CN109910029B - Bionic chewing motion mechanism with double hooke hinges - Google Patents
Bionic chewing motion mechanism with double hooke hinges Download PDFInfo
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- CN109910029B CN109910029B CN201910340363.2A CN201910340363A CN109910029B CN 109910029 B CN109910029 B CN 109910029B CN 201910340363 A CN201910340363 A CN 201910340363A CN 109910029 B CN109910029 B CN 109910029B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 81
- 230000001055 chewing effect Effects 0.000 title claims abstract description 30
- 210000001738 temporomandibular joint Anatomy 0.000 claims abstract description 45
- 238000004088 simulation Methods 0.000 claims abstract description 24
- 210000003205 muscle Anatomy 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 26
- 230000008602 contraction Effects 0.000 claims description 10
- 210000004373 mandible Anatomy 0.000 abstract description 22
- 210000002050 maxilla Anatomy 0.000 abstract description 11
- 238000004458 analytical method Methods 0.000 abstract description 3
- 241001653121 Glenoides Species 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000003784 masticatory muscle Anatomy 0.000 description 2
- 210000003625 skull Anatomy 0.000 description 2
- 210000000966 temporal muscle Anatomy 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
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Abstract
The invention relates to a bionic chewing motion mechanism with double hooke hinges, which comprises a maxilla model, a mandible model, two bionic temporomandibular joints and a simulated muscle group, wherein the maxilla model is connected with the mandible model through two groups of bionic temporomandibular joints respectively arranged at two sides of the mandible model; four groups of double hooke hinge devices are arranged in the bionic temporomandibular joint and used for realizing that the mandibular model can freely move in six degrees of freedom and driving the mandibular model through the simulation muscle groups. The simulated motion device can be widely applied to the fields of chin rehabilitation, dental rehabilitation, food texture analysis, language treatment and the like.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a bionic chewing motion mechanism with double hooke hinges.
Background
The human chewing system is composed of maxilla, mandible, masticatory muscles, temporomandibular joint, etc.; wherein, the mandible can realize chewing movement under the action of the masticatory muscles.
The chewing robot can simulate the human mandibular movement behavior and reproduce the biomechanical environment, has great application value, can be applied to the fields of mandibular rehabilitation, dental rehabilitation, food texture analysis, language treatment and the like, and is engineering science integrating multiple technologies of mechanomology, kinematics, dynamics, perception system, movement control, mechano-electronics and the like.
Most of the existing chewing robots only simulate and reproduce chewing movements, but the accuracy and precision of the simulated movements cannot be guaranteed, common chewing movement types comprise double-side alternate chewing, double-side simultaneous chewing, left-side chewing and right-side chewing, and most of the existing chewing robots cannot truly reproduce the movements and biomechanics of the lower jaw due to the defects of the existing chewing robots.
Disclosure of Invention
The invention aims to solve the technical problem of providing a bionic chewing motion mechanism with double hooke hinges, which has the characteristics of simple structure, easy manufacture and capability of simulating human mandibular motion and biomechanics from the bionics perspective.
In order to solve the technical problems, the invention adopts the following technical scheme:
the bionic chewing motion mechanism with the double hooke hinges comprises a maxilla model, a mandible model, two bionic temporomandibular joints and a simulated muscle group, wherein the maxilla model is connected with the mandible model through two groups of bionic temporomandibular joints respectively arranged on two sides of the mandible model;
The bionic temporomandibular joint comprises a bionic temporomandibular condyloid process, a bionic temporomandibular joint nest and four groups of double hooke hinge devices, the bionic temporomandibular condyloid process is a hollow spherical shell, the bionic temporomandibular joint nest is a hemispherical hollow spherical shell, the double hooke hinge devices comprise connecting rods, one ends of the connecting rods are fixedly provided with universal cross shafts, the other ends of the connecting rods are fixedly connected with the outer surfaces of rotating balls through springs, the rotating balls are nested on the connecting rods, the central shafts of the connecting rods penetrate through the spherical centers of the rotating balls, the connecting rods axially penetrate through the springs along the springs, annular universal discs are arranged on the outer sides of the rotating balls, the inner walls of the universal discs are connected with the rotating balls through rotating shafts, the rotating balls can rotate relatively with the central shafts of the universal discs as the rotating centers, the planes of the universal discs are perpendicular to the central shafts of the connecting rods, and the centers of the universal discs coincide with the spherical centers of the rotating balls.
