Development of a mastication robot using nonlinear viscoelastic mechanism

Hideaki Takanobu*, Takeyuki Yajima, Atsuo Takanishi

*この研究の対応する著者

研究成果査読

17 被引用数 (Scopus)

抄録

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.

本文言語English
ページ1527-1532
ページ数6
出版ステータスPublished - 1997 12 1
イベントProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
継続期間: 1998 9 71998 9 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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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