Human Jaw Motion Measurement, Analysis, and Robotic Reproduction

This paper describes the reproduction of human mastication movements on a chewing robot of six degrees of freedom. Motion is recorded using an Articulograph AG500 while a subject chews on a controlled food sample. Articulograph accuracy considerations, data filtering, and the establishment of reference frames on the human subject are discussed in detail. A teeth mapping technique using the Articulograph is used to allow molar movements of the subject to be inferred from the recorded jaw motion. The significance of aligning the reference frames on human and robot are shown and a land-marking method is described to ensure the reference frames are aligned as closely as possible. Recorded molar movements are implemented on the chewing robot and detailed descriptions of the molar movements during the movement are given.