In this research, user centered design process has been used along with technical development for building assistive robots. The focus of this work is to design and develop a low-cost feeding assistive robot for people; suffering from various neurological disorders; such as post-stroke, Parkinson, paralytic arm, tremors, and Alzheimer. The motivation behind the said development of the robotic device is to bring comfort in self-feeding process as per empathetic research. The proposed serial manipulator has six degrees of freedom with 3D printed links.