Lego Mindstorms Feeder Robot

A feeder robot designed and developed using Lego Mindstorms by students working with the Centre for Assistive Technology and Connected Healthcare at The University of Sheffield, UK.
Please send us your comments, and tell us - or, better still, show us if you think you can extend or improve this design!
This robot starts off in a position 100 degrees from the food when viewed from above. It lifts its forearm a bit higher in order to get the correct height needed to grab the food. It rotates the fork until the proximity sensor detects the table top. It will then start rotating the arm until the sensor detects the edge of the 'plate'. It then lowers the forearm in order to scoop the food, rotate the fork underneath the food until just above horizontal, which improves the stability of the food on the fork. After it has picked up the food, it will rise up again until it reaches the same height level as the user's mouth. It will then swing it into the person's direction; however, it will stop at around 180 degrees from its original position, and wait until the proximity sensor detects the face of the user moving toward the food. Then the arm will move slowly forward to offer the food, and remain in place until the sensor detects that the user's face has retreated back from the fork. (Obviously, it needs a longer fork!) The arm will then move slowly back, and then more rapidly return to its starting position.