Development of mouth-opening and closing training robot using dental robotics technology and its application to therapy
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- TAKANOBU Hideaki
- Department of Mechanical Engineering, School of Science and Engineering, Waseda University
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- YAJIMA Takeyuki
- Department of Mechanical Engineering, School of Science and Engineering, Waseda University
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- TAKANISHI Atsuo
- Department of Mechanical Engineering, School of Science and Engineering, Waseda University
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- OHTSUKI Kayoko
- Department of Oral and Maxillofacial Surgery, Yamanashi Medical University
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- OHNISHI Masatoshi
- Department of Oral and Maxillofacial Surgery, Yamanashi Medical University
Bibliographic Information
- Other Title
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- デンタルロボティクス技術を応用した開閉口訓練ロボットの開発と治療への適用
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Abstract
This paper describes the development of the mouth-opening and closing training robot WY-1 (Waseda Yamanashi-1) that is designed and developed by combining the oral-maxillofacial surgery and the robotics. Mouth-opening training is indicated for the rehabilitation of the patients suffering from disturbance of mouth-opening and closing. Conventional mouth-opening apparatuses such as the wooden screws, bite blocks, and clothespin types increase only mouth-opening distance and have simple mechanisms without actuation, sensor, and/or control system. Moreover, the quantitative force data during therapy are not known in spite of the importance of standardization of the mouth-opening and closing training.<br>The mouth-opening and closing training robot WY-1 developed in 1995 includes four systems: mechanical system, actuation system, sensor system, and control system. Mechanical system includes wooden device that has been usually used in dentistry. Actuation system has a DC motor and a tendon to manipulate the mechanical system's wooden device. Sensor system includes three types of sensors: force, angle, and angular velocity sensors. The strain gage type force sensor attached to the mechanical system's wooden device directly measures the mouth-opening ability. An angle and an angular velocity sensor, that is, an encoder and a tachogenerator, measure the angle and angular velocity of the actuation system's DC motor during robotic therapy. Control system integrates, records, and controls the whole system of the mouth-opening and closing training. Three safety systems, that is, emergency switch to turn off the actuation system, mechanical stopper on the mechanical system's wooden device, and threshold set on the sensor system's output of the force sensor, protect the patient from severe situation.<br>As the result of therapy for the fibrous ankylotic TMJ patient by WY-1, the mouth opening distance increased from 14mm to 21mm. The effectiveness of the robot was confirmed by this therapy.
Journal
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- Journal of the Japanese Society for the Temporomandibular Joint
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Journal of the Japanese Society for the Temporomandibular Joint 9 (1), 72-79, 1997
The Japanese Society for Temporomandibular Joint
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Details 詳細情報について
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- CRID
- 1390001204421492864
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- NII Article ID
- 10011397493
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- NII Book ID
- AN10093617
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- ISSN
- 18844308
- 09153004
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- Data Source
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- JaLC
- CiNii Articles
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- Abstract License Flag
- Disallowed