Human Jaw Motion Simulator

Northeastern University
Mechanical Engineering Undergraduate Capstone

Projects
Department of Mechanical and Industrial
Engineering
April 17, 2007
Human jaw motion simulator
Bryan Galer
Nathaniel Hockenberry
James Maloof
Mia Monte-Lowry
Katelyn O'Donnell
Tis work is available open access, hosted by Northeastern University.
Recommended Citation
Galer, Bryan; Hockenberry, Nathaniel; Maloof, James; Monte-Lowry, Mia; and O'Donnell, Katelyn, "Human jaw motion simulator"
(2007). Mechanical Engineering Undergraduate Capstone Projects. Paper 65. htp://hdl.handle.net/2047/d10011456

Human Jaw Motion Simulator

MIMU702

Technical Design Report

April 17, 2007

Department of Mechanical, Industrial and Manufacturing Engineering
College of Engineering, Northeastern University
Boston, MA 02115
Human Jaw Motion Simulator
Project #05

Final Report

Design Advisor: Prof. Muftu

Design Team
Bryan Galer, Nathaniel Hockenberry, James Maloof,
Mia Monte-Lowrey, Katelyn ODonnell

1

HUMAN JAW MOTION SIMULATOR

Design Team
Bryan Galer, Nathaniel Hockenberry, James Maloof,
Mia Monte-Lowrey, Katelyn ODonnell

Design Advisor / Sponsor
Professor Sinan Muftu

Abstract

The following report describes the anatomy and biomechanics of the human jaw along with
design ideas for the development of a realistic jaw simulator. Creating a physical simulation
gives hope that controls can be applied to study the jaws mechanical properties, dynamic
loadings, joint thresholds, and joint degeneration. This knowledge could lead to the ability to test
and improve current jaw prosthetics or even to the eventual understanding and treatment of the
temporomandibular joint (TMJ) disease. The problems that exist in creating a realistic simulator
are the unknown order, direction, and magnitude of muscle forces, the functions of the various
ligaments, and the complex TMJ.

The project has been broken down into four stages, with the goal of this first stage being
simulation of jaw closing. In order to accomplish this goal, three muscles were used: the
temporal, the masseter, and the lateral pterygoid muscles. This will be accomplished using servo
motors to act as the muscles. The system control is position-based rather than force-based, a
decision that was made because the force equations were statically indeterminate. A LabVIEW
interface was created to control the position of the jaw and monitor the lengths of each muscle
group.

The virtual and physical model indicated unrealistic results. Based on our assumptions of
perpendicularity, the mandible fell away from the jaw while simulating the closing motion.
More analysis needs to be done on jaw movement to continue on with the project in the future.

2

TABLE OF CONTENTS
TABLE OF CONTENTS ..............................................................................................................................................2
LIST OF TABLES.........................................................................................................................................................5
Copyright.......................................................................................................................................................................6
1 CHAPTER 1 BACKGROUND INFORMATION.....................................................................................................7
1.1 Introduction .............................................................................................................................................................7
1.1.1 Problem Statement............................................................................................................................................7
1.1.2 Motivation ........................................................................................................................................................7
1.1.3 Problem/ Design Concerns ...............................................................................................................................7
1.2 Temporomandibular Complex (TMC).....................................................................................................................7
1.2.1 Teeth.................................................................................................................................................................7
1.2.2 Bones ................................................................................................................................................................7
1.2.3 Blood vessels and nerves ..................................................................................................................................8
1.2.4 Ligaments .........................................................................................................................................................8
1.2.4.1 Collateral Ligament ...................................................................................................................................8
1.2.4.2 Capsular Ligament.....................................................................................................................................9
1.2.4.3 Temporomandibular Ligament ..................................................................................................................9
1.2.4.4 Sphenomandibular Ligament .....................................................................................................................9
1.2.4.5 Stylomandibular Ligament ........................................................................................................................9
1.2.5 Temporomandibular Joint...............................................................................................................................10
1.2.5.1 Components and Functions......................................................................................................................10
1.2.5.2 Finite Element Analysis and Models .......................................................................................................11
1.2.5.3 TMJ Failures and Disorders.....................................................................................................................13
1.2.6 Muscles...........................................................................................................................................................14
1.2.6.1 Skeletal Muscle Introduction...................................................................................................................14
1.2.6.2 Skeletal Muscle Motion...........................................................................................................................15
1.2.6.3 Skeletal Muscle in the Jaw.......................................................................................................................17
1.3 Mechanical Simulations of the TMC.....................................................................................................................23
1.3.1 Muscles...........................................................................................................................................................23
1.3.1.1 Requirements ...........................................................................................................................................23
1.3.1.2 Hydraulic and Pneumatic Rams...............................................................................................................23
1.3.1.3 Servo Drives ............................................................................................................................................24
1.3.1.4 Air Muscles..............................................................................................................................................24
1.3.1.5 Electroactive Polymers ............................................................................................................................25
1.3.1.6 Muscle Wire ............................................................................................................................................26
1.3.2 Ligaments .......................................................................................................................................................27
1.3.3 Articulating Disc.............................................................................................................................................27
1.4 Products and Patents..............................................................................................................................................27
1.4.1 Implant............................................................................................................................................................28
1.4.2 Manual Applications.......................................................................................................................................28
1.4.3 Virtual Applications........................................................................................................................................28
2 CHAPTER 2 STAGE I: JAW CLOSING .............................................................................................................32
2.1 Introduction ...........................................................................................................................................................32
2.1.1 Problem Statement..........................................................................................................................................32
2.2 Muscle and Ligament Use Decisions.....................................................................................................................32
2.3 Skull Research.......................................................................................................................................................33
2.4 TMJ Simulation.....................................................................................................................................................34
2.4.1 TMJ Friction Testing......................................................................................................................................35
2.5 System Control and Analysis.................................................................................................................................35
2.5.1 Positional Analysis .........................................................................................................................................36
2.5.2 Force Analysis ................................................................................................................................................39
2.6 Muscle Simulation.................................................................................................................................................40
2.6.1 Decision Matrix ..............................................................................................................................................40

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2.7 Electric Motors ......................................................................................................................................................41
2.7.1 Motor Basics...................................................................................................................................................41
2.7.2 Stepper Motors ...............................................................................................................................................42
2.7.3 DC Servo Motors............................................................................................................................................42
2.7.4 Shunt and Series Motors.................................................................................................................................43
2.7.5 Motor Choice..................................................................................................................................................43
2.7.6 Controlling A Motor .......................................................................................................................................44
3 CHAPTER 3 DETAILED DESIGN......................................................................................................................45
3.1 Digital Simulation..................................................................................................................................................45
3.2 Design....................................................................................................................................................................45
3.2.1 Frame..............................................................................................................................................................46
3.2.2 Motor and Controls.........................................................................................................................................46
3.2.3 Pulleys ............................................................................................................................................................47
3.2.4 Wire Attachments and Guides ........................................................................................................................47
3.2.5 Skull................................................................................................................................................................48
3.3 Motion Control ......................................................................................................................................................49
3.3.1 LabVIEW........................................................................................................................................................50
4 CHAPTER 4 Results and Conclusions..................................................................................................................51
4.1 Results ...................................................................................................................................................................51
4.1.1 Physical Testing and Debugging ....................................................................................................................51
4.1.2 Virtual Testing and Debugging.......................................................................................................................51
4.2 Conclusion.............................................................................................................................................................52
4.3 Future Progress......................................................................................................................................................52
5 CHAPTER 5 REFERENCES................................................................................................................................53
5.1 Sources Cited.........................................................................................................................................................53
APPENDIX A Patents .................................................................................................................................................55
APPENDIX B Matlab Code for Positional and Force Calculations and Interface ......................................................58
APPENDIX C Equations.............................................................................................................................................70
APPENDIX D ProE/Mechanica Mandible Model Properties .....................................................................................74
APPENDIX E Financial Management ........................................................................................................................76
APPENDIX F Matlab Interface...................................................................................................................................79
APPENDIX G Engineering Design Drawings ............................................................................................................81
APPENDIX H LabVIEW Settings ............................................................................................................................103
APPENDIX I Gantt Chart .........................................................................................................................................112

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LIST OF FIGURES
Figure 1 Side view of human skull showing masticatory bone structures [2] ............................................................8
Figure 2 Capsular and temporomandibular ligaments [2] ..........................................................................................9
Figure 3 Sphenomandibular and stylomandibular ligaments [2] ..............................................................................10
Figure 4 Sagittal view of the TMJ ............................................................................................................................11
Figure 5 TMJ in relaxed state (left); TMJ during clenching (right) [5] ....................................................................11
Figure 6 Von Mises stresses during normal opening of the jaw [8] .........................................................................13
Figure 7 Von Mises stress comparison with and without anterior force applied [8] ................................................13
Figure 8 Disc failure causing audible clicking [5]....................................................................................................14
Figure 9 Muscle in relaxed (left) and flexed (right) state .........................................................................................15
Figure 10 Nerve ending and T-tubule.......................................................................................................................16
Figure 11 Skeletal muscle breakdown......................................................................................................................16
Figure 12 - Depressor muscles ....................................................................................................................................17
Figure 13 - Hyoid bone and mastoid process...............................................................................................................17
Figure 14 - Temporal muscle vector force [11] and muscle [2] ..................................................................................18
Figure 15 - Masseter muscle vector force and muscle.................................................................................................18
Figure 16 - Sphenoid bone including the pterygoid plate [2] ......................................................................................19
Figure 17 - Medial and lateral pterygoid muscles in skull [2] and medial pterygoid muscle[11]................................19
Figure 18 - Vector forces from masseter and medial pterygoid muscles [11] .............................................................20
Figure 19 Lateral pterygoid muscle[11] and condylar neck[2].................................................................................20
Figure 20 - Summarized 3-D vector forces on the jaw[11] .........................................................................................21
Figure 21 - Jaw opening at 100% muscle activation [12]............................................................................................22
Figure 22 - Jaw closing at 5% muscle activation [12] .................................................................................................22
Figure 23 - Hydraulic ram...........................................................................................................................................24
Figure 24 Servo drives in spider robot......................................................................................................................24
Figure 25 - Relaxed and flexed air muscle ..................................................................................................................25
Figure 26 - Force vs. length output of air muscle........................................................................................................25
Figure 27 - EAP claw..................................................................................................................................................26
Figure 28 - Muscle wire arm.......................................................................................................................................26
Figure 29 - Common dental articulator [23] ................................................................................................................28
Figure 30 - CT scanning ..............................................................................................................................................29
Figure 31 - Separating the mandible............................................................................................................................29
Figure 32 - Meshed sections........................................................................................................................................30
Figure 33 - Motion and forces of chewing [25]...........................................................................................................30
Figure 34 Pro/Mechanica model...............................................................................................................................30
Figure 35 Beginning 3-D Studio Max animation of lower jaw [26].........................................................................31
Figure 36 Final 3-D Studio Max animation of lower jaw [26] .................................................................................31
Figure 37 - Model of jaw kinematics [27] ...................................................................................................................31
Figure 38 Maxilla and mandible created in Mimics .................................................................................................33
Figure 39 Skull showing zero point and axes ...........................................................................................................34
Figure 40 - Cross section of the TMJ with static analysis point locations...................................................................37
Figure 41. Path of Travel Plot......................................................................................................................................38
Figure 42. Muscle Lengths vs. Position Plot ...............................................................................................................38
Figure 43 - Mandible free body diagram.....................................................................................................................39
Figure 44 The internal construction of a standard electric motor [29]......................................................................42
Figure 45 A sample coil and magnet setup for a stepper motor [31] ........................................................................42
Figure 46 The brushes of the brushed motor (left), as pointed out by the red arrow, provide power to the coil. The
brushless motor (right) has a stationary coil that is directly wired shown by the blue arrow. .....................................43
Figure 48 Digital Simulation Interface .....................................................................................................................45
Figure 49 Final Design .............................................................................................................................................46
Figure 50 Motor and Pulley Connection...................................................................................................................47
Figure 51 Pulley to String Connection .....................................................................................................................48
Figure 52 Skull with Anchor and Attachment Points ...............................................................................................49
Figure 53 Virtual and Physical Failure.....................................................................................................................51

5

Figure 54. Updated Path of Travel for Points on the Lower Jaw.................................................................................52
Figure 55. Theoretical Mucle Force Profile.................................................................................................................80
Figure 56. Muscle Lengths Comparison Plot ..............................................................................................................80

LIST OF TABLES
Table 1 - Finite element analysis TMJ stresses [7]......................................................................................................12
Table 2 - Properties of muscles in simulation [6] ........................................................................................................23
Table 3 - Commonly used synthetic ligaments. [21] ...................................................................................................27
Table 4 - Stage outline.................................................................................................................................................32
Table 5 - Muscle force values [6] ................................................................................................................................32
Table 6 Muscle attachment values [37] ....................................................................................................................34
Table 7 Coefficients of Friction................................................................................................................................35
Table 8 Muscle simulation decision matrix..............................................................................................................40

6

Copyright

We the team members,

Bryan Galer Nathaniel Hockenberry James Maloof Mia Monte-Lowrey Katelyn ODonnell

Sinan Muftu

Hereby assign our copyright of this report and of the corresponding Executive Summary to the Mechanical, and
Industrial Engineering (MIE) Department of Northeastern University. We also hereby agree that the video of our
Oral Presentations ifs the full property of the MIE Department.

Publication of this report does not constitute approval by Northeastern University, the MIE Department or its faculty
members of the findings or conclusions contained herein. It is published for the exchange and stimulation of ideas.

7

1 CHAPTER 1 BACKGROUND INFORMATION
1.1 Introduction

1.1.1 Problem Statement
The goal of this project is to realistically simulate the motion of the human jaw with a LabVIEW user interface. In
order to do this, mechanical components will be used to re-create the muscles, ligaments, and temporomandibular
joint (TMJ) disc in conjunction with a 3-D model skull.

1.1.2 Motivation
The TMJ is one of the least understood joints in the human body. By creating a life-like simulation there is hope
that controls can be applied to study its mechanical properties, dynamic loadings, joint thresholds, and joint
degeneration. This knowledge could lead to the ability to test and improve current jaw prosthetics or even to the
eventual understanding and treatment of the (TMJ) disease. [1]

1.1.3 Problem/ Design Concerns
The lack of knowledge of how the muscles and ligaments control the motions of the jaw creates difficulty in
replicating the motions mechanically. The true order of muscle contraction and force required to move the jaw in a
definite direction is unknown. This coupled with the lack of information about the ligaments, specifically the
modulus of elasticity, requires deeper research and testing to produce an accurate design.

1.2 Temporomandibular Complex (TMC)

1.2.1 Teeth
The human skull is composed of an upper jaw, lower jaw, and teeth. There are thirty-two teeth, sixteen top and
sixteen bottom, in the jaw. There are two main tooth sections, the crown and root. The crown is the part of the
tooth that can be seen above the gum line while the root is hidden in the jaw. The tooth is connected to the jaw
through the periodontal ligament. This ligament acts as a cushion between the tooth and jaw, holding the tooth in
place. The teeth play a very important role in mastication, but the scope of this project only entails the opening and
closing of the jaw, therefore, specific tooth properties are not relevant at this juncture.

1.2.2 Bones
The bones act as the structural support to the body. The three main structural components in the skull associated
with mastication are the lower jaw (mandible), the upper jaw (maxilla), and the lateral side of the skull (temporal) as
shown in Figure 1. The maxilla is the fixed part of the jaw and the mandible pivots at the TMJ in relation to it.
Muscles and ligaments connect each of these bone structures to each other allowing movement of the jaw. More
specific information pertaining to the different bones and how they interact with the muscles and ligaments will be
discussed in their appropriate sections.

8

Figure 1 Side view of human skull showing masticatory bone structures [2]

1.2.3 Blood vessels and nerves
Like any other portion of the body the jaw is surrounded by blood vessels and nerves. The blood vessels carry blood
to the muscles and bones, supplying them with necessary nutrients such as oxygen. They also connect to the bones
to carry new blood out of the bone marrow. The nerves work as the communication system between the brain and
all parts of the body. They carry electrical signals from the brain to the muscles, telling them to move. In reverse
the bones, muscles, and skin can send signals back to the brain to indicate such things as pain and pressure.

