A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training

Akihisa Okino; Hideaki Takanobu; Atsuo Takanishi; Kayoko Ohtsuki; Masatoshi Ohnishi; Masayuki Yoshida

doi:10.20965/jrm.2004.p0579

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JRM Vol.16 No.6 pp. 579-586

doi: 10.20965/jrm.2004.p0579

(2004)

Paper:

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A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training

Akihisa Okino^,, Hideaki Takanobu^,**,
Atsuo Takanishi^,, Kayoko Ohtsuki^,
Masatoshi Ohnishi^*, and Masayuki Yoshida^***

^*Okino Industries, Ltd., 285-8 Motohara, Kamikawa-machi, Kodama-gun, Saitama 367-0241, Japan

^**Department of Mechanical Engineering, School of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku, Tokyo 169-8555, Japan

^***Humanoid Robotics Institute, Waseda University

^****Department of Mechanical System Engineering, Kogakuin University, 1-24-2 Nishishinjuku, Shinjuku, Tokyo 163-8677, Japan

^*****Department of Oral & Maxillofacial Surgery, Interdiciplinary Graduate School of Medicine and Engineering, University of Yamanashi, Shimokato 1110, Tamaho, Nakakoma, Yamanashi 409-3898, Japan

Received:

October 11, 2004

Accepted:

November 9, 2004

Published:

December 20, 2004

Keywords:

robot, mouth opening and closing training, temporomandibular joint disease, jaw, physical therapy

Abstract

This paper discusses a jaw movement training robot implementing a 6-DOF (degrees of freedom) parallel mechanism, and its application to mouth opening and closing and lateral movement training. Temporomandibular joints (TMJ) syndrome prevents patients from opening their mouths or moving their jaws easily due to problems with mandibular joints, mastication muscles, and other organs involved in food chewing. Conventional therapy involves simple mouth opening apparatuses, although individual techniques vary with the physician. We developed and improved a jaw movement training robot that aids jaw opening and closing and lateral jaw movement training. This system consists of a 6-DOF slave manipulator representing a patient manipulator and a 2-DOF or 3-DOF master manipulator representing the doctor command manipulator.

Cite this article as:

A. Okino, H. Takanobu, A. Takanishi, K. Ohtsuki, M. Ohnishi, and M. Yoshida, “A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training,” J. Robot. Mechatron., Vol.16 No.6, pp. 579-586, 2004.

Data files:

References

[1] K. Ohtsuki, M. Ohnishi, M. Tsuzi, Y. Watai, A. Takanishi, and H. Takanobu, “Development of a mouth opening and closing apparatus using a mastication robot – the measurement of mouth-opening ability,” Journal of Japanese Society for Temporomandibular Joint, Vol.7, No.3, pp. 69-78, 1995.
[2] H. Takanobu, T. Yajima, A. Takanishi, K. Ohtsuki, and M. Ohnishi, “Mouth opening and closing training robot WY-1,” IEEE Ro-Man ’98, pp. 71-76, 1998.
[3] K. Ohtsuki, D. Ozawa, M. Ohnishi, H. Takanobu, and A. Takanishi, “Development of mouth opening and closing training robot WY-4 – Treatment for patients with disturbance mandibular movement,” The 53rd annual meeting of the Japanese Stomatological Society, pp. 218, 1999.
[4] H. Takanobu, T. Maruyama, A. Takanishi, K. Ohtsuki, and M. Ohnishi, “Mouth Opening and Closing Training with 6-DOF Parallel Robot,” Proc. of International Conference on Robotics and Automation (ICRA2000), pp. 1384-1389, 2000.
[5] A. Okino, H. Takanobu, T. Maruyama, A. Takanishi, K. Ohtsuki, and M. Ohnishi, “A Clinical Mouth Opening and Closing Training Robot Using a 6-DOF Parallel Mechanism,” Proc. of International Symposium on Robotics (ISR2001), pp. 1521-1526, 2001.
[6] H. Takanobu, A. Takanishi, K. Ohtsuki, M. Ohnishi, and A. Okino, “Remote Treatment between Tokyo and Yamanashi with 6-DOF Mouth Opening and Closing Training Robot,” Proc. of International Symposium on Robotics (ISR2001), pp. 1300-1305, 2001.
[7] T. Arai, R. Stoughton, and G. J. Raju, “Bilateral control for parallel-link manipulators,” IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems ’92, pp. 467-472, 1992.
[8] H. Takanobu, T. Akizuki, A. Takanishi, K. Ohtsuki, D. Ozawa, M. Ohnishi, and A. Okino, “Jaw Training robot that Manipulates Patient’s Jaw to Sideway,” Proc. of International Conference on Robotics and Automation (ICRA2002).
[9] H. Takanobu, R. Soyama, A. Takanishi, K. Ohtsuki, D. Ozawa, M. Ohnishi, and A. Okino, “Remote Therapy with Mouth Opening and Closing Training Robot between Tokyo and Yamanashi 120 km,” Proc. of IEEE International Conference on Intelligent Robot and Systems (IROS2001), pp. 1584-1589, 2001.
[10] A. Okino, H. Takanobu, A. Takanishi, K. Ohtsuki, M. Ohnishi, and M. Yoshida, “A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training,” Proc. of International Conference on Robotics and Automation (ICRA2003).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. Ohtsuki, M. Ohnishi, M. Tsuzi, Y. Watai, A. Takanishi, and H. Takanobu, “Development of a mouth opening and closing apparatus using a mastication robot – the measurement of mouth-opening ability,” Journal of Japanese Society for Temporomandibular Joint, Vol.7, No.3, pp. 69-78, 1995.

