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2002 Fiscal Year Final Research Report Summary

Development of Mastication Robot Using Parallel Mechanism

Research Project

Project/Area Number 12671878
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field 補綴理工系歯学
Research InstitutionKYOTO UNIVERSITY

Principal Investigator

TSUTSUMI Sadami  Institute for Frontier Medical Science, Professor, 再生医科学研究所, 教授 (00028739)

Co-Investigator(Kenkyū-buntansha) NAMBU Toshiyuki  SHOFU Inc., Senior Researcher, 主席研究員(研究職)
YOKOKOHJI Yasuyoshi  Dept. of Mechanical Engineering, Associate Professor, 工学研究科, 助教授 (30202394)
Project Period (FY) 2000 – 2002
KeywordsJaw robot / Parallel mechanism / 6-DOF movements / Direct kinematics / Inverse Kinematics / numerical analysis / Jaw movement / temporomandibular arthosis
Research Abstract

Aiming to reprodyce the jaw movement of human being, we have developed a novel gnathodynamic simulator, or a jaw robot, employing 6-DOF (degree-of-freedom) parallel mechanism. A pair of dental stone models from a patient mounted each on the fixed and moving stages was controlled the movement in 3-D space according to the obtained data by a jaw movement measuring device. The results were as follows:
1. A prototype of our jaw robot consisted of six linear-action type stepping motors (three of them are sliders and 3 are cylinders) was developed.
2 . In order to solve the forward problem of kinematics for the jaw robot with parallel mechanism in numerical analysis, we tried to improve the Newton-Raphson (N-R) method for the nonlinear analysis. With this modified N-R method, the solution could be converged quickly enough for the real time control of the jaw robot.
3. In order to reconstruct the jaw motion on the robot, the algorithm of numerical analysis for the inverse kinematics problem of parallel mechanism was developed. This program could figure out the control data of six stepping motors of our jaw robot from the data which were obtained by the digital jaw movement measuring device.

  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] 東 高志, 堤 定美ほか: "超高速MRIを用いた顎運動計測"日本臨床バイオメカニクス学会誌. 21. 489-495 (2000)

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      「研究成果報告書概要(和文)」より
  • [Publications] 中井隆介, 堤 定美ほか: "咀嚼力による顎顔面骨の力学的適応変形に関するシミュレーション"日本臨床バイオメカニクス学会誌. 22. 369-373 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 久津木 学, 堤 定美ほか: "顎顔面形態の対象性に関する3次元リモデリングシミュレーション"日本臨床バイオメカニクス学会誌. 22. 375-380 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 東 高志, 堤 定美: "MRIを用いた顎運動計測と噛みしめによる頚部血流計測"顎顔面バイオメカニクス学会誌. 7(1). 158-161 (2001)

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      「研究成果報告書概要(和文)」より
  • [Publications] Kutsuki, M., Tsutsumi, S.: "Pathomechanics of Maxillofacial Asymmetry : Computer Simulation of Bone Adoptive Remodeling"Journal of Biomechanics. 5(4). 76-89 (2001)

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      「研究成果報告書概要(和文)」より
  • [Publications] Imaida, T., Yokokohji, Y., et al.: "Ground-Space Bilateral Teleoperation Experiment Using ETS-VII Robot Arm with Direct Kinesthetic Coupling"Proc. IEEE International Conference on Robotics and Automation. 1031-1038 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Sadami TSUTSUMI, Toshiyuki NAMBU, Takashi AZUMA: "Motion Analysis of Mandibile with Turbo-FLASH MRI"J. Japan. Soc. Clin. Biomechanics. 21. 489-495 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Sadami TSUTSUMl, Ryusuke NAKAI: "The simulation of adaptive bone remodeling on maxillofacial bone caused by occlusal forces"J. Japan. Soc. Clin. Biomechanics. 22. 369-373 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Sadami TSUTSUMI, Manabu KUTSUKl: "A 3-D remodeling simulation of symmetry of maxillofacial morphology"J. Japan. Soc. Clin. Biomechanics. 22. 375-380 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Sadami TSUTSUMI, Takashi AZUMA: "Using MRI Motion Analysis of Mandibile and Blood Flow Velocity of Neck Using at Clenching"J. Oromaxillofacial Biomechanics. 7(1). 158-161 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] M. Kutsuki, S. Tsutsumi: "PATHOMECHANICS OF MAXILLOFACIAL ASYMMETRY : COMPUTER SIMULATION OF BONE ADOPTIVE REMODELING"Russian J. Biomechanics. 5(4). 76-89 (2001)

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      「研究成果報告書概要(欧文)」より
  • [Publications] T. Imaida, Y. Yokokohji, T. Doi, M. Oda, T. Yoshikawa: "Ground-Space Bilateral Teleoperation Experiment Using ETS-VII Robot Arm with Direct Kinesthetic Coupling"Proc. IEEE International Conference on Robotics and Automation. 1031-1038 (2001)

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      「研究成果報告書概要(欧文)」より

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Published: 2004-04-14  

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