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The chewing trajectory in the dynamic analysis of dental prosthesis is always defined as a two-segmental straight polyline without enough consideration about chewing force and motion laws. The study was aimed to design a realistic human chewing trajectory for the dynamic analysis based on force and motion planning methods. The all-ceramic crown restored in the mandibular first molar was selected as the representative prosthesis. Firstly, a dynamic model containing two molar components and one flat food component was built, and an approxi