ABSTRACT
Masticatory robots have a broad application prospect in the field of denture material tests and mandible rehabilitation. Mechanism type of temporomandibular joint structure is an important factor influencing the performance of the masticatory robot. In view of the wide application of elastic components in the field of the biomimetic robot, an elastic component was adopted to simulate the buffering characteristics of the temporomandibular joint disc and formed the elastic temporomandibular joint structure on the basis of point-contact high pair. Secondly, the influences of the elastic temporomandibular joint structure (on mechanism degree, kinematics, dynamics, etc.) were discussed. The position and velocity of the temporomandibular joint were analyzed based on geometric constraints of the joint surface, and the dynamic analysis based on the Lagrange equation was carried out. Finally, the influence of the preload and stiffness of the elastic component was analyzed by the response surface method. The results showed that the elastic temporomandibular joint structure could effectively guarantee the flexible movement and stable force of the joint. The elastic joint structure proposed in this paper further improves the biomimetic behavior of masticatory robots. It provides new ideas for the biomimetic design of viscoelastic joint discs.
ABSTRACT
The purpose of this study was to clarify the effects of different frequencies of skipping rope on the elastic components of muscle and tendon in human triceps surae. Six male subjects performed ten rounds of skipping rope. Skipping tempos were with in a range of 100-170 skips per minute (SPM) . The vertical ground reaction force and the surface EMG of triceps surae muscles were recorded during each skipping round. Elastic components of muscle and tendon were estimated by Residual Time (RT : lag time difference between the vanishing point of muscle discharge and disappearance of EMG, and the end of the ground reaction force wave) and RTintegrate (integration of ground reaction force while RT still appears) . RT and RTintegrate at 100 SPM were the smallest values for all jump frequencies. On the other hand, integrated EMG (iEMG) at 100 SPM was the largest value for all jump frequencies. Although RT and RT<SUB>integrate</SUB>progressively increased as SPM was increased, iEMG correspondingly decreased. Rate in utilization of elastic components of muscle and tendon assessed by RT<SUB>integrate</SUB>at 170 SPM corresponds to 150% at 100 SPM. These results suggest that the rate in utilization of the elastic components of muscle and tendon while skipping rope, depend on jump frequency.