Development of a Chewing Robot With Built-in Humanoid Jaws to Simulate Mastication to Quantify Robotic Agents Release From Chewing Gums Compared to Human Participants

Masticatory simulators based on oral physiology in food research: A systematic review

A masticatory simulator is a mechanical device that mimics the physiological structures of the human oral cavity, chewing movement system, and functions. The advantage of this device lies in real-time tracking and analysis of food boluses within a sealed oral space, offering a direct validation platform for food experiments without constraints related to time, space, and individual variations. The degree to which the masticatory simulator simulates physiological structures reflects its efficacy in replicating oral physiological processes. This review mainly discusses the physiological structures of the oral cavity, the simulation of biomimetic components, and the development, feasibility assessment, applications, and prospects of masticatory simulators in food. The highlight of this review is the analogy of biomimetic component designs in masticatory simulators over the past 15 years. It summarizes the limitations of masticatory simulators and their biomimetic components, proposing potential directions for future development. The purpose of this review is to assist readers in understanding the research progress and latest literature findings on masticatory simulators while also offering insights into the design and innovation of masticatory simulators.

A Review of In Vitro and In Silico Swallowing Simulators: Design and Applications

Swallowing is a primary and complex behaviour that transports food and drink from the oral cavity, through the pharynx and oesophagus, into the stomach at an appropriate rate and speed. To understand this sophisticated behaviour, a tremendous amount of research has been carried out by utilising the in vivo approach, which is often challenging to perform, poses a risk to the subjects if interventions are undertaken and are seldom able to control for confounding factors. In contrast, in silico (computational) and in vitro (instrumental) methods offer an alternate insight into the process of the human swallowing system. However, the appropriateness of the design and application of these methods have not been formally evaluated. The purpose of this review is to investigate and evaluate the state of the art of in vitro and in silico swallowing simulators, focusing on the evaluation of their mechanical or computational designs in comparison to the corresponding swallowing mechanisms during various phases of swallowing (oral phase, pharyngeal phase and esophageal phase). Additionally, the potential of the simulators is also discussed in various areas of applications, including the study of swallowing impairments, swallowing medications, food process design and dysphagia management. We also address current limitations and recommendations for the future development of existing simulators.

Variables influencing the device-dependent approaches in digitally analysing jaw movement-a systematic review

BACKGROUND

To explore the digitisation of jaw movement trajectories through devices and discuss the physiological factors and device-dependent variables with their subsequent effects on the jaw movement analyses.

METHODS

Based on predefined eligibility criteria, the search was conducted following PRISMA-P 2015 guidelines on MEDLINE, EBSCO Host, Scopus, PubMed, and Web of Science databases in 2022 by 2 reviewers. Articles then underwent Cochrane GRADE approach and JBI critical appraisal for certainty of evidence and bias evaluation.

RESULTS

Thirty articles were included following eligibility screening. Both in vitro experiments (20%) and in vivo (80%) devices ranging from electronic axiography, electromyography, optoelectronic and ultrasonic, oral or extra-oral tracking, photogrammetry, sirognathography, digital pressure sensors, electrognathography, and computerised medical-image tracing were documented. 53.53% of the studies were rated below "moderate" certainty of evidence. Critical appraisal showed 80% case-control investigations failed to address confounding variables while 90% of the included non-randomised experimental studies failed to establish control reference.

CONCLUSION

Mandibular and condylar growth, kinematic dysfunction of the neuromuscular system, shortened dental arches, previous orthodontic treatment, variations in habitual head posture, temporomandibular joint disorders, fricative phonetics, and to a limited extent parafunctional habits and unbalanced occlusal contact were identified confounding variables that shaped jaw movement trajectories but were not highly dependent on age, gender, or diet. Realistic variations in device accuracy were found between 50 and 330 µm across the digital systems with very low interrater reliability for motion tracing from photographs. Forensic and in vitro simulation devices could not accurately recreate variations in jaw motion and muscle contractions.

