Choosing new ways to chew: a robotic model of the human masticatory system for reproducing chewing behaviors

This paper discusses the efforts to design a robotic device that can be used to reproduce the mastication process in a mechanically controllable way while the masticatory efficiency and/or food dynamics are assessed quantitatively. While being aimed at a robotic device that is able to fully reproduce human chewing behaviors, this paper is about building and simulating its robotic model. Following an examination into the biological muscles of mastication, the muscles responsible for the chewing movements are represented by a set of linear actuators and are placed between the mandible and the skull via spherical joints, resulting in a robotic mechanism. Simulations for the mandible movements with respect to the given muscular actuations, and for the muscular actuations required for a real human chewing pattern, are conducted using the Solidworks and COSMOS/Motion.