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

Hideaki Takanobu, Norikazu Kuchiki, Atsuo Takanishi

    研究成果: Conference contribution

    5 引用 (Scopus)

    抄録

    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).

    元の言語English
    ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
    編集者 Anon
    出版場所Piscataway, NJ, United States
    出版者IEEE
    ページ372-377
    ページ数6
    1
    出版物ステータスPublished - 1995
    イベントProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
    継続期間: 1995 8 51995 8 9

    Other

    OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
    Pittsburgh, PA, USA
    期間95/8/595/8/9

    Fingerprint

    Mastication
    Plant shutdowns
    Muscle
    Robots
    Mathematical models
    Physiology
    Research laboratories
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering

    これを引用

    Takanobu, H., Kuchiki, N., & Takanishi, A. (1995). Control of rapid closing motion of a robot jaw using nonlinear spring mechanism. : Anon (版), IEEE International Conference on Intelligent Robots and Systems (巻 1, pp. 372-377). Piscataway, NJ, United States: IEEE.

    Control of rapid closing motion of a robot jaw using nonlinear spring mechanism. / Takanobu, Hideaki; Kuchiki, Norikazu; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. 版 / Anon. 巻 1 Piscataway, NJ, United States : IEEE, 1995. p. 372-377.

    研究成果: Conference contribution

    Takanobu, H, Kuchiki, N & Takanishi, A 1995, Control of rapid closing motion of a robot jaw using nonlinear spring mechanism. : Anon (版), IEEE International Conference on Intelligent Robots and Systems. 巻. 1, IEEE, Piscataway, NJ, United States, pp. 372-377, Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 95/8/5.
    Takanobu H, Kuchiki N, Takanishi A. Control of rapid closing motion of a robot jaw using nonlinear spring mechanism. : Anon, 編集者, IEEE International Conference on Intelligent Robots and Systems. 巻 1. Piscataway, NJ, United States: IEEE. 1995. p. 372-377
    Takanobu, Hideaki ; Kuchiki, Norikazu ; Takanishi, Atsuo. / Control of rapid closing motion of a robot jaw using nonlinear spring mechanism. IEEE International Conference on Intelligent Robots and Systems. 編集者 / Anon. 巻 1 Piscataway, NJ, United States : IEEE, 1995. pp. 372-377
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