Adaptive masticatory jaw motion using jaw position and biting force information

Abstract

The human system is one of the most complicated systems of 'multisensor fusion and integration' . For example, humans manipulate their mandibles by using jaw position and biting force information. In this paper, part of "Project: Humanoid", a control algorithm for a mastication robot to simulate the adaptive human masticatory jaw motions, and the experimental results using real food are presented. Humans can (1) open the jaw to adapt to food size, (2) close the jaw to adapt to food size and to crush food, and (3) bite food without breaking the mandible and maxilla. The authors designed a control algorithm including these three adaptive jaw motions based on dental facts for a mastication robot. The results of the real food chewing experiments show that adaptive jaw motions for food characteristics can be realized with a mastication robot using jaw position and biting force information.<>