日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
二次元型顎運動シミュレータ (JSN/S1)
かみしめを伴う開閉口運動制御
中嶋 新一小林 祐司林 豊彦小林 博
著者情報
ジャーナル フリー

1997 年 15 巻 5 号 p. 722-727

詳細
抄録

Human mastication is performed by coordinated motions of several muscles attached to the jaws. To clarify the functions of these muscles, we have developed a jaw movement simulator (JSN/S1). The simulator consists of a 2DOF mechanism and four muscle actuators, capable of realizing jaw movements in a sagittal plane. The actuator is a cable-tendon driven by DC-servo motor, which is controlled under a compliance control scheme to obtain viscoelastic characteristics of the muscle. In order to simulate life-like clenching motion, we attempted to control the position and force at the incisal point, by incorporating position/force sensors to that point, and employing a neural-network based learning control scheme. Consequently, the trajectory and force at the incisal point were successfully converged into desired value through learning process.

著者関連情報
© 社団法人 日本ロボット学会
前の記事 次の記事
feedback
Top