1.2.4 Ligaments
A ligament is a band of fibrous tissue that attaches bone to bone or bone to cartilage. The purpose for ligaments in
the TMJ is to guide and prohibit excessive movements of the mandible while also protecting sensitive tissues such
as nerves and blood vessels. Due to the range of motion of the TMJ several ligaments are needed to control the
movement of the mandible and are as follows: collateral (discal) ligament, capsular ligament, temporomandibular
ligament, sphenomandibular ligament, and stylomandibular ligament. [2]

1.2.4.1 Collateral Ligament
The collateral ligament attaches the medial and distal surfaces of the articular disc to the condyle of the mandible.
Movement of the articular disc in the anterior and posterior directions is permitted and guided by the collateral
ligament. The collateral ligament combines with the capsular ligament to create the synovial cavity around the
articular disc. [2]

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1.2.4.2 Capsular Ligament
The capsular ligament is attached superiorly to the temporal bone and inferiorly to the neck of the condyle. It is also
attached to the entire circumference of the articular disc creating a seal for the synovial fluid. Movement of the
mandible in the lateral and inferior directions is controlled by the capsular ligament. See Figure 2 for image of the
capsular ligament. [2]

1.2.4.3 Temporomandibular Ligament
The temporomandibular (TM) ligament is comprised of an inner and outer oblique portion. The inner portion of the
TM ligament attaches the zygomatic arch to the anterior neck of the condyle while the outer oblique portion attaches
the zygomatic arch and posterior neck of the condyle. The TM ligament resists excessive movement of the
mandible in the downward direction. Independently the inner portion limits the posterior movement of the condyle
and articular disc while the outer oblique portion guides the condyles forward and downward movement. See
Figure 2 for an image of the TM ligament. [2]

Figure 2 Capsular and temporomandibular ligaments [2]

1.2.4.4 Sphenomandibular Ligament
The sphenomandibular ligament attaches the lingual on the sphenoid bone to the medial surface of the ramus. Its
main function is the protection of the nerves and blood vessels around the TMJ. The sphenomandibular ligament is
considered an accessory ligament since its impact on the TMJ is minor, limited to the possible prevention of anterior
and lateral dislocations. See Figure 3 for an image of the sphenomandibular ligament. [2]

1.2.4.5 Stylomandibular Ligament
The stylomandibular ligament attaches between the styloid process and the back of the ramus. The stylomandibular
ligament is another ligament which has been deemed accessory since its only function is to limit excessive
protrusive movements of the mandible. See Figure 3 for an image of the stylomandibular ligament. [2]

10

Figure 3 Sphenomandibular and stylomandibular ligaments [2]

1.2.5 Temporomandibular Joint

1.2.5.1 Components and Functions
The motion of the human jaw is made possible by the TMJ. It is composed of the temporal bones articulating
surfaces (the mandible fossa and the articular tubercle), the upper portion of the mandible (the condyle), the articular
cartilage and disc, ligaments (the temporomandibular and capsular), and muscles; as shown in Figure 4 [3]. The
TMJ is a diarthrodial joint, or movable joint, because it allows relative movement between two bony surfaces
separated by cartilage [4]. The system could be considered as two joints that work together to allow the motion of
the jaw. The lower portion of the articular disc and the condyle allows the jaw to act as a hinge and rotate. The upper
portion of the disc and the temporal bones articulating surfaces allow the jaw to slide forward and backward, and
limitedly from side to side [2]. Functions of the disc include shock absorption, bone fit in the TMJ, facilitating
complex movements, force distribution over a larger area, protecting the edges of the articulating surfaces, and
spreading lubrication [5].

The articular disc is a complicated system. The thin disc that is considered to act as non-ossified (non-hardened)
bone [3] sits below the mandible fossa and articular tubercle and above the condyle. When compressed it creates a
concavo-convex shape on its upper surface and its concave lower surface facilitates the various motions of the jaw
during each of its functions [2]. A loose fibrous structure connects the bone to the cartilage creating an articular
capsule [6]. The disc itself is primarily a mesh of collagen fibers with interstices filled with proteoglycans. During
loading the collagen maintains the discs shape. The elastin fibers assist in the recovery after unloading. Between the
disc and the bones are synovial cavities which are lined with endothelial cells that create synovial fluid which
lubricates the joint to reduce friction during motion [3].

11

Figure 4 Sagittal view of the TMJ

The TMJ is not controlled by the neuromuscular system, rather it is controlled by existing biomechanical restraints.
There is very little blood and few nerves in the disc itself [3]. Both Rees in 1954 and Isberg-Holm &Westesson in
1982 showed with cadavers that in the absence of the neuromuscular control system the disc and condyle behaved
normally and suggested that biomechanical restraints dictated the movements of the TMJ. During jaw opening the
condyle rotates approximately 10-15
o
on the disc. The taut temporomandibular ligament pulls the disc and condyle
down the anterior of the articular eminence. The force from the elevator muscle pulls the condyle into the articular
eminence compressing the disc creating an annulus to hold the condyle in place. The annulus is a bulging rim
around the disc. The disc shape is not genetically predetermined and the size and shape of the annulus will change
depending on the direction of the force. This can be seen in Figure 5. The amorphous disc actually destabilizes the
condyle allowing its complex movements of sliding and rotating [5].

Figure 5 TMJ in relaxed state (left); TMJ during clenching (right) [5]

1.2.5.2 Finite Element Analysis and Models
Progress has been made in understanding the forces withstood by the disc and other TMJ components. However,
currently the most advanced finite element analysis (FEA) is done based on assumptions. The most detrimental
assumption is that the disc acts with linear elastic properties, which is known not to be true. Other assumptions that
have been made are that direct muscle contact and interaction with the disc is negligible even though the upper head
of the lateral pterygoid muscle is attached to the disc and the condyle. Another assumption is that friction can be
neglected due to an extremely small coefficient of friction. It has been found that during grinding, chewing of food,

12

or bruxism is when the condyle is subject to its greatest load acting as a fulcrum [5]. During grinding the jaw is
balanced by the muscles and the condyle and disc are located on the posterior slope of the articular eminence. The
condyle is kept in place by the annulus that is created when the disc is compressed.

One FEA model that has been created to calculate the stresses in the articulating surfaces was done by Chen and Xu
[7]. They created a 2-D model of the human TMJ using the assumptions discussed. The inputs for their model were
the condylar displacements recorded with an MRI during jaw closing. A measured displacement that they used in
their calculation was 0.61mm with a 1.3
o
counterclockwise rotation (d = -0.55i + 0.27j mm from the initial position).
The model was used to simulate a jaw dropping to create a 9mm incisal opening. The disc experienced the greatest
von Mises and compressive stress at 8.0 MPa. This occurred in the middle portion of the upper boundary of the disc.
The articular eminence experienced the greatest tensile stress of 4.2 MPa [7]. See Table 1 for the stress results from
this FEA.

Table 1 - Finite element analysis TMJ stresses [7]
Max Von Mises Stress Max Compressive Stress Max Tensile Stress
Articular Disc 8.0 MPa 8.0 MPa 3.7 MPa
Condyle 3.0 MPa 4.0 MPa 1.0 MPa
Articular Eminence 3.9 MPa 2.8 MPa 4.2 MPa

A 3-D FE model of the TMJ was done by the Biomedical Engineering Department at the University of Iowa [21].
The 3-D model compared the motion of the articular disc and condyle when the disc was not loaded to the motion
when the disc was additionally loaded with lateral and medial forces. The model was based on a 20 step static
analysis of the normal opening of the jaw. It was found that muscle contractions and elastin fibers attached to the
disc were not needed to create the motion observed. Although it was found that without these attachments the
overall stress in the TMJ was greater. Figure 6 is a plot of the von Mises stresses during normal opening of the jaw.
The springs represent attachments to the disc, which includes ligaments and elastin fibers. Figure 7 shows the
differences in von Misses stresses when the anterior forces are applied.

13

Figure 6 Von Mises stresses during normal opening of the jaw [8]

Figure 7 Von Mises stress comparison with and without anterior force applied [8]

1.2.5.3 TMJ Failures and Disorders
TMJ disorders have been attributed to the disc sliding out from underneath the condyle. In these conditions the disc
is malformed and it is not behaving as it should. When this happens patients have reported an audible click that
occurs each time they open and close their jaw. With the disc out of place the condyle pushes up against it. As the
disc wedges underneath, it builds up elastic potential energy. When this energy is released the disc slips back under
the condyle; that is when the click occurs again [5]. This can be seen in Figure 8.

14

Figure 8 Disc failure causing audible clicking [5]

1.2.6 Muscles
In the human body there are three basic types of muscle: skeletal, smooth, and cardiac. These control everything
from blood flow to digestion. The skeletal muscle is the most prominent muscle in the body. Its main function is to
control the motion of bones. Smooth muscle makes up the digestive system, blood vessels, bladder, airways, and the
uterus. This muscle is capable of staying contracted for long periods of time or stretching. The last type of muscle,
known as the cardiac muscle, is found only in the heart. This muscle is very unique in that it has the ability to both
stretch like smooth muscle and has the power to contract like a skeletal muscle with a higher endurance level then
either of the others. The human jaw is controlled by skeletal muscles [9].

1.2.6.1 Skeletal Muscle Introduction
Skeletal muscle is only capable of contraction, but this action is the sum of several complex processes. Sarcomeres
are the contractile unit of muscles composed of myosin and actin fibers (See Figure 9) [10]. The basic motion of a
muscle resembles the way a millipede uses its legs to walk. The fundamentals of both muscle contraction and
millipede movement consist of two layers moving laterally in comparison to each other. For the millipede the two
layers are the ground and its body. It stretches out its legs, grips the ground, and pulls its body forward. The protein
fibers in muscle called myosin consist of many golf club shaped legs. These legs bond to the actin fibers (See
Figure 9). The myosin is capable of producing a power stroke when attached to actin, pulling the layers laterally
opposite of each other causing the contraction. This action happens repeatedly until the muscle is fully flexed [9].

15

Figure 9 Muscle in relaxed (left) and flexed (right) state

1.2.6.2 Skeletal Muscle Motion
When someone decides to move a muscle the brain sends an electrical signal along a nerve to that muscle to tell it
that it is time to perform. This signal travels all the way to the end of the nerve which terminates with a small gap
between it and the muscle cell, called the synapse. The electrical signal jumps the gap and binds to a protein known
as a receptor. The signal then travels along the cell until it enters the T-tubule. The T-tubule is the gateway for
nerve signals to enter the cell. The signal then proceeds to tell the muscle to release its calcium stores. These stores
are held in the area called the sarcoplasmic reticulum. Once the calcium leaves the sarcoplasmic reticulum it travels
to the actin fibers in the muscle as can be seen in Figure 10. These fibers are shaped like a double pearl string spun
in a helical pattern. The fibers are covered by a rod like layer known as tropomyosin along with troponin molecules
as shown in Figure 9 and Figure 11 [10]. These two act together to prevent the myosin from connecting with the
actin when the muscle is in its relaxed state. The calcium joins with the troponin to change the shape of the
tropomyosin. The binding surfaces of the actin layer are exposed at this point for the finger-like myosin to connect
to. The myosin contract, pulling the two layers laterally to each other. One stroke can shorten the muscle by 1%.
Since a muscle can shorten 40 to 50%, this process must be repeated many times. For the myosin to release its bind
from the actin, an adenosine triphosphate (ATP) must come and connect to the myosin as seen in Figure 9. Once
this has occurred the ATP is broken down into adenosine diphosphate (ADP) and a phosphate group (P
i
) causing the
myosin return to its original position, ready for the action to begin again. When the muscle contraction is complete
the calcium returns to the sarcoplasmic reticulum and the muscle relaxes [9].

16

Figure 10 Nerve ending and T-tubule

Figure 11 Skeletal muscle breakdown

17

1.2.6.3 Skeletal Muscle in the Jaw
Since the jaw is capable of motion on all three axes, there are several muscles in place to facilitate the movement.
The sides of the jaw are mirrors of one another. In order to focus on the opening and closing of the jaw there are
seven main muscles. The temporal, masseter, medial pterygoid, and lateral pterygoid muscles are the main muscles
for closing or elevating the jaw. The digastric, suprahyoid, and infrahyoid muscles are depressor muscles involved
in jaw opening. There are also ligaments that effect the opening and closing motions; the collateral discal, the
capsular, and the temporomandibular ligament [3].

The depressor muscles attach the mastoid process to the mandible and the hyoid. The digastric muscle connects the
mastoid process to the mandible and is connected to the hyoid by a tendon. The suprahyoid muscles are connected
from the mandible to the hyoid, and the infrahyoid muscles are connected from the hyoid to the sternum and
clavicle. The depressor muscles work to open the jaw and also in swallowing. The digastic muscle works mainly
when quick opening is required and when the mandible is opened against resistance [11]. The muscle and bone
structures are shown below in Figure 12 and Figure 13 [2]. As a group the main forces to overcome are that of the
elevator muscles and ligaments in order to open the jaw [12]. The ligaments act as springs, with no resistance when
in compression and a spring stiffness value of 10.9-16.35 kN/m when in tension [3].

Figure 12 - Depressor muscles

Figure 13 - Hyoid bone and mastoid process

18

The elevator muscles are somewhat more complex because they also function in positioning the jaw. The temporal
muscle is a large fan shaped muscle attached to the temporal bone, which comes together through the zygomatic
arch and attaches to the coronoid process of the mandible. The temporal muscle is often explained as having three
distinct parts: anterior, middle, and posterior. The temporal muscle acts as an elevator and positioner. As an
elevator it is used more for speed and not to resist high forces. The three sections of the temporal muscle can
activate separately allowing it to work as a positioner. The vector force that the temporal muscle exerts on the jaw
line can be seen below in Figure 14 [11].

Figure 14 - Temporal muscle vector force [11] and muscle [2]

The masseter muscle generates the high forces that the temporal muscle does not. It connects the angle of the
mandible to the zygomatic arch. It can generate very high loads in the molar area, and is the most powerful muscle
of the mandible. The vector forces can be seen in Figure 15. [11]

Figure 15 - Masseter muscle vector force and muscle

The medial pterygoid muscle works with the masseter muscle. It is connected to the internal section of the
mandibular angle and to the pterygoid plate which is internally part of the mouth. The pterygoid plate can be seen in
Figure 16. The medial pterygoid can exert high forces, but not quite as large as the masseter. Though the medial
muscle can act as a positioning muscle this is not its main function. It acts to move the jaw in closing as well as
lateral, or side to side, motion. The medial muscle acts upward, forward and inward on the mandibular angle, and
can be seen in Figure 17. [11]

19

Figure 16 - Sphenoid bone including the pterygoid plate [2]

Figure 17 - Medial and lateral pterygoid muscles in skull [2] and medial pterygoid muscle[11]

The muscles of the masseter and medial pterygoid are braided in order to increase the strength of the muscle. The
muscle fibers are at an angle, an arrangement typical of strong muscles, unlike the parallel arrangement of the
temporal muscle. A view of the vector forces caused by these muscles can be seen in Figure 18. [11]

20

Figure 18 - Vector forces from masseter and medial pterygoid muscles [11]

The lateral pterygoid muscle is actually two muscles, superior (upper) and inferior (lower). The upper lateral
pterygoid muscle connects to the sphenoid bone, to the condylar neck, capsular ligament, and the articular disc. The
lower lateral pterygoid muscle connects from the pterygoid plate to the condylar neck as seen in Figure 19. The two
muscles must work in unison moving both the disc and the condylar neck in opening the jaw or else the jaw may
click. They work to create lateral and protrusive movement of the mandible. The upper lateral muscle affects
upward, forward, and medial forces on the condyle and disc. This is used for positioning and to ensure the disc
remains between the condylar and eminence. The upper moves the disc down and forward and the lower moves the
condyle down and forward.[11]

Figure 19 Lateral pterygoid muscle[11] and condylar neck[2]

The teeth and the condylar process create reactive forces against the closing of the jaw. The ligaments and elevator
muscles create reactive forces against the depressor muscles. The total forces can be seen in 1-D and 3-D in Figure
20.[11]

21

Figure 20 - Summarized 3-D vector forces on the jaw[11]

In order to focus on opening and closing the jaw, assumptions must be made. Lateral motion of the jaw will be
ignored for the time being. Opening and closing of the jaw are not the reverse of each other. According to Koolstra
(1997), in opening the jaw slides forward while rotating and then continues to rotate to complete opening, regardless
of the different levels of muscle activation. Different degrees of opening result in different steps of sliding and
rotating. The sliding varies somewhat with different levels of muscle activation. The motions of 100% activation
can be seen in Figure 21; the different outlines indicate the position of the jaw at sequential steps of time. In opening
the jaw the inferior lateral pterygoid is important in causing the sliding motion. In Koolstras study, the researchers
deactivated different muscles, and the inferior lateral pterygoid created the biggest difference in sliding. When the
digastric was deactivated, the jaw slid, but did not open as wide as the others. In order to fully simulate opening
motions, five muscles per side of the jaw would need to be modeled: three depressor muscles, the temporal, and the
lateral pterygoid muscle. The temporal and lateral pterygoid muscles can be further broken down into three and two
components respectively for even further accuracy. [12]

22

Figure 21 - Jaw opening at 100% muscle activation [12]

The closing motions of the jaw can be seen below in Figure 22 at 5% of the total muscle force. The muscles of
closing can produce much higher forces than are needed just for closing in order to chew and clench. Therefore, a
small percentage of the muscle force can be used to completely close the jaw. According to Koolstra (2001 and
1997), the passive muscles of the jaw closing limit the amount of jaw opening. The jaw closing was not very
affected by the passive depressor muscles. The TMJ was loaded in both opening and closing. The moments as well
as the forces of the elevator muscles are essential for stable operation of the TMJ. They found that movements of
the jaw were predominantly dependant upon the orientation of the contributing muscles and not on the TMJ
ligaments or passive muscle forces. The muscles needed to simulate jaw closing are the temporal, masseter, lateral
pterygoid, and medial pterygoid muscles. In Koolstras study removing certain muscles from the simulation, only
removing the temporal muscle resulted in incomplete closing. [12][13]

Figure 22 - Jaw closing at 5% muscle activation [12]

Deformations of the mandible will be important when considering chewing, however since the goal of this stage of
the project is to model closing of the jaw, deformations should not impact our design.

