NDLI: Dynamics and Compliance Control of a Linkage Robot for Food Chewing

Content Provider	IEEE Xplore Digital Library
Author	Sun, C. Xu, W.L. Bronlund, J.E. Morgenstern, M.
Copyright Year	1982
Abstract	A chewing robot based on a six-bar linkage is developed to reproduce a variety of human chewing trajectories in 2-D space. In order to mimic human chewing behaviors for the purpose of objective measurements of food texture changes during chewing and preparation of food bolus, a compliance control is considered for the robot. In this paper, the dynamics of the robot is derived and validated through both simulations and experiments. Food models of peanuts and marshmallow are developed to simulate the food force-compression profiles. The compliance control of the robot is realized by a combination of an adaptive fuzzy velocity controller and a fuzzy adaptation mechanism for type of foods. By means of experimental comparisons between the chewing velocity and force results with food models, it is found that the compliance control proposed is able to control the chewing velocity in adapting to the food texture. The chewing robot developed is a valuable potential tool for evaluating food properties and bolus preparation in the field of food sciences.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	377
Ending Page	386
Page Count	10
File Size	1545073
File Format	PDF
ISSN	02780046
Volume Number	61
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Analytical models Couplings Force Springs Robot kinematics fuzzy logic control Chewing robot compliance control dynamics food evaluation
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A Robot Joint With Variable Stiffness Using Leaf Springs

Adaptive fuzzy control on a chewing machine

Constrained Multilegged Robot System Modeling and Fuzzy Control With Uncertain Kinematics and Dynamics Incorporating Foot Force Optimization

A Linkage Chewing Machine for Food Texture Analysis

Design of a Biologically Inspired Parallel Robot for Foods Chewing

Control of switched reluctance motor torque for force control applications

Constraint-Based Interaction Control of Robots Featuring Large Compliance and Deformation

A hybrid fuzzy logic and neural network algorithm for robot motion control

A stable self-organizing fuzzy controller for robotic motion control

Dynamics and Compliance Control of a Linkage Robot for Food Chewing

Similar Documents

A Robot Joint With Variable Stiffness Using Leaf Springs

Adaptive fuzzy control on a chewing machine

Constrained Multilegged Robot System Modeling and Fuzzy Control With Uncertain Kinematics and Dynamics Incorporating Foot Force Optimization

A Linkage Chewing Machine for Food Texture Analysis

Design of a Biologically Inspired Parallel Robot for Foods Chewing

Control of switched reluctance motor torque for force control applications

Constraint-Based Interaction Control of Robots Featuring Large Compliance and Deformation

A hybrid fuzzy logic and neural network algorithm for robot motion control

A stable self-organizing fuzzy controller for robotic motion control

Dynamics and Compliance Control of a Linkage Robot for Food Chewing