Robotic Models of the Masticatory System

Abstract

In order to quantitatively evaluate the dynamic changes in the texture of foods during chewing in humans, a robotic device is required to enable the reproduction of human chewing behaviour. The first step in designing such a device requires the jaw mechanism to be modeled and analysed through simulations. Following a biological examination of the muscles used in the process of mastication, it was determined that those responsible for chewing movements can be represented by a set of linear actuators. By placing these actuators between the mandible and the skull, according to human biological structure and functionality, a robotic model of parallel mechanism was identified. The physical dimensions and properties of the mechanism were measured from a model replica of the human skull. Simulations for the mandible movements with respect to given muscular actuations, and for the muscular actuations required for actual human chewing patterns, were conducted using the Matlab/SimMechanics toolbox and the SolidWorks/CosmosMotion, respectively.

Reprinted with modification from the following papers: Daumas B, Xu WL and Bronlund J (2005) Jaw mechanism modelling and simulation. Mech. Machine Theor. 40:821-833, Xu WL, Bronlund J and Kieser J (2005) Choosing new ways to chew, a robotic model of the human masticatory system for reproducing chewing behaviours. IEEE Robotics Automation Mag.12:90-98, and Pap JS, Xu WL and Bronlund J (2005) A robotic human masticatory system: kinematics simulations. Int. J. Intell. Sys. Techno. Appl. 1:3-17, with permission from Elsevier, IEEE and Inderscience.