23

According to Koolstra (2002), the maximum jaw opening that can be achieved in simulations is usually around 3
cm. However, in reality the jaw can open closer to 6 cm. [14] Table 2, converted from Koolstra 2005, shows muscle
lengths and maximum forces determined in their experiments.[6] The choice of muscles to be used in this project is
explained in Chapter 2.

Table 2 - Properties of muscles in simulation [6]
Muscles Muscle length (mm) Max. force (N)
Superficial masseter 48.0 272.8
Deep anterior masseter 29.5 73.8
Deep posterior masseter 30.9 65.8
Anterior temporalis 57.4 308.0
Posterior temporalis 62.9 222.0
Medial pterygoid 43.3 240.0
Superior lateral pterygoid 29.1 38.0
Inferior lateral pterygoid 27.2 112.8
Anterior digastric 51.9 46.4
Geniohyoid 48.5 38.8
Anterior mylohyoid 21.8 63.6
Posterior mylohyoid 44.8 21.2

1.3 Mechanical Simulations of the TMC

1.3.1 Muscles
Simulating a human muscle is a very complicated endeavor. Although mimicking a muscles strength, speed, or
size is easy, accomplishing all of these capabilities with one man-made device is extremely difficult. Currently there
are several options on the market used in simulations. These include, but are not limited to, hydraulic and
pneumatic rams, servo drives, air muscles, electroactive polymers, and muscle wire. Each option has its own pros
and cons and these must be weighed in accordance to the users requirements.

1.3.1.1 Requirements
To accurately reproduce the movements of the human jaw all of the characteristics of each muscle need to be as near
as possible to real life. The ability to apply relatively large forces, close with great speed, or match the same exact
size are not necessary, however, the basic principles must remain similar.

1.3.1.2 Hydraulic and Pneumatic Rams
Hydraulic and pneumatic are the most widely used types of piston ram. Rams use the pressure of their transmitting
fluid to create a force. A pump compresses the fluid into one side of the ram which forces the piston to move in the
opposite direction (See Figure 23). Hydraulics use oil as their transmitting fluid and pneumatics use air. Hydraulics
are capable of creating extreme forces that are usually only limited by the pump. This same principle holds true for
the speed of the ram. The higher the flow rate of the pump, the faster it transfers fluid into the ram, thus moving the
piston at greater speed. Pneumatics are capable of great forces as well but are used less frequently then hydraulics
for heavy lifting. Pneumatics are more often used for their high speed capabilities. One of the downfalls to rams is
the extra equipment and plumbing. Hydraulics can become messy due to all the oils involved and this is a great
drawback when working with highly sensitive electronics. There is also the large installation area needed for these
types of units. To achieve certain forces specific pump and ram size are necessary, that is, as the required level of
force increases so does the size of the equipment [15].

24

Figure 23 - Hydraulic ram

1.3.1.3 Servo Drives
Servo drives are position controlled electric motors. They are used frequently in such devices as hobby vehicles and
in robotics as seen in Figure 24. They are capable of extremely high speeds, but lack the power that a ram has.
Most servos consist of a small electric motor enclosed in a housing with a position sensor (typically a potentiometer)
and various other electronic controls. The motor shaft is then connected to a push rod that moves the desired load.
This means the force of the servo is greatly hindered by the length of the lever arm that works against the motor. To
their advantage, servos can have a great deal of precision depending on their internal gearing. This can be used to
produce easily repeatable results during testing [15].

Figure 24 Servo drives in spider robot

1.3.1.4 Air Muscles
Air muscles are based on the same principle as hydraulics and pneumatics. Air is forced into a balloon like tube
causing it to expand horizontally but contract laterally. The motion looks very similar to flexing the bicep muscle.
The balloon starts out long and thin but as air is pumped into it the balloon begins to take on a circular shape. This
causes the two ends to contract towards each other. This device is capable of high forces compared to its size and
weight. Again, the speed is limited by the pump that is used to transmit the air. Another key similarity to human

25

muscles is that as the air muscle contracts the force it exerts decreases (See Figure 25 and 26). When a human
muscle is at full extension there is more surface area for the myosin and actin to connect to each other. As the
muscle is contracted the bonding surfaces get taken up and this leaves a lower number of myosin fibers driving the
forces. Air muscles are also capable of flexing, unlike servos or rams. No muscles in the human body run in a
perfectly straight line, thus the air muscles may need to be twisted, or wrapped around a bone [17].

Figure 25 - Relaxed and flexed air muscle

Figure 26 - Force vs. length output of air muscle

1.3.1.5 Electroactive Polymers
Electroactive polymers, EAPs, are a set of polymers that take on a significant change in shape or size when an
electric charge is applied to them (See Figure 27). There are two types of electroactive polymers that can be used in
muscle simulation, known as electronic and ionic EAPs. Electronic EAPs are controlled by an electric field or
Coulomb, whereas ionic EAPs are controlled by the mobility or diffusion of ions. Electronic EAPs have the
advantage of being able to operate for long periods of times with very rapid response times, on the order of
milliseconds, and they have the ability to retain their shape change with the DC activation. This EAP has high
actuation forces for its size and weight. To its disadvantage, the electronic EAP requires a high voltage of
approximately 150 MV/m. Ionic EAPs require lower voltages then their counterpart but have slower response
times, and most ionic EAPs are incapable of holding strain [18].

26

Figure 27 - EAP claw
1.3.1.6 Muscle Wire
Muscle wire is a type of shape memory alloy made of Titanium Nickel (TiNi) and is known in the industry as either
Nitirol or Flexinol. Muscle wire is pictured in Figure 28. This alloy is called a memory alloy because it can be
programmed with two specific lengths. The length change is based on the temperature of the material. At the
cooled temperature (dependent on the specific alloy) the spring like material is flexible and stretchy, while at the
heated temperature (also dependent on the specific alloy) the material contracts and becomes stiff. These artificial
muscles have extremely high power-to-weight ratios but are very light-weight so their actual power output is weak.
They are easily susceptible to damage when in the cool state. Like a spring, an overstretched wire will not go back
to its original form [19].

Figure 28 - Muscle wire arm

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1.3.2 Ligaments
At the forefront of artificial ligaments is tissue engineering technology. Tissue engineering is the development of
synthetic materials that can be used to replace damaged tissues in the body. The materials can also be put to use in a
model of the human jaw. Several materials have already been developed and tested for use, including Gore-Tex,
Dacron, Carbon Fiber, and LAD. Each of these materials is defined by their base material and the method used in
creating each fiber, from braids to several interwoven loops. A breakdown of the advantages and disadvantages of
each material and some material properties of each can be found in Table 3. Unfortunately these materials may not
be adequate for application in our model because they do not share similar material properties. One such property is
the stiffness of the ligaments. The TMJ ligaments have a stiffness of around 10.9-16.35 kN/m [3]. In addition, the
TMJ is a more complex ligament because of its wide range of movements that must have some slack to allow
motion. More research is needed on the material properties and forces affecting the ligaments before a suitable
material for the artificial ligaments can be determined. [20]

Table 3 - Commonly used synthetic ligaments. [21]

Advantages Disadvantages
Ultimate Tensile
Strength (N)
Stiffness
(N/mm)
Elongation at
break (%)
Gore-Tex
High strength
and fatigue life,
limited particle
debris
Lack of tissue
ingrowth, fraying at
bone tunnels, chronic
effusions, ultimate
longevity
5300 322 9
Dacron
High Strength,
supported
collagenous
ingrowth
Stress-shielding of
collagenous
ingrowth, rupture of
the femoral or tibial
insertion, rupture of
central body,
elongation
3631 420 18.7
Carbon fiber
Synthetic
material
Particulate matter,
foreign body
response in synovium
660 230 x 10
9
1
LAD
Protects graft
during
maturation
Inflammatory
reaction, high
complication rate
1730 56 22

1.3.3 Articulating Disc
Simulating this complex joint would be useful for various reasons from research to prosthetics. The non-linear
elastic properties make material selection extremely difficult. Crude computer models give an idea as to where to
start. According to Fontenots experiments in 1985, the elastic modulus of the disc can be estimated at 1.8 MPa [7].
With this in mind a material could be selected that would be used to create an artificial disc. Ideally one material
could be found that had the elastic properties capable of deforming and reforming as needed by the disc. If a fluid
material was used, a casing material could be used to create a type of pouch. A thermoplastic elastomer with an
elastic modulus equivalent to that found by Fontenot could be used as a disc. However, with both of these
suggestions comes the problem of friction. In the TMJ the friction is almost zero and is generally neglected.
Lubrication would be necessary for any design using a rubbery polymer or pouch. A low friction, no lubrication
design could include a delrin or nylon disc. The drawbacks to this would be that it would not deform as necessary
for the full range of jaw motions. This could be used as a temporary measure to get started by making a disc that
would facilitate only opening and closing or clenching.

1.4 Products and Patents
While there are many patents relating to the human jaw, there are few that apply to human jaw motion simulators
and the disc in the TMJ. Of the products and/or patents that were found, only manual and virtual models are
available for creating a human jaw. Few, if any, mechanical models exist because of the lack of knowledge of how
the muscles and ligaments in the jaw work, therefore there is no solid way to recreate them mechanically.

28

1.4.1 Implant
Rosenbaum et al. have created a TMJ disc implant; it is comprised of a robust material that has a filling solution or
is made of an open cell fibrous material with a solution inside. It is to be surgically implanted into the TMJ. The
outer material is biocompatible so that the body does not reject it once implanted[22]. The abstracts for different
patents researched can be seen in Appendix A .

1.4.2 Manual Applications
Manual applications are most commonly used by dentists to check the contact points of teeth in a patients jaw.
Usually, they consist of a top dental arch and a bottom arch that are hinged or attached to a number of things, such
as sticks, pins or movable platforms to name a few (see Figure 29). Generally called dental articulators, they let the
dentist move the top and bottom part of the jaws so that when they create new dental fixtures, such as new teeth or
dentures for a patients mouth, the new item will fit with the already existing teeth and bite. They allow for the three
movements of a jaw: opening and closing, lateral shift, and retrusion and protrusion. Because there are no
mechanical parts to move the articulator, it is moved manually by the doctor and can therefore cover any range of
movements. As with a real human jaw, the bottom arch is usually the item that moves while the top one is fixed to
remain stationary.

Figure 29 - Common dental articulator [23]

1.4.3 Virtual Applications
Possibly the most common type of human jaw motion simulation are the virtual models. Perhaps these are the most
widely developed because so little is known of how the muscles and ligaments in the jaw actually work that virtually
simulating the jaw will allow for further study into what muscles are used during jaw motions. There are a few
different types of virtual models, the prominent one being the orthodontic models which are used much like dental
articulators. They can be obtained by scanning a patients jaw and teeth using various reference points to create a 3-
D model on a computer. [24]

A Model to Simulate the Mastication Motion of the Temporomandibular Joint, written by M. Villamil, describes
how a group uses 3-D virtual modeling to further understand the TMJ. To create the virtual simulation, the group
used a PQ5000 CT scanner to first obtain a jaw and skull to work from as shown in Figure 30. [25]

29

Figure 30 - CT scanning

The 3-D drawing that was obtained was then virtually cut into sections using a 3-D modeling program, as seen in
Figure 31, to separate the mandible from the rest of the jaw so that it could later be manipulated. The different parts
of the skull and jaw were then meshed (Figure 32) to create joined parts, separate from the mandible. The last step
was applying forces to the TMJ so that opening and closing could be mimicked virtually. Equations and vector
diagram for the forces can be seen in Figure 33.

Figure 31 - Separating the mandible

30

Figure 32 - Meshed sections

Figure 33 - Motion and forces of chewing [25]

A group of students from University of Maryland have also undertaken a virtual modeling of the jaw. They used
Pro/Mechanica and 3D Studio Max for animating the jaw. In Pro/Mechanica, they used a lower jaw, a grinding
block, and two teeth to animate the motion of the mandible (Figure 34). [26]

Figure 34 Pro/Mechanica model

In 3D Studio Max, they first started with 2 blocks, the lower one pivoting like the lower jaw which can be seen in
Figure 35. They furthered 3D Studio Max by importing jaw and tooth profiles from Pro/Engineer and were able to
animate a few motions of the bottom jaw as shown in Figure 36.

31

Figure 35 Beginning 3-D Studio Max animation of lower jaw [26]

Figure 36 Final 3-D Studio Max animation of lower jaw [26]

In Jaw Mechanism Modeling and Simulation, the authors modeled the jaw virtually to analyze chewing through
simulations; a sample of their force analysis can be seen in Figure 37. To control the motions, Matlab SimMechanics
was used. [27]

Figure 37 - Model of jaw kinematics [27]

32

2 CHAPTER 2 STAGE I: JAW CLOSING

2.1 Introduction

2.1.1 Problem Statement
In order to thoroughly complete the project to include all motions of the jaw, it was necessary to break the project
into stages. These stages are outlined below in Table 4. The goal for Stage I of the project is to achieve the motion
of the human jaw closing. This must be done by controlling the muscle forces via a LabVIEW user interface. This
must be accomplished in a way that would allow for further improvements and capabilities to be added to the system
without a complete redesign or reconstruction.

Table 4 - Stage outline
Stage Goal
Stage I Jaw closing and initial set up
Stage II Jaw opening and transition from opening to closing
Stage III Jaw clenching and disc adaptation
Stage IV Lateral jaw motion and chewing

2.1.2 Problem/ Design Concerns
A complex force analysis must be done along with isolating the necessary components needed to accomplish the
goal of simulating jaw closing.

2.2 Muscle and Ligament Use Decisions
In order to complete the project within the given time frame and with a reasonable budget it was necessary to limit
the scope of the first stage of the project. It was decided to limit the number of muscles simulated for jaw closing to
three. The three main muscles for closing are the temporal muscle, the masseter, and the lateral pterygoid muscles.
The temporal and lateral pterygoid muscles are important for positioning the jaw and disc during closing. The
masseter muscle produces the main forces for closing. Although most researchers divide the temporal muscle into
two or three sections, in order to limit the number of muscles, just one vector to simulate the temporal muscle will
be used. The masseter muscle is sometimes broken down into components; again, just one vector will be simulated.
The medial pterygoid muscle acts in the same direction as the masseter muscle, but on the interior of the mouth.
Since it does not apply as high forces and the direction of force is redundant it will not be used in this stage of the
project. Table 5 shows the muscle force values obtained from Koolstra and how they will be represented in the
project.

