an enclosure formed in the second arm  98 . In this example, the feed arm actuator  95  actuates the second arm  98  in a generally vertical plane with respect to the base assembly  32 . 
         [0060]    The feed arm assembly  26  also includes a third arm  102  pivotally connected to the second arm  98  at a fourth pivot axis  104 . The third arm  102  of this example has a first end  102   a  that is connected to the second arm  98 , and an opposed second end  102   b  that is pivotally connected to a fourth arm  106 . The third arm  102  may be a single bar, or two bars, and the configuration is non-limiting. The third arm  102  articulates, or pivots with respect to the second arm  98 . Movement of the third arm  102  is controlled by a fourth feed arm actuator  97 . An example of a fourth feed arm actuator  97  is a servo motor. The fourth feed arm actuator  97  may likewise be located within an enclosure integrally formed in the third arm  102 , which in this example is located at the first end  102   a  of the third arm  102 . 
         [0061]    The feed arm assembly  26  of this example also includes a fourth arm  106  pivotally connected to the third arm  102 , so as to pivot about a fifth pivot axis  108 . The fourth arm  106  of this example has a first end  106   a  that is connected to the third arm  102 . The fourth arm  106  may be a single bar, or two bars, and the configuration is non-limiting. In this example the fourth arm  106  is a shaft. The fourth arm  106  may articulate with respect to the third arm  102  or be fixed. 
         [0062]    The feed arm assembly  26  further includes a feed utensil  110  removably connected to the fourth arm  106  via a connector  122 . The connection may be fixed, or provide for refined movement of the feed utensil  110  with respect to the fourth arm  106  to position the feed utensil  110  in the mouth of the user  12 . Movement of the feeding utensil  110  may be controlled by a fifth actuator  99 , such as a servo motor or the like, which may be integral with the feed utensil  110 , or located outside the feed utensil  110 . Various types of feeding utensils  110  may be utilized, such as a conventionally available straw, knife, spoon, fork, spork or some combination thereof. The feed utensil  110  may be selectively determined to accommodate a liquid or solid food product. 
         [0063]    A sensing device  20  and a signal transceiver  16  may be positioned on the feed arm assembly  26 , i.e. on the feed utensil  10  or on an arm, for communicating a position of the user&#39;s mouth, or locating the position of the user&#39;s mouth. An example of a sensing device  20  is a displacement or distance sensor. The feed utensil  110  may be secured to the feed arm assembly  26  using a connector  122 , such as a clamp, a screw, an interference fit or the like and the selection is non-limiting. The feed utensil  110  may be interchanged during the meal. Since the feed utensil  110  may include multiple utensils, the user is able to select the most appropriate utensil for the food product being consumed. 
         [0064]    Referring to  FIG. 10 , an example of a feed utensil  110  that is a combined spoon and straw is shown at  124 . The combined spoon and straw  124  is a double-sided apparatus which allows the user  12  to both eat and drink from the same utensil. The combined spoon and straw  124  includes an elongated shaft  126  that is hollow. Secured to one end of the elongated shaft  126  is an integrally formed arcuate member forming a spoon  128  for receiving and transferring the food item  8 . In another example, the outermost edge of the spoon includes grooves to form tangs, similar to a fork for spearing the food item  8 . The opposite end of the combined spoon and straw  124  is open as shown at  129  to provide egress of the liquid food item  8 . The combined spoon and straw  124  may also include a port  130  formed in the shaft  126  for redirecting a liquid through the shaft  126 . The feed arm assembly  26  may include a flexible tubing  132  that has one end interconnecting with the port  130  formed in the shaft and a second end disposed with a food compartment or beverage container for a liquid. The liquid food compartment may be integral with the base  32  or a separate liquid receptacle  116 , i.e. a cup, glass, or mug that is adjacent thereto. The combined spoon and straw  124  may be formed of a suitable material, such as plastic, metal, or the like. The combined spoon and straw likewise may include a signal transceiver  16  and sensing device  20 , such as for communicating a location of the user&#39;s mouth or locating the food compartment. 
         [0065]    Referring to  FIG. 12 , a system diagram illustrating the operation of the self feeding device  10  is illustrated at  200 . The system  200  includes a controller  14  that controls operation of the feeding device  10  in a manner to be described. The controller  14  may include a microprocessor and a computer readable storage medium. The controller  14  may also include a software program that resides within the computer readable storage medium, i.e. memory, to control operation of the self-feeding device  10 . The software program operatively controls the movement and position of the feed arm assembly  26  to both capture the food or liquid which is situated in one or more of the food compartments  54  or  116  and to subsequently present the captured food product (solid or liquid) to the user  12 , i.e. user&#39;s mouth. 
         [0066]    The controller  14  receives and processes an input signal  118 , from various sources, such as from the user input device  28  or another sensing device  20 . An output control signal  120  may be generated by the controller  14  to provide an instructional command to the feed arm assembly  26  or plate assembly  44 . Either the input signal  118  or the output signal  120  may be communicated using any type of signal transmission protocol, such as wired, wireless, or a combination thereof via the signal transmission mechanism  16 . 
         [0067]    The user input device  28  is operable by the user  12  to communicate the user&#39;s intent to the controller  14 . For example, the user  12  may communicate a food compartment selection, a utensil selection or that the meal is complete. Various types of user input devices  28  may be utilized depending on the needs and accommodations of the user  12 . The user input device  28  may be a control such as a motion sensor, a button, voice activation source, physical movement activation source, a neural signal, or the like. With respect to a neural signal, a neural control protocol may be utilized with the self-feeding device  10  for converting a neural input signal (e.g., the user&#39;s thoughts) generated by the foregoing sensors into neural input signal to the controller  14 . Accordingly, depending upon the nature of the user&#39;s physical ability, the self feeding device  10  may be easily operated by a user  12 . The determination of what type of activation mechanism will be employed may be selected in part based upon the nature of the user&#39;s physical abilities. 
