英语翻译A computer controlled robotic device (Phantom Premium 1.0,Sensable Technologies,Woburn,MA,USA) was used to deliver a load to the lower jaw.The robotic device was connected to a custom made acrylic-metal dental appliance via a magnesium-ti

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英语翻译A computer controlled robotic device (Phantom Premium 1.0,Sensable Technologies,Woburn,MA,USA) was used to deliver a load to the lower jaw.The robotic device was connected to a custom made acrylic-metal dental appliance via a magnesium-ti
英语翻译
A computer controlled robotic device (Phantom Premium 1.0,Sensable Technologies,Woburn,MA,USA) was used to deliver a load to the lower jaw.The robotic device was connected to a custom made acrylic-metal dental appliance via a magnesium-titanium rotary connector that offered fully unconstrained movement of the jaw in the absence of external load.The dental appliance was attached to the buccal surface of the mandibular teeth with a dental adhesive (Iso-Dent,Ellman International,Hewlett,NY,USA).A force/torque sensor (ATI Nano-17,ATI Industrial Automation,Apex,NC,USA) was mounted at the tip of the robotic device to measure the resistive force applied by the subjects in opposition to the load.The subject’s head was restrained during the experiment by connecting a second dental appliance that was glued to the maxillary teeth to an external frame that consisted of a set of articulated metal arms.The metal arms were locked in place throughout the experimental session.
Jaw movement was recorded in three dimensions at a rate of 1 KHz and the data were digitally low-pass filtered offline at 8 Hz.The subject’s voice was recorded using a unidirectional microphone (Sennheiser,Germany).The acoustical signal was low-pass analogue filtered at 22 KHz and digitally sampled at 44 KHz.The robot applied a mechanical load to the jaw that resulted in jaw protrusion.The load varied with the absolute vertical velocity of the jaw and was governed by the following equation:F=k|v| ,where F is the load in Newtons,k is a scaling coefficient and v is jaw velocity in mm/s.The scaling coefficient was chosen to have a value of between 0.6–0.8,with a higher coefficient used for subjects who spoke more slowly and vice versa.The maximum load was however capped at 7.0 N.Jaw velocity estimates for purposes of load application were obtained in real-time by numerically differentiating jaw position values obtained from the robot encoders.The computed velocity signal was low-pass filtered using a first order Butterworth filter with a cut-off frequency 2 Hz.The smoothed velocity profile was used online to generate the protrusion load.

英语翻译A computer controlled robotic device (Phantom Premium 1.0,Sensable Technologies,Woburn,MA,USA) was used to deliver a load to the lower jaw.The robotic device was connected to a custom made acrylic-metal dental appliance via a magnesium-ti
一个计算机控制的机器人设备(幻影溢价1.0,Sensable技术,沃本、马、美国)被用来提供一个负载的下颚.机械设备是连接到一个定制的丙烯酸金属牙科设备通过镁钛旋转连接器提供完全无约束运动的下巴在缺乏外部负载.牙科设备被连接到表面的下颌牙颊与牙胶(iso削弱,国际,休利特,纽约州埃尔曼,美国).一个力/力矩传感器(ATI纳米17,ATI工业自动化,顶端、数控、美国)是安装在机器人装置的尖端阻力测量应用主体所反对的负载.这个主题的头被约束在实验过程中通过连接第二个牙科设备,是粘在上颌牙齿外部框架,包括一套铰接金属武器.金属武器被锁在整个实验会议的地方.下颌运动被记录在三维空间的速度1 KHz和数据是数字低通过滤离线在8赫兹.这个主题的声音被记录使用单向麦克风(森海塞尔,德国).声信号是低通模拟过滤在22 KHz和数字采样在44 KHz.机器人应用机械负载到下巴,导致下巴突出.负载随绝对垂直速度的下巴和由以下方程:F = k | | v,F是负载在牛顿,k是一个比例系数和v是下巴速度在毫米/秒.比例系数被选为有价值的0.6 - -0.8之间,有一个更高的系数用于那些说话更慢,反之亦然.最大载荷是然而限制在7.0 n .下巴速度估计为了装载应用程序获得的实时数值微分下巴位置获取的值机器人编码器.计算速度信号是低通过滤使用一阶巴特沃斯滤波器用截止频率2赫兹.平滑的速度剖面是使用在线生成突出负载.

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计算机控制的机器人装置（幻影溢价 1.0，Sensable 技术，沃本马，美国）被用来运送到下颚的负载。机器人设备被连接到定制丙烯酸金属牙科装置通过提供完全不受约束的运动在没有外部负载的下巴的镁钛旋转接头。牙科设备附加到口腔牙齿表面的下颌骨与牙科胶粘剂休利特，纽约州，美国埃尔曼国际 Iso 凹痕）。一力/扭矩传感器 (ATI 纳米-17，ATI 工业自动化、尖顶，数控，美国) 被安装在机器人设备来衡量反对负载科目的电阻力的提示。主题的头是由连接到外部框架组成的一套的铰接式金属武器对上颌牙齿的是第二次的牙科设备，粘附在试验期间克制的。金属武器被锁在整个实验会议的地方。
下巴运动录得三个维度 1 KHz 的速率和数据都进行数字低通筛选脱机，8 赫兹。主题的声音录使用单向麦克风（森海塞尔德国）。声学信号是低通模拟筛选在 22 千赫和数字在 44 KHz 采样。机器人应用到下巴，导致腰椎间盘突出的下巴的机械负荷。负载各种各样用绝对垂直速度的下巴和由下面的公式： F = k|v|其中 F 是在牛顿的负载、 k 是一个缩放系数和 v 是在 m m/s 的下巴速度。缩放系数被选为已确定，与较高的系数，用于科目讲得更慢，反之亦然之间的某个值。最大负载不过封顶 7.0 N.下巴速度估计为加载应用程序的目的在获得了实时的数值区分从机器人编码器获得的下巴位置值。是的计算的速度信号低通筛选使用第一阶巴特沃斯滤波器截止频率 2 Hz。平滑的速度剖面在线用于生成腰椎间盘突出的负载。

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