A Novel Robotic Prototype Simulating Oral and Pharyngeal Swallowing with Passive Epiglottis Actuation

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.