Table 5 - Muscle force values [6]

Closing Muscles Max. force (N) New Max (N)
Superficial masseter 272.8
Deep anterior masseter 73.8
Deep posterior masseter 65.8
Merge to One Masseter 412
Anterior temporalis 308.0
Posterior temporalis 222.0
Merge to One Temporal 530
Medial pterygoid 240.0 Eliminate
Superior lateral pterygoid 38.0
Inferior lateral pterygoid 112.8
Merge to One Lateral
Pterygoid
150.8

33

Ligaments are used to avoid overextension of the jaw, they are important in opening, side to side motion and
containing the synovial fluid around the disc. Since the focus is on closing, and realistically duplicating the synovial
cavities is not feasible at this time, it is not necessary to replicate the ligaments.

2.3 Skull Research

For this simulation a highly detailed physical skull must be obtained. It is crucial that the articulating surfaces are
accurate for proper motion of the jaw. Two main options are available for obtaining a skull. One is to buy a
prefabricated medical model of a skull. While these are readily available, material properties are not. It would also
be difficult to create points for the muscles to attach to, and to mount the skull. The second option is to obtain a
computerized model of a skull. This would allow for changes to be made for mounting and muscle attachment
purposes, as well as to thoroughly map out the articulating surface to create a movement profile. While creating a
physical prototype from a computerized model can be highly involved, the benefits of being able to adjust the model
and map out the surfaces makes this option desirable.

Mimics, software used to convert CT Scan files to 3-D models, and a CT scan file of a complete human skull were
obtained from Materialise. Using the Mimics software the skull was edited to separate the mandible from maxilla, as
well as to remove features created by noise. Since the human body is not perfectly symmetrical, it was decided to
cut the skull down the center, so that one side could be thoroughly modeled and then mirrored to create a
proportioned skull. Figure 38 shows an image of the mandible and maxilla created in the Mimics program.

Figure 38 Maxilla and mandible created in Mimics

In order to create attachment points for the muscles, the anatomical origins and insertions were used. The origin of a
muscle is the non-moving point of attachment; these are the anchor points on the maxilla in this case. The insertion
of a muscle is the point of attachment that creates motion, which are the attachment points on the mandible. In a
study by Koolstra in 1992, seven subjects underwent MRI to determine the insertion and origin points of six muscles
on both the left and right sides. In this study, the temporal muscle measurements were taken as the anterior temporal
and the posterior temporal, since this project is using only one vector for the temporal muscle, the average of the two
was taken. The averaged results of the masseter, lateral pterygoid, and temporal muscles are shown below in Table 6
along with the actual values to be used in this project. The averaged values were compared to the modeled skull to
get the actual attachment points to be used. The points are based on a zero point and axes shown in Figure 39. [37]

34

Table 6 Muscle attachment values [37]
Muscle Averaged Project Actual
X (m) Y (m) X (m) Y (m)
Masseter Insertion 0.0185 -0.0643 0.0204 -0.0605
Origin 0.0338 0.0093 0.0338 0.0043

Lateral Pterygoid Insertion -0.0013 -0.0025 0.0032 -0.0044
Origin 0.0275 0.0071 0.0239 0.0064

Temporal Insertion 0.0365 -0.0180 0.0363 -0.0180
Origin 0.0166 0.0464 0.0167 0.0463

Figure 39 Skull showing zero point and axes

2.4 TMJ Simulation
Simulating the TMJ is a challenging task. This is because the TMJ is essentially frictionless. For this project there
are three options to simulate the joint itself. The first option is to use a hard material with a low coefficient of
friction, such as Delrin, to create a low friction surface and a high quality grease, such as Teflon, to further decrease
the friction. The second option would be to use an elastic material, such as polyethylene foam, that would change its
shape accordingly with the contour of the maxillas articulating surface. This option would also be used with a high
quality grease that is compatible to use with the chosen material. The third option would be the similar to option
one, using a hard material along with grease; however, the insert would be fixed to the mandible. This would be
appropriate because of the assumptions made in the force analysis.

35

2.4.1 TMJ Friction Testing

Table 7 Coefficients of Friction
Lubricated Surface A Surface B
Coefficient of
Friction
No Teflon Delrin 0.45
No Teflon Teflon 0.5
No Delrin Delrin 0.45
Yes Teflon Delrin 0.08
Yes Teflon Teflon 0.06
Yes Delrin Delrin 0.1

Friction testing was done on a UniFlor grease, delrin and Teflon to determine which material or combination of
materials would be best to coat the TMJ due to the exclusion of the TMJ disc, as seen in Table 7. During testing it
was found that by just using the lubricant on any combination of materials greatly decreased the coefficient of
friction in the joint. After receiving the polyurethane skull, more friction testing was done and it was concluded that
by only using the grease in the joint, the coefficient of friction would be low enough for the project operating
conditions and that there would be no need for coating the joint with additional materials.

2.5 System Control and Analysis
To analyze the jaw closing motion, many factors had to be reviewed. The physical constraints and assumptions
needed to be determined because the true motion of the jaw is not known. A method of controlling the motion also
had to be established.
There are two ways to control the motion of the jaw system: force and position. Both control methods have their
advantages and disadvantages. The attributes considered in the decision were, in order of importance, anatomical
constraints, controllability, available knowledge, knowledge of control method, and physiological accuracy.
Anatomical constraints are most important because the more constrained the system is the easier it is to control and
to calculate the controls. Controllability refers to how capable the system is of being physically controlled via the
chosen control method; in this case servo motors. Available knowledge is the amount of documented research done
in the past from reliable sources. Control knowledge is the amount of knowledge readily available to the group. This
is important because time constraints restrict further significant research. Lastly, physiological accuracy is important
because a desired end result of this project is an understanding of the human jaw system. A more realistic system
will provide a better understanding of the jaw. The decision matrix for system control can be found in Error!
Reference source not found..

Table 9 - System control decision matrix

Anatomical
Constraints Controllability
Available
Knowledge
Control
Knowledge
Physiologically
Realistic
Value 5 4 3 2 1 Total
Force 1 2 1 1 2 20
Position 2 1 2 2 1 25

Muscle forces in the human jaw, as understood, are not a determinant system. A statically determinant system is
defined by only three variables. Even with a simplified planar analysis of one side of the jaw, the system is statically
indeterminate. From available knowledge the muscles are not anatomically constrained to impose specified forces.
However, if proper assumptions are made, this system control method is more physiologically accurate because the
muscles in the skull control force to move the jaw. Since the muscle forces should always be greater than or equal to
zero it should be possible to control the force using tension alone. Unfortunately at the current moment the control
of force using servo motors is not fully understood and a significant amount of time would have to be spent on more
research.

36

Positionally the jaw is fully constrained. Disregarding TMJ disorders, the jaw moves in a defined path. Since this
can be seen using multiple mediums (i.e. X-rays, MRIs, etc.) there is a large knowledge base available for use.
Controlling position alone is not how the human jaw realistically functions. Also, controlling the position is not
possible with a continuously positive tension or slack method as planned. Motors can unspool, but in this system a
negative movement would require a compressive motion or rely solely on the other constrained points. Fortunately,
positional control of motors is a well understood concept and would not require additional research.

For this stage of the project, the system will be controlled positionally because the positional constraints are known
and positional control method is well understood. Another benefit not weighed in the matrix is that with this method
the forces on the simulated muscles can be monitored and captured as a data point to help better understand the
human jaw. The results of the analysis done for the force method can be used as a check on the measured data from
the positional method.

2.5.1 Positional Analysis
In order to use position as a control at least two known points are necessary to place the jaw in 2D space. In this
model there are a total of four constraints: three attachment points on the mandible and the single contact point with
the maxillas articulating surface. All points are assumed to be in a single 2D plane. The three attachment points on
the mandible are representative of the muscle attachments for the selected muscle groups: pterygoid, masseter, and
temporal. In order to define the system, it has been assumed that the orientation of the mandible in the fully closed
position (teeth touching) is always perpendicular to the slope of the articulating surface at the contact point on the tip
of the condyle.

To track the locations of the constraint points the model has been mapped out with a system of equations and
calculated using a Matlab program which is included in Appenix B. The calculations can be found in Appendix C.
The input constraints are the location of the contact point and the slope along the articulating surface at that point.
The profile of the articulating surface was found using a cross section of the 3D CAD model of the skull as seen in
Figure 40. A total of 560 points were mapped out on the profile of the surface. These points were used to calculate
the slope at each of the 54 points that were chosen to be the steps of the closing simulation. The program outputs
data into an Excel spreadsheet that has pre-formatted tables and plots to display information such as the path of
travel of each attachment point (Figure 41) and the distance from the anchor to the attachment points at each step
(Figure 42).

37

Figure 40 - Cross section of the TMJ with static analysis point locations

38

Figure 41. Path of Travel Plot

Figure 42. Muscle Lengths vs. Position Plot

39

2.5.2 Force Analysis
To use force as a control for this system the positional constraints must still be calculated. Once the positional
constraints were obtained the forces were calculated using a static analysis. The muscle forces controlled in this
simulation are the temporal muscle (F
T
), masseter muscle (F
M
), and pterygoid muscle (F
P
). The free body diagram of
the mandible is shown in Figure 43.

Figure 43 - Mandible free body diagram

By using three muscles and having the constraint of the maxillas articulating surface, the system is statically
indeterminate due to there being four variables; F
T
, F
M
, F
P
, and F
N
(N for normal force). In order to fully define the
system four non-redundant equations must be obtained. Since the system is being analyzed statically the force and
moment balance equations were used for the first three equations. These can be found in Figure 43. To create the
fourth needed equation the conservation of energy method was used. The theory behind this is that the change in
potential energy of the mandible is equal to the sum of the work done by each muscle and the energy lost due to
friction at the contact point of the articulating surface. This theory, however, has been abandoned due to it being
redundant and resulting in a zero equals zero statement. A full explanation of equation variables and other force
calculations can be found in Appendix C.

40

There were several design variables and assumptions that had to be defined to complete this analysis. The design
variables include the attachment points of the muscles on the mandible and the muscle anchor points on the upper
skull: T
o
, M
o
, P
o
, T
a
, M
a
, and P
a
(T, M, and P for temporal, masseter, and pterygoid respectively). These points are
based on anatomical research from Koolstra, 1992 as discussed in section 3.2.[37] The major assumptions made
were that the mandible remains perpendicular to the slope of the articulating surface as discussed in section 3.1.1
and that the disc experiences a constant compressive force throughout the entire motion. The perpendicularity
assumption allows for the disc to be left out of the model because its function of maintaining the orientation of the
mandible is already accounted for. The normal force from the articulating surface, which directly correlates to the
compressive force in the disc, has been assumed to be constant and to act at the contact point as discussed in section
3.1.1.

Physical properties of the mandible such as the location of the centroid were found using ProE Mechanica.
Mechanica was also used to find the mass and other properties that can be found in Appendix D. This information is
necessary for an accurate force analysis of the system.

The force analysis was completed using the same Matlab program as the positional analysis. At each of the points
mapped out on the articulating surface the forces were calculated using the static equilibrium equations. The
influential variables were the normal force and the coefficient of friction, which were chosen to be 15N and 0.1
respectively. The normal force was chosen to keep the loads on the system to a minimum; approximately at 10%
maximum force capacity of the human jaw. The coefficient of friction was found through testing of various
lubricants and skull material testing as discussed in section 2.6.1. The program outputs the theoretical values of the
magnitude of the muscle forces as well as the vector components of the forces.

2.6 Muscle Simulation

2.6.1 Decision Matrix
There are many complexities involved in simulating the muscles in the human jaw. Human muscle is an extremely
sophisticated system that manmade objects have a hard time mimicking. While it is easy to simulate the size, speed,
or power, it is not easy to achieve all muscles attributes in one unit. This makes it necessary to weigh the options to
find the best overall solution for muscle simulation in a particular situation.

This was accomplished through the use of a decision matrix as can be seen in Table 8. The options were laid out
along the left side, and the requirements were placed along the top row. The requirements were weighted (1 to 5, 5
being the most important) to reflect their level of importance. Then each muscle option was given a rating of 1 to
10, 10 being the best, on how well it fit the requirement. Thus the option with the highest total is the best for this
simulation.

Table 8 Muscle simulation decision matrix
Control Precision Accuracy Complexity Resources Safety Cost

Total
5 4 3 3 3 2 2
High End
Motor
161 10 10 10 3 6 6 1
Standard
Motor
164 8 8 7 7 8 6 7
Pneumatic 78 4 3 4 3 3 3 5
Hydraulic 63 5 3 4 1 1 1 3
Air Muscle 68 4 2 3 2 3 3 5

41

Muscle
Wire
118 3 6 5 8 6 5 6
Polymer 118 3 6 5 8 6 5 6

To properly simulate the motion of the human jaw, several key requirements stand out. Among the most important
are control, accuracy and precision. Complexity, resources, safety and cost must also be considered.

Control is the most important attribute in muscle simulation. Control is the capability to transfer exact speeds,
forces, and distance requirements from an interface to the muscle simulator. Without this it will not matter how
accurate or precise the simulation is because it will be impossible to tell it what to do correctly in a timely manner.
This is why control received a weight of 5.

Accuracy and precision are properties of the simulating device that defines how close it comes to a goal and how
repeatable a certain outcome is. Precision was weighted higher then accuracy, with a 4 and a 3 respectively, because
it was more important to have a repeatable simulation then an accurate one. If the force is five Newtons off every
time this can be accounted for, however, if the force is only off a few Newtons unpredictably then there is error that
cannot be tracked.

The complexity, resource availability, and cost are also important considerations. A project may be limited to a
certain scope that must be followed. There are also time constraints and budgets that limit a project. The amount of
resources already available makes it easier to achieve goals on time and within budget thus scoring it a 3 along with
complexity. The less specialized and sophisticated it is increases chances of having those resources accessible. Cost
on the other hand can be slightly more flexible giving it a weight of 2, because it can be easier to justify a reason to
apply more money to the project but it is impossible to change the time frame.

Safety must always be considered including safety of the group doing the construction, the operator, and bystanders.
Some muscle simulation devices such as hydraulics are more dangerous then others, but overall none of the options
are truly life threatening and do not pose a health risk. There are minor concerns of burns, scrapes, and low level
shocks. In general, hydraulics are the most dangerous but with the low forces required, there would not be high
hydraulic fluid pressures. Safety was given a weight of 2 because of this.

Based on earlier research (see section 1.2.6), each of the simulation options was given a rating reflecting how well it
fulfilled each requirement. Standard precision motors showed to be the best choice. Even though they were never
the best in any category, they consistently scored well in all categories.

2.7 Electric Motors
There are a vast variety of motors available on the market that could be suitable for muscle simulation. It was again
necessary to choose which would be best for achieving the goals of the project. While there are a huge number of
options available there were only a few motor types that would work best for this type of muscle simulation. DC
servo motors (brushed and brushless), stepper motors, shunt, and serial motors were all considered.

2.7.1 Motor Basics
Motors work on the basis of magnetism. They are built with permanent magnets and coil windings
(electromagnets). These permanent magnets and electromagnets use repelling and attracting magnetic fields to turn
the output shaft of the motor. Basic motor construction consists of an outer housing, coil windings, a permanent
magnet, and an output shaft that rides on a series of bearings located in the housing. Internally the motors use either
a fixed magnet and a rotating coil, or vice versa. The stationary part is called the stator and the rotating part, the
rotor [28]. Figure 44 shows a dismantled motor with its individual parts labeled. The way each is built and how
power is applied is what determines its functionality. A few examples of this functionality are its ability to be
accurate, precise, fast, and powerful.

42

Figure 44 The internal construction of a standard electric motor [29]

2.7.2 Stepper Motors
Just as the name implies, stepper motors are a style of motor that rotates in steps. The number of steps in a rotation
is determined by the construction of the motor and can vary from low numbers in the double digits up to thousands.
The outer electromagnet is constructed of a set of windings around a circle with teeth as shown in Figure 45. The
number of teeth is representative of the number of poles and thus the steps. Circuitry is used to send a signal to the
motor that makes it move one step at a time. The frequency of the input signals determines the speed, and the
number of signals sent determines how many steps it rotates. This ability to have a discrete number of steps gives a
stepper motor high precision. It can be rotated to a required angle and then brought back to that same angle
repeatedly [30].

