柔軟包囲機構を用いた食塊形成マニピュレーション

抄録

This paper presents a manipulation strategy for producing a food bolus by using a robotic mastication simulator. Based on human mastication functions, a flexible surrounding mechanism comprised of two rigid teeth, four flexible belts, and two wringer rollers is introduced. For the mechanism, three motion modes are defined: biting mode, stirring mode, and compressing mode. In the biting mode, a food sample is fractured by closing two teeth and fragments are surrounded by belts. In the stirring mode, the surrounding area is reduced by closing two rollers. An important feature is that the fragments are stirred via an asymmetry shape of the area. In the compressing mode, a food bolus is formed by closing both teeth and rollers. Repeating the three modes, the mixing rate of the bolus increases. Using a prototype, the proposed method is experimentally validated.