This paper describes the development of a small barista-style coffee maker that simulates the movements of a barista’s arms. A vertical multi-joint robot mounted on a base simulates the movements of a barista’s arms, and hot water is poured from a nozzle attached to the robot’s end effector. Water pumped from a roller pump into a tank is heated by a heater and then poured from the nozzle into a coffee dripper to extract coffee. This coffee maker offers a more enjoyable coffee extraction experience compared to conventional coffee makers. This paper provides an overview of the robot’s configuration and reports on the evaluation results of the coffee extracted by the robot.
NAKAMURA et al. (Wed,) studied this question.