         [0068]    The user input device  28  may communicate a desired function of the user, such as a “SELECT” function or an “eat” function. The user input device  28  may be easily actuated by a user  12  to control the movement of the feed arm assembly  26  as shown in  FIGS. 11   a  and  11   b . In addition, the user input device may be conveniently placed depending on user accommodations. As an example, a control may be placed in a location where the user has mobility (e.g., on the floor to be actuated by the user&#39;s feet, on a table to be actuated by a user&#39;s arms, or the like). In another example, the user input device  28  may be a pressure sensitive pad positioned in a location where the user  12  has some movement in order to exert pressure to control the operation of the feeding device (e.g., foot pads, elbow pads, micro switches etc.). Similarly, various other mechanical, electrical, or neural devices may be attached to the user&#39;s body in an area where the user  12  has some type of motor and/or neural control to convey the intended signal. The user input device  28  may include an integral signal transmission mechanism  16  as previously described. 
         [0069]    The signal transmission device  16  is operatively in communication with the controller  14  via a signal transmission protocol, and such signal transmission protocol between the signaling device and the controller  14  may be wired or wireless or the like. In an example, the signal transmission device  16  may be a receiver, transmitter or a transceiver capable of receiving or transmitting a signal respectively. An example of a wireless receiver, transmitter or transceiver is an RFID communication protocol, although other types of communication protocols are contemplated, and the selection is non-limiting. 
         [0070]    The system  10  may also include various types of sensing devices  20  depending on the feature. For example, a displacement sensor  21  may be used to sense a position of the user&#39;s mouth in order to intake the food item and transmits a corresponding input signal  118  to the controller  14  via a signal transmission mechanism  16 . The self-feeding device  10  may use the user&#39;s mouth position to adaptively learn the food intake position of the particular user  12 , i.e. the user&#39;s mouth, and remember this position so as to automatically position the feed arm assembly to feed the particular user  12 . An example of a sensing device  20  may include a first transducer situated at the end of the feed arm assembly  26  near the feeding utensil  110 . The user may have a second transducer located near user&#39;s mouth to properly position the feeding utensil with respect to the user&#39;s mouth. In an example, the second transducer may be affixed to the user  12  i.e. to the bottom of their chin or elsewhere to allow the feed arm assembly  26  to be properly positioned with respect to the user&#39;s mouth. The first transducer and second transducer may send a signal to a signal transmission mechanism  16  associated with the controller. As described, the signal transmission device  16  may be an RFID transceiver that advantageously provides greater accuracy regarding the positioning of the feed arm assembly  26  with respect to the food item included in the food compartment and the user&#39;s mouth. Thus, the second RFID transceiver located on the user  12  transmits an input signal  118  indicating the position of the user&#39;s mouth to the RFID transceiver  16  located in the feeding device. The controller  14  processes the input signal to establish the location of the user&#39;s mouth, and the location of the user&#39;s mouth is transmitted to the feed arm assembly  26  as an output signal  120 . 
         [0071]    The feeding device  10  may include an identity sensor  24  that senses the identity of the user  12 , and adaptively controls the feed arm assembly  26  based on information learned regarding the user  12 . The identity sensor  24  may also include a signal transmission mechanism  16  for communicating with the controller  14 . The information regarding the user may be stored in a memory associated with the feeding device controller, or in a remote controller  140 . Referring back to  FIG. 2 , the remote controller  140  may be a separate computer that is in communication with the feeding device  10 . In an institutional setting, the remote computer  140  may be operated by an individual such as a supervisor  150 . The remote computer  140  may be in communication with a plurality of feeding devices  10 , and provides personalized control of each device. 
         [0072]    The system  200  may include other components that are conventionally known in the art. For example, the system may include additional electrical and mechanical features such as displacement sensors, weight sensors, force feedback sensor, network components, or RFID transceivers. Other examples of conventional components include an electronics board, a wireless controller receiver, or a wiring harness. The wiring harness of the computer assembly connects the aforementioned electronics to a power source  22  or a power switch. The system receives power from the power source in order to operate the system components. 
         [0073]    Referring to  FIGS. 13-15 , a method of self-feeding a user  12  using the self-feeding device  10  is illustrated. It is anticipated that the method can be utilized with one user  12 , or with multiple users. Each user  12  can independently select between several compartments of food, capture and transport a food item to their mouth or other food intake port. 
         [0074]    The method begins in block  500  with the step of assembling the plate assembly  44  to the base  32  of the self-feeding device  10 . In this example, the plate assembly  44  is supported by the supports  72  formed in the housing  34 . It should be appreciated that the self-feeding device  10  is portable and may be utilized in various environments beyond a conventional dining table through the use the mounting element. For example, the self-feeding device  10  may be mounted to a hospital bed or other setting to accommodate the special needs of the user as previously described. The overall shape of the base assembly, is selectively determined so create a typical dining experience for the user. The shape may be a teardrop shape having a plate portion for food at the wider end and a mounting portion for a robotic arm at the narrow end. 