Figure 45 A sample coil and magnet setup for a stepper motor [31]

2.7.3 DC Servo Motors
There are two basic types of DC servo motors, brushed and brushless as seen in Figure 46. These motors are very
similar in construction to the stepper motors but do not operate in the same manner. Unlike stepper motors, servo
motors are not controlled by turning in steps. They instead use a constant winding and a permanent magnet.
Brushed motors have the permanent magnet located on the stator and the coil windings are located on the rotor. A
commutator and brushes are used to supply switching power to the rotor. In the brushless motors the magnet is

43

located on the rotor and the coils are the stator. A semiconductor is used in place of brushes for switching power in
the coils. The elimination of the brushes benefits the motor. Without brushes to wear out, the brushless motors have
much lower maintenance needs and the lack of brush debris in the motor provides better operation. Since the
magnet is lighter than the windings, the brushless motors also have a lower inertia and better heat dissipation due to
the windings being closer to the outer surface of the housing. The brushed motors are limited in peak power because
the brushes put a mechanical limitation on power transfer due to sparking. Servo motors work on a closed feedback
loop. This means they send signals back to the driver to confirm voltages and current where as stepper motors do
not [32].

Figure 46 The brushes of the brushed motor (left), as pointed out by the red arrow, provide power to the
coil. The brushless motor (right) has a stationary coil that is directly wired shown by the blue arrow.

2.7.4 Shunt and Series Motors
Shunt and series motors have a different style of construction from steppers or servos. They use two coil windings
instead of a coil and a permanent magnet. Series motors have the coils wired in series and the shunt motors are
wired in parallel. This creates the differences in characteristics. The shunt motors are constructed of a thinner wire
with more turns limiting them to lower torque levels at startup, making it useful only in situations when there is a
lower initial shaft load. Series motors are capable of higher starting torque, but with series motors their speed is
dictated by that torque. The higher the load on the shaft the lower the motors speed, thus with a low shaft load the
motor has a higher speed. Shunt motors are capable of speed control by variations in current making them more
controllable and thus more desirable in certain situations [33].

2.7.5 Motor Choice
To chose the best motor for this particular application the help from an expert in the field was enlisted. Professor
Rifat Sipahi, Ph.D. teaches System Analysis and Control at Northeastern University, and received his Ph. D. at the
Advance Laboratory of Automation Robotics and Manufacturing, in the Mechanical Engineering Department at the
University of Connecticut [34]. He is very knowledgeable in the field of robotics and controls, allowing him to give
helpful insight in the decision making process. Through research and advice it was decided that due to the ease of
control, the functionality, and the accuracy and precision that brushless DC servo motors would be the best choice.

Servo motors cannot be controlled by position without an additional device. A feedback loop is required to make a
servo motor arrive at a certain angle. To create this feedback loop a rotary position sensor is needed. As the motor
is rotated it sends positional information back to the controller so it can be tracked at all times. This allows the
controller to stop power at the right moment so the motor arrives at the required angle. This adds to the cost and
complexity of the motor and control system but is necessary for positional control. The torque of the servo motor is
not proportional to speed, but rather load. Therefore the system is capable of measuring the force needed to move
the jaw.

Rotary position sensors (RPS) work with shaft rotation to create a proportional electrical output. RPS utilizes
several different types of technology to create this signal. This includes, but is not limited to, resistance,
capacitance, magnetism, and optics [38]. An RPS can be either installed on the output shaft of the motor or it can be

44

built in as seen in Figure 47. The sensor is used to create a feedback loop in the motor control setup. The sensor
sends the electrical output to the controller. The controller then takes this signal and based on its programming
executes new commands to the motor. For the jaw simulation the controller will cease power when the motor has
arrived at the correct position.

Figure 47 Built in encoders are part of the motor (left [39]) while others are added (right [40])

2.7.6 Controlling A Motor
In order to run any motor there are some required parts such as an interface, controller, driver, and necessary
circuitry. LabVIEW was already chosen as the interface because of its user friendly characteristics. A NI PCI-7344
four axis servo/step motion controller is needed to connect to the computer. This part connects to a standard PCI
slot of a desktop computer. The controller is four axis compared to the three axis needed for the motors because it is
a standard model. When LabVIEW is installed on the computer it can communicate to this card which will then
communicate to the driver. A SHC68-C68-S 68 pin VHDCI to 68 pin VHDCI cable goes from the PCI card to the
driver. This is a specially designed cable suited for this purpose and is two meters long to allow space between the
computer and the driver. A MID-2100 integrated three axis servo drive with power supply will take the signals from
the PCI card and translate them to the motor. The driver was custom made for the three axis design. This driver has
a built in power supply that will provide the power to the motors. From the driver, specific cables are needed to
hook up different brand motors. Once this connection is complete a user is capable of setting up a LabVIEW
program to control all functions of a DC servo motors operation [35]. The quote for these particular products can be
seen in Appendix D.

45

3 CHAPTER 3 DETAILED DESIGN
3.1 Digital Simulation
The digital simulation was created using a Matlab graphical user interface (GUI). The GUI, as seen in Figure 48,
obtains data from the output of the analysis program and displays critical information, such as a positional plot,
muscle lengths, and theoretical force values. The GUI is fully controllable via open, close, step open, and step close
buttons. The step buttons allow the user to open or close the virtual jaw in steps, whereas the open and close buttons
themselves will begin to their cycle from current step. The force values at the position will be marked on the muscle
force plot and the muscle lengths plot gives a visual representation of the three muscles in relation to one another.
These can bee seen in Figure 48 and in a greater detail in Appendix F.

Figure 48 Digital Simulation Interface

3.2 Design
The detailed design consists of the closing motion being simulated using only three muscles on each side of the
skull. Only three motors will be used to control this system, with each motor controlling its specific muscle on both
sides of the skull. There are very low force levels therefore the design was construct of light weight material.
Knowing that the design will be expanded upon in further stages, versatility is important. The design is a frame
which holds the motors, pulleys, and skull as seen in Figure 49. Using a pulley system the motors connect to the
skull to create motion. Each of these components is discussed in more detail in the following sections.

46

Figure 49 Final Design

3.2.1 Frame
The frame houses all three motors and the drive and reduction pulleys. It is made of 8020 extruded aluminum which
has a t-slot on all four sides allowing objects to be mounted to it in a variety of positions. It is light yet strong and
the adaptability made it a clear choice.

3.2.2 Motor and Controls
Three motors are required to simulate six muscles. Since the jaw and its muscles are symmetric, one motor will be
used to simulate the same muscle on both sides. A three axis controller, a three axis driver with power supply, and
all the necessary wiring is also required as previously discussed in section 2.7.6.

Information about the maximum forces of each muscle was determined through the research discussed in section
1.2.6.3. However, with an increase in the motors torque comes an increase in its price. Since each motor is
actually doing the work of two muscles these torque levels can become very high and in turn so can the cost of the
motors. The AKM33E Danaher Motion motor with 2.2 Nm torque and 680 rpm was chosen. This model was
chosen because of the toque levels and that it has a built in encoder.

47

3.2.3 Pulleys
For this project, it was decided to gear up the torque levels of the motors rather than purchase motors capable of
producing the same force levels as the human jaw. This is to reduce money spent, weight, and the physical size of
the motor tower structure. The idea was to use the motors like a winch to simulate the contraction of a muscle. This
would keep true to our constraint that muscles can only apply force while contracting. A drive pulley is connected
to the motor. This is then belted to a reduction pulley that drives an axle with each muscle group connected to it.
This allows for simultaneous control of both sides of the jaw. This drive system can be seen in Figure 50.

Figure 50 Motor and Pulley Connection

3.2.4 Wire Attachments and Guides
Off the pulley axle, kevlar strings are attached with specially designed clamps that allow for slight tension
adjustments. Since there are two strings attached to each axle this allows for precise balancing of the wires. From
the clamp the strings travel down and pass over small screws located at the points where the muscles attach to the
skull which is shown in Figure 51. The strings then travel down to the lower jaw where they are attached to another
set of shoulder screws. The strings remain in one plane to eliminate any additional force vectors.

48

Figure 51 Pulley to String Connection
3.2.5 Skull
Each side of the skull has three attachment points and three anchor points, one of each for each muscle, to simulate
the correct angles for the masseter, temporal, and pterygoid muscles. The wire is anchored to the attachment point
and curves around the contact point, which is a small set screw. The back of the skull is flattened for mounting to
the rest of the system. This is shown below in Figure 52.

49

Figure 52 Skull with Anchor and Attachment Points
The skull design created in Mimics was created in 3-D using a Stereolithography Apparatus (SLA). This process
takes a computerized image and converts it to a model by laser curing resin layer by layer. This produces an
accurate model, however the material is brittle and directionally weak, because it was created in layers. The model
was sent to US Surgical where a mold was created and several models were produced from the mold using
polyurethane, this was accomplished using rubber molding.

Based on the material properties of the polyurethane used, the diameters of the attachment and anchor points were
created. The force applied to the attachment and anchor points creates a bending stress. Therefore the bending
stress was calculated based on the maximum muscle force and compared to the yield stress of the material.
Although studies show that for closing approximately 10% of total muscle force is required, the moments were
analyzed for the total stress, to ensure they would be sufficient that maximum values. Bending stress is usually
compared to 0.75 of the yield strength of a material. Polyurethane has different properties in flexing and tension.
The flexural strength of 77.2 MPa (11,200 psi) was used for the yield strength. The bending stress was calculated as
shown in appendix C along with the attachment diameters. The table below shows the diameters calculated.
When these values were placed on the skull, the attachment point for the temporal muscle was large and would
create conflict with the other muscles. Also, the diameter was larger than the area it was supposed to be located on.
Since, it was designed to withhold maximum strength, but the system would likely only be applying 10% of this
value, it was decided to reduce the outer diameter.

3.3 Motion Control
To control the motors with LabVIEW, additional hardware was required as discussed in Section 2.7.6. A servo
controller was purchased from National Instruments, which is a card that plugs directly into the computer and

50

interfaces with the LabVIEW program. The controller then is connected to a servo drive that takes the signals,
converts them to work with the specific motors, and amplifies them to the right levels. Since this system has motors
with encoders, positional information is fed back to the controller and therefore creates a highly precise and accurate
system.

3.3.1 LabVIEW
In order to create a LabVIEW program, a positional profile first had to be created in Microsoft Excel with the
correct format. The x, y, and z positions were each a different column and each new 3 dimensional coordinate was
placed in a different row.

The positional profile was then used in National Instruments Motion Assistant program. Contouring parameters
were set, such as the working space being 1-D, 2-D or 3-D, as well as if the program was to be written in counts per
revolution or revolutions of each motor. The brushless servo motors used have a line count of 2048 and to
determine the counts per revolution, also called quadrature counts, that number is multiplied by 4. The quadrature
count for the motors used is 8192.

Next, the contouring parameters must be set, which tells the motors how to move. The correctly formatted Excel
file is loaded in and a motion profile is determined by the program. LabVIEW code is then generated through
Motion Assistant as well as an SML file of the positional program. Once it is saved, it can be modified to have
whatever outputs or feedbacks are needed for the specific use. For this project, a typical output would be the
position of each motor over time. The LabVIEW program was also modified to ask the user to load an XML file at
the start of the program. Appendix H includes a copy of the LabVIEW programming as well as all the settings
required for Motion Assistant to create a LabVIEW code.

51

4 CHAPTER 4 Results and Conclusions

4.1 Results
The virtual simulation initially resulted in negative muscle forces and an unnatural movement, causing the jaw to
open much wider than possible as shown in Figure 53. When this path of travel was used to create a control profile
for the physical model it resulted in a critical failure. The connecting wires became slack and the mandible fell away
from the maxilla.

Figure 53 Virtual and Physical Failure

4.1.1 Physical Testing and Debugging
In order to create a new position profile for the physical model, the mandible was held at different locations and the
motors for the muscles were adjusted to hold it in place. Using this method a new set of data points were found and
the motion program was run again. The physical closing motion of the jaw became more realistic as the jaw slid up
the articulating surface and then rotated in the pocket. The motion was not inhibited by the lack of lubrication in the
joint.

4.1.2 Virtual Testing and Debugging
In order to correct for the failed motions a new path of travel was developed from the initial research on the system.
As discussed in section 1.2.5.1 the jaw opens by first rotating 10-15 in the pocket of the joint before it slides down
the articulating surface. This was adapted to create a new closing profile to make the lower jaw slide up the
articulating surface and then rotate in the pocket to a complete close. The new profile was implemented in the virtual
simulation with positive results. The path of travel now looks more realistic as shown in Figure 54.

52

Figure 54. Updated Path of Travel for Points on the Lower Jaw

4.2 Conclusion
Based on the results of the virtual and physical simulations, it was determined that the condyle does not stay
perpendicular to the articulating surface. From further testing, it was determined that the mandibles motion is
closer to a translation followed by rotation. However, this theory should be examined in future stages.

The physical simulation showed that the coefficient of friction is so low in this stage of the project that there was no
need for grease in the joint. However, in the future if a greater force is applied on the joint there may be a need for
lubrication.

4.3 Future Progress
To complete the jaw simulation, groups in the future stages should take the following steps. Further analysis needs
to be done on the motion of the jaw and the movement of the muscles. A way to solve the indeterminate force
analysis must be found. The LabVIEW programming will need to be updated to monitor torque values in order to
calculate the forces of each muscle. The positional program and control of movement can also be improved to better
match the realistic motion. A permanent absolute zero starting location, or a way to lock the motors, should be
determined so that if the motors are moved when the system is off the program will always start at the same
position. Muscle choices and simplifications will have to be expanded on in future stages in order to have better
control over the closing motion of the jaw and to accommodate the other actions of the jaw. Ligaments and the TMJ
disc should also be added for realistic jaw simulation.

53

5 CHAPTER 5 REFERENCES
5.1 Sources Cited
[1] Bioengineering Conference: A Ground-Breaking Forum for Surgeons and Bioengineers to Address
Temporomandibular Joint Disorders, Broomfield, CO, May, 2005.
[2] Gray, Henry, Anatomy of the Human Body, 20
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[3] Muftu, S., and Muftu, A., 2005, Biomechanics of Tooth and Jaw, Encyclopedia of Medical Devices and
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Biomechanical Constraints, Journal of Biomechanics, Vol. 17, pp 757-767.
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[21] JW DeVocht, VK Goel, DL Zeitler, D Lew, and EA Hoffman, Development of a Finite Element Model to
Simulate and Study the Biomechanics of the Temporomandibular Joint, Division of Physiologic Imaging, Dept. of
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[25] M. Villamil, et al., A Model to Simulate the Mastication Motion at the Temporomandibular Joint, pp. 1-11,
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54

[27] B. Daumas, W. L. Xu, J. Bronlund, Jaw Mechanism Modeling and Simulation, pp. 1-8, 2005;
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[28] Electric Motors Reference Center, Electric motors 101, January 18, 2007;
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[29] http://www.mae.ncsu.edu/courses/mae442/gould/AC_motor_picture.jpg
[30] Advanced Micro Systems, Stepper motor system basics, January 18, 2007;
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[31] Haydon Switch and Instrument, stepper motor theory, January 18, 2007; http://www.hsi-
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[32] Danaher Motion, Brush vs. brushless, January 14, 2007;
http://www.danahermotion.com/education/learn_about_mc/servohandbook/motor/comparison/brush_vs_brushless.p
hp
[33] National Instruments, DC shunt motors, January 18, 2007; http://zone.ni.com/devzone/cda/ph/p/id/54
[34] Rifat Sipahi, Ph.D., Bibliography, January 18, 2007; http://www1.coe.neu.edu/~rifat/
[35] National Instruments, Fundamentals of motion control, January 18, 2007;
http://zone.ni.com/devzone/cda/tut/p/id/3367
[36] MatWeb, Material Property Data, Dec 15, 2006; http://www.matweb.com
[37] Koolstra, J.H., and van Eijen, T.M.G.J., 1992, Applications and Validation of a Three-Dimensional
Mathematical Model of the Human Masticatory System In Vivo, Journal of Biomechanics, Vol. 25(2), pp.175-187.
[38] Global Spec, About rotary position sensors, February 18, 2007; http://sensors-
transducers.globalspec.com/LearnMore/Sensors_Transducers_Detectors/Rotary_Position_Sensing/Rotary_Position_
Sensors
[39] Thomasnet, Step Motor/Driver offers optional built-in encoder,
http://news.thomasnet.com/fullstory/29947/1620
[40] Encoder Products Company, Custom solutions, February 18, 2007; www.encoderprod.com/customprod.html
[41] Automation Solutions, Technology in motion, February 18, 2007; http://www.auto-sol.com/