[2] [2] H. Takanobu, T. Yajima, A. Takanishi, K. Ohtsuki, and M. Ohnishi, “Mouth opening and closing training robot WY-1,” IEEE Ro-Man ’98, pp. 71-76, 1998.

[3] [3] K. Ohtsuki, D. Ozawa, M. Ohnishi, H. Takanobu, and A. Takanishi, “Development of mouth opening and closing training robot WY-4 – Treatment for patients with disturbance mandibular movement,” The 53rd annual meeting of the Japanese Stomatological Society, pp. 218, 1999.

[4] [4] H. Takanobu, T. Maruyama, A. Takanishi, K. Ohtsuki, and M. Ohnishi, “Mouth Opening and Closing Training with 6-DOF Parallel Robot,” Proc. of International Conference on Robotics and Automation (ICRA2000), pp. 1384-1389, 2000.

[5] [5] A. Okino, H. Takanobu, T. Maruyama, A. Takanishi, K. Ohtsuki, and M. Ohnishi, “A Clinical Mouth Opening and Closing Training Robot Using a 6-DOF Parallel Mechanism,” Proc. of International Symposium on Robotics (ISR2001), pp. 1521-1526, 2001.

[6] [6] H. Takanobu, A. Takanishi, K. Ohtsuki, M. Ohnishi, and A. Okino, “Remote Treatment between Tokyo and Yamanashi with 6-DOF Mouth Opening and Closing Training Robot,” Proc. of International Symposium on Robotics (ISR2001), pp. 1300-1305, 2001.

[7] [7] T. Arai, R. Stoughton, and G. J. Raju, “Bilateral control for parallel-link manipulators,” IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems ’92, pp. 467-472, 1992.

[8] [8] H. Takanobu, T. Akizuki, A. Takanishi, K. Ohtsuki, D. Ozawa, M. Ohnishi, and A. Okino, “Jaw Training robot that Manipulates Patient’s Jaw to Sideway,” Proc. of International Conference on Robotics and Automation (ICRA2002).

[9] [9] H. Takanobu, R. Soyama, A. Takanishi, K. Ohtsuki, D. Ozawa, M. Ohnishi, and A. Okino, “Remote Therapy with Mouth Opening and Closing Training Robot between Tokyo and Yamanashi 120 km,” Proc. of IEEE International Conference on Intelligent Robot and Systems (IROS2001), pp. 1584-1589, 2001.

[10] [10] A. Okino, H. Takanobu, A. Takanishi, K. Ohtsuki, M. Ohnishi, and M. Yoshida, “A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training,” Proc. of International Conference on Robotics and Automation (ICRA2003).

A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training

Akihisa Okino*,**, Hideaki Takanobu***,****, Atsuo Takanishi**,***, Kayoko Ohtsuki*****, Masatoshi Ohnishi*****, and Masayuki Yoshida*****

Akihisa Okino^,, Hideaki Takanobu^,**,
Atsuo Takanishi^,, Kayoko Ohtsuki^,
Masatoshi Ohnishi^*, and Masayuki Yoshida^***