Development of Exciser for Mouth Opening Using the Mastication Robot Mechanism

本研究的目的是开发一种训练机器人，用于治疗由各种原因引起的开口障碍，包括颞下颌关节障碍。我们基于早稻田大学开发的咀嚼机器人（Waseda Jaw）的机制开发了一种新设备。训练机器人的第一个模型有一个简单的张嘴和闭口机构。第二种模型是通过改进第一种机制而发展起来的。该装置由两个部分组成，一个是临床使用的可手动操作的压力部分，另一个是插入口腔的部分，提供10kg的开口电力，由计算机辅助控制。使用该装置，张嘴的功率和范围显示在监视器屏幕上。在临床应用中取得了良好的效果。

The object of this study was to develop a training robot for the treatment of mouth opening disturbances including temporomandibular joint disorders resulting from a variety of causes.We developed a new device based on the mechanism of a mastication robot (Waseda Jaw) developed at Waseda University.The first model of the training robot had a simple mouth opening and closing mechanism. The second model was developed by improving this first mechanism. The device is composed of two parts, a pressure part that can be operated manually for clinical application and a part that is inserted into the oral cavity, providing 10kg of mouth opening electic power which is controlled with the assistance of a computer. Using this device, the power and range of mouth opening are displayd on the monitor screen. Excellent useful results were obtained in the clinical application of this device as a mouth opening and closing training device.