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Chapter 9144build that potentially improves our scientific understanding of the factors contributing to successful tooth removal. This setup also has the potential to evaluate techniques, predict adverse events, and create evidence-based teaching methods.Chapter 5 The objective of this chapter is to capture both forces and torques exerted during tooth removal procedures in clinically relevant dimensions and high detail. An ex vivo measuring setup was used, which included a compliant robot arm and a six-axis force/torque sensor. The study used fresh-frozen cadavers to closely simulate the clinical situation. Data from 110 tooth removal experiments were successfully recorded. The study found that forces exerted in the dorsal region of both the upper and lower jaw were higher, with extrusion and buccal forces being the most dominant. The research highlights the limited scientific understanding of tooth removal procedures and emphasizes the importance of data collection and analysis to enable to improve educational material and evidence-based practices in this field.Chapter 6 This chapter focuses on accurately capturing the full range of motions and angular velocities during tooth removal procedures using a compliant robot arm. The study used an ex vivo measuring setup, utilizing fresh-frozen cadavers and regular dental forceps mounted on the robot’s end-effector. The data from 110 successful tooth removal experiments were presented descriptively. The study found that rotation around the longitudinal axis of the tooth was the most dominant motion, both in terms of range of motion and angular velocity. Buccopalatal and buccolingual movements were more pronounced in the dorsal region of both the upper and lower jaw. The research quantifies the ranges of motion and angular velocities involved in tooth removal procedures, which could aid in developing evidence-based educational material.Chapter 7 This chapter addresses the lack of scientific knowledge on tooth removal procedures and proposes the use of a multiclass classification model for tooth removal. The measurement setup utilized robot technology to gather high-quality data on forces, torques, and movements during tooth removal procedures. Fresh-frozen cadavers were used to closely simulate the clinical situation. Clinically interpretable variables or “features” were engineered, and feature selection was performed to process the Tom van Riet.indd 144 26-10-2023 11:59