Deleted: Haydon Switch and
Instrument, stepper motor theory,
January 18, 2007; http://www.hsi-
inc.com/stepper_motor_theory.php
[39]
Deleted: 40
Deleted: 41
Deleted: 42

55

APPENDIX A
Patents

56

57

58

APPENDIX B

59

Matlab Code for Positional and Force Calculations and Interface

%%Cal cul at i on Code

%%Mal oof 4- 15- 07
%%Posi t i onal and For ce Cal cul at i on Pr ogr amf or Human J aw

%%Thi s Pr ogr ami ncl udes t he most r ecent changes t o t he movement of t he
%%j aw, assumi ng t hat t he j aw t r ansl at es and t hen r ot at es

%i t al so i ncl udes t he ol d code t hat assumes bot h t r ansl at i on and r ot at i on

%%t he or i gi n i s t he cont act poi nt bet ween t he ar t i cul at i ng sur f ace of t he
%%maxi l l a and t he di sk/ condyl e
%%pr ogr ami s wr i t t en such t hat f umat i on of f or ces ar e al l posi t i ve val ues
%%( i e Fp + Ft + W= 0, Wi s negat i ve due t o i nt er nal equat i ons)

%%al pha i s t he sl ope at t he cont act poi nt
D = xl sr ead( ' For cePosi t i onDat aReadFul l . xl s' , ' For ce & Posi t i on Dat a' ,
' B11: AH130' ) ;
DD = xl sr ead( ' For cePosi t i onDat aReadFul l . xl s' , ' For ce & Posi t i on Dat a' ,
' C4: I 5' ) ;
FN = xl sr ead( ' For cePosi t i onDat aReadFul l . xl s' , ' For ce & Posi t i on Dat a' ,
' D7' ) ;
uf = xl sr ead( ' For cePosi t i onDat aReadFul l . xl s' , ' For ce & Posi t i on Dat a' ,
' I 7' ) ;
pi n = xl sr ead( ' For cePosi t i onDat aReadFul l . xl s' , ' For ce & Posi t i on Dat a' ,
' N7' ) ;
gear s = xl sr ead( ' For cePosi t i onDat aReadFul l . xl s' , ' For ce & Posi t i on Dat a' ,
' M3: M5' ) ;

f or d = 15: 83
%%R i s t he Rot at i onal Mat r i x Based on sl ope of ar t i cul at i ng sur f ace al pha
al pha = D( d, 3) ; R = [ cos( al pha) - si n( al pha) ; si n( al pha) cos( al pha) ] ;
%%( Gl obal ) Cont act Poi nt
Nx = D( d, 1) ; Ny = D( d, 2) ; N = [ Nx; Ny] ; Nf = FN*[ si n( al pha) ; - cos( al pha) ] ;
Nf x = Nf ( 1) ; Nf y = Nf ( 2) ; D( d, 30) = Nf x; D( d, 31) = Nf y;
%%Ki l ogr ams, Based on Pr oE Mechani ca Anal ysi s
mass = 0. 100363;
W= mass*( - 9. 8) ;
%%P, M, T, C, Pa, Ma, and Ta r epr esent t he Pt er ygoi d, Masset er , Tempor al
%%at t achment s on t he Mandi bl e, and t hei r r espect i ve anchor poi nt s on t he
%%upper skul l ( on a si ngl e 2D pl ane) . C ( cent r oi d) i s det er mi ned by Pr oE
%%Anal ysi s of Mandi bl e.

%%Desi gn Var i abl es Based on St udi es ( 2- 14- 07)
%%Local muscl e at t achment poi nt
px = DD( 1, 2) ; mx = DD( 1, 4) ; t x = DD( 1, 6) ; cx = DD( 1, 7) ;
py = DD( 2, 2) ; my = DD( 2, 4) ; t y = DD( 2, 6) ; cy = DD( 2, 7) ; %%need t o check c
val ues
%%Gl obal muscl e anchor poi nt s
Pax = DD( 1, 1) ; Max = DD( 1, 3) ; Tax = DD( 1, 5) ;
Pay = DD( 2, 1) ; May = DD( 2, 3) ; Tay = DD( 2, 5) ;

60

%%Addi ng a condi t i onal l oop t o make r ot at e 0- 15 degr ees and t hen t r ansl at e

i f d > 67

%ROTATI ON & TRANSLATI ON
%Def i ni ng poi nt s w/ equat i ons
p = [ px; py] ; %%Local Muscl e At t achment Poi nt ( put i n vect or f or m)
P = N + R*p; %%Gl obal Muscl e At t achment Poi nt
Px = P( 1) ; Py = P( 2) ;
D( d, 4) = Px; D( d, 5) = Py; %%I nput var i abl es

m= [ mx; my] ; t = [ t x; t y] ;
M = N + R*m; T = N + R*t ;
Mx = M( 1) ; My = M( 2) ; Tx = T( 1) ; Ty = T( 2) ;
D( d, 12) = Mx; D( d, 13) = My; D( d, 20) = Tx; D( d, 21) = Ty;

c = [ cx; cy] ; C = N + R*c; Cx = C( 1) ; Cy = C( 2) ; D( d, 28) = Cx; D( d, 29) = Cy;

el se

al phacc = - 0. 261799387799149;
Rcc = [ cos( al phacc) - si n( al phacc) ; si n( al phacc) cos( al phacc) ] ;

%NO ROTATI ON
%Def i ni ng poi nt s w/ equat i ons
P = N + Rcc*p; %%Gl obal Muscl e At t achment Poi nt
Px = P( 1) ; Py = P( 2) ;

m= [ mx; my] ; t = [ t x; t y] ;
M = N + Rcc*m; T = N + Rcc*t ;
Mx = M( 1) ; My = M( 2) ; Tx = T( 1) ; Ty = T( 2) ;

c = [ cx; cy] ; C = N + Rcc*c; Cx = C( 1) ; Cy = C( 2) ; D( d, 28) = Cx; D( d, 29) =
Cy;

end

%{
%%Def i ni ng poi nt s w/ equat i ons
P = N + R*p; %%Gl obal Muscl e At t achment Poi nt
Px = P( 1) ; Py = P( 2) ;

m= [ mx; my] ; t = [ t x; t y] ;

61

M = N + R*m; T = N + R*t ;
Mx = M( 1) ; My = M( 2) ; Tx = T( 1) ; Ty = T( 2) ;

c = [ cx; cy] ; C = N + R*c; Cx = C( 1) ; Cy = C( 2) ; D( d, 28) = Cx; D( d, 29) = Cy;

%}

%%Gl obal Anchor Poi nt i n Vect or For m
Pa = [ Pax; Pay] ; Ma = [ Max; May] ; Ta = [ Tax; Tay] ;
%%The f ol l owi ng equat i ons det er mi ne t he f or ce vect or on t he gl obal syst em
( i e Pr )
%%Thi s i s used t o f i nd t he uni t vect or ( i e Pu) of t he For ce
%%Vect or f r omat t achment poi nt t o anchor poi nt ( di r ect i on of f or ce)
Pr = Pa - P; Mr = Ma - M; Tr = Ta - T;
Pr x = Pr ( 1) ; Mr x = Mr ( 1) ; Tr x = Tr ( 1) ;
Pr y = Pr ( 2) ; Mr y = Mr ( 2) ; Tr y = Tr ( 2) ;

Pux = Pr x / sqr t ( Pr x^2 + Pr y^2 ) ;
Puy = Pr y / sqr t ( Pr x^2 + Pr y^2 ) ;
Mux = Mr x / sqr t ( Mr x^2 + Mr y^2 ) ;
Muy = Mr y / sqr t ( Mr x^2 + Mr y^2 ) ;
Tux = Tr x / sqr t ( Tr x^2 + Tr y^2 ) ;
Tuy = Tr y / sqr t ( Tr x^2 + Tr y^2 ) ;

Pu = [ Pux; Puy] ; Mu = [ Mux; Muy] ; Tu = [ Tux; Tuy] ; %%Uni t Vect or s

Lp = sqr t ( Pr x^2 + Pr y^2 ) ; %%Lengt h f r omAnchor t o At t achment
Lm= sqr t ( Mr x^2 + Mr y^2 ) ;
Lt = sqr t ( Tr x^2 + Tr y^2 ) ;

%%Vect or f r omat t achment poi nt t o anchor poi nt i ncl udi ng pi n r adi us
( di r ect i on of f or ce)
Pr p = pi n*[ - Puy; Pux] ; Mr p = pi n*[ - Muy; Mux] ; Tr p = pi n*[ - Tuy; Tux] ;
Pr q = Pr p + Pr ; Mr q = Mr p + Mr ; Tr q = Tr p + Tr ;
Pr qx = Pr q( 1) ; Mr qx = Mr q( 1) ; Tr qx = Tr q( 1) ;
Pr qy = Pr q( 2) ; Mr qy = Mr q( 2) ; Tr qy = Tr q( 2) ;

Pqux = Pr qx / sqr t ( Pr qx^2 + Pr qy^2 ) ;
Pquy = Pr qy / sqr t ( Pr qx^2 + Pr qy^2 ) ;
Mqux = Mr qx / sqr t ( Mr qx^2 + Mr qy^2 ) ;
Mquy = Mr qy / sqr t ( Mr qx^2 + Mr qy^2 ) ;
Tqux = Tr qx / sqr t ( Tr qx^2 + Tr qy^2 ) ;
Tquy = Tr qy / sqr t ( Tr qx^2 + Tr qy^2 ) ;

Pqu = [ Pqux; Pquy] ; Mqu = [ Mqux; Mquy] ; Tqu = [ Tqux; Tquy] ; %%Uni t
Vect or s

Lpq = sqr t ( Pr qx^2 + Pr qy^2 ) ; %%Lengt h f r omAnchor i ncl udi ng pi n t o
At t achment
Lmq = sqr t ( Mr qx^2 + Mr qy^2 ) ;
Lt q = sqr t ( Tr qx^2 + Tr qy^2 ) ;

62

D( d, 9) = Lpq; D( d, 17) = Lmq; D( d, 25) = Lt q;

%%Need di st ance f r omGl obal Or i gi n t o cont act poi nt s on pi ns
Pxq = Px + Pr p( 1) ; Mxq = Mx + Mr p( 1) ; Txq = Tx + Tr p( 1) ;
Pyq = Py + Pr p( 2) ; Myq = My + Mr p( 2) ; Tyq = Ty + Tr p( 2) ;

%%For ce Cal cul at i ons wi t h pi n r adi us i ncl uded
K = [ Pqux Mqux Tqux; Pquy Mquy Tquy; ( ( Pxq*Pquy) - ( Pyq*Pqux) ) ( ( Mxq*Mquy) -
( Myq*Mqux) ) ( ( Txq*Tquy) - ( Tyq*Tqux) ) ] ;
Z = [ - Nf x - ( - uf *FN*si n( al pha) ) ; ( - W- Nf y - ( - uf *FN*cos( al pha) ) ) ; ( -
( ( Nf y*Nx) - ( Nf x*Ny) ) - W*Cx) ] ;
F = K\ Z;

FP = F( 1) ; FM = F( 2) ; FT = F( 3) ; %%For ce Magni t udes
Pf = FP*Pqu; Pm= FM*Mqu; Pt = FT*Tqu; %%For ce Vect or s

D( d, 6) = FP; D( d, 14) = FM; D( d, 22) = FT;
D( d, 7) = Pf ( 1) ; D( d, 15) = Pm( 1) ; D( d, 23) = Pt ( 1) ;
D( d, 8) = Pf ( 2) ; D( d, 16) = Pm( 2) ; D( d, 24) = Pt ( 2) ;
D( d, 32) = ( - uf *FN*si n( al pha) ) ; D( d, 33) = ( - uf *FN*cos( al pha) ) ;

%%For Pl ot t i ng and Ext r as

%%

end

f or d = 15: 83
%%Mot or Rot at i on Cal cul at i ons
%Rot at i on t o St ep Open f r omcur r ent posi t i on - i n r adi ans
r ot PO = ( D( d- 1, 9) - D( d, 9) ) * gear s( 2) / ( gear s( 1) * gear s( 3) ) ;
r ot MO = ( D( d- 1, 17) - D( d, 17) ) * gear s( 2) / ( gear s( 1) * gear s( 3) ) ;
r ot TO = ( D( d- 1, 25) - D( d, 25) ) * gear s( 2) / ( gear s( 1) * gear s( 3) ) ;

D( d, 10) = r ot PO;
D( d, 18) = r ot MO;
D( d, 26) = r ot TO;

%Rot at i on t o St ep Cl ose f r omcur r ent posi t i on
r ot PC = ( D( d+1, 9) - D( d, 9) ) * gear s( 2) / ( gear s( 1) * gear s( 3) ) ;
r ot MC = ( D( d+1, 17) - D( d, 17) ) * gear s( 2) / ( gear s( 1) * gear s( 3) ) ;
r ot TC = ( D( d+1, 25) - D( d, 25) ) * gear s( 2) / ( gear s( 1) * gear s( 3) ) ;

D( d, 11) = r ot PC;
D( d, 19) = r ot MC;
D( d, 27) = r ot TC;
end

xl swr i t e( ' For cePosi t i onDat aWr i t eFul l . xl s' , D, ' For ce & Posi t i on Dat a' ,
' B11' ) ;

63

INTERFACE CODE

f unct i on var ar gout = HumanJ awSi mI nt er f ace( var ar gi n)

%Begi n i ni t i al i zat i on code - DO NOT EDI T
gui _Si ngl et on = 1;
gui _St at e = st r uct ( ' gui _Name' , mf i l ename, . . .
' gui _Si ngl et on' , gui _Si ngl et on, . . .
' gui _Openi ngFcn' , @HumanJ awSi mI nt er f ace_Openi ngFcn, . . .
' gui _Out put Fcn' , @HumanJ awSi mI nt er f ace_Out put Fcn, . . .
' gui _Layout Fcn' , [ ] , . . .
' gui _Cal l back' , [ ] ) ;
i f nar gi n && i schar ( var ar gi n{1})
gui _St at e. gui _Cal l back = st r 2f unc( var ar gi n{1}) ;
end

i f nar gout
[ var ar gout {1: nar gout }] = gui _mai nf cn( gui _St at e, var ar gi n{: }) ;
el se
gui _mai nf cn( gui _St at e, var ar gi n{: }) ;
end
%End i ni t i al i zat i on code - DO NOT EDI T

%- - - Execut es j ust bef or e J i mGUI 2x i s made vi si bl e.
f unct i on HumanJ awSi mI nt er f ace_Openi ngFcn( hObj ect , event dat a, handl es,
var ar gi n)
%Thi s f unct i on has no out put ar gs, see Out put Fcn.
%hObj ect handl e t o f i gur e
%event dat a r eser ved - t o be def i ned i n a f ut ur e ver si on of MATLAB
%handl es st r uct ur e wi t h handl es and user dat a ( see GUI DATA)
%var ar gi n command l i ne ar gument s t o J i mGUI 2x ( see VARARGI N)

D = xl sr ead( ' For cePosi t i onDat aReadFul l . xl s' , ' For ce & Posi t i on Dat a' ,
' B11: C116' ) ;
DD = xl sr ead( ' For cePosi t i onDat aReadFul l . xl s' , ' For ce & Posi t i on Dat a' ,
' D11: D116' ) ;
handl es. DV = xl sr ead( ' For cePosi t i onDat aReadFul l . xl s' , ' For ce & Posi t i on
Dat a' , ' C4: H5' ) ;
handl es. TESTM = xl sr ead( ' For cePosi t i onDat aWr i t eFul l . xl s' , ' For ce & Posi t i on
Dat a' , ' G11: G116' ) ;

handl es. SSS = xl sr ead( ' For cePosi t i onDat aWr i t eFul l . xl s' , ' For ce & Posi t i on
Dat a' , ' A11: A116' ) ;