The bionic mandibular condyloid process surface is provided with four groups of through holes, one end of the connecting rod provided with a universal cross shaft penetrates through the through holes and extends into the bionic mandibular condyloid process, two ends of a long shaft of the universal cross shaft are fixedly arranged in the bionic mandibular condyloid process through bearings, the other end of the connecting rod outwards extends through the through holes on the bionic temporomandibular joint nest surface, the universal disc is embedded into the bionic temporomandibular joint nest surface, the outer side wall of the universal disc is connected with the inner side wall of the through holes on the bionic temporomandibular joint nest surface through a rotating shaft, and the universal disc can relatively rotate with the bionic temporomandibular joint nest;
the simulated muscle group comprises two temporo-muscular simulated pneumatic rods, two winged-muscular simulated pneumatic rods and two bitten-muscular simulated pneumatic rods, wherein the two temporo-muscular simulated pneumatic rods are used for simulating the expansion and contraction of the temporo-muscular on two sides, the two winged-muscular simulated pneumatic rods are used for simulating the expansion and contraction of the two flanking muscles, and the two bitten-muscular simulated pneumatic rods are used for simulating the expansion and contraction of the bitten-muscular on two sides.
The upper jaw model is fixed, the lower jaw model can move around two bionic temporomandibular joints under the drive of the simulation muscle group, and the degree of freedom of the movement of the lower jaw model is 6.
The bionic mandibular condyloid process is arranged on one side, close to the sphere center, of the hemispherical hollow spherical shell of the bionic temporomandibular joint nest, the bionic temporomandibular joint nest is fixedly arranged at the joint nest of the maxillary model, and the bionic mandibular condyloid process is fixedly arranged at the condyloid process of the mandibular model.
The diameter of the through hole on the surface of the simulated mandibular condyloid process is larger than that of the connecting rod, and the rotating shaft for connecting the universal disk and the rotating ball and the rotating shaft for connecting the universal disk and the simulated temporomandibular joint nest are in the same plane and are mutually perpendicular.
When the upper jaw model and the lower jaw model are in a relatively closed state, one ends of the four groups of connecting rods, provided with universal cross shafts, extend axially and converge at a focus, one ends of the four groups of connecting rods, away from the universal cross shafts, enclose into a square plane, and the distance between the focus and the center of the square plane is half of the side length of the square.
One end of the connecting rod, which is far away from the universal cross shaft, is provided with a baffle, one end of the spring is fixedly connected with the baffle, and the other end of the spring is fixedly connected with the surface of the rotating ball.
The temporo-muscular simulation pneumatic rod, the winged-muscular simulation pneumatic rod and the masseter simulation pneumatic rod have the same structure and comprise pneumatic push rods and ball hinges arranged at two ends of the pneumatic push rods, and the two ends of the pneumatic push rods are respectively connected with the maxillary model and the mandibular model through the ball hinges.
The bionic chewing motion mechanism with the double hooke hinges has the beneficial effects that: firstly, solving the displacement, the speed and the acceleration of each pneumatic push rod according to the masticatory movement to be carried out, and controlling the air inflow and the air inflow speed or the air outflow and the air outflow speed of the pneumatic push rod through an air conveying device so as to independently simulate the diastole or the systole states of each muscle and further realize the accurate control of the movement states of the mandible. The simulated motion device can be applied to the fields of chin rehabilitation, dental rehabilitation, food texture analysis, language treatment and the like.
Drawings
Fig. 1 is a perspective view of a simulated masticatory movement mechanism with a double hooke's hinge in accordance with the present invention.
