Development of a mastication robot using nonlinear viscoelastic mechanism

Hideaki Takanobu, Takeyuki Yajima, Atsuo Takanishi

Research output: Contribution to conferencePaper

16 Citations (Scopus)

Abstract

This paper describes mathematical and mechanical models that simulate the nonlinearity of the human masticatory muscle. In addition, the experimental results of a real food chewing experiment by a mastication robot is described. When the lower jaw rapidly closes during the chewing motion, it may come in hard contact with the upper jaw if the food is a crushable one. To clarify the mechanism of this reflective jaw motion, the authors focused on the nonlinearity of the human masticatory muscle. The authors propose a feasible mathematical model of the muscle and its nonlinearity. A nonlinear viscoelastic mechanism is designed based on the mathematical model. As a result of chewing experiment, the authors confirmed the effectiveness of the proposing mechanism for the control of the robot jaw.

Original languageEnglish
Pages1527-1532
Number of pages6
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
Duration: 1998 Sep 71998 Sep 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
CityGrenoble, Fr
Period98/9/798/9/11

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Takanobu, H., Yajima, T., & Takanishi, A. (1997). Development of a mastication robot using nonlinear viscoelastic mechanism. 1527-1532. Paper presented at Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3), Grenoble, Fr, .