A Redundantly Actuated Chewing Robot Based on Human Musculoskeletal Biomechanics: Differential Kinematics, Stiffness Analysis, Driving Force Optimization and Experiment

A Redundantly Actuated Chewing Robot Based on Human Musculoskeletal Biomechanics: Differential Kinematics, Stiffness Analysis, Driving Force Optimization and Experiment

Human masticatory system exhibits optimal stiffness, energy efficiency and chewing forces needed for the food breakdown due to its unique musculoskeletal actuation redundancy. We have proposed a 6PUS-2HKP (6 prismatic-universal-spherical chains, 2 higher kinematic pairs) redundantly actuated paralle...

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Bibliographic Details
Main Authors: Haiying Wen, Ming Cong, Zhisheng Zhang, Guifei Wang, Yan Zhuang
Format: Article
Language:English
Published: MDPI AG 2021-08-01
Series:Machines
Subjects:
chewing robot
masticatory biomechanics
redundant actuation
stiffness
driving force optimization
Online Access:https://www.mdpi.com/2075-1702/9/8/171

Internet

https://www.mdpi.com/2075-1702/9/8/171

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