%MDM i s t he Mast er Dat a Mat r i x
handl es. MDM = xl sr ead( ' For cePosi t i onDat aWr i t eFul l . xl s' , ' For ce & Posi t i on
Dat a' , ' B11: AH116' ) ;

64

%MDMmmi s MDM mul t i pl i ed by 100 t o get met er val ues i nt o mm
handl es. MDMmm= 1000*handl es. MDM;

%MDMr ot i s MDM mul t i pl i ed by 360/ 2pi t o get r adi ans i nt o degr ees
handl es. MDMr ot = ( 360/ ( 2*pi ) ) *handl es. MDM;

handl es. poi nt s=( 0: 116) ' ;

handl es. st eps=si ze( handl es. poi nt s, 1) ;
handl es. pat h=D;
handl es. angl e=- DD/ pi *180;
handl es. St epNumber =38; %%t el l s i t at whi ch poi nt i n t he mat r i x t o
st ar t at
handl es. or gn = handl es. pat h( handl es. St epNumber , : ) ;
shapeB = 0. 001*xl sr ead( ' j awout l i ne. xl s' , ' Sheet 1' , ' A1: B94' ) ;
Cent er B = [ 0, 0] ;

handl es. box=t r ansl at e( shapeB, Cent er B, handl es. or gn) ;
handl es. or gn=handl es. pat h( handl es. St epNumber , : ) ;
handl es. box=Rot at e( handl es. box, handl es. or gn, 0, handl es. angl e( handl es. St epNumbe
r ) ) ;

Obj ect _Pl ot s( hObj ect , event dat a, handl es) ;

%Choose def aul t command l i ne out put f or J i mGUI 2x
handl es. out put = hObj ect ;

%Updat e handl es st r uct ur e
gui dat a( hObj ect , handl es) ;

%UI WAI T makes J i mGUI 2x wai t f or user r esponse ( see UI RESUME)
%ui wai t ( handl es. f i gur e1) ;

%- - - Out put s f r omt hi s f unct i on ar e r et ur ned t o t he command l i ne.
f unct i on var ar gout = HumanJ awSi mI nt er f ace_Out put Fcn( hObj ect , event dat a,
handl es)
%var ar gout cel l ar r ay f or r et ur ni ng out put ar gs ( see VARARGOUT) ;
%hObj ect handl e t o f i gur e

%Get def aul t command l i ne out put f r omhandl es st r uct ur e
var ar gout {1} = handl es. out put ;

%Thi s cr eat es t he ' backgr ound' axes
ha = axes( ' uni t s' , ' nor mal i zed' , . . .
' posi t i on' , [ 0 0 1 1] ) ;

65

%Move t he backgr ound axes t o t he bot t om
ui st ack( ha, ' bot t om' ) ;

%Load i n a backgr ound i mage and di spl ay i t usi ng t he cor r ect col or s
%The i mage used bel ow, i s i n t he I mage Pr ocessi ng Tool box. I f you do not
have %access t o t hi s t ool box, you can use anot her i mage f i l e i nst ead.
I =i mr ead( ' Skul l Backgr ound. j pg' ) ;
hi = i magesc( I ) ;
col or map gr ay

%Tur n t he handl evi si bi l i t y of f so t hat we don' t i nadver t ent l y pl ot i nt o t he
axes agai n
%Al so, make t he axes i nvi si bl e
set ( ha, ' handl evi si bi l i t y' , ' of f ' , . . .
' vi si bl e' , ' of f ' )

%- - - Execut es on but t on pr ess i n Cl ose_St ep.
f unct i on Open_St ep_Cal l back( hObj ect , event dat a, handl es)
%hObj ect handl e t o Cl ose_St ep ( see GCBO)

t het a=handl es. angl e( handl es. St epNumber ) ;
i f handl es. St epNumber >1
handl es. St epNumber =handl es. St epNumber - 1;
el se
handl es. St epNumber =handl es. st eps;
end
handl es. box=t r ansl at e( handl es. box, handl es. or gn, handl es. pat h( handl es. St epNumbe
r , : ) ) ;
handl es. box=Rot at e( handl es. box, handl es. or gn, t het a, handl es. angl e( handl es. St epN
umber ) ) ;




%- - - Execut es on but t on pr ess i n Open_St ep.
f unct i on Cl ose_St ep_Cal l back( hObj ect , event dat a, handl es)
%hObj ect handl e t o Open_St ep ( see GCBO)

i f handl es. St epNumber <handl es. st eps

66

handl es. St epNumber =handl es. St epNumber +1;
el se
handl es. St epNumber =1;
end
r , : ) ) ;
umber ) ) ;




f unct i on Obj ect _Pl ot s( hObj ect , event dat a, handl es)

%Funct i on t o Pl ot Obj ect s

%Posi t i onPl ot
axes( handl es. Posi t i onPl ot )
pl ot ( handl es. pat h( : , 1) , handl es. pat h( : , 2) , ' - k' , ' Li neWi dt h' , 2)
hol d on
pl ot ( handl es. box( : , 1) , handl es. box( : , 2) , ' : m' , ' Li neWi dt h' , 2) ;
hol d on
pl ot ( [ handl es. DV( 1, 1) ; handl es. MDM( handl es. St epNumber , 4) ] , [ handl es. DV( 2, 1) ;
handl es. MDM( handl es. St epNumber , 5) ] , ' -
or ' , ' Mar ker Si ze' , 8, ' Mar ker FaceCol or ' , ' r ' , ' Li neWi dt h' , 2)
hol d on
om' , ' Mar ker Si ze' , 8, ' Mar ker FaceCol or ' , ' m' , ' Li neWi dt h' , 2)
hol d on
ob' , ' Mar ker Si ze' , 8, ' Mar ker FaceCol or ' , ' b' , ' Li neWi dt h' , 2)
hol d on

hol d of f
set ( gca, ' XLi m' , [ - 0. 05 0. 09] , ' YLi m' , [ - 0. 10 0. 05] )

%Val ue Di spl ays
set ( handl es. Posi t i onNumber Di spl ay, ' St r i ng' , num2st r ( handl es. poi nt s( handl es. St e
pNumber + 1, 1) ) )

set ( handl es. Ar t Sur _XCoor , ' St r i ng' , [ num2st r ( handl es. MDMmm( handl es. St epNumber , 1
) , ' %10. 5f ' ) ' mm' ] )

67

set ( handl es. Ar t Sur _YCoor , ' St r i ng' , [ num2st r ( handl es. MDMmm( handl es. St epNumber , 2
) , ' %10. 5f ' ) ' mm' ] )
set ( handl es. Angl e_Bl ue, ' St r i ng' , [ num2st r ( handl es. angl e( handl es. St epNumber , 1) ,
' %10. 2f ' ) ' ' ] )

set ( handl es. Pt er ygoi dFor ceVal ue, ' St r i ng' , [ num2st r ( handl es. MDM( handl es. St epNum
ber , 6) , ' %10. 2f ' ) ' N' ] )
set ( handl es. Masset er For ceVal ue, ' St r i ng' , [ num2st r ( handl es. MDM( handl es. St epNumb
er , 14) , ' %10. 2f ' ) ' N' ] )
set ( handl es. Tempor al For ceVal ue, ' St r i ng' , [ num2st r ( handl es. MDM( handl es. St epNumb
er , 22) , ' %10. 2f ' ) ' N' ] )

set ( handl es. Pt er ygoi dLengt hVal ue, ' St r i ng' , [ num2st r ( handl es. MDMmm( handl es. St ep
Number , 9) , ' %10. 3f ' ) ' mm' ] )
set ( handl es. Masset er Lengt hVal ue, ' St r i ng' , [ num2st r ( handl es. MDMmm( handl es. St epN
umber , 17) , ' %10. 3f ' ) ' mm' ] )
set ( handl es. Tempor al Lengt hVal ue, ' St r i ng' , [ num2st r ( handl es. MDMmm( handl es. St epN
umber , 25) , ' %10. 3f ' ) ' mm' ] )

%{
set ( handl es. Pt er ygoi dRot at i onCl ose, ' St r i ng' , [ num2st r ( handl es. MDMr ot ( handl es. S
t epNumber , 11) , ' %10. 3f ' ) ' ' ] )
set ( handl es. Masset er Rot at i onCl ose, ' St r i ng' , [ num2st r ( handl es. MDMr ot ( handl es. St
epNumber , 19) , ' %10. 3f ' ) ' ' ] )
set ( handl es. Tempor al Rot at i onCl ose, ' St r i ng' , [ num2st r ( handl es. MDMr ot ( handl es. St
epNumber , 27) , ' %10. 3f ' ) ' ' ] )

set ( handl es. Pt er ygoi dRot at i onOpen, ' St r i ng' , [ num2st r ( handl es. MDMr ot ( handl es. St
epNumber , 10) , ' %10. 3f ' ) ' ' ] )
set ( handl es. Masset er Rot at i onOpen, ' St r i ng' , [ num2st r ( handl es. MDMr ot ( handl es. St e
pNumber , 18) , ' %10. 3f ' ) ' ' ] )
set ( handl es. Tempor al Rot at i onOpen, ' St r i ng' , [ num2st r ( handl es. MDMr ot ( handl es. St e
pNumber , 26) , ' %10. 3f ' ) ' ' ] )
%}

%For ce Pl ot
axes( handl es. For cePl ot )
pl ot ( handl es. SSS( : , 1) , handl es. MDM( : , 6) , ' - r ' , ' Li neWi dt h' , 2)
hol d on
pl ot ( handl es. SSS( handl es. St epNumber , 1) , handl es. MDM( handl es. St epNumber , 6) , ' ok'
, ' Mar ker Si ze' , 8, ' Mar ker FaceCol or ' , ' k' )
hol d on
pl ot ( handl es. SSS( : , 1) , handl es. MDM( : , 14) , ' - m' )
hol d on
pl ot ( handl es. SSS( handl es. St epNumber , 1) , handl es. MDM( handl es. St epNumber , 14) , ' ok
' , ' Mar ker Si ze' , 8, ' Mar ker FaceCol or ' , ' k' )
hol d on
pl ot ( handl es. SSS( : , 1) , handl es. MDM( : , 22) , ' - b' )
hol d on
pl ot ( handl es. SSS( handl es. St epNumber , 1) , handl es. MDM( handl es. St epNumber , 22) , ' ok
' , ' Mar ker Si ze' , 8, ' Mar ker FaceCol or ' , ' k' )
hol d on
hol d of f

68

set ( gca, ' xt i ck' , [ ] , ' XLi m' , [ 38 92] , ' YLi m' , [ - 75 75] )

%Lengt h Pl ot
axes( handl es. Lengt hsPl ot )
pl ot ( [ 0. 75; 0. 75] , [ 0; handl es. MDMmm( handl es. St epNumber , 9) ] , ' -
r ' , ' Li neWi dt h' , 6)
hol d on
pl ot ( [ 2; 2] , [ 0; handl es. MDMmm( handl es. St epNumber , 17) ] , ' - m' , ' Li neWi dt h' , 6)
hol d on
pl ot ( [ 3. 25; 3. 25] , [ 0; handl es. MDMmm( handl es. St epNumber , 25) ] , ' -
b' , ' Li neWi dt h' , 6)
hol d on
hol d of f
set ( gca, ' xt i ck' , [ ] , ' XLi m' , [ 0 4] , ' YLi m' , [ 0 120] )



%- - - Execut es on but t on pr ess i n OPENBut t on.
f unct i on Cl oseBut t on_Cal l back( hObj ect , event dat a, handl es)
but t on_st at e = get ( hObj ect , ' Val ue' ) ;

%hObj ect handl e t o OPENBut t on ( see GCBO)
whi l e ( handl es. St epNumber < handl es. st eps) && ( but t on_st at e ==
get ( hObj ect , ' Max' ) )

i f handl es. St epNumber <handl es. st eps
handl es. St epNumber =handl es. St epNumber +1;

r , : ) ) ;

umber ) ) ;
end

pause( 0. 1)
dr awnow

69

end



%- - - Execut es on but t on pr ess i n Cl oseBut t on.
f unct i on OpenBut t on_Cal l back( hObj ect , event dat a, handl es)
%hObj ect handl e t o Cl oseBut t on ( see GCBO)

whi l e ( 1 < handl es. St epNumber ) && ( but t on_st at e == get ( hObj ect , ' Max' ) )

i f 1<handl es. St epNumber
handl es. St epNumber =handl es. St epNumber - 1;

r , : ) ) ;

umber ) ) ;
end

pause( 0. 1)
dr awnow
end



70

APPENDIX C
Equations

71

Variables in Force Analysis

ACS Absolute Coordinate System
T Location of temporal attachment on the mandible in the ACS
M Location of mandible attachment on the mandible in the ACS
P Location of pterygoid attachment on the mandible in the ACS, also the center of rotation
C Location of centroid of the mandible in the ACS
N Location that the normal force acts on the condyle in the ACS
T
0
Initial location of temporal attachment on the mandible in the ACS
M
0
Initial location of mandible attachment on the mandible in the ACS
P
0
Initial location of pterygoid attachment on the mandible in the ACS, also the center of rotation
C
0
Initial location of centroid of the mandible in the ACS
N
0
Initial location that the normal force acts on the condyle in the ACS
Txp Location of T in the x direction relative to P
Typ Location of T in the y direction relative to P
Mxp Location of M in the x direction relative to P
Myp Location of M in the y direction relative to P
Nxp Location of N in the x direction relative to P
Nyp Location of N in the y direction relative to P
Ta Location of the temporal anchor point on the upper skull in the ACS
Ma Location of the temporal anchor point on the upper skull in the ACS
Pa Location of the temporal anchor point on the upper skull in the ACS
TL Distance from P to T
ML Distance from P to M
CL Distance from P to C
NL Distance from P to N
DP Distance traveled by point P
DT Distance traveled by point T
DM Distance traveled by point M
DL Distance traveled by point L
X Translation of the mandible on the x axis
Y Translation of the mandible on the y axis
R Rotation of the mandible
M Slope of articulating surface at N
T
Positive angle from vertical axis between the Ta and T
M
Positive angle from vertical axis between the Ma and M
P
Positive angle from vertical axis between the Pa and P
N
Positive angle from vertical axis between the N and P
TP
Positive angle from horizontal axis between the T and P
CP
Positive angle from horizontal axis between the C and P
MP
Positive angle from horizontal axis between the M and P
F
T
Force from temporal muscle
F
M
Force from masseter muscle
F
P
Force from pterygoid muscle
F
N
Normal force from articulating surface
F
N
Friction force from articulating surface
W Weight of mandible

72

Force Analysis and Equations

System Force Analysis
Fx = 0
Fy = 0
Mo = 0
FN = Constant
Statically Indeterminant
oThree Muscle Forces
oNormal Force
Solution
oForce Relationships
and Assumptions:
1
2
3
4
5
FP
FT
FN
FN
W
FM
Points of Interest
1. Contact Point
2. Pterygoid Attachment
3. Temporal Attachment
4. Masseter Attachment
5. Centroid

73

Bending Stress
GPa E where
EI
FL
calculated also was deflection The
MPa strength flexural where
D D
inertia of moment polar I
I
FLR
stress
diameter inner D radius outer R
diameter outer D length L force F
i o
o
i o
o
07 . 2
3
:
) 9 . 57 ( 75 . 0
) ( 64
3
4 4
= =
= =
= =
= =
= = =

Attachment Points Calculated Diameters
Length m
Outer
radius m
Inner
Radius m Force N Stress Mpa
Deflection
m
Temporal Attachment 0.042 0.008 0.0015875 533.8 55.8395551 0.00198271

Temporal Anchor 0.029 0.007 0.0015875 533.8 57.6159723 0.00111468

Masseter Attachment 0.026 0.007 0.0015875 533.8 51.6556993 0.0008033

Pterygoid Attachment 0.021 0.0065 0.0015875 533.8 52.1573926 0.00056984

Pterygoid and
Masseter Anchor 0.014 0.0065 0.0015875 533.8 34.7715951 0.00016884

74

APPENDIX D

75

ProE/Mechanica Mandible Model Properties

Assumi ng Pol ycar bonat e ABS Al l oy
( Est i mat ed densi t y f r omvar i ous mat er i al s) [ 36]

VOLUME = 7. 7202311e+04 MM^3
SURFACE AREA = 2. 7034369e+04 MM^2
DENSI TY = 1. 3000000e- 06 KI LOGRAM / MM^3
MASS = 1. 0036300e- 01 KI LOGRAM

