Title: Human jaw motion measurement, analysis and robotic reproduction

Authors: J.D. Torrance, S.C. Hutchings, J.E. Bronlund, L. Huang, W.L. Xu

Addresses: School of Engineering and Advanced Technology, Massey University, New Zealand ' Institute of Food, Nutrition and Human Health, Massey University, New Zealand. ' School of Engineering and Advanced Technology, Massey University, New Zealand. ' School of Engineering and Advanced Technology, Massey University, New Zealand. ' School of Engineering and Advanced Technology, Massey University, New Zealand

Abstract: 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 is used to allow molar movements of the subject to be inferred from the recorded jaw motion. The significance of aligning the reference frames on human and robot are shown and a land-marking method is described to ensure the reference frames are aligned as closely as possible. Recorded molar movements are implemented on the chewing robot and detailed descriptions of the molar movements during the movement are given.

Keywords: jaw land-marking; robotic mastication; articulograph measurement; mechatronic jaws; robotic jaws; 6DOF motion; robot motion; mastication trajectory; molar trajectory; biologically based robots; biological motion reproduction; human mastication movements; chewing robots; teeth mapping; jaw motion.

DOI: 10.1504/IJISTA.2010.030206

International Journal of Intelligent Systems Technologies and Applications, 2010 Vol.8 No.1/2/3/4, pp.288 - 302

Published online: 11 Dec 2009 *

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