# Innovative educational technology for visually impaired learners using a 3D-Printed foot reflexology robot

## TL;DR

This paper introduces a 3D-printed foot reflexology robot designed to help visually impaired learners through tactile and audio-based education.

## Contribution

The novel contribution is a user-centered, multisensory assistive educational robot for reflexology training tailored to visually impaired individuals.

## Key findings

- The robot effectively supports hands-on engagement and multisensory learning for visually impaired users.
- Evaluation with 29 participants confirmed high satisfaction in safety, practicality, and educational usability.
- The framework offers a replicable approach for creating inclusive assistive educational technologies.

## Abstract

This study presents the design, development, and validation of a foot reflexology teaching robot that integrates multidisciplinary design, rapid prototyping, and user-centred assistive educational strategies to support tactile learning for visually impaired individuals. A digital foot model, derived from anthropometric data of an average Thai female, was refined to achieve a balance between anatomical accuracy and manufacturability. The structural design featured modular internal compartments, precision openings, and detachable covers to support maintenance without compromising anatomical realism. Fabrication using PLA-based fused deposition modelling (FDM) produced a lightweight, durable, and cost-effective prototype incorporating interactive tactile sensing and modular electrical components. A Raspberry Pi platform programmed in Python enabled audio-based instructional feedback triggered by tactile interaction, creating a multisensory educational device for experiential reflexology training. Structured evaluation sessions with 29 visually impaired learners confirmed its effectiveness in facilitating hands-on engagement, multisensory learning, and usability, with high satisfaction across safety and practicality. Overall, this work establishes a replicable framework for developing accessible and inclusive assistive educational technologies.

• Integrated multidisciplinary design and user-centred development approach.

• Applied rapid prototyping to translate digital anatomical models into functional physical components.

• Conducted user-based evaluation to assess educational effectiveness and accessibility.

Image, graphical abstract