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5Using robot technology to analyze forces and torques in tooth removal 89Supplementary MaterialsAppendix Table A.1: base characteristics of experimental material and experiments. mm = millimeter.Base Characteristics Total numberFresh-frozen specimensUpper jaws with teethLower jaws with teeth766Total number of experimentsSuccessful experiments:Without complicationsBoney wall fractureRoot fracture (late)Crown fracture/failure (with root removal)Unsuccessful experiments:Insufficient fixation of jawEarly crown fracture/failure (without root removal)Robot / software errorsExcessive slippage of the forceps12711094963178531Periodontal state (out of 110 experiments)- sound (pocket depth <3mm)- recessions- mild decay (pocket depth 3-5mm)- severe decay (pocket depth >5mm)82331612Restorative state (out of 110 experiments)- sound- direct restoration large (≥ 2 surfaces)- indirect restoration- direct restoration small (≤ 2 surfaces)47252018Appendix Figure A.1: the average amount of all forces (left figure) and torques (right side) in all directions combined. U = upper. L = lower. The numbers stand for mirrored groups, meaning U4, for example, contains force data of both the 14 and 24. The error bars show the standard deviation of each group. N = Newton. Nms = Newtonmeter. n = number of experiments in each group. Tom van Riet.indd 89 26-10-2023 11:59