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JRM Vol.16 No.6 pp. 579-586
doi: 10.20965/jrm.2004.p0579
(2004)

Paper:

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