Intelligent automation of dental material analysis using robotic arm with Jerk optimized trajectory

Damaševičius, Robertas; Maskeliūnas, Rytis; Narvydas, Gintautas; Narbutaitė, Rūta; Połap, Dawid; Woźniak, Marcin

doi:10.1007/s12652-020-02605-8

Cited by 12 publications

(3 citation statements)

References 57 publications

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“…Wire bending can be performed by a robotic arm controlled by a complex computer algorithm to ensure precision, as used by the Sure Smile company to successfully provide a complete set of wires fit for bonding. [ 13 ] Again, this technique is effective but expensive and is not available to all orthodontists worldwide. By contrast, a different solution is to scan a patient's teeth and manufacture a custom-made bracket designed specifically for that patient.…”

Section: Discussionmentioning

confidence: 99%

MH-SETUP, combining Kesling wax-setup with indirect bonding and custom-made brackets for labial/lingual techniques to eliminate the finishing phase

Elkolaly¹,

Hasan

2023

Journal of Orthodontic Science

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OBJECTIVE: A novel technique, named the MH setup (MH is an abbreviation for the author's name), was developed to provide an accurate yet simplified method to produce custom-made brackets without bonding errors. This setup aimed to simplify the treatment and eliminate the finishing phase, so that the orthodontist was able to provide better care with less time and lower costs. MATERIALS AND METHODS: The setup was performed in two major steps: direct bonding on the cast followed by cutting and setting the teeth into precise positions using brackets. The first set of brackets, bonded directly onto casts, oriented the teeth by setting them ideally into wax rims with full control over first-, second-, and third-order bends. The fully engaged archwire used allowed for precise control over the arch symmetry and form. Setting teeth in wax allowed the clinician to refine the occlusion and correct any minor errors that arose during the initial bonding. The second set of brackets, mounted on the fully engaged archwire, featured custom-made composite bases. The transfer tray combined the benefits of its soft inner and hard outer layers, providing control over bonding and later ease of peeling from the brackets. RESULTS: The patient was satisfied with a full bonding procedure lasting 15 min that remained simple without unnecessary stress. The clinician was confident that the procedure allowed the precise positioning of brackets and simple bonding for all teeth in the arch, combined with the elimination of the finishing phase. CONCLUSION: The MH technique offered a simple, precise, and inexpensive improvement to the Kesling wax setup. The process allowed for precise bonding without errors or expensive armamentarium. The brackets were transformed into custom-made prescriptions and could be used with labial or lingual techniques. The method allowed for teeth addition, trimming, or overcorrection according to the clinician's preferences. The MH setup facilitated visualization of the treatment objectives with precise locations and the opportunity to revise the treatment plan or to discuss further options with the patient.

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Section: Discussionmentioning

confidence: 99%

MH-SETUP, combining Kesling wax-setup with indirect bonding and custom-made brackets for labial/lingual techniques to eliminate the finishing phase

Elkolaly¹,

Hasan

2023

Journal of Orthodontic Science

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“…The interface between robot-assisted and robot-based in destructive and non-destructive material characterization plays an important role in medical technology. The use of robots in this area offers the advantage of implementing realistic load cases under physiologically and reproducible conditions as they are able to mimic human body movements, e.g., chewing motions [5], knee joint motion sequences [6] or for the analysis of the stability and thermal wear of dental adhesive materials [7]. A first approach for robot-based destructive component testing is a test rig concept in form of a hexapod, also known as Stewart platform, which allows six degrees of freedom (DoFs) due to its six legs which are each able to vary in length independently.…”

Section: State Of the Artmentioning

confidence: 99%

Software-defined testing facility for component testing with industrial robots

Hanke

Eymüller

Reichmann

et al. 2022

2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)

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A key aspect of industry 4.0 is the transition of production to batch size one and consequently unique dimensions and structures of components for each product. Since many components are only available in small quantities it is not feasible to design expensive test benches for each of these components, however it is still important to test them to ensure the quality of each individual component. Therefore, we propose an approach for a flexibly programmable robotic test bench for destructive component testing of various components. This includes a concept for planning and execution of different test movements in a component test on robotic test benches and a unified data platform for controlling sensor-based motions as well as the recording of test data.

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“…A seventh-order polynomial was applied to the trajectory planning to achieve the position, velocity, acceleration, and jerk of the actuating joints, and the positions/orientations of the parallel mechanism modules were interpolated to obtain a smooth trajectory without impact [4]. To achieve a smooth and precise trajectory while minimizing the jerk, Damasevicius et al [5] proposed natural cubic splines for finding a Pareto-optimal set of robot arm trajectories. When a robot is required to machine a complex curved workpiece with high precision and speed, the path is generally dispersed into a series of points and transmitted to the robot, which not only reduces the precision, but also causes damage to the motors and robot.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Smoothing Planning of Delta Parallel Robot Combining Cartesian and Joint Space

Zhu,

He,

et al. 2023

Mathematics

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Delta parallel robots have been widely used in precision processing, handling, sorting, and the assembly of parts, and their high efficiency and motion stability are important indexes of their performance.Corners created by small line segments in trajectory planning cause abrupt changes in a tangential discontinuous trajectory, and the vibration and shock caused by such changes seriously affect the robot’s high-speed and high-precision performance. In this study, a trajectory-planning method combining Cartesian space and joint space is proposed. Firstly, the vector method and microelement integration method were used to establish the complete kinematic and dynamic equations of a delta parallel robot, and an inverse kinematic/dynamic model-solving program was written based on the MATLAB software R2020a. Secondly, the end-effector trajectory of the delta parallel robot was planned in Cartesian space, and the data points and inverse control points of the end effector’s trajectory were obtained using the normalization method. Finally, the data points and control points were mapped to the joint space through the inverse kinematic equation, and the fifth-order B-spline curve was adopted for quadratic trajectory planning, which allowed the high-order continuous smoothing of the trajectory planning to be realized. The simulated and experimental results showed that the trajectory-smoothing performance in continuous high-order curvature changes could be improved with the proposed method. The peak trajectory tracking error was reduced by 10.53%, 41.18%, and 44.44%, respectively, and the peak torque change of the three joints was reduced by 3.5%, 11.6%, and 1.6%, respectively.

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Intelligent automation of dental material analysis using robotic arm with Jerk optimized trajectory

Cited by 12 publications

References 57 publications

MH-SETUP, combining Kesling wax-setup with indirect bonding and custom-made brackets for labial/lingual techniques to eliminate the finishing phase

MH-SETUP, combining Kesling wax-setup with indirect bonding and custom-made brackets for labial/lingual techniques to eliminate the finishing phase

Software-defined testing facility for component testing with industrial robots

Trajectory Smoothing Planning of Delta Parallel Robot Combining Cartesian and Joint Space

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