Trajectory measurement of human mandible and movement test of a chewing robot

In order to control a chewing robot in biologically faithful fashion with humans, the trajectory of the lower incisor point of mandible is measured by using mandibular kinesiograph. The main parameters of the envelope of lower incisor point movement are found. Based on the measurements and the characteristics of the basic functional mandibular movements, the trajectory of the robot is planned. An actuation redundant parallel mechanism with point contact higher kinematic pair for simulating mastication movement is introduced. The actual border movement experiment is carried out to verify the performance of the chewing robot. It is shown that the chewing robot can meet the movement space requirements.