         [0075]    The methodology advances to block  505  and includes the step of placing a prepared food item in a food compartment  54  associated with the plate assembly  44 , or a separate food compartment adjacent thereto, such as a cup or glass  116 . The food may be prepared according to the needs of the user  12 , i.e. diced, pureed, mashed, cut or the like. In an example, the food capacity of each food compartment  54  may be customized depending on the nutritional requirements of the user  12 . The fill line  60  helps prevent overfilling of the food compartment  54 . 
         [0076]    The methodology advances to block  510  and includes the step of initially learning user  112  requirements. For example, initial user requirements may be programmed into the controller associated with the feeding device or a remote controller, such as via prompts in a LEARN mode. Alternatively, user requirements may be maintained within a remote server  140  associated with the controller  14  and subsequently retrieved. The feeding device  10  may have an input device, such as a screen, or control or the like. The input device may be an LED or LCD screen with buttons for digital input, a touch screen, or the like. Each individual using the self feeding device may create a profile containing their personal ergonomic setting. These setting may include information such as: Transfer Robot lift height, horizontal travel and angular rotation. Alternatively, user requirements may include user food sequence preference, predetermined feeding rates, height and location of user intake, such as user mouth or feeding tube by way of example. For example, the location of the user&#39;s mouth  12  may be selectively determined using the sensing device  20  associated with the feed arm assembly and communicated to the controller  14  via the RFID transceiver. In an example of a returning user  12 , the user  12  is identified by the system, and specific user parameters may be retrieved and the feeding device calibrated to the user&#39;s needs. 
         [0077]    The methodology advances to block  515  and the user  12  is thereafter provided with the ability to selectively actuate the self-feeding device  10  via the user input device  28 . For example, the user may access various modes that provide a specific function, such as to select a food compartment  54  or to retrieve a food item and to deliver directly to the mouth of the user as desired. 
         [0078]    If the user  12  selects a STORAGE mode, the methodology advances to block  520  and the feed arm assembly  26  is not actuated, and feeding is not available. The STORAGE mode may prevent accidental or unintended operation of the self-feeding device  10 . In the STORAGE mode, the plate assembly  44  may be easily disengaged from the base  32 , and may be easily stored, cleaned, and prepared with all other dishware in various settings, including: an institutional cafeteria, private home, and the like. The plate assembly  44  may be made from a dishwasher safe material. It should be appreciated, additional components of the self-feeding device  10  such as a feed utensil  110  and beverage container  116  is similarly dishwasher safe. Referring to  FIG. 15   a , the feed arm assembly  26  is located in a storage position as shown at  142 . In this example, the feed arm assembly  26  is in a retracted position in the storage mode, but may still provide access to the food compartment  54 . If the power switch is on, or in between bites, the STORAGE mode may include a “READY” feature. 
         [0079]    Returning back to block  515  and if the user  12  selects a RETRIEVE food mode, the methodology advances to block  530  and selects a food compartment. For example, the user  12  may activate an EAT control  28  to send an input signal  118  to the controller  14  requesting that the plate position mechanism  46  be actuated to rotate the plate assembly  44  so that the selected food compartment  54  is accessible to the feed arm assembly  26 . Referring to  FIG. 15   b , the user may activate the plate assembly  44  using the user input device so that the plate assembly  44  is rotated to orient the selected the food product as shown at  142 . Alternatively, the feed arm assembly  26  may be moved to access the selected food compartment  54  as described below. 
         [0080]    The methodology advances to block  535  and the feed arm assembly  26  is instructed to retrieve the food item  8  from the selected food compartment  54  as shown in  FIG. 15   c  at  144 . The self-feeding device  10  automatically operates the feed arm assembly  26  to position the feeding utensil  110  with respect to the selected food compartment  54 , and retrieves the food item  8  from the selected food compartment  54  using the feeding utensil  110 . For example, the feed arm assembly may be actuated so that the feeding utensil  110  may scoop, or stab or otherwise position the food item  8  on the feeding utensil  110 . The feed arm assembly  26  may scrape the feeding utensil  110  along the tab  58  as shown at  146  of  FIG. 15   d  to avoid excess food on the feeding utensil  110 . The feed arm assembly then transfers the selected food item to the user  12  such that the utensil  110  is within a predetermined distance from the user  12 , i.e. as close to the users mouth as comfortable for the user to obtain the food from the utensil  110 . For example, the user  12  may wear a sensing device  20  having a RFID transceiver  16  or the like, (such as a necklace or band-aide like patch under the chin, or on the chest or neck), while the self-feeding device  10  may contain a corresponding RFID transceiver  16  in communication with the controller  14 . The controller  14  sends the feed arm assembly  26  an output signal representative of a distance or the coordinates which are closest to the RFID tag  20  worn by the user. During the retrieval and transfer of the selected food item, the feed arm assembly  26  is actuated by the actuators to pivot or articulate about each of the respective pivot axis associated with the arms of the feed arm assembly  26  to replicate the motion of a human arm while eating. The feed arm assembly  26  may return to a standby position after the user removes the food item from the utensil. 
         [0081]    If the user selects a to take a drink, the feed arm assembly  26  is actuated, to position the open or straw end of the combined spoon and straw feeding utensil  124  in the user&#39;s mouth, and the user draws the liquid up through the tube  132  and the straw and into the user&#39;s mouth. 
         [0082]    The order of the above described steps is for illustrative purposes, and it is contemplated that the order of the steps may be varied within the scope of this innovation. 
         [0083]    Advantageously, the self-feeding device  10  is not limited to a single user  12 , and any user  12  may simply sit down and use the device  10 . The feeding device  10  adapts to and learns the identity of the user, i.e. via the identity sensor  24  or the like. In such an example, there will be no need for storing personal ergonomic settings. Further, if the device  10  is used in multiple locations, where table height, chair height and position differ, the feed arm assembly  26  may automatically accommodate those differences. The self-feeding device  10  may also be used in both a home and institutional setting. It should be appreciated that although an RFID tag  20  is described in this example, other technologies which are utilized for position determination may be likewise employed. 
