Development of Human-Size Swallowing Robot

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI:10.20965/jrm.2023.p1663

Hisaki Sato, Hiroshi Kobayashi, Kenta Matsumoto, T. Hashimoto, Y. Michiwaki

引用次数: 0

Abstract

The number of patients with swallowing disorders is increasing according to the aging of society, although swallowing plays a significant role in the dietary process. The process of swallowing includes a very fast reflexive motion; there are difficulties in analyzing its mechanism even with the latest medical imaging technologies. In recent years, a simulator, named “Swallow Vision®,” has been developed from medical images such as MRI and CT to clearly visualize swallowing motion. It enables us to understand the kinesiology and analyze the motion of organs in swallowing. By using kinematic data obtained from this simulator and referring to medical knowledge, we develop a robotic simulator that has the potential to mimic human swallowing motion. The robot is able to perform tongue depressor and pharynx contraction to swallow food bolus. A performance evaluation is conducted to determine whether it is possible to swallow food bolus properly or where the bolus remains when failing.

查看原文本刊更多论文

人体尺寸吞咽机器人的开发

虽然吞咽在饮食过程中起着重要作用，但随着社会老龄化的加剧，吞咽障碍患者的数量也在不断增加。吞咽过程包括一个非常快速的反射运动，即使使用最新的医学成像技术也很难分析其机制。近年来，一种名为 "Swallow Vision®"的模拟器从核磁共振成像和 CT 等医学影像中开发出来，可以清晰地显示吞咽动作。它使我们能够了解吞咽过程中的运动学原理并分析器官的运动。通过使用从该模拟器获得的运动学数据并参考医学知识，我们开发出了一种有可能模仿人类吞咽运动的机器人模拟器。该机器人能够进行压舌和咽部收缩以吞咽食物。我们进行了性能评估，以确定是否可以正确吞咽食糜，或在失败时食糜残留在哪里。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.