Trial manufacture of 3-DOF Mouth Opening and Closing Training Robot for Training of Jaw Motion Disorders.

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  • Takanobu Hideaki
    Department of Mechanical Systems Engineering, Kogakuin University Health Sciences and Engineering Institute, Waseda University Humanoid Robotics Institute, Waseda University
  • Yajima Takeyuki
    Department of Mechanical Engineering, Waseda University
  • Takanishi Atsuo
    Health Sciences and Engineering Institute, Waseda University Department of Mechanical Engineering, Waseda University Humanoid Robotics Institute, Waseda University
  • Ohtsuki Kayoko
    Department of Oral & Maxillofacial Surgery, Yamanashi Medical University
  • Ohnishi Masatoshi
    Department of Oral & Maxillofacial Surgery, Yamanashi Medical University

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Other Title
  • 下顎運動障害訓練のための３自由度開閉口訓練ロボットの試作
  • カガク ウンドウ ショウガイ クンレン ノ タメ ノ 3ジユウド カイヘイコウ クンレン ロボット ノ シサク

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Abstract

This paper describes the mechanism and real training with the three degrees of freedom (3-DOF) mouth opening and closing training robot WY-2 (Waseda Yamanashi-2) that is developed to train the patients who have problems on their jaw movement. WY-2 consists of a mechanical, actuation, sensor, and control systems. The seesaw mechanism inserted in the patient's mouth opens the mouth by squeezing the master manipulator that is controlled by the doctor. The force sensor measures the patient's biting force. A personal computer integrates and controls the other systems. As a result of therapy with this robot for the real patient, the mouth opening distance increased.

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