Designing a Robot Based on Parallel Mechanism to Reproduce Human Chewing Behaviour
نویسندگان
چکیده
To quantitatively assess masticatory efficiency and/or food texture changes during chewing, the jaw movements and forces of human chewing behaviour need to be reproduced. We have proposed a robotic solution where a parallel mechanism with six degrees of freedom (DOF) is developed and based on the biological model of human mastication system. This paper presents such a robot and outlines the design requirements of its actuation system. Six double-acting actuators replace the main muscles of mastication (masseter, temporalis, and lateral pterygoid) according to the biological attachment points and orientation. Actuator strokes, velocities and accelerations are found by implementing human chewing trajectories as inverse kinematics. The actuator forces are calculated for static biting.
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