Attending the IEEE RAS/EMBS 11th International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2026 in Edmonton

Created on May 06, 2026

2026

I’m pleased to share that our paper “Design and Modeling of a Novel Active Hybrid Exoskeleton for Jaw Motion Assistance” has been accepted and is presented at the IEEE RAS/EMBS 11th International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2026 in Edmonton, Canada!

This work presents the first comprehensive computational framework for hybrid rigid-soft jaw exoskeletons, integrating a biomechanically validated $24$-muscle jaw model with deformable finite element soft-body dynamics in MuJoCo. The proposed four-tendon system combines a rigid chin cup for force transmission with a compliant facial mask for user comfort.

Temporomandibular disorders affect approximately $5$-$12\%$ of the global population, severely impairing essential functions like chewing, speaking, and swallowing. Despite clear clinical need, powered jaw exoskeletons remain largely unexplored. To the best of our knowledge, only four have been reported in the literature, each with significant limitations. Our work aims to close this gap by providing a systematic approach, a concrete design, and a comprehensive simulation framework.

The proposed exoskeleton follows a hybrid rigid-soft architecture that balances effective force transmission with user safety:

  • Rigid chin cup for precise force application to the mandible via four tendon-driven actuators
  • Compliant soft facial mask (modeled with a nonlinear hyperelastic material) to distribute contact forces and protect sensitive facial structures
  • High-fidelity MuJoCo simulation integrating a $24$-muscle biomechanical jaw model with deformable finite element soft-body dynamics for evaluation of kinematic tracking, contact forces, and mask stress/strain

Simulation-based evaluation under six configurations (TPU/Silicone materials, muscles-only/tendons-only/combined actuation) demonstrates effective trajectory tracking with mean errors of $4.60$-$6.42 \, \mathrm{mm}$ while maintaining safe interface pressures and material stresses. Critical findings reveal fundamental performance-comfort trade-offs and highlight that future control strategies should minimize biological muscle effort rather than just optimize tracking.

Key contributions:

  • A novel hybrid rigid-soft jaw exoskeleton architecture balancing structural performance with user comfort and safety
  • A comprehensive multi-physics simulation model enabling detailed exoskeleton-human interaction analysis
  • Systematic evaluation of six configurations across two materials and three actuation modes
  • A development foundation for safe, wearable robot-assisted TMD rehabilitation therapy
  • Open-source release of the complete simulation framework: GitHub

You can find the full paper details on my publications page and the associated simulation framework on the project website.