| Presentation | 1995/12/9 Control System of an Autonomous Jaw-Movement Simulator, JSN/1C, Capable of Performing Open-Close Movement : Improvement of the Muscular Control Scheme Okazumi TAMURA, Toyohiko HAYASHI, Shin-ichi NAKAJIMA, Hiroshi KOBAYASHI, Yoshiaki YAMADA, Kiyoshi ISHIOKA, Michio MIYAKAWA, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In order to clarify the control mechanism of jaw movements, we have been developing an autonomous jaw-robot with a life-like structure and occlusal-force sensors, which is driven by masseter and lateral pterygoid actuators, all materialized by a cable-tendon DC-servo motor. To control these, we introduced an impedance-control scheme and an adaptive control mechanism, enabling it to perform a life-like open-close movement with clenching. This control scheme, however, employs a complete position-control in the isotonic phase for any actuator, which is incomprehensible in actual muscles. To improve this, we varied the amount of cable-length feedback, according to differences in muscles and movement phases, so as to simulate the activity of the stretch reflex more accurately. This modification and the addition of bilateral digastric actuators enabled the robot to perform a more natural open-close movement. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | autonomous jaw-movement robot / digastric actuator / impedance control / adaptive control / stretch reflex-jaw / open-close movement |
| Paper # | MBE95-119 |
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| Conference Information | |
| Committee | MBE |
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| Conference Date | 1995/12/9(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | ME and Bio Cybernetics (MBE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Control System of an Autonomous Jaw-Movement Simulator, JSN/1C, Capable of Performing Open-Close Movement : Improvement of the Muscular Control Scheme |
| Sub Title (in English) | |
| Keyword(1) | autonomous jaw-movement robot |
| Keyword(2) | digastric actuator |
| Keyword(3) | impedance control |
| Keyword(4) | adaptive control |
| Keyword(5) | stretch reflex-jaw |
| Keyword(6) | open-close movement |
| 1st Author's Name | Okazumi TAMURA |
| 1st Author's Affiliation | Graduate School of Engineering, Niigata University() |
| 2nd Author's Name | Toyohiko HAYASHI |
| 2nd Author's Affiliation | Graduate School of Science and Technology, Niigata University |
| 3rd Author's Name | Shin-ichi NAKAJIMA |
| 3rd Author's Affiliation | Department of Mechanical and Control Engineering, Niigata Institute of Technology |
| 4th Author's Name | Hiroshi KOBAYASHI |
| 4th Author's Affiliation | First Department of Prosthetic Dentistry, School of Dentistry, Niigata University |
| 5th Author's Name | Yoshiaki YAMADA |
| 5th Author's Affiliation | Department of Oral Physiology, School of Dentistry, Niigata University |
| 6th Author's Name | Kiyoshi ISHIOKA |
| 6th Author's Affiliation | Professor Emeritus, Niigata University |
| 7th Author's Name | Michio MIYAKAWA |
| 7th Author's Affiliation | Department or Information Engineering, Faculty of Engineering, Niigata University |
| Date | 1995/12/9 |
| Paper # | MBE95-119 |
| Volume (vol) | vol.95 |
| Number (no) | 404 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |