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1996 Fiscal Year Final Research Report Summary

Development of a nonlinear viscoelastic actuator for mastication robot

Research Project

Project/Area Number 07838041
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section時限
Research Field 咀嚼
Research InstitutionWaseda University

Principal Investigator

TAKANISHI Atsuo  Waseda University, Department of Mechanical Engineering, Associate Professor, 理工学部, 助教授 (50179462)

Project Period (FY) 1995 – 1996
KeywordsRobot / Mastication / Muscle / Actuator / Viscoelasticity
Research Abstract

In this research, we have proposed and confirmed the effectiveness of a nonlinear viscoelastic actuator for a mastication robot. Human muscle can be approximately modeled as two elements, that is, a contraction element and a serial elastic element. The contraction element includes an elastic and a viscous element. In case of chewing a food, the muscle's stiffness becomes high We focused on these characteristics of the muscle, and designed and made a mechanical nonlinear viscoelastic actuator. Three research steps, development of mathematical models, development of a mechanical model, and basic experiment of the mechanical model were performed.
Development of mathematical models : Three mathematical models, type A,B,and C have been proposed. Type A is 'X' shaped model, type B in '<' shaped model, and type C is '<' shaped model. We confirmed the elastic nonlinearity on all mathematical models as results of computer simulations. Furthermore, we confirmed the nonlinear viscoelasticity on type C by computer simulations, that is, the force increases in nonlinear to the elongation and the contraction velocity of the muscle.
Development of a mechanical model : A '<' shaped mechanical model was made. A rotary damper (viscous element) was connected in parallel with a helical torsion spring (elastic element). These two elements' characteristics that they have rotary characteristics are transferred into nonlinear characteristics by the attached tendon that pulls robot's mandible.
Basic experiment was performed to measure the force-displacement-velocity characteristic of the developed mechanical model. Both of the force-displacement and the force-velocity characteristics of the developed mechanical model showed the nonlinearity in force-displacement-velocity relationships.
As conclusions, a nonlinear viscoelastic actuator that has a rotary damper and a helical torsion spring was developed.

  • Research Products

    (8 results)

All Other

All Publications (8 results)

  • [Publications] Takanobu,Hedeaki: "Biomechanical aspect of a mastication robot" Theory and practice of robots and manipulators. 11. 251-258 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Takanobu, H., Kuchiki, N., Takanishi, A.: "Control of rapid motion of a robot jaw using nonlinear spring mechanism" IEEE/RSJ international conference on intelligent robots and systems (IROS'95). 372-377 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takanobu, H., Takanishi A.: "Biomechanical aspect of a mastication robot, Eleventh CISM-IFToMM symposium RoManSy" Theory and practice of robots and manipulators. 11. 251-258 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takanobu, H., Takanishi A.: "Nonlinear actuator for control of rapid jaw closing motion of a mastication robot" Fifth robot symposium. 245-248 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takanobu, H., Takanishi A.: "Development of a mastication robot -biting force feedback-" 6th annual conference of Japanese society for mastication science and health promotion. 24 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takanobu, H,Mori, Y., Yajima, T., Yanagisawa, N., Takanishi A.: "Development of a mastication robot -jaw motion control using nonlinear actuator-" 13th annual conference of robotics society of japan. 1045-1046 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takanobu, H., Yajima, T., Takanishi A.: "Development of a mastication robot-nonlinear viscoelastic actuator-" 16th annual conference of society of biomechanisms. 239-242 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takanobu, H., Sunaga, Y., Nakazawa M.Takanishi A.: "Development of a mastication robot -jaw motion control concerned with improving masticatory efficiency-" 14th annual conference of robotics society of japan. 1109-1110 (1996)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1999-03-09   Modified: 2020-07-10  

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