A biomimetic hybrid soft/rigid robotic masticator simulating Oral processing of solid foods.

Promoting healthy ageing becomes increasingly crucial with the growth in both the size and the proportion of older people in the worldwide population. In vitro models are advancing dietary solutions for older adults by enhancing food development and understanding the effect of masticatory impairments in food oral processing. However, current masticatory simulators lack replication of tongue biomechanics, critical for food manipulation and bolus formation. This study introduces a novel Biomimetic Hybrid Soft/Rigid Robotic Masticator (BioSRM), combining soft and rigid-bodied robotics to simulate intra-oral events during solid food consumption, including Stage I Transport, oral processing, and Stage II Transport, reproducing in vitro the bolus formation process with unparalleled realism. Food intra-oral transformation was studied by characterising food properties from ingestion to swallowing, validating in vitro results against in vivo data of healthy adults. The effects of oral lubrication on bolus formation, including dry mouth and the use of a salivary substitute for relief, were evaluated. The BioSRM marks a significant advancement in robotics for food science applications, paving the way for the development of healthier, safer, and tastier foods for older adults with compromised oral functions.