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This paper describes the reproduction of human mastication movements on a chewing robot of six degrees of freedom. Motion is recorded using an Articulograph AG500 while a subject chews on a controlled food sample. Articulograph accuracy considerations, data filtering, and the establishment of reference frames on the human subject are discussed in detail. A teeth mapping technique using the Articulograph...
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...
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