         [0084]      FIG. 16  illustrates another example of a self-feeding device  10  including a mechanism for locating the user&#39;s  12  mouth or point of delivery whereby the information is used to deliver the utensil  110  to the user&#39;s  12  mouth. The mechanism includes a facial recognition sensor, including a camera  600 , and a distance sensor  602  mounted on the base assembly  32 . As set forth below, the facial recognition sensor, including the camera  600 , cooperates with the distance sensor  602  to locate the user&#39;s  12  mouth, or point of delivery, wherein the information is used to direct the feed arm assembly  26  to deliver the utensil  110  to the user&#39;s  12  mouth. The facial recognition sensor can also be used to interpret movements or signals from the user  12  to control the function of the feeding device  10 . 
         [0085]    The camera  600  of the facial recognition sensor provides a two dimensional image of the user  12 . Facial recognition algorithms that identify facial features by extracting landmarks, or features, from an image of the subject&#39;s face can be used to analyze and thereby determine the relative position, size, and/or shape of the eyes, nose, cheekbones, and jaw. Whereby the feeding device  10  uses the camera  600  to locate the user&#39;s  12  mouth. Given that the camera  600  provides a two-dimensional image, a distance sensor  602  determines the distance to the user&#39;s  12  mouth or point of delivery. Accordingly, the combination of the two dimensional image of the user&#39;s  12  face and the distance thereto provides a three-dimensional coordinate enabling the feed arm assembly  26  to transfer the feed utensil  110  to the user&#39;s  12  mouth. 
         [0086]    While  FIG. 16  shows the facial recognition sensor or camera  600  mounted to the base assembly  32  adjacent the feed arm assembly  26  it may be mounted on the surface of the feed device  10  in any number of positions on the feed device  10 , or at another location independent of the feed device  10 , with the location limited only by the facial recognition sensor or camera&#39;s  600  ability to continuously capture a two-dimensional image of a user  12  properly positioned in front of the feed device  10 . 
         [0087]    The distance sensor  602  may also be mounted to the base assembly  32  as illustrated in  FIG. 16 . The distance sensor  602 , like the camera  600 , can be mounted in a variety of positions limited only by the distance sensor&#39;s ability to measure or determine the distance from to the user&#39;s  12  mouth identified in the two dimensional image. 
         [0088]    A specific example of facial recognition sensor and distance sensor used in the foregoing example is a color camera and an infrared optical sensor. There are many other types of distance sensors that could be used for this purpose including: inductive, ultrasonic, optical or other. 
         [0089]    Referring to  FIG. 17 , a system illustrating another example operation of the feeding device  10 , utilizing a mechanism for locating the user&#39;s  12  mouth or point of delivery, is illustrated at  604 . In operation, the camera  600  continuously transmits a two-dimensional image to the processor  606 . The image is analyzed by the facial recognition software resident on a processor  606  and correspondingly processes the two-dimensional image of the user&#39;s  12  to locate the two-dimensional coordinates of the user&#39;s  12  mouth. The distance sensor  602  is used to determine the distance to the user&#39;s  12  mouth and provides the processor  606  with that information. The processor  606  determines the three-dimensional coordinates of the user&#39;s  12  mouth and sends these three-dimensional coordinates via an output signal  608  to the controller  14 . The controller  14 , which includes a software program that resides within a computer readable storage medium, i.e. memory, defines these three-dimensional coordinates as the user&#39;s mouth or point of delivery. Using an inverse kinematic process the controller  14 , through appropriate software, generates and sends a control signal  610  to the feed arm assembly  26  to actuate the servo motors of the feed arm assembly  26  to move the utensil  110  to the three-dimensional coordinates and correspondingly delivering the utensil  110  to the user&#39;s  12  mouth or point of delivery. 
         [0090]    Although, the system  604  discloses use of a separate processor  606  and controller  14  it is possible to combine the processor  606  and controller  14  into a single unit or controller that captures all the data, makes the necessary calculations and controls movement of the feed arm assembly  26 . The facial recognition sensor, including the camera  600 , and the distance sensor  602  continuously transmit information to the processor  606  whereby the processor  606  continuously recalculates the location of the user&#39;s  12  mouth or point of delivery. The location of the user&#39;s  12  mouth or point of delivery is continuously sent the output signal  608  to the controller  14  which recalculates the control signal  610  sent to the feed arm assembly  26  such that the feed arm assembly  26  moves in accordance with a change in the location of the user&#39;s mouth or point of delivery. 
         [0091]      FIG. 18  illustrates another example of a self-feeding device  10  including a mechanism for locating the user&#39;s  12  mouth or point of delivery whereby the information is used to deliver the utensil  110  to the user&#39;s  12  mouth. The mechanism includes a facial recognition sensor, including a stereo camera  612  mounted on the base assembly  32 . As set forth herein a stereo camera is a camera using two or more lenses with a separate image sensor for each lens allowing the camera to simulate human binocular vision and giving it the ability to capture three-dimensional images. Accordingly, the stereo camera  612  is used to locate the user&#39;s mouth or point of delivery wherein the information is used to direct the feed arm assembly  26  to deliver the utensil  110  to the user&#39;s  12  mouth. The facial recognition sensor can also be used to interpret movements or signals from the user  12  to control the function of the feeding device  10 . 
