Development of a mastication robot using nonlinear viscoelastic mechanism

Hideaki Takanobu, Takeyuki Yajima, Atsuo Takanishi

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

    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
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages1527-1532
    Number of pages6
    Volume3
    Publication statusPublished - 1997
    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

    Fingerprint

    Mastication
    Robots
    Muscle
    Mathematical models
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Takanobu, H., Yajima, T., & Takanishi, A. (1997). Development of a mastication robot using nonlinear viscoelastic mechanism. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 1527-1532). Piscataway, NJ, United States: IEEE.

    Development of a mastication robot using nonlinear viscoelastic mechanism. / Takanobu, Hideaki; Yajima, Takeyuki; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 3 Piscataway, NJ, United States : IEEE, 1997. p. 1527-1532.

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

    Takanobu, H, Yajima, T & Takanishi, A 1997, Development of a mastication robot using nonlinear viscoelastic mechanism. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 3, IEEE, Piscataway, NJ, United States, pp. 1527-1532, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3), Grenoble, Fr, 98/9/7.
    Takanobu H, Yajima T, Takanishi A. Development of a mastication robot using nonlinear viscoelastic mechanism. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 3. Piscataway, NJ, United States: IEEE. 1997. p. 1527-1532
    Takanobu, Hideaki ; Yajima, Takeyuki ; Takanishi, Atsuo. / Development of a mastication robot using nonlinear viscoelastic mechanism. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 3 Piscataway, NJ, United States : IEEE, 1997. pp. 1527-1532
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