Three degrees of freedom mouth opening and closing training robot

Hideaki Takanobu, Takeyuki Yajima, Atsuo Takanishi, Kayoko Ohtsuki, Masatoshi Ohnishi

Research output: Contribution to journalConference article

2 Citations (Scopus)

Abstract

This paper 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 mouth opening and closing training 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].

Original languageEnglish
Pages (from-to)II-448 - II-453
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume2
Publication statusPublished - 1999 Dec 1
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: 1999 Oct 121999 Oct 15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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