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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Principais autores:	Haiying Wen, Ming Cong, Zhisheng Zhang, Guifei Wang, Yan Zhuang
Formato:	Artigo
Idioma:	Inglês
Publicado:	MDPI AG 2021-08-01
Series:	Machines
Assuntos:	chewing robot masticatory biomechanics redundant actuation stiffness driving force optimization
Acceso en liña:	https://www.mdpi.com/2075-1702/9/8/171
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