Abstract
A jaw exoskeleton is proposed in this paper to assist the exercise for the purpose of practical rehabilitation of temporomandibular disorder (TMD). The jaw, attached to the skull by muscles and pivoted at the condyle via the temporomandibular joint (TMJ), can be simplified as moving in the two-dimensional sagittal plane. Based on the in-vivo recording the jaw movement from the healthy subject, the motion pattern is justified to be the primary specification to design the jaw exoskeleton. A planar four-bar linkage is synthesized to reproduce the specified normal jaw motion in terms of incisor and condyle trajectory on the coupler point to meet the kinematic specification. Adjustable lengths of the links are used to achieve a group of trajectories of any possibility.
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