Here is a robotic system that can feed disabled people autonomously to give the more independence. As this video from the University of Washington shows, robot arms like Jaco can be mounted to motorized wheelchairs to serve people with disabilities.
When the autonomous mode is activated, the robot arm picks up a custom 3D printed fork and serves food. ADA is integrated into the wheelchair, so it can go anywhere. The robot determines the appropriate fork orientation and force for reach item.