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Kiri-Spoon: A Kirigami Soft Utensil for Robot-Assisted Feeding

A soft robotic feeding utensil whose spoon-shaped kirigami sheet deforms into a bowl of controllable curvature when actuated, giving a robot arm passive mechanical capability to scoop, contain, and compliantly release diverse foods when feeding people with mobility limitations. Includes a mechanics model relating actuation force to spoon shape and stakeholder-driven design and evaluation with caregivers and disabled users.