A Novel Robotic Prototype Simulating Oral and Pharyngeal Swallowing with Passive Epiglottis Actuation
Zizhong Zhou, Alberto Gambaruto, Antonia Tzemanaki
AI summary
Problem
Existing swallowing robots often lack physiological fidelity, address only isolated swallowing stages, or rely on complex active epiglottis control that contradicts natural human anatomy.
Approach
The researchers developed a cam-driven tongue and motor-lifted larynx system that passively tilts a silicone epiglottis during elevation, validated through SOFA physics simulation and physical fluid experiments.
Key results
- Simulation confirmed coordinated tongue and laryngeal kinematics
- Prototype motion patterns closely matched human MRI swallowing data
- Passive epiglottis tilting successfully covered the tracheal opening
- Successfully transported IDDSI Level 3 thickened fluids without aspiration
Why it matters
Offers a safe, physiologically accurate robotic platform for dysphagia diet testing, clinical training, and future swallowing research.
Abstract
Robotics simulating swallowing hold the potential to enhance our understanding of the swallowing process, support the development of safer texture- or viscosity-modified foods and beverages, and act as medical education tools for both patients with dysphagia and healthcare professionals. Although robotic models in the literature offer insightful actuation mechanisms, many tackle only isolated stages of swallowing, have reduced physiological accuracy, and tend to be mechanically complex and costly. This paper addresses these limitations by developing a novel robotic model that replicates the oral and pharyngeal stages of swallowing, featuring a passive system to simulate the protective closure of the epiglottis. This paper presents the design, function and experimental validation of the robot model. The proposed model can transport thickened fluids from the tongue to the pharynx, preventing aspiration. By enabling passive epiglottis closure, this model advances the physiological fidelity of swallowing robotics, offering insights into actuation mechanisms for future studies.