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The development of novel texture adaptations for the management of swallowingdisorders could be accelerated if reliable in vitro tests were made available.This study addresses some of the limitations of swallowing in vitro models, byintroducing a soft robotic actuator inspired by the tongue. The wettability ofthe soft-robotic actuator was engineered to achieve physiologically relevantcontact angles to allow comparing dry and lubricated conditions. The actuatordesign and the control algorithm are designed to offer flexibility in theswallowing patterns to consider different scenarios, including poor lingualcoordination. In vitro swallowing tests with shear thinning liquids wereperformed as a proof of concept and showed physiologically relevant oraltransit time, bolus velocity and palatal pressure. Both the bolus rheology andthe coordination of the peristaltic contractions influenced the temporalevolution of the bolus velocity and the bolus transit time. This novel softrobotic tongue, its integration in an in vitro oral cavity and its flexiblecontrol can therefore contribute to developing better solutions to manageswallowing disorders.

A soft robotic tongue to develop solutions to manage swallowing disorders