Development of an intraoral interface for human-ability extension robots

Uori Koike*, Guillermo Enriquez, Takanobu Miwa, Huei Ee Yap, Shuji Hashimoto

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    5 Citations (Scopus)


    An extra degree of freedom to human body movement could assist people in a variety of tasks. To this end, we have previously proposed a human-ability extension system through a supernumerary limb. The system comprises of a manipulator that acts as a third arm, a feedback device that displays its status, and an interface that allows for its hands-free operation. Herein, we present this novel, intraoral interface that utilizes tongue motions and expiratory pressure. In contrast to the conventional intraoral interfaces that suffer from a lack of degrees of freedom and stability, our advanced interface is equipped with inertial measurement units and a pressure sensor to solve these problems without sacrifiing the ease of use. The proposed interface is utile not only in our ongoing “Third Arm” project, but also in various other applications. We conclude with experimental evaluation of the system’s usability and its effi acy for human-ability extension systems.

    Original languageEnglish
    Pages (from-to)819-829
    Number of pages11
    JournalJournal of Robotics and Mechatronics
    Issue number6
    Publication statusPublished - 2016 Dec 1


    • Assistive technologies
    • Augmented human
    • Extended body
    • Human-ability extension robots
    • Intraoral interface

    ASJC Scopus subject areas

    • General Computer Science
    • Electrical and Electronic Engineering


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