| Temporomandibular joint disorder(TMD)is one of the common forms of mandibular disorders.The disease adversely affect the normal chewing,which is treated difficultly.If not timely control,it will lead to joint structure disorders or organic damage.Now,the successful case is WJ series rehabilitation robot developed by Waseda University,which with large body size that only suitable to hospitals.In China,research mainly focused on mandibular movement trajectory and its measurement,and other nonrehabilitation robots.Mandibular movement involves seesaw,side to side,before and after movement,the effect of rehabilitation training mainly depends on the rehabilitation of the two former.In this paper,the merit and demerit of the current mandibular motion simulation robot and its structure are analyzed,and a new two DOF mandible rehabilitation robot is proposed.First,the mandibular trajectories were obtained by using the mandibular trajectory tracing instrument,which can be the basis of design.The model of lateral rehabilitation training mechanism was established,its motion is analyzed by using MATLAB,the length of the lateral movement and the rod are taken as the constraint condition,the minimum acceleration change of the training process is optimization goal,the optimization parameters of the mechanism are finally determined.The proportion of chewing movement rehabilitation mechanism was designed based on crank link map.By establishing its mathematical model and using MATLAB for mechanism trajectory simulation.Under the consideration of physiological requirements to complete the optimal design.Based on the optimization principle,it uses one motor: rehabilitation training has two modes.Motor and reducer selection is based on mandibular movement muscle strength,three-dimensional model is established by CREO.Compared with traditional methods,it has high efficiency,short recovery period,the spring and adjustable part realize the flexibility of mechanism ensure the safety and effectiveness of patients. |
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