DocumentCode :
1006751
Title :
Design of a Biologically Inspired Parallel Robot for Foods Chewing
Author :
Xu, W.L. ; Pap, J.-S. ; Bronlund, J.
Author_Institution :
Massey Univ., Auckland
Volume :
55
Issue :
2
fYear :
2008
Firstpage :
832
Lastpage :
841
Abstract :
To quantitatively assess food texture changes and/or masticatory efficiency during chewing, the jaw movements and chewing/biting forces must be measured. For this purpose, a robotic solution has been proposed to reproduce the human chewing behavior. The chewing robot of parallel mechanism is based on the biological finding that the mandible is pivoted at the temporomandibular joints and driven by groups of muscles for opening and closing of the mouth. This paper reviews the biomechanics of the mastication system, defines the kinematical mechanism of the chewing robot, and describes the design of the actuation systems. With a linear actuator for a muscle group of mastication, its spatial placement between the mandible or moving plate and the maxilla or ground plate follows the line of action and attachment sites of the muscle. The design requirements for each actuation system are mainly specified as the actuation range, velocity, and acceleration, and the actuation force, which are determined by inverse kinematics analysis via a simulation software and the jaw force analysis via Pythagorean theorem, respectively. A design of the physical linear actuation, which is made up of a rotary motor, a gear reduction train, and a leadscrew, is presented, whereas the challenges are discussed for building the entire chewing robot.
Keywords :
biomechanics; control system synthesis; fasteners; food products; gears; humanoid robots; muscle; robot kinematics; rotors; Pythagorean theorem; actuation system design; biologically inspired parallel robot design; biomechanics; chewing-biting forces; food chewing; gear reduction train; human chewing behavior; inverse kinematics analysis; jaw movements; leadscrew; mandible-maxilla spatial placement; mastication system; muscle group linear actuator; rotary motor; simulation software; temporomandibular joints; Acceleration; Analytical models; Biomechanics; Force measurement; Humans; Hydraulic actuators; Kinematics; Mouth; Muscles; Parallel robots; Biorobotics; bio-robotics; chewing robot; muscle of mastication; parallel robot; speech robot;
fLanguage :
English
Journal_Title :
Industrial Electronics, IEEE Transactions on
Publisher :
ieee
ISSN :
0278-0046
Type :
jour
DOI :
10.1109/TIE.2007.909067
Filename :
4401204
Link To Document :
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