US US20260233412A1
An end effector system can include: an optional actuator; an optional utensil mating connector; and a utensil. The utensil can include: a set of scoops; a set of mechanical linkages; a set of ingressive elements; and/or any other suitable components. However, the end effector system can additionally or alternatively include any other suitable set of components. The end effector system functions to facilitate picking of ingredients (e.g., foodstuffs), ingredient transformation, and/or ingredient insertion (e.g., at a target foodstuff container and/or placement location) via a grasp cavity of the utensil. Additionally or alternatively, the end effector system can function to shape a profile of ingredients (e.g., upon insertion). Additionally or alternatively, the end effector system can function to evacuate ingredients from the grasp cavity (e.g., clearing out ingredients adhering to the utensil).
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