CENTER OF GRAVI TY wi t h r espect t o _LOWERJ AWcoor di nat e f r ame:
X Y Z 6. 0130673e+01 3. 7984509e+01 4. 2760339e+01 MM

I NERTI A wi t h r espect t o _LOWERJ AWcoor di nat e f r ame: ( KI LOGRAM * MM^2)

I NERTI A TENSOR:
I xx I xy I xz 4. 0597097e+02 - 2. 2923057e+02 - 2. 5805299e+02
I yx I yy I yz - 2. 2923057e+02 7. 0578962e+02 - 1. 3501130e+02
I zx I zy I zz - 2. 5805299e+02 - 1. 3501130e+02 6. 6628517e+02

I NERTI A at CENTER OF GRAVI TY wi t h r espect t o _LOWERJ AWcoor di nat e f r ame:
( KI LOGRAM * MM^2)

I NERTI A TENSOR:
I xx I xy I xz 7. 7656536e+01 1. 9606704e- 03 1. 1647505e- 03
I yx I yy I yz 1. 9606704e- 03 1. 5939893e+02 2. 8001351e+01
I zx I zy I zz 1. 1647505e- 03 2. 8001351e+01 1. 5859683e+02

PRI NCI PAL MOMENTS OF I NERTI A: ( KI LOGRAM * MM^2)
I 1 I 2 I 3 7. 7656536e+01 1. 3099366e+02 1. 8700210e+02

ROTATI ON MATRI X f r om_LOWERJ AWor i ent at i on t o PRI NCI PAL AXES:
1. 00000 - 0. 00001 - 0. 00002
- 0. 00002 - 0. 70203 - 0. 71215
- 0. 00001 0. 71215 - 0. 70203

ROTATI ON ANGLES f r om_LOWERJ AWor i ent at i on t o PRI NCI PAL AXES ( degr ees) :
angl es about x y z 134. 590 0. 000 0. 000

RADI I OF GYRATI ON wi t h r espect t o PRI NCI PAL AXES:
R1 R2 R3 2. 7816481e+01 3. 6127533e+01 4. 3165465e+01 MM

76

APPENDIX E
Financial Management

77

78
Parts Distributor Part Number Quantity Cost per Total
Aluminum flat stock for motor clamps (6061 3/8T x 1 w x 6' L) McMaster-Carr 8975K47 1 $22.44 $22.44
Aluminum flat stock for skull and motors (6061 3/8T x 6 w x 1' L) McMaster-Carr 8975K441 1 $19.15 $19.15
Axle (Alloy 7075 Aluminum Precision Ground Rod 1/2" Diameter, 3'
Length) McMaster-Carr 9063K163 1 $27.33 $27.33
Base mount bearings (Stamped-Steel Mounted Ball Bearing--ABEC-
1 2-Bolt Base Mount, for 1/2" Shaft Diameter) McMaster-Carr 5913K41 6 $10.95 $65.70
Connecting cable (68pin X 2m controller to driver) National Instruments 186380-02 1 $135.00 $135.00
Connecting cable (driver to motor) Automation Solutions MDC-AKM 3 $150.00 $450.00
Controller (NI PCI-7344) National Instruments 778916-04 1 $1,349.10 $1,349.10
Disc material (delrin film .003" Thick, 12" X 12") McMaster-Carr 5742T11 1 $9.93 $9.93
Disc material (Slippery plastic selector pack) McMaster-Carr 5331K41 1 $34.88 $34.88
Disc material (tape made with teflon PTFE 5yds x .5") McMaster-Carr 76025A711 1 $3.97 $3.97
Disc material (teflon film Sheets Made Of TeflonPTFE Adhesive
Ready, .015" Thick, 6" X 6") McMaster-Carr
8711K91
1 $3.73 $3.73
Driver (MDM2100) Automation Solutions MDM2100 1 $2,800.00 $2,800.00
Frame end caps (1" X 1") McMaster-Carr 47065T91 25 $1.27 $31.75
Mimics sofware Mimics v10.01 1 $4,000.00 $4,000.00
Motor (2.2NM) Automation Solutions AKM33E 3 $695.00 $2,085.00
Nut motor mount to motor (10-32 100pk) McMaster-Carr 90730A015 1 $7.81 $7.81
Nut T-slot frame nuts (1/4-20 15pk) McMaster-Carr 47065T142 5 $9.16 $45.80
Pulley (OD: 1.5" ID: .5"** will need boring to .55 ID) McMaster-Carr 6245K11 3 $3.50 $10.50
Pulley (reduction Spoked for lower I OD: 8" ID: .5") McMaster-Carr 6245K55 3 $11.94 $35.82
Screw bearing, motor mount, and motor clamp to frame (1/4-20 X
3/4 25pk) McMaster-Carr 98164A213 1 $9.48 $9.48
Screw frame construction (Button Head 1/4-20 X 1-1/2" 50pk) McMaster-Carr 92949A546 1 $16.30 $16.30
Screw motor clamp (10-32 X .75 box of pk25) McMaster-Carr 92185A991 1 $8.86 $8.86
Screw motor mount to motor (10-32 X 7/8" 100pk) McMaster-Carr 92185A991 1 $13.41 $13.41
Screw skull mount (1/4-20 X 1.25 10pk) McMaster-Carr 92185A544 1 $5.98 $5.98
Skull SLA NEU 1 $500.00 $500.00
String anchor (1/4 shoulder screw) McMaster-Carr 94035A532 6 $2.56 $15.36
String guide pin (3/32 sholder screw) McMaster-Carr 99154A306 6 $4.43 $26.58
T-slot frame (Fractional T-Slotted Framing System 1" X 1" Square
Extrusion, 8' Length) McMaster-Carr 47065T123 4 $25.68 $102.72
V-belt (4L Fractional hp Neoprene Rubber V-Belt Trade Size 4L310,
31" Outer Circle) McMaster-Carr 6191K25 3 $4.42 $13.26
Washer for skull (.75 sq 1/4 bolt 10pk) McMaster-Carr 99041A103 1 $8.28 $8.28
Washer frame construction ( .26ID 100pk) McMaster-Carr 92916A365 1 $6.91 $6.91

79

APPENDIX F
Matlab Interface

80

Figure 55. Theoretical Mucle Force Profile

Figure 56. Muscle Lengths Comparison Plot

81

APPENDIX G
Engineering Design Drawings

82

Bill Of Material
Quantity Part
2 T_SLOT_ALUM_20_MOTOR
3 AKM33
6 MOTOR_MOUNT_PLATE
3 PULLEY_1_HALF
19 1-4_20-75
51 560_WASHER
71 T_SLOT_NUT
12 10-32_75_BUTTON_HEAD
12 10-32_NUT
4 T_SLOT_ALUM_20
3 AXLE
6 BEARING
12 1-4_20-50
5 T_SLOT_ALUM_9_HALF
3 PULLEY_8
4 T_SLOT_ALUM_15
2 T_SLOT_ALUM_15_MOTOR
4 T_SLOT_ALUM_13
1 T_SLOT_ALUM_SKULL_POST
1 SKULL_SUPPORT
1 SKULL
6 10-32_SHOULDER_SCREW
6 2-56_SHOULDER_SCREW
1 SKULL_MOUNT_SPACER
8 1-4_20_1-75
3 MOTOR_CLAMP_TOP
6 MOTOR_CLAMP_SIDE
6 MOTOR_CLAMP_FOOT
28 10-32_75
32 1-4_20_X_125_BUTTON_HEAD
1 J AW_SUPPORT_BASE
2 J AW_SUPPORT_VERT
1 J AW_SUPPORT_ROD
2 J AW_SUPPORT_FINGER
7 10-32_SETSCREW
6 STRING_CLAMP
3 V-BELT
3 T_SLOT_GUSSET
6 1-4_20_50_SH

83

84

85

86

87

88

89

90

91

92

93

94

95

96

97

98

99

100

101

102

103

APPENDIX H
LabVIEW Settings

104
NI Settings Documentation for Motion and Automation

AXIS 1, 2, 3
1. Axis Configuration Axis Configuration
a. Type
i. Servo
b. Enabled
i. Enabled
c. Feedback
i. Encoder
d. I/O Usage
i. Output: DAC Channel 1
ii. Feedback: Encoder 1

2. Motion I/O Settings
a. Limit Filters
i. Enabled
b. Forward Limit Switch
i. Enabled
ii. Active Low Polarity originally supposed to be high polarity, but it trips the
limit switches so it needs to be set to low polarity.
c. Reverse Limit Switch
i. Enabled
ii. Active Low Polarity originally supposed to be high polarity, but it trips the
limit switches so it needs to be set to low polarity.
d. Home Switch
i. Disabled
ii. Active Low Polarity
e. Forward Software Limit
i. Disabled
f. Reverse Software Limit
i. Disabled
g. Inhibit Output Settings
i. Enabled
ii. Active Low Polarity
h. Drive Ready
i. (Not Applicable)
i. Inhibit Input Settings
i. (Not Applicable)

3. Trajectory Settings Trajectory Settings
a. Units
i. Revolutions
b. Move Status Settings
i. Following Error:
1. 32767 counts
ii. Velocity Threshold
1. 5000 rpm
iii. Run/Stop Threshold
1. 1 counts/sample
c. Move Complete Criteria
i. Motor Off
1. Not Checked

105
ii. Run/Stop
1. Not Checked
iii. In Position
1. (Not Applicable)
iv. Delay
1. Not Checked
v. Deadband
1. Not Checked
vi. Minimum Pulse
1. 0 milliseconds
d. Velocity Filter Settings
i. Filter Time
1. 10 milliseconds
ii. Filter Distance
1. 100 steps

4. Trajectory Settings Move Constraints
a. Velocity
i. 200 rpm
b. Acceleration
i. 100 rps/s
c. Deceleration
i. 100 rps/s
d. S Curve Time
i. 1 sample periods

5. Find Reference Settings - Home
a. Initial Search Direction
i. Forward
b. Final Approach Direction
i. Forward
c. Home Edge to Stop On
i. Forward
d. Approach Velocity %
i. 20 % velocity
e. Offset Move
i. 0 steps
f. Reset Position
i. Not Checked
g. Smart Enable (Enable/Disable switches before executing Find Reference
i. Check Box

6. Find Reference Settings Index
i. Forward
b. Initial Search Direction
i. Forward
c. Approach Velocity %
i. 20 % velocity
d. Offset Move
i. 0 steps
e. Reset Position
i. Not Checked
f. Custom Search Distance

106
i. Not Checked
g. Smart Enable (Enable/Disable switches before executing Find Reference
i. Check Box

7. Find Reference Settings Forward Limit
i. NA
i. Into Limit
i. 20 % velocity
d. Offset Move
i. 0 steps
e. Reset Position
i. Not Checked
f. Smart Enable (Enable/Disable switches before executing Find Reference
i. Check Box

8. Find Reference Settings Reverse Limit
i. NA
i. Into Limit
i. 20 % velocity
d. Offset Move
i. 0 steps
e. Reset Position
i. Not Checked
i. Check Box

9. Find Reference Settings - Center
i. Forward
i. Into Limit
i. 20 % velocity
d. Offset Move
i. 0 counts
e. Reset Position
i. Not Checked
i. Check Box

10. Gearing Settings
a. Gear Master
i. None
b. Gearing Mode
i. Absolute
c. Gearing Enabled
i. Disabled
d. Gear Ratio for Slave Axis

107
i. Numerator
1. 0
ii. Denominator
1. 1

11. Control Loop Settings Control Loop Settings
a. Kp
i. 10
b. Kd
i. 100
c. Ki
i. 10
d. Kv
i. 0
e. Nonlinear Gains
i. Derivative Sampling Period (Td)
1. 2
ii. Integration Limit (Lim)
1. 400
f. Feedforward Gains
i. Velocity (Vff)
1. 0
ii. Acceleration (Aff)
1. 0
g. Control Loop Update Period
i. 250 microseconds

12. Control Loop Settings Filter Settings
a. Not Checked (Not Applicable)

13. Control Loop Settings Torque Settings
a. Primary DAC Output
i. Load Torque Limits & Offsets in:
1. Volts
ii. Positive Torque Limit
1. 10 Volts
iii. Negative Torque Limit
1. -10 Volts
iv. Torque Offset
1. 0 Volts
b. Secondary DAC Output
i. Load Torque Limits & Offsets in:
1. Volts
ii. Positive Torque Limit
1. 10 Volts
iii. Negative Torque Limit
1. -10 Volts
iv. Torque Offset
1. 0 Volts

14. Compare & Capture Settings
a. Postion Breakpoints
i. Mode
1. Absolute

108
ii. Module
1. Not Checked
iii. Pulse Width
1. Not Checked
iv. Action
1. No Change
v. Window
1. 0 counts (steps)
vi. Active High Polarity
1. Checked
b. Trigger Inputs
i. Low-to-High Edge

15. Digital I/O Settings
a. IO Port Direction
i. Input
1. All Input Checked
b. IO Port Active State
i. Active Low
1. All Active Low Checked
c. Output State
i. No Change
1. All No Change Checked

d. IO Port Direction
i. Input
e. IO Port Active State
i. Active Low
f. Output State
i. No Change
16. Digital I/O Settings Port 1
a. IO Port Direction
i. Input
b. IO Port Active State
i. Active Low
c. Output State
i. No Change
1. All No Change Checked
d. IO Port Direction
i. Input
e. IO Port Active State
i. Active Low
f. Output State
i. No Change
17. ADC Settings
a. Channel
i. Enabled
b. ADC Range

109
i. -10 to +10 Volts

18. ADC Channel 1
a. Channel
i. Enabled
b. ADC Range
i. -10 to +10 Volts

19. Encoder Settings
a. Encoder counts per revolution
i. 8192 motors give line count of 2048, which needs to be multiplied by 4 in
order to get counts per revolution
b. Filter Frequency
i. 12.8 MHz
c. Encoder
i. (Not Applicable)
d. Polarities
i. Active High
1. A, B & Index Checked
e. Index Reference Criteria
i. Inactive
1. A & B Checked

20. Encoder Settings Encoder 1
a. Encoder counts per revolution
i. 8192 motors give line count of 2048, which needs to be multiplied by 4 in
order to get counts per revolution
b. Filter Frequency
i. 12.8 MHz
c. Encoder
i. (Not Applicable)
d. Polarities
i. Active High
1. A, B & Index Checked
e. Index Reference Criteria
i. Inactive
1. A & B Checked

21. PWM Settings
a. PWM
i. Disabled
b. Clock Frequency
i. 40 KHz
c. Load Duty Cycle in
i. Percent
d. Duty Cycle
i. 0 %

22. PWM Settings PWM Output 1
a. PWM
i. Disabled
b. Clock Frequency
i. 40 KHz

110
i. Percent
d. Duty Cycle
i. 0 %

23. PWM Settings PWM Output 2
a. PWM
i. Disabled
b. Clock Frequency
i. 40 KHz
i. Percent
d. Duty Cycle
i. 0 %

111

112

APPENDIX I
Gantt Chart

113
Gantt Chart
Using Microsoft Project a Gantt chart was developed for planning and tracking the progress of the project. The
majority of the tasks were completed on schedule while some were delayed for various reasons. Editing of the skull
file took longer than initially planned since the mirroring function of the editing program was not available in the
initial version. The mirror function was needed to complete editing of the skull file and the time it took to get access
to the function pushed the task past its target completion date. The 3D printer then crashed twice when attempting
to print the skull and an alternative printing source was used to print the skull. Once the skull was printed it was
sent out for molding, but the company that was doing the molding had a rush order and the skull got pushed back.
These delays combined resulting in the final skull being five weeks overdue.

Additional late tasks were the creation of the list of materials and placing of the orders. These delays were caused
by a lack of information on the control system and changes to the design. Since the parts took a week to be
delivered and two weeks were planned for shipment this did not impact later tasks. Due to some of the details of the
design, construction of the system took longer than initially planned, resulting in additional tasks being late.

The task of completing the final LabVIEW program was also not completed on time. This was due to the fact that
the controller that was delivered was for brushed DC servo motors while the model was using brushless DC servo
motors. The controller had to be returned and the correct controller had to be created and shipped. Since this task
was completed late it forced the tasks of connecting the model to the controls and the testing of the system to also be
late.

114

115

116

117

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