         [0092]    While  FIG. 18  shows the facial recognition stereo camera  612  mounted to the base assembly  32  adjacent the feed arm assembly  26  it may be mounted on the surface of the feed device  10  in any number of positions on the feed device  10 , or at another location independent of the feed device  10 , with the location limited only by the facial recognition sensor or camera&#39;s  612  ability to continuously capture a three-dimensional image of a user  12  properly positioned in front of the feed device  10 . 
         [0093]    The stereo camera  612  of the facial recognition sensor provides a three dimensional image of the user  12 . Facial recognition algorithms that identify facial features by extracting landmarks, or features, from an image of the subject&#39;s face can be used to analyze and thereby determine the relative position, size, and/or shape of the eyes, nose, cheekbones, and jaw. With knowledge of the camera&#39;s intrinsic calibration parameters, a range image can be converted into a point cloud; specifically, the stereo camera  612  captures images of the user  12  from multiple viewpoints to create three-dimensional point clouds. A point cloud is a set of points in three-dimensions. 
         [0094]    Whereby the feeding device  10  uses the stereo camera  612  to locate the user&#39;s  12  mouth. Given that the stereo camera  612  provides a three-dimensional image, a distance sensor is not required. Accordingly, the stereo camera  612  provides a three-dimensional coordinate enabling the feed arm assembly  26  to transfer the feed utensil  110  to the user&#39;s  12  mouth. 
         [0095]    Referring to  FIG. 19 , a system illustrating another example operation of the feeding device  10 , utilizing a mechanism for locating the user&#39;s  12  mouth or point of delivery, is illustrated at  614 . In operation, the stereo camera  612  continuously transmits a three-dimensional image to the processor  616 . The image is analyzed by the facial recognition software resident on a processor  616  and correspondingly processes the three-dimensional point cloud corresponding to the user&#39;s  12  face to locate the three-dimensional coordinates of the user&#39;s  12  mouth. After the processor  616  determines the three-dimensional coordinates of the user&#39;s  12  mouth and sends these three-dimensional coordinates via an output signal  618  to the controller  14 . The controller  14 , which includes a software program that resides within a computer readable storage medium, i.e. memory, defines these three-dimensional coordinates as the user&#39;s mouth or point of delivery. Using an inverse kinematic process the controller  14 , through appropriate software, generates and sends a control signal  620  to the feed arm assembly  26  to actuate the servo motors of the feed arm assembly  26  to move the utensil  110  to the three-dimensional coordinates and correspondingly delivering the utensil  110  to the user&#39;s  12  mouth or point of delivery. 
         [0096]    Although, the system  614  discloses use of a separate processor  616  and controller  14  it is possible to combine the processor  616  and controller  14  into a single unit or controller that captures all the data, makes the necessary calculations and controls movement of the feed arm assembly  26 . The facial recognition sensor, including the stereo camera  612 , continuously transmits information to the processor  616  whereby the processor  616  continuously recalculates the location of the user&#39;s  12  mouth or point of delivery. The location of the user&#39;s  12  mouth or point of delivery is continuously sent the output signal  618  to the controller  14  which recalculates the control signal  620  sent to the feed arm assembly  26  such that the feed arm assembly  26  moves in accordance with a change in the location of the user&#39;s mouth or point of delivery. 
         [0097]    Both the camera  600  and the stereo camera  612  can be used to interpret user commands. Specifically the stereo camera  612 , camera  600 , and if necessary distance sensor  602 , can be used to sense the movements of the user&#39;s  12  face, or other parts of the body, and use them as an interface (input) to control the feeding device  10 . These systems operate to monitor the user  12  for a pre-programmed facial or other body movement intended to control the functions of the feeding device  10 . These movements can be interpreted by either the processor  606 ,  616  or controller  14  which then sends commands directing feeding device  10  to perform its intended functions. 
         [0098]      FIG. 20  illustrates yet another example of the self-feeding device  10  wherein the feed arm assembly  26  may be equipped with a sensor  622 , including a visual sensor such as a two-dimensional RGB camera or stereo camera, that enables the feed arm assembly  26  to accurately and precisely capture and image of the food from the food compartments  54 , in addition the sensor  622  can also be used to capture an image of the liquid in a container or cup  116 . In this case food compartment  54  and container or cup  116  are synonymous in that they both contain food whether in solid, semi-solid or liquid form. So while the food compartment  54  is identified as on example herein, the container or cup  116  containing liquids may be substituted for the food compartment  54  as the food compartment could also hold liquids. The sensor  622  is installed on the feed device  10  at a location where it can capture images of the contents located in each food compartment  54 . In addition, as illustrated in  FIG. 20 , the sensor  622  can be attached to the feed arm assembly  26 . Depending upon the type of sensor  622  used, at least one of the physical features, including color or shape, of the contents of the food compartment  54 ; i.e., the food located therein, are used to identify the position of the food within the food compartment  54  as well as the type of food in the food compartment  54 . 
         [0099]      FIG. 21  illustrates a system diagram wherein the sensor  622  captures an image of the contents of the food compartments  54  and transmits a signal corresponding to the image to the processor  624 . The processor  624  analyzes the image and sends an output signal  626  to the controller  14  containing the relevant positional information of the contents of the food compartment  54 . The controller  14  based on the relevant positional information generating and sending an appropriate control signal  628  to the feed arm assembly  26  directing the feed arm assembly  26  to retrieve at least a portion of the contents of the food compartment  54 . No matter where the contents are concentrated within each food compartment  54 , the feed arm assembly  26  is directed by the output signal  626  of the processor  624  and controller  14  to effectively capture the contents contained within the food compartment  54 . 
