Title :
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
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;
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
DOI :
10.1109/IROS.1994.407611
