Jaw training robot that manipulates patient's jaw to sideway

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This paper describes the 6-degrees of freedom (6-DOF) jaw training robot that manipulates the patient's jaw to move sideway. Patients with jaw disorders who can not only control the opening/closing of their jaws, but also sideway movements are the target of this research. The authors developed a 6-DOF slave manipulator and 3-DOF master manipulator for these patients. The natural jaw's sideway motion was simulated by changing the center of rotation according to the rotational direction of the mandible. A real training for a jaw disorder patient using the robot was done, and the resulting distance to sideway was increased 9 to 15 mm in the right jaw joint and 7 to 12 mm in the left.

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