Abstract
Dental caries is one of the most widespread chronic infectious diseases for humans. It results in localized destruction of dental hard tissues and has negative impacts on systemic health. Aims: This study aims to design, model, and control a novel 4-DOF dental robotic manipulator, Dentatron, specifically tailored for dental applications. The objectives were to (1) develop a compact robotic arm optimized for dental workspace constraints, (2) implement and compare three controllers-Computed Torque Control (CTC), Fuzzy Logic Control (FLC), and Neural Network Adaptive Control (NNAC), (3) evaluate tracking accuracy, transient response, and robustness in step and trajectory tasks, and (4) assess the potential of adaptive neural controllers for future clinical integration. Materials and Methods: The Dentatron system integrates a custom-designed robotic manipulator with adaptive controllers. The methodology consists of five main stages: robot modeling, control design, neural network adaptation, training, and evaluation. Simulations were performed to evaluate performance across joint tracking and Cartesian trajectory tasks using MATLAB 2022. Human-inspired trajectory design is fundamental to the Dentatron control and simulation framework to emulate the continuous curvature and minimum jerk characteristics of human upper-limb motion. The desired end-effector paths were formulated using fifth-degree polynomial trajectories that produce bell-shaped velocity profiles with gradual acceleration changes. Results: The study revealed that the Neural Network Adaptive Controller (NNAC) achieved the fastest convergence and lowest tracking error (<3 mm RMSE), consistently outperforming Fuzzy Logic Control (FLC) and Computed Torque Control (CTC). NNAC consistently provided precise joint tracking with minimal overshoot, while FLC ensured smoother but slower responses, and CTC exhibited large overshoot and persistent oscillations, requiring precise modeling to remain competitive. Conclusion: NNAC demonstrated the most robust and accurate control performance, highlighting its promise for safe, precise, and clinically adaptable robotic assistance in dentistry. Dentatron represents a step toward the development of compact dental robots capable of enhancing the precision and efficiency of future dental procedures.