Integrated dental robot system for mouth opening and closing training

Conventional medical/dental systems have developed only doctor or patient model. However, two models are needed to quantify the dental/medical therapy; those are Patient model and Doctor model. The authors focused on the mouth opening and closing training done for the patients who have disorders on their jaw joints. The mastication robot as a patient model and the mouth opening-closing training robot as a doctor model are developed. This paper describes two robots that quantitatively evaluate the mouth opening and closing training. Force data using these two robots showed that robot training's force acting on the patient is smaller than the conventional training using wooden device.