Control of a mastication robot for reduction of jaw joint force focusing on musculus temporalis

Author

Takanobu, Hideaki ; Takanishi, Atsuo ; Kato, Ichiro

Author_Institution

Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan

Volume

3

fYear

1994

fDate

12-16 Sep 1994

Firstpage

1824

Abstract

A mastication robot is a jaw motion simulator that has similar structure and function to the human masticatory system. This paper describes an optimal reduction of the jaw joint force focusing on the fan shape of the musculus temporalis (M.temporalis) spreading around the side of skull. The shape of M.temporalis is simplified as two independent lines, and the jaw joint force is computed by using linear programming. Furthermore the actuators corresponding to the anterior and posterior parts of M.temporalis are assigned separately. The 28% reduction of jaw joint force was confirmed experimentally by using robot

Keywords

actuators; biomechanics; force control; linear programming; physiological models; robots; actuators; human masticatory system; jaw joint force focussing; jaw motion simulator; linear programming; mastication robot; musculus temporalis; skull; DC motors; Dentistry; Force control; Hardware; Humanoid robots; Humans; Muscles; Robot sensing systems; Shape; Teeth;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Conference_Location

Munich

Print_ISBN

0-7803-1933-8

Type

conf

DOI

10.1109/IROS.1994.407611

Filename

407611