A videofluorographic (VF) swallowing study was performed on 22 healthy volunteers to observe the complete mastication and swallowing phases for Japanese udon noodles and white rice. The hardness, stickiness, and cohesiveness of food samples were measured using a food texture analyzing system. VF images were acquired using a versatile fluoroscopic unit and barium sulfate was used as a contrast medium. Udon noodles had a harder and smoother food texture than white rice. Fewer chewing movements and more stage 2 transport were seen during the consumption of udon noodles than for white rice.

A unified hand/arm master–slave system was developed to conduct dexterous tasks by teleoperation. Both the master and the slave consist of a two-fingered hand and a 3-d.o.f. planer manipulator. The...