Bone density classification method for robotic drilling system

Koyo Yu, Yuki Saito, Yusuke Kasahara, Hiromasa Kawana, Shin Usuda, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


It is important to classify the bone density for dental implants. In this paper, a method for estimating the bone density is proposed by modeling the relationship between the cutting force and the bone density. The bone density can be obtained in real time by comparing the force from a reaction force observer with the force from a thrust force formula with pre-estimated bone density parameters. The validity of the proposed method was confirmed through experiments using different types of wood mentioned in Misch's bone density classification. The experimental results indicated that the error of contact detection was +50 μm and the error of bone density detection was 0.16 mm.

Original languageEnglish
Pages (from-to)328-334
Number of pages7
Journalieej transactions on industry applications
Issue number3
Publication statusPublished - 2013


  • Acceleration control
  • Bone density estimation
  • Drilling system
  • Misch's classification
  • Motion control
  • Reaction force observer

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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