Generation of rhythmic and voluntary patterns of mastication using Matsuoka oscillator for a humanoid chewing robot

Xu, Wen; Fang, F. Clara; Bronlund, John E.; Potgieter, Johan

doi:10.1016/j.mechatronics.2008.08.003

Cited by 14 publications

(10 citation statements)

References 25 publications

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“…This is an extension of the work by Kobayashi et al [91] and Noh et al [98] in the field of swallowing robotics, and the work of Xu et al [21,22,77] on the development of masticatory robots. The purpose is to objectively evaluate bolus rheology in an attempt to determine the swallow safety of different food formulations.…”

Section: Resultssupporting

confidence: 52%

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Review of the swallowing system and process for a biologically mimicking swallowing robot

et al. 2012

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Section: Resultssupporting

confidence: 52%

“…Robotic devices have been developed to perform most primary human functions such as respiration, gait, and mastication [21,22,[75][76][77][78][79][80]. The process of deglutition has not been extensively investigated due to the difficulty of modeling the swallowing apparatus; particularly, reproduction of the transport motions.…”

Section: Robotic Devicesmentioning

confidence: 99%

Review of the swallowing system and process for a biologically mimicking swallowing robot

et al. 2012

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“…Since Taga et al (1991), it has become customary to couple two neurons in CPGs. While this model has mostly been used for robotic biped locomotion (Liu et al, 2006(Liu et al, , 2007(Liu et al, , 2008Panwart and Kumar, 2012;Liu et al, 2012;Al-Busaidi et al, 2012), some original works applied it to achieve human-robot handshaking (Kasuga and Hashimoto, 2005), a chewing robot (Xu et al, 2009) or traffic lights regulation (Fang et al, 2013). A Matsuoka neuron is a mesoscopic model defined by the following equations:…”

Section: Matsuoka Neuronmentioning

confidence: 99%

Comparative study of forced oscillators for the adaptive generation of rhythmic movements in robot controllers

Jouaiti

Hénaff

2019

Biol Cybern

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HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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“…Five variable chewing movement generation methods are listed: (i) recording clinical movements, 10 (ii) building a knowledge-based system (KBS) from clinical movements, 11 (iii) changing the coefficients of the trajectory planning model using eight-order polynomials, 2,3 (iv) changing the actuation parameters of chewing robots, 12 and (v) modulating bionic central pattern generator (CPG) models. [13][14][15] The CPG model based on Matsuoka neural oscillators was designed for two phase-locked muscles of a humanoid chewing robot to generate rhythmic chewing movement. 13 The Fourier-based automatic learning CPG, called FAL-CPG, was proposed for six driving chains of a masticatory rehab robot.…”

Section: Introductionmentioning

confidence: 99%

CPG-based generation strategy of variable rhythmic chewing movements for a dental testing chewing robot

Qin

Cong

Liu

et al. 2022

Proc Inst Mech Eng H

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The rhythmic chewing movement pattern is dynamically reshaped to adapt to a variable chewing environment. The variance affects the wear performance of dental prostheses. This study was aimed to generate these variable rhythmic chewing movements for dental testing equipment. A six-axis parallel chewing robot DUT-2 was adopted as the dental testing equipment. Four variances were extracted from the rhythmic movement, including period, offset, amplitude, and mode. The relevant movement cases, including gradually accelerating movement, gradually increasing movement, gradually shrinking movement, and bilateral movement, were designed. Then, a central pattern generator (CPG) model based on morphed phase oscillators was proposed. According to the coupling feature of the rhythmic movements, the specific modulation method of the CPG model was provided for these movements. The simulated incisor trajectory was outputted by importing the driving amplitudes from the CPG model to the virtual prototype of the chewing robot. The bite force (considering two-body and three-body contacts) was analyzed by writing the driving amplitudes into the motion controller of the chewing robot’s physical prototype. The relative errors of offset and amplitude in the z-direction were 4.14% and 0.74%, respectively. The transition was smooth around the turning point during the gradually increasing movement and bilateral movement. For two-body contact, the average relative error and bias of the maximum bite force were 4.15% and 1.08%, respectively. The food involvement decreased the accuracies to 13.18% and 2.50%, respectively. The CPG model supplies a bionic and explicit approach for generating the variable rhythmic chewing movements. The variable movements related to chewing preferences and food properties could be replicated. Besides, the high repeatability of the maximum bite force is beneficial for running the repetitive wear tests. Finally, the CPG model makes it possible to study the influence of the variance on wear performance.

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Generation of rhythmic and voluntary patterns of mastication using Matsuoka oscillator for a humanoid chewing robot

Cited by 14 publications

References 25 publications

Review of the swallowing system and process for a biologically mimicking swallowing robot

Review of the swallowing system and process for a biologically mimicking swallowing robot

Comparative study of forced oscillators for the adaptive generation of rhythmic movements in robot controllers

CPG-based generation strategy of variable rhythmic chewing movements for a dental testing chewing robot

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