Fig. 2 is a side view of a simulated chewing motion mechanism with a double hooke's hinge according to the present invention.
Fig. 3 is a schematic diagram of the position structure of a simulated temporomandibular joint and simulated muscle groups of a simulated chewing motion mechanism with a double hooke's hinge according to the present invention.
Fig. 4 is a perspective view of a simulated chewing motion mechanism maxillary model with a double hooke's hinge according to the present invention.
Fig. 5 is a perspective view of a simulated chewing motion mechanism mandible model with double hooke hinges according to the present invention.
Fig. 6 is a schematic structural view of a bionic chewing motion mechanism double hooke's hinge device with double hooke's hinges according to the present invention.
Fig. 7 is a schematic diagram of a connection structure between a bionic chewing motion mechanism with a double hooke hinge and a bionic mandibular condyloid process according to the present invention.
Fig. 8 is a schematic diagram of a connection structure between a bionic chewing motion mechanism with double hooke hinges and a bionic temporomandibular joint socket.
Fig. 9 is a schematic structural view of a bionic temporomandibular joint socket of a bionic chewing motion mechanism with a double hooke's hinge according to the present invention.
The drawings in the specification are marked: 1. a maxilla model; 2. a mandible model; 3. bionic temporomandibular joint; 4. simulating a muscle group; 5. a universal cross shaft; 6. a connecting rod; 7. a universal disk; 8. a spring; 9. a spin ball; 10. a ball hinge; 11. a pneumatic push rod; 12. a temporal muscle simulation pneumatic rod; 13. a wing muscle simulation pneumatic rod; 14. a bite muscle simulation pneumatic rod; 15. a simulated mandibular condyloid process; 16. bionic temporomandibular glenoid; 17. a double hooke's hinge device; 18. and a baffle.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments.
As shown in fig. 1, a bionic chewing motion mechanism with double hooke hinges comprises a maxilla model 1, a mandible model 2, two bionic temporomandibular joints 3 and a simulated muscle group 4, wherein the maxilla model 1 is connected with the mandible model 2 through the two bionic temporomandibular joints 3 respectively arranged at two sides of the mandible model 2;
In the present embodiment, 1 composed of a maxilla model 1 and a mandible model 2: the skull model 1 is obtained by processing based on CT scanning of the skull of a healthy adult, and is respectively a maxilla model 1 and a mandible model 2 obtained by processing as shown in fig. 4 and 5; the mandible model 1 is fixed, the mandible model 2 can move around two bionic temporomandibular joints 3 under the drive of the simulation muscle group 4, the freedom of movement of the mandible model 2 is 6, and the six degrees of freedom are respectively: the rotation of the sagittal axis, the coronal axis and the vertical axis, the forward and backward movement, the left and right movement and the up and down movement, and the basic requirement of human mandibular movement is met.
As shown in fig. 6 to 8, the bionic temporomandibular joint 3 comprises a bionic temporomandibular condyloid process 15, a bionic temporomandibular condyloid process 16 and four groups of double hooke hinge devices 17, the bionic temporomandibular condyloid process 15 is a hollow spherical shell, the bionic temporomandibular condyloid process 16 is a hemispherical hollow spherical shell, the double hooke hinge devices 17 comprise a connecting rod 6, one end of the connecting rod 6 is fixedly provided with a universal cross shaft 5, the other end of the connecting rod is fixedly connected with the outer surface of a rotating ball 9 through a spring 8, the rotating ball 9 is nested on the connecting rod 6, the central shaft of the connecting rod 6 passes through the spherical center of the rotating ball 9, the connecting rod 6 passes through the spring 8 along the axial direction of the spring, an annular universal disk 7 is arranged at the outer side of the rotating ball 9, the inner wall of the universal disk 7 is connected with the rotating ball 9 through a rotating shaft, the rotating ball 9 can rotate relative to the universal disk 7 by taking the central shaft as the rotating center, the plane of the universal disk 7 is perpendicular to the central shaft of the connecting rod 6, the center of the universal disk 7 is coincident with the spherical center of the rotating ball 9;
In this embodiment, the surface of imitative mandibular condyloid 15 is provided with four groups of through-holes, and connecting rod 6 is provided with the one end of universal joint cross 5 and passes the through-hole and stretch into imitative mandibular condyloid 15 inside, the long axis both ends of universal joint cross 5 pass through bearing fixed mounting in imitative mandibular condyloid 15 inside, the other end of connecting rod 6 outwards extends the through-hole on bionical temporomandibular glenoid fossa 16 surface, universal disk 7 embedding bionical temporomandibular glenoid fossa 16 surface, universal disk 7 lateral wall is connected with the inside wall of bionical temporomandibular glenoid fossa 16 surface through-hole through the pivot, universal disk 7 can rotate with bionical temporomandibular glenoid fossa 16 relatively.
