Title :
Generation of rhythmic and involuntary patterns for a swallowing robot
Author :
Zhu, M.Z. ; Xu, W.L.
Author_Institution :
Dept. of Mech. Eng., Univ. of Auckland, Auckland, New Zealand
Abstract :
Based on medical literatures, swallowing is controlled by Central Pattern Generator (CPG). CPGs are nonlinear oscillators formed by neural circuits which can generate rhythmic movements without receiving central input or rhythmic sensory feedback. These days Matsuoka model has been widely accepted by many robots for generating rhythmic movements. In this paper we intend to present an approach to a swallowing robot control based on a Recurrent Cyclic Inhibition (RCI) circuit. In this design, the RCI consist of three neurons as a CPG to generate rhythmic movement. There are two kinds of working method under this control system in order to mimic human swallowing process: one is to modelling the behaviour the primary peristalsis, and the other is to imitating the secondary peristalsis.
Keywords :
medical robotics; neural nets; oscillators; CPG; Matsuoka model; RCI circuit; central pattern generator; control system; human swallowing process; involuntary pattern generation; neural circuit; neuron; nonlinear oscillator; primary peristalsis; recurrent cyclic inhibition circuit; rhythmic movement generation; rhythmic pattern generation; secondary peristalsis; swallowing robot control; Esophagus; Mathematical model; Muscles; Neurons; Oscillators; Robot sensing systems;
Conference_Titel :
Mechatronics and Machine Vision in Practice (M2VIP), 2012 19th International Conference
Conference_Location :
Auckland
Print_ISBN :
978-1-4673-1643-9