         [0100]      FIG. 22  illustrates yet another example of a self-feeding device  10  equipped with a collision detection system  630 , including a sensor  632  that detects any obstacles in the path of the feed arm assembly  26 . The sensor  632  may include a stereo camera or may include a RBG camera and coupled with a distance sensor, for example and inductive, ultrasonic, optical or other type sensor, used to detect any obstacles in the path of the feed arm assembly  26 . While shown located on the base assembly  32  of the self-feeding device  10  the sensor  632  can be located on the feed arm assembly  26  or any other suitable location whereby the sensor  632  can detect any object in the path of the feed arm assembly  26  when transferring food from the food compartment  54  to the user&#39;s  12  mouth. If the sensor  632  detects any object in the feed arm assembly  26  path, the feed arm assembly  26  immediately ceases movement thereby avoiding any collision or spillage. An alarm could also be sounded or a notice communicated to the caregiver that an obstruction is in the path of the feed arm assembly  26 . 
         [0101]      FIG. 23  illustrates collision detection system  630  wherein the sensor  632  upon detecting an object in the path of the feed arm assembly  26  sends a signal to the processor  634  indicating the presence of an object in the path of the feed arm assembly  26 . The processor  634  may actuate an alarm or other notification to the caregiver regarding the presence of an object. In addition, the processor  634  generates and sends an output signal  636  through the controller  14  which correspondingly generates and sends a control signal  638  to the feed arm assembly directing the feed arm assembly  26  to abort its intended path and, as much as possible, move out of the path of any moving and interfering obstacle. After the obstruction is removed, the function of the feed arm assembly  26  would continue along its normal path. 
         [0102]      FIG. 24  illustrates yet another example of a self-feeding device  26  equipped to gather and compile data regarding the user&#39;s eating and drinking experience, for example: when did they eat and drink; how long did they take to eat and drink; what did they eat and drink; and what quantity of food and drink was consumed and any other desired information. The self-feeding device  26  then generates reports or information based on the data and, as required or requested, sends such information or reports to a remote location; one example of a remote location may include a caregiver or supervisor  150  who may monitor multiple users  12  concurrently as shown in  FIG. 2 . Other examples include healthcare providers, institutional management, family, nutritionists or other interested parties as appropriate. Accordingly, as used herein remote location is broadly construed to mean a location other than the specific location of the individual. 
         [0103]    Following are examples of two methods that may be used to gather information about the quantity of food and liquids and the corresponding calories consumed as well as other nutritional information. In the first method, the self-feeding device  10  is equipped with a sensing device or sensor  640  capable of identifying the type of food contained in the food compartment  54  and the approximate quantity of food in the food compartment  54 . The sensing device or sensor  640  may include a visual sensor such as a two-dimensional RGB camera or stereo camera that captures an image of the contents of the food compartments  54  and the contents of the liquid container  116  and transmits a signal corresponding to the image to the processor  642  which utilizes a data base located in the processor memory or an external database  644  to identify the type and approximate quantity of food in the food compartment  54  and the type and quantity of liquid in the container. As set forth herein the term sensor is broadly used and may include multiple components capable of performing the various functions set forth herein. For example, a sensor may be a combined sensor capable of monitoring the weight, type of food and quantity of food in a food compartment  54  as well as the weight and quantity of liquid in the container  116 . 
         [0104]      FIG. 25  illustrates a system for measuring and reporting food and liquid consumption and nutritional information of the food and liquid consumed by a user of the self-feeding device  10 . At the beginning of a meal the sensor  640  captures images of the food in each food compartment  54 . These images are used to define the volume of food and type of food in each food compartment  54 . Given that the volume of the food compartment  54  is known, or can be determined prior to food being placed in the food compartment  54 , the volume of food can be calculated based on the amount of food in the food compartment  54 . For example, if the food compartment has a volume of 1 cup, that volume is then used to calculate the quantity of food. Further, gradient lines or other indicators can be included on the food compartment  54  to aid in determining the quantity of food consumed. Based the images received from the sensor  640  showing the quantity of food in the food compartments  54  at the beginning and end of each meal the processor  642  can calculate the quantity of food consumed. Similarly the sensor  640  can capture images of the liquid in the container  116 . Given the volume of the container is known, or can be determined prior to the liquid being placed in the container  116 , the volume of the liquid consumed can be calculated based on the liquid in the container at the beginning of the meal and the amount of liquid remaining in the container  116  at the end of the meal. 
         [0105]    At the beginning of the meal, the images captured by the sensing device or sensor  640  are compared to a data base located in the processor memory or an external database  644  to determine the type of food contained in the food compartments  54  or container or cup  116 . Next, the corresponding caloric density and nutritional value of the food types are retrieved from the database  644 . Knowing the amount of food consumed and the food type, the processor  642  can calculate the calories consumed and relative nutritional value of the food consumed. In this method, photographs also can be taken of the food in each food compartment  54  and container or cup  116 . These photographs can be stored and forwarded as part of the user&#39;s report. In addition, depending upon the requirements, the sensor  640  can also be used to provide real-time information or viewing by necessary or selected individuals as to the food in each food compartment  54  and container or cup  116 . 
         [0106]    In a second method, typically for use in institutional settings, the food compartments  54  in the plate are specifically designated for protein, starches, vegetables, salads, desserts, etc. and aid in food identification. Specifically, specific foods and amounts thereof are each placed in a designated food compartment  54  and liquids in the container or cup  116 . 