In this embodiment, the bionic mandibular condyloid 15 is disposed on one side of a hemispherical hollow spherical shell of the bionic temporomandibular joint nest 16, which is close to the spherical center, the bionic temporomandibular joint nest 16 is fixedly mounted at the joint nest of the maxillary model 1, and the bionic mandibular condyloid 15 is fixedly mounted at the condyloid of the mandibular model 2. The simulated mandibular condyloid process 15 is constrained by the simulated temporomandibular joint 3 to move within the simulated temporomandibular glenoid fossa 16.
During the movement of the mandible model 2, the centre of sphere of the rotating ball 9 in the structure of the biomimetic temporomandibular joint 3 is unchanged. The relative rotation among the rotary ball 9, the universal disk 7 and the bionic temporomandibular joint nest 16 forms a group of hooke's hinge devices, and the hooke's hinge devices are further matched with the universal cross shaft 5 to form double hooke's hinges, so that the six-degree-of-freedom relative motion between the maxillary model 1 and the mandibular model 2 can be realized.
Further, the motion range of the bionic mandibular condyloid 15 is related to the bionic temporomandibular joint nest 16, the length of the connecting rod 6, and the stiffness coefficient of the spring 8, and the smaller the size of the bionic temporomandibular joint nest 16 is, the shorter the length of the connecting rod 6 is, the smaller the motion range of the bionic mandibular condyloid is, and the stiffness coefficient of the spring 8 can influence the resilience force of the bionic mandibular condyloid at different positions.
As shown in fig. 3, the simulated muscle group 4 includes two temporo-muscular simulated pneumatic rods 12, two winged-muscular simulated pneumatic rods 13 and two masseter-muscular simulated pneumatic rods 14, the two temporo-muscular simulated pneumatic rods 12 are used for simulating the expansion and contraction of the two lateral temporo-muscles, the two winged-muscular simulated pneumatic rods 13 are used for simulating the expansion and contraction of the two lateral wings, and the two masseter-muscular simulated pneumatic rods 14 are used for simulating the expansion and contraction of the two lateral massagers.
In this embodiment, the temporo-muscular simulation pneumatic rod 12, the winged-muscular simulation pneumatic rod 13 and the masseter-muscular simulation pneumatic rod 14 have the same structure, and each comprises a pneumatic push rod 11 and ball hinges 10 arranged at two ends of the pneumatic push rod 11, wherein two ends of the pneumatic push rod 11 are respectively connected with the maxillary model 1 and the mandibular model 2 through the ball hinges 10.
The fixing positions of the ball hinges 10 at both ends of the pneumatic putter 11 and the maxillary model 1 and the mandibular model 2 are determined by the actual connection positions of the tendons of the temporal muscles, the wing muscles and the bite muscles and the jawbone, respectively.
When simulation is carried out, the displacement, speed and acceleration of each pneumatic push rod 11 are solved according to the masticatory movement to be carried out, the air input and the air input speed of the pneumatic push rods or the air output and the air output speed are controlled through the air conveying device, and the relaxation or contraction state of each muscle is independently simulated, so that the movement state of the mandible is accurately controlled. The pneumatic pushing rod is controlled to move by the air conveying device, which is a conventional technical means in the field, and the application is not described in detail under the condition that the pneumatic pushing rod is not taken as the application point.
