Kinematics and experiments of a life-sized masticatory robot for characterizing food texture

Show simple item record Xu, Weiliang en Torrance, J en Chen, B en Potgieter, J en Bronlund, J en Pap, JS en 2011-12-02T00:55:10Z en 2008 en
dc.identifier.citation IEEE Transactions on Industrial Electronics 55(5):2121-2132 2008 en
dc.identifier.issn 0278-0046 en
dc.identifier.uri en
dc.description.abstract A life-sized masticatory robot, which is intended to chew foods in a human way while the food properties are evaluated, of a 6RSS parallel mechanism is discussed in this paper. A robotic mechanism is proposed, and its kinematic parameters are defined according to the biomechanical findings and measurements of the human masticatory system. For a given mandibular trajectory to be tracked, the closed-form solution to inverse kinematics of the robot is found for joint actuations, whereas differential kinematics is derived in Jacobian matrices. Major features of the robot, including the motion control system, are presented. Experimental results for free chewing, soft-food chewing, and hard-food chewing are given where the foods are simulated by foam and hard objects, and crank actuations and driving torques (an indication of muscular activities) required are compared for the chewing of different foods. en
dc.publisher IEEE en
dc.relation.ispartofseries IEEE Transactions on Industrial Electronics en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. Details obtained from en
dc.rights.uri en
dc.title Kinematics and experiments of a life-sized masticatory robot for characterizing food texture en
dc.type Journal Article en
dc.identifier.doi 10.1109/TIE.2008.918641 en
pubs.issue 5 en
pubs.begin-page 2121 en
pubs.volume 55 en
dc.rights.holder Copyright: IEEE en
pubs.end-page 2132 en
pubs.publication-status Published en
dc.rights.accessrights en
pubs.subtype Article en
pubs.elements-id 208182 en Engineering en Mechanical Engineering en
pubs.record-created-at-source-date 2011-03-22 en

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