Recent trends in aroma release and perception during food oral processing: A review

The dynamic and complex peculiarities of the oral environment present several challenges for controlling the aroma release during food consumption. They also pose higher requirements for designing food with better sensory quality. This requires a comprehensive understanding of the basic rules of aroma transmission and aroma perception during food oral processing and its behind mechanism. This review summarized the latest developments in aroma release from food to retronasal cavity, aroma release and delivery influencing factors, aroma perception mechanisms. The individual variance is the most important factor affecting aroma release and perception. Therefore, the intelligent chewing simulator is the key to establish a standard analytical method. The key odorants perceived from the retronasal cavity should be given more attention during food oral processing. Identification of the olfactory receptor activated by specific odorants and its binding mechanisms are still the bottleneck. Electrophysiology and image technology are the new noninvasive technologies in elucidating the brain signals among multisensory, which can fill the gap between aroma perception and other senses. Moreover, it is necessary to develop a new approach to integrate the relationship among aroma binding parameters, aroma concentration, aroma attributes and cross-modal reactions to make the aroma prediction model more accurate.

A Redundantly Actuated Chewing Robot Based on Human Musculoskeletal Biomechanics: Differential Kinematics, Stiffness Analysis, Driving Force Optimization and Experiment

Human masticatory system exhibits optimal stiffness, energy efficiency and chewing forces needed for the food breakdown due to its unique musculoskeletal actuation redundancy. We have proposed a 6PUS-2HKP (6 prismatic-universal-spherical chains, 2 higher kinematic pairs) redundantly actuated parallel robot (RAPR) based on its musculoskeletal biomechanics. This paper studies the stiffness and optimization of driving force of the bio-inspired redundantly actuated chewing robot. To understand the effect of the point-contact HKP acting on the RAPR performance, the stiffness of the RAPR is estimated based on the derived dimensionally homogeneous Jacobian matrix. In analyzing the influence of the HKP on robot dynamics, the driving forces of six prismatic joints are optimized by adopting the pseudo-inverse optimization method. Numerical results show that the 6PUS-2HKP RAPR has better stiffness performance and more homogenous driving power than its non-redundant 6-PUS counterpart, verifying the benefits that the point-contact HKP brings to the RAPR. Experiments are carried out to measure the temporomandibular joint (TMJ) force and the occlusal force that the robot can generate. The relationship between these two forces in a typical chewing movement is studied. The simulation and experimental results reveal that the existence of TMJs in human masticatory system can provide more homogenous and more efficient chewing force transmission.

Robotic Applications in Orthodontics: Changing the Face of Contemporary Clinical Care

The last decade (2010-2021) has witnessed the evolution of robotic applications in orthodontics. This review scopes and analyzes published orthodontic literature in eight different domains: (1) robotic dental assistants; (2) robotics in diagnosis and simulation of orthodontic problems; (3) robotics in orthodontic patient education, teaching, and training; (4) wire bending and customized appliance robotics; (5) nanorobots/microrobots for acceleration of tooth movement and for remote monitoring; (6) robotics in maxillofacial surgeries and implant placement; (7) automated aligner production robotics; and (8) TMD rehabilitative robotics. A total of 1,150 records were searched, of which 124 potentially relevant articles were retrieved in full. 87 studies met the selection criteria following screening and were included in the scoping review. The review found that studies pertaining to arch wire bending and customized appliance robots, simulative robots for diagnosis, and surgical robots have been important areas of research in the last decade (32%, 22%, and 16%). Rehabilitative robots and nanorobots are quite promising and have been considerably reported in the orthodontic literature (13%, 9%). On the other hand, assistive robots, automated aligner production robots, and patient robots need more scientific data to be gathered in the future (1%, 1%, and 6%). Technological readiness of different robotic applications in orthodontics was further assessed. The presented eight domains of robotic technologies were assigned to an estimated technological readiness level according to the information given in the publications. Wire bending robots, TMD robots, nanorobots, and aligner production robots have reached the highest levels of technological readiness: 9; diagnostic robots and patient robots reached level 7, whereas surgical robots and assistive robots reached lower levels of readiness: 4 and 3, respectively.