Temporomandibular joint involvement occurs in up to 87% of the children with juvenile idiopathic with half of the patients being asymptomatic. In these cases the only option to diagnose arthritis of the temporomandibular joints is the gadolinium enhanced magnetic resonance imaging. Therapeutic approaches include drugs, orthodontic and physiotherapeutic management, although only scant data on the effectiveness of these treatments are available. Several reports in recent years have pointed to imaging guided intraarticular steroids as efficient treatment.
The field of reconfigurable and cooperative robotics is attracting increasingly widespread attention in industry. The reasons for this are the many advantages of such systems over traditional fixed configuration single arm robots, such as their adaptability to changing tasks and superior stiffness properties. This paper presents a solution scheme for a computational calculation of the joint variables and Jacobian of arbitrarily configured modular cooperating robots for the task of object integrated manipulation. The system architecture is defined and a calculation procedure which takes into consideration possible kinematic redundancy as well as actuator constraints is implemented and then validated on a representative example.
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