A clinical jaw movement training robot for lateral movement training

Akihisa Okino, Takahiro Inoue, Hideaki Takanobu, Atsuo Takanishi, Kayoko Ohtsuki, Masatoshi Ohnishi, Yoshio Nakano

Research output: Contribution to journalConference article

12 Citations (Scopus)


This paper describes a jaw movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral movement training. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a jaw movement training robot system, which provides not only jaw open and close training but also jaw lateral movement training. This system consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.

Original languageEnglish
Pages (from-to)244-249
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2003 Dec 9
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19



  • Jaw
  • Lateral motion
  • Mandibular movement disorder
  • Master manipulator
  • Mouth opening and closing training
  • Physical therapy
  • Robot

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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