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Primary study for development of a robot for simulation the human jaw movement with six degrees of freedom

模拟人下颌六自由度运动机器人研制初探

基本信息

批准号：
09672127
负责人：
WAKIMOTO Yasuo
金额：
$ 2.18万
依托单位：
Tsurumi University School of Dental Medicine
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1997
资助国家：
日本
起止时间：
1997 至 1998
项目状态：
已结题

项目摘要

To study the mechanism of jaw movement, we have been developing a mechanical system that has an ability of jaw-movement-simulation using the data of six degrees of freedom obtained with a mandibular movement recorder.In the first year of this project we had developed a primary model of the system. In the second year, technical methods for installing the upper and lower dental models and for controlling the movement of the turn table have achieved to improve the accuracy of the system.[System out line]The systems composed of a set of turn table and stand for attaching the mandibular dental model and the upper jaw dental model and a personal computer with interface. The turn table moved with six actuators and twelve links controlled under a parallel mechanism formula . The recorded data of jaw movement were calculated and converted to the coordinate of the turn table. To install the upper and lower dental models to the system, the jaw movement data and recording system were used.[Evaluation of reproducibility]The rage of the movement of the turn table was 30 mm in X, Y and Z axis. The maximal velocity of the turn table was 10mm/sec that was approximately one third of the original velocity of the subject. To evaluate the reproducibility of the system, movement of the lower dental model of this system was re-recorded. The reproducibility of the patter and values of the movement path of the incisor was approximately 95%.[Discussion]Simulation of the human jaw movement with dental models was achieved with this system. It was easy to observe the different phase of mouth movement under controlled moving speed of the turn table as well as observing the inner view of the dentition. This system could help to understand the detail of the jaw movement mechanism.

为了研究下颌运动的机制，我们一直在开发一个机械系统，该系统具有利用下颌运动记录仪获得的六个自由度的数据来模拟下颌运动的能力，在这个项目的第一年，我们开发了该系统的初步模型。第二年，对上下牙模型的安装和转台运动控制的技术方法进行了改进，提高了系统的精度。[系统概述]该系统由一套用于附着下颌牙模型和上颌牙模型的转台和支架以及一台带接口的个人计算机组成。转台通过平行机构公式控制的六个致动器和十二个连杆移动。对记录的下颌运动数据进行计算并转换为转台坐标。为了将上下牙模型安装到系统中，使用了下颌运动数据和记录系统。[再现性的评价]转台的移动范围在X、Y和Z轴上为30 mm。转台的最大速度为10 mm/sec，约为受试者原始速度的三分之一。为了评价系统的再现性，重新记录该系统的下牙模型的移动。门齿移动路径的图案和值的再现性约为95%。[讨论]利用该系统实现了牙颌模型的下颌运动仿真。在控制转台移动速度的情况下，观察口运动的不同阶段以及观察牙列的内部视图是容易的。该系统有助于了解下颌运动机制的细节。