Control of rapid closing motion of a robot jaw using nonlinear spring mechanism

Hideaki Takanobu, Norikazu Kuchiki, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    5 Citations (Scopus)

    Abstract

    This paper describes, mathematical models that simulate the nonlinearity of the human muscle, and the results of a real food chewing experiment by a mastication robot. When the lower jaw rapidly closes, it may come in hard contact with the upper jaw if the food is a crushable one. To clarify the mechanism of rapid jaw motion, the authors focused on the nonlinearity of the human muscle that is known in the field of the physiology or biomechanisms. The authors propose a feasible mathematical model for the muscle and its nonlinearity. A nonlinear spring mechanism is then designed based on the mathematical model. As a result of chewing experiment, the authors confirmed control of the rapid closing motion of the robot jaw using the nonlinear spring mechanism. This work was done as part of the `Humanoid Project' at HUREL (Humanoid Research Laboratory).

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages372-377
    Number of pages6
    Volume1
    Publication statusPublished - 1995
    EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
    Duration: 1995 Aug 51995 Aug 9

    Other

    OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
    CityPittsburgh, PA, USA
    Period95/8/595/8/9

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    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Takanobu, H., Kuchiki, N., & Takanishi, A. (1995). Control of rapid closing motion of a robot jaw using nonlinear spring mechanism. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 372-377). IEEE.