In this embodiment, the diameter of the through hole on the surface of the simulated mandibular condyloid process 15 is larger than the diameter of the connecting rod 6, and the rotating shaft connecting the universal disk 7 and the rotating ball 9 and the rotating shaft connecting the universal disk 7 and the simulated temporomandibular glenoid fossa 16 are in the same plane and are mutually perpendicular.
The diameter of the through hole on the surface of the simulated mandibular condyloid 15 is required to be enough to ensure that the movement stroke of the connecting rod 6 is unobstructed.
In this embodiment, when the maxilla model 1 and the mandible model 2 are in a relatively closed state, one ends of the four groups of connecting rods 6, on which the universal cross 5 is mounted, extend axially and converge at a focus, one ends of the four groups of connecting rods 6, which are far away from the universal cross 5, enclose a square plane, and the distance between the focus and the center of the square plane is half of the side length of the square. I.e. the directions of placement of the four connecting rods 6 correspond to the directions from the geometric center of the cube to the four vertices of the upper plane when the maxillary model 1 and the mandibular model 2 are in a relatively closed state.
In this embodiment, a baffle 18 is disposed at one end of the connecting rod 6 far away from the universal joint pin 5, one end of the spring 8 is fixedly connected with the baffle 18, and the other end is fixedly connected with the surface of the rotating ball 9.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (5)
1. The bionic chewing motion mechanism with the double hooke hinges comprises a maxillary model (1), a mandibular model (2), two bionic temporomandibular joints (3) and a simulated muscle group (4), wherein the maxillary model (1) is connected with the mandibular model (2) through the two bionic temporomandibular joints (3) respectively arranged at two sides of the mandibular model (2);
The bionic temporomandibular joint (3) comprises a bionic temporomandibular condyloid process (15), a bionic temporomandibular joint nest (16) and four groups of double hooke hinge devices (17), the bionic temporomandibular condyloid process (15) is a hollow spherical shell, the bionic temporomandibular joint nest (16) is a hemispherical hollow spherical shell, the double hooke hinge devices (17) comprise connecting rods (6), one ends of the connecting rods (6) are fixedly provided with universal cross shafts (5), the other ends of the connecting rods are fixedly connected with the outer surfaces of rotating balls (9) through springs (8), the rotating balls (9) are nested on the connecting rods (6), the central shafts of the connecting rods (6) penetrate through the spherical centers of the rotating balls (9), the connecting rods (6) axially penetrate through springs (8), annular universal discs (7) are arranged on the outer sides of the rotating balls (9), the inner walls of the universal discs (7) are connected with the rotating balls (9) through rotating shafts, the universal discs (7) can rotate around the central shafts which are the central shafts, and the central shafts of the universal discs (7) are perpendicular to the spherical centers of the rotating shafts (7) which are perpendicular to the spherical centers of the rotating shafts (7);
Four groups of through holes are formed in the surface of the bionic mandibular condyloid process (15), one end of a connecting rod (6) provided with a universal cross shaft (5) penetrates through the through holes and stretches into the bionic mandibular condyloid process (15), two ends of a long shaft of the universal cross shaft (5) are fixedly arranged in the bionic mandibular condyloid process (15) through bearings, the other end of the connecting rod (6) outwards extends to penetrate through the through holes in the surface of the bionic temporomandibular joint nest (16), the universal disc (7) is embedded into the surface of the bionic temporomandibular joint nest (16), the outer side wall of the universal disc (7) is connected with the inner side wall of the through holes in the surface of the bionic temporomandibular joint nest (16) through a rotating shaft, and the universal disc (7) can rotate relative to the bionic temporomandibular joint nest (16);
the simulation muscle group (4) comprises two temporo-muscular simulation pneumatic rods (12), two winged-muscular simulation pneumatic rods (13) and two biter-muscular simulation pneumatic rods (14), wherein the two temporo-muscular simulation pneumatic rods (12) are used for simulating the expansion and contraction of the temporo-muscular on two sides, the two winged-muscular simulation pneumatic rods (13) are used for simulating the expansion and contraction of the flanking muscles, and the two biter-muscular simulation pneumatic rods (14) are used for simulating the expansion and contraction of the biter-muscular on two sides;
The upper jaw model (1) is fixed, the lower jaw model (2) can move around two bionic temporomandibular joints (3) under the drive of the simulation muscle group (4), and the degree of freedom of the movement of the lower jaw model (2) is 6;
The temporo-muscular simulation pneumatic rod (12), the winged-muscular simulation pneumatic rod (13) and the masseter-muscular simulation pneumatic rod (14) are identical in structure and comprise a pneumatic push rod (11) and ball hinges (10) arranged at two ends of the pneumatic push rod (11), and two ends of the pneumatic push rod (11) are connected with the maxillary model (1) and the mandibular model (2) through the ball hinges (10) respectively.