         [0107]    With the second method a sensor  646 , for example a load cell or similar device such as a weight cell or electronic scale, is mounted under the food compartment  54  or under the placemat which will measure the weight of the food consumed.  FIG. 24  illustrates one example of the location of the sensors  646 , that is the sensor  646  are placed under the individual food compartments  54  wherein the food compartments  54  sit on the sensors  646 . Similarly, weight sensors  646  can be placed under the drink container  116 . Accordingly, the sensor  646  monitors the weight of the food located in the food compartment  54  and the drink located in the container  116  and transmits a corresponding signal related to the weight to the processor  642 . In addition to monitoring the weight of the food and each individual food compartment  54 , the self-feeding device  10  can also record the number of spoonsfuls of food consumed by the user  12  or the number of times the user takes a drink from the container  116  and correlate that with the weight of the food removed from the food compartment  54  or the weight removed from the container  116 . 
         [0108]    By placing specific food types in designated food compartments  54  the self-feeding device  10  is capable of calculating nutritional information including the approximate number of calories. As set forth above, the self-feeding device may access the database  644  to determine the caloric content and relative nutritional value of the food types contained in the bowls. Based on obtained weight data and the number of spoonfuls of food consumed by the user  12  to calculate the number of calories consumed and the nutritional value of the food consumed. 
         [0109]    In both methods, the self-feeding device  10  compiles the calories consumed and nutritional information. This information, along with timing information and photographs can be compiled and using a communication device  645  capable of sending such information in both real-time or delayed through wired or wireless communications or other suitable means sent to a remote location as set forth above; for example, healthcare providers, institutional management, family, nutritionists or others as appropriate. In addition, a further example of the self-feeding device  10  includes a clock either separate or included in the processor  642  that operates to capture timing information relating to food consumption; including, the time of day when a user  12  ate, length of time between respective spoonfuls and the length of time it took the user  12  to eat. 
         [0110]    Accordingly, the system is capable of using various types sensors, not limited to various cameras and load cells forth above, to determine the initial quantity of food in the food compartment, the quantity of food in the food compartment after the individual has ceased consuming the food, using these quantities to determine the quantity of food removed from the food compartment, monitoring the user or individual to determine whether the quantity of food removed from the food compartment was consumed by the user and thereafter calculating the nutritional value of the food consumed by the user. The entire process including the nutritional value of the food consumed by the user along with consumption rates and physical data of the user may be transmitted to a remote location including monitoring stations and other locations as set forth above. As used herein the sensors also monitor various parameters in the sense that they are able to watch or keep track of a specific parameter. Thus, both the load cell  646  and the cameras  612 ,  640  are examples of monitoring devices that may be used to monitor such things as the individual, the quantity of food consumed by the individual, the amount of food removed from the food compartment by the individual, the feeding process, operation of the self-feeding device  10  wherein such as images recorded by the respective cameras  612 ,  640  can be transmitted such that they can be viewed or watched at a remote location. 
         [0111]    In addition, as set forth previously the self-feeding device  10  can be wirelessly equipped and gather data from a variety of sensors. One of the sensors  647  may be a physical condition sensor s capable of monitoring a physical condition of the individual. For example, the sensor  647  may monitor physical data or parameters such as the condition of the individual including the individual&#39;s blood pressure, glucose levels, pulse, tidal carbon dioxide, oxygen level, heart rate, temperature, respiration rate and other biometric values. Such sensors  647  may be physically attached to the individual and provide information is to a wired or wireless interface to the processor or communication module. For example, a clip attached to an individual&#39;s finger or a pad placed on an individual&#39;s chest. In addition the sensors  647  may be separate or spaced from the individual and monitor the individual&#39;s physical data and provide information to the processor or communication module. For example an infrared thermometer. Further, system may incorporate or obtain data from existing physical sensors used with the individual. Data may In addition to such information, the processor  642  of the self-feeding device  10  may be equipped with a clock enabling the self-feeding device  10  to capture the time of day when an individual ate and the length of time it took the individual to eat. In both in institutional and home setting, a caregiver situated at a remote location may be equipped with a wireless tablet or other communication device that will receive information from the self-feeding device  10 . Accordingly, the caregiver may monitor the pace at which the user is eating and the amount and nutritional value of the food and drink consumed by the user. Further, this will allow the caregiver the opportunity to intercede if the user is not consuming sufficient nutrition and liquids. 
         [0112]    While the example set forth herein discloses a separate food compartment  54  and drink and/or liquid container  116 , both the food compartment  54  and liquid container or cup  116  are used to contain a food which can be a liquid or solid. Accordingly as used herein the term eating also includes drinking; i.e., consuming a food regardless of whether the food is in a solid or liquid state. Further, illustrative examples addressing the food compartment  54  are also suitable for use with a container or cup  116  which is configured for holding a liquid instead of a solid. It should be understood that the present invention covers the method and system disclosed herein regardless of whether the food is in a liquid or solid state or the type of container or compartment it is located in. 
         [0113]      FIG. 26  illustrates another example of a self-feeding device  10  including at least one indicator or alarm  650  for prompting a user to eat. Elderly people and others with certain conditions often take long pauses between each forkful or spoonful of food and as a result often do not consume sufficient calories. Further, the individuals may take long pauses between consuming liquids or don&#39;t consume a sufficient amount of liquid. These individuals often have to be reminded to continue to eat and drink or they suffer the risk of malnutrition or dehydration. As illustrated, the alarm  650  is mounted to the base assembly  32  or located elsewhere on the self-feeding device  10  including the feed arm assembly  26 . In one configuration, the alarm  650  is located in view of the user  12 . In another configuration or embodiment the alarm is located or configured to notify a caregiver. The alarm  650  can be a particular sound, flashing light, verbal warning, motion by the feed arm  26 , vibrating wristband or any other wide variety of warnings that would alert the user  12  as well as the caregiver that the user  12  is no longer eating or drinking at a reasonable pace. 
