We propose a novel self-feeding robotic system that is suitable to handle Korean food including sticky rice. A self-feeding robotic system allows people with disabilities of upper limbs to eat the chosen food when they want it. The proposed robotic system consists of two arms: one is a grab-arm, and the other is a spoon-arm. The grab-arm chooses desired food from a food container, and the spoon-arm provides suitable feeding intervals for users. The merits of a proposed system are easy to handle sticky rice, compatibility of existing food containers, such as bowls, and modularly applications for the economical point of view. We concentrate on Korean people with the upper limbs’ disability and Korean food. We describe design concepts and an overall system structure with above mentioned merits.

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