Mastication Robots
Biological Inspiration to Implementation
By Weiliang Xu and John Bronlund
Published by Springer,
http://www.springer.com/engineering/book/978-3-540-93902-3
Table of
Contents
Preface
Chapter 1 Introduction
Abstract
1.1 Why
mastication robots
1.2 The
masticatory system
1.3 Measurements
of the mastication
1.4 Computational
models of the masticatory system
1.5 Mastication
robots
1.6 Computational
intelligence in mastication
1.7 Discussion
1.8 Summary
References
Chapter 2 Robotic Models of the Mastication System
Abstract
2.1 A mechanism model of the masticatory
system
2.2 Kinematics simulation in Simmechanics
2.3 A robotic model of the masticatory
system
2.4 Kinematics simulation in SolidWorks/CosmosMotion
2.5 Summary
References
Chapter 3 Mastication Robot of Linear Actuation
Abstract
3.1 A refined robotic model
4.2 Motion design of the actuation
4.3 Force design of the actuation
4.4 Design of the actuation system
4.5 Design of the mastication robot
4.6 Summary
References
Chapter 4 Mastication Robot of Crank Actuation
Abstract
4.1 The 6RSS parallel mechanism
4.2 Coordinate systems and kinematical parameters
4.3 Inverse kinematics
4.4 Singularity analysis
4.5 Design of the robot
4.6 Motion control
4.7 Simulation in SolidWorks/CosmosMotion
4.8 Simulation in SimMechanics
4.9 Initial chewing experiments
4.10 Summary
References
Chapter 5 Mastication Robot of a Crank-Slider Linkage
Abstract
5.1 Why linkage mechanism for mastication
5.2 Design specifications
5.3 Basic linkage mechanism for incisor trajectory
5.4 Six-bar linkage mechanism for jaw movements
5.5 Analysis of the mechanism
5.6 Mechanical design of the mechanism
5.7 Measurement of the chewing force
5.8 The control system
5.9 Chewing experiments
5.10
References
Chapter 6 Measurement and Interpretation of Human Masticatory
Trajectories
Abstract
6.1 Introduction
6.2 Methods of measurement
6.3 Setting up a reference system
6.4 Articulograph experimental methodology
6.5 Evaluating measurement quality
6.6 Visualisation of recorded trajectories
6.7 Summary
References
Chapter 7 Robotic Chewing Experiments
Abstract
7.1 Introduction
7.2 Representation of human chewing motions
7.3 Robotic chewing trajectories
7.4 Foods chewing experiments
7.5 Analysis of chewing forces and actuating torques
7.6 Summary
References
Chapter 8 Understanding Food Texture through Masticatory
Robots
Abstract
8.1 Introduction
8.2 A review of food texture evaluation techniques
8.3 Dynamics of food texture through mastication robots
7.3.1
Food acquisition - the first bite
7.3.2 Initial food
properties – the first chew
7 3.3 Food breakdown –
a full mastication sequence
8.4 Testing mastication control approaches
8.5 Summary
References
Chapter 9 Neural Control of a Mastication Robot
Abstract
9.1 Why CPG for Neural Control
9.2 Fundamental of a Matsuoka oscillator
9.3 Tuning of a Matsuoka oscillator
9.4 Case study
9.5 Hardware-in0loop simulations
9.6
References
Chapter 10 Knowledge System of Human Mastication
Abstract
10.1 The need for the knowledge system
10.2 Object-oriented knowledge representation
10.3 Knowledge discovery via data mining
10.4 Case study
10.5 Summary
References