Title :
Three degrees of freedom mouth opening and closing training robot
Author :
Takanobu, Hideaki ; Yajima, Takeyuki ; Takanishi, Atsuo ; Ohtsuki, Kayoko ; Ohnish, Masatoshi
Author_Institution :
Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
fDate :
6/21/1905 12:00:00 AM
Abstract :
Describes the mechanism and control of a three degrees of freedom (3-DOF) mouth-opening and -closing training robot WY-2 (Waseda Yamanashi-2). The WY-2 is a master-slave type 3-DOF robot. The 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. The 6-axes force-moment sensor measures the patient´s biting force. A personal computer integrates and controls the other systems. As the result of therapy using WY-2, mouth-opening distance increased from 29 to 37 mm
Keywords :
biomechanics; biomedical measurement; computerised instrumentation; dentistry; force measurement; force sensors; medical robotics; patient treatment; 3-DOF mouth-opening and -closing training robot; 6-axes force-moment sensor; WY-2; Waseda Yamanashi-2; biting force; control systems; master-slave type 3-DOF robot; mechanical actuation sensor; mouth-opening distance; seesaw mechanism; Control systems; Force measurement; Force sensors; Manipulators; Master-slave; Mechanical sensors; Microcomputers; Mouth; Robot sensing systems; Sensor systems;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.825302
