Page 117 - Demo

7A multiclass classification model for tooth removal procedurest115positive value on the X-axis in force and movement data are both in a buccal direction. A negative value on the X-axis means a force or movement in the lingual direction. This also holds for the Y-axis (mesial/distal or proximal/distal along the dental arch curve) and Z-axis (intrusion/extrusion). Time series data were filtered for noise reduction purposes with a low-pass Butterworth filter [13]. Data of the force/torque sensor (20Hz) were up sampled to match the frequency of the movement data (100Hz) using a standard Fast Fourier Transformation [14]. Figure 1. Overview of the setup with a 3D-printed upper jaw in situ. (1) passive robot arm (2) forceps holding device, (3) video camera, (4) upper jaw holding device (the lower jaw holding device not shown in this figure), (5) 6-axis force/torque sensor, (6) bolts to change vertical position, (7) bolts to change horizontal position. Tom van Riet.indd 115 26-10-2023 11:59