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].
|ページ（範囲）||II-448 - II-453|
|ジャーナル||Proceedings of the IEEE International Conference on Systems, Man and Cybernetics|
|出版ステータス||Published - 1999 12 1|
|イベント||1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn|
継続期間: 1999 10 12 → 1999 10 15
ASJC Scopus subject areas