         [0114]      FIG. 27  illustrates another example of a system for operation of the self-feeding device  10  including a processor  652  with a built in clock capable of measuring the elapsed time between each spoonful of food or each drink; i.e., the processor  652  of the self-feeding device  10  will measure the time between input commands or cycles, for example “eat” or “drink” commands. If the duration of the elapsed time between a command or cycles goes beyond some time limit set by the caregiver, the processor  652  will send an alarm signal  654  to activate or turn on the alarm  650  to notify both the user and any other individual or caregiver of the delay. 
         [0115]    In yet another example of multiple users  12 , a caregiver or supervisor  150  may monitor multiple users  12  concurrently as shown in  FIG. 2 . The system may perform additional functions related to gathering a variety of information, such as monitoring food intake of each user  12  (ex. utilizing a load cell to measure the amount of food or liquid which is consumed) and sending such information over a network to another entity, which may include: a nursing station, physician, nutritionist or server or the like. Additionally, the supervisor  150  may control operation of each individual self-feeding device  10 . For example, the supervisor may likewise have a supervisor input device  152  with a signal transmission mechanism  16  such as an RFID transceiver, that will prohibit operation of the devices  10  unless a supervisor&#39;s RFID tag (e.g., situated as a wristband, necklace, card, etc.) is within a predetermined range of one or more of the devices  10 . It should be appreciated that RFID or other technology may also be utilized to ensure that a caregiver or supervisor  150  is located proximate to the user  12  with the functionality of the self-feeding device  10  being inoperable unless the caregiver is located within a predetermined distance of the user  12 , as an additional safety feature. 
         [0116]    Referring back to  FIG. 14 , operation of the self-feeding device  10  by the user  12  is further illustrated as shown at  300 . The user  12  selectively operates the user input mechanism  28  to send the appropriate input signal  118  to the controller  14 , the signal is processed as previously described, and an output signal  120  is transmitted to accomplish the desired action. At step  305 , the user or caregiver turns on the self-feeding device  10  by connecting a power source, or in this example moving a power switch to an “on” position. 
         [0117]    At step  310 , the self-feeding device  10  is in a READY position and the feed arm assembly  26  may be in a storage position  142 . The READY position may be a feature of the STORAGE mode as previously described. Further, the READY mode may include a LEARN feature whereby the user may be identified using the identity sensor  24 . In addition, the location of the user&#39;s moth may be determined using the displacement sensor  20  and a corresponding input signal is set to the controller  14  associated with the self-feeding device  10 . The user may initiate a command while in the READY position using the user input device  28 . 
         [0118]    If the user  12  chooses a command by activating the user input device  28  i.e. by depressing the SELECT control, the user may select a food compartment. At step  320 , the user may actuate the SELECT control and feed arm assembly may be moved to the storage position. At step  325 , the user may actuate the SELECT control and the plate assembly or feed arm assembly may be rotated to offer access to the selected food compartment  54 . 
         [0119]    Advancing to step  330 , the user may select a RETRIEVE mode, such as by actuating the EAT control once by the user  12 . The plate assembly may be moved to at initial position as shown at block  335  and the user may select a food compartment to obtain the food product from. At step  340 , the user may actuate the EAT control again to pick up the food item from the food compartment. At step  345  the feed arm assembly  26  may be actuated through a first transfer position through an (n−1) transfer positions to replicate the motion of the human arm. Thus, the feed arm assembly is articulated to acquire the food item  8  on the feeding utensil  110  and to move the food into the required proximity of the mouth of the user. 
         [0120]    Advancing to step  360 , the user may select a RELEASE function, whereby the food product is accessible by the use. The RELEASE function may be a feature of the RETRIEVE mode. For example, the user  12  may depress and hold the EAT control to initiate the RELEASE function. At step  365 , the feed arm assembly  26  moves the feed utensil to place the food item  8  (i.e. liquid or solid) in the user&#39;s mouth, such as by articulating the feed utensil at a nth or in this example a fifth transfer position, to release the food item into the mouth of the user. 
         [0121]    Advancing to step  370 , if a STORAGE mode is desired, such as when the meal is done, the power switch may be moved to an “OFF” position. At step  375 , the feed arm assembly automatically moves to a storage position  142 . At step  380 , the power is shut down. The user may selectively activate the user input device  28  to operate the self-feeding device  10 , and the order of operation is selectively determined by the user. 
         [0122]    Advantageously, the self-feeding device  10  increases the user&#39;s  12  sense of control, independence and enjoyment of dining. Comfort is established by the stylish and ergonomic design of the self-feeding device  10 . The feed arm assembly  26  of the present application is designed to emphasize the human factors normally experienced while eating. These may include items such as mimicking the typical dynamic and kinematic motions or eating, providing an aesthetic design consistent with most tableware, and providing an intuitive dining experience. The self-feeding device  10  may be fully programmable to specify the movement and position of the feeding arm assembly  26  to accommodate the user  12  in consideration of the height of the table and/or the height of the chair which the user  10  is sitting upon. 
         [0123]    The present disclosure has been described in an illustrative manner. It is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present example are possible in light of the above teachings. Therefore, within the scope of the appended claims, the present disclosure may be practiced other than as specifically described.

Technology Category: b