Mouth opening and closing training with 6-DOF parallel robot

Takanobu, Hideaki; Maruyama, T.; Takanishi, Atsuo; Ohtsuki, Kayoko; Ohnishi, Masatoshi

doi:10.1109/robot.2000.844791

Cited by 43 publications

(13 citation statements)

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“…These simulators are exclusively used in dental wear studies to replicate tooth movements but show a largely restricted motion kinematics compared to chewing simulators used for patient treatment and to perform food texture as well as flavour measurements [3][4]. They possess just two or three DOF, unlike the human mandible which moves with up to 6 DOF [5][6].…”

Section: Introductionmentioning

confidence: 99%

Capturing motions and forces of the human masticatory system to replicate chewing and to perform dental wear experiments

Raabe

Harrison

Alemzadeh

et al. 2011

2011 24th International Symposium on Computer-Based Medical Systems (CBMS)

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One way to evaluate the life-time performance of dental restorative materials is to use in vitro dental wear simulators, which generate accelerated artificial dental wear on dental restorative components outside of the human oral environment. However, the work of several researchers has questioned the reliability of these in vitro results as a consequence of significant result variations produced by different types of dental wear simulators testing identical dental specimens. Natural six degree of freedom (DOF) mandibular movements and other characteristics of the human masticatory system are not replicated by any of these available simulators. A simulator replicating and controlling 6 DOF mandibular movements and occlusal bite forces improves this situation. This paper presents a method by which accurate jaw motion data can be obtained using a conventional 6 DOF motion capturing system and a method of measuring occlusal bite forces. The data obtained have subsequently been used as input signals for a new 6 DOF dental wear simulator capable of generating single and multicontact wear formations in dental wear studies.

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Section: Introductionmentioning

confidence: 99%

Capturing motions and forces of the human masticatory system to replicate chewing and to perform dental wear experiments

Raabe

Harrison

Alemzadeh

et al. 2011

2011 24th International Symposium on Computer-Based Medical Systems (CBMS)

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“…We could safely verify in advance the load and path during the intermaxillary traction therapy using this simulation [SI. 6 Clinical Treatment and its Evaluation patient with an interval using this system (Fig. 10).…”

Section: Treatment Datamentioning

confidence: 99%

“…Therefore, patients with open bite exhibit the symptom that only the last molars touch properly, whereas [6]. In this therapy, a splint with a pivot is attached to the last molar site, and using it as a supporting point, the anterior teeth sites are pulled with rubber to enlarge the joint space, in an attempt to remove the load.…”

Section: Introductionmentioning

confidence: 99%

Development of a clinical jaw movement training robot for intermaxillary traction therapy

Okino

Inoue

Fujii

et al. 2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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We developed a jaw movement ,training robot system implementing a 6degee of free'dom (DOF) parallel mechanism, and applied it to jaw .opening and closing training, which is one of the therapies for temporomandibular joint disorders. A s one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological movements, whereby the patients' jaws receive traction to regenerate healthy temporomandibular joint tissue. %is therapy is especially effective for patients with a symptom called "open bite" i.e., those who cannot completely close their jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training movements of the training robot were evaluated.

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“…Recently, research of a haptic device that renders human arbitrary force and tactile senses has been accelerating in the fields of rehabilitation, medical training systems, and virtual reality/augmented reality (VR/AR) devices [1][2][3]. Generally, DD motors and geared motors are used as actuators for these haptic devices.…”

Section: Introductionmentioning

confidence: 99%

Development of delta robot driven by pneumatic artificial muscles

Hirano

Tanaka

Watanabe

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Recently, research of a haptic device that renders human arbitrary-force sense has been accelerating for application in rehabilitation and virtual reality/augmented reality devices. Generally, these devices are actuated by electric motors; however, the actuators have low stiffness output and low backdrivability.In an effort to counteract these drawbacks, we developed a delta robot actuated by straight-fiber-type pneumatic artificial muscles. This robot renders human arbitrary-force sense without force sensor feedback. Furthermore, this robot has backdrivability derived from the softness of the pneumatic artificial muscles and no backlash because the structure does not use gears. Thus, by adopting a delta mechanism as a haptic device, high stiffness output and low inertia force are realized. In this study, we introduce the development of the delta robot as the prototype of a haptic device and conduct position-control and stiffness-control experiments to examine the device's fundamental properties. From the experimental results, we confirm that end position is controllable by both sides of static and dynamic state, and the stiffness of the end plate is controllable without feedback of the force sensor.

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Mouth opening and closing training with 6-DOF parallel robot

Cited by 43 publications

References 1 publication

Capturing motions and forces of the human masticatory system to replicate chewing and to perform dental wear experiments

Capturing motions and forces of the human masticatory system to replicate chewing and to perform dental wear experiments

Development of a clinical jaw movement training robot for intermaxillary traction therapy

Development of delta robot driven by pneumatic artificial muscles

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