Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (3): 943-952.doi: 10.13229/j.cnki.jdxbgxb20180081

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Bionic design and experimental test of temporomandibular joint for masticatory robot

Hai⁃ying WEN1(),Xiang REN2(),Wei⁃liang XU3,Ming CONG4,Wen⁃long QIN4,Shu⁃hai HU2   

  1. 1. School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China
    2. College of Stomatology, Dalian Medical University, Dalian 116044, China
    3. Department of Mechanical Engineering, The University of Auckland, Auckland 1142, New Zealand
    4. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China
  • Received:2018-01-23 Online:2019-05-01 Published:2019-07-12
  • Contact: Xiang REN E-mail:wenhaiying@gmail.com;renxiangdy@foxmail.com

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Abstract:

For the purpose of reproducing human mandibular movement, and improving the bio?imitability of masticatory robot, a redundantly actuated parallel masticatory robot with point contact Higher Kinematic Pair (HKP) is introduced. The medical measurement method for analysis of Temporomandibular Joint (TMJ) structure is utilized and the bionic design of point contact higher kinematic pair of the masticatory robot is achieved. The bilateral correlated movement of the TMJ is analyzed and kinematic model is established based on the higher kinematic pair constraints. The trajectories, maximum velocities, frequencies of mandibular opening?closing movement are obtained by measuring several experimental subjects. The opening?closing movement experiment and force experiment are carried out on the masticatory robot prototype. The results show that the robot is able to achieve functionality of mandible movements and chewing forces which are required by denture wear fatigue behavior analysis.

Key words: automatic control technology, masticatory robot, redundant actuation, temporomandibular joint(TMJ), mandibular movement, chewing force

CLC Number: 

  • TP29

Fig.1

Structure of masticatory system"

Fig.2

Schematic diagram of simplified HKP"

Fig.3

Principle diagram of mechanism"

Fig.4

Three?dimensional diagram of masticatory robot"

Fig.5

CT scans of masticatory system"

Fig.6

Feature point coordinates of temporal articular surface"

Fig.7

Fitting curves of articular fossa of four volunteers"

Fig.8

Structure of HKP"

Fig.9

Bilateral correlated movement of TMJ and coordinate system"

Fig.10

Trajectory and velocity of measured mandibular movement"

Fig.11

Prototype of masticatory robot"

Fig.12

Block diagram of control system"

Fig.13

Motor velocity and torque"

Fig.14

Dental PFM crown and thin film pressure sensor"

Fig.15

Trajectory of masticatory robot"

Fig.16

Measured occlusal force"

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