2. The bionic chewing motion mechanism with double hooke's hinges as in claim 1, characterized in that: the bionic mandibular condyloid process (15) is arranged on one side of a hemispherical hollow spherical shell of a bionic temporomandibular joint nest (16) close to a spherical center, the bionic temporomandibular joint nest (16) is fixedly arranged at the joint nest of the maxillary model (1), and the bionic mandibular condyloid process (15) is fixedly arranged at the condyloid process of the mandibular model (2).
3. The simulated masticatory movement mechanism with double hooke hinges as claimed in claim 2, characterized in that: the diameter of the through hole on the surface of the bionic mandibular condyloid process (15) is larger than the diameter of the connecting rod (6), and the rotating shafts for connecting the universal disc (7) and the rotating ball (9) are in the same plane with the rotating shafts for connecting the universal disc (7) and the bionic temporomandibular joint nest (16) and are mutually perpendicular.
4. A simulated masticatory movement mechanism with double hooke hinges as claimed in claim 3, characterised in that: when the upper jaw model (1) and the lower jaw model (2) are in a relatively closed state, one ends of the four groups of connecting rods (6) provided with the universal cross shafts (5) extend along the axial direction and are converged at a focus, one ends of the four groups of connecting rods (6) far away from the universal cross shafts (5) are enclosed into a square plane, and the distance between the focus and the center of the square plane is half of the side length of the square.
5. The simulated masticatory movement mechanism with double hooke hinges as claimed in claim 4, wherein: one end of the connecting rod (6) far away from the universal cross shaft (5) is provided with a baffle (18), one end of the spring (8) is fixedly connected with the baffle (18), and the other end of the spring is fixedly connected with the surface of the rotating ball (9).
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| CN110480611B (en) * | 2019-08-26 | 2022-06-10 | 电子科技大学 | A six-degree-of-freedom chewing robot and its communication control system |
| CN113359509A (en) * | 2021-06-03 | 2021-09-07 | 苏州苏穗绿梦生物技术有限公司 | Multi-degree-of-freedom simulated chewing robot and control method |
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| US6792952B2 (en) * | 2002-05-07 | 2004-09-21 | Joseph V. Mauro | Method and device for treatment of temporomandibular dysfunction syndrome and facial/dental deformities |
| CN1219278C (en) * | 2002-09-30 | 2005-09-14 | 四川大学 | Biomechanical model of human lower jawbone |
| CN103610506B (en) * | 2013-11-22 | 2015-06-10 | 大连理工大学 | Redundant actuation chewing robot with bionic temporal-mandibular joint |
| CN106239480A (en) * | 2016-08-26 | 2016-12-21 | 电子科技大学 | A kind of lower jaw based on Pneumatic artificial muscle chews robot |
| CN107063904B (en) * | 2017-03-22 | 2019-08-20 | 吉林大学 | An imitation chewing device |
| CN107685331B (en) * | 2017-08-15 | 2020-02-18 | 嘉兴学院 | An artificial mouth device based on pneumatic muscles and its control system |
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