The Experts below are selected from a list of 5355 Experts worldwide ranked by ideXlab platform
M. Ohnishi - One of the best experts on this subject based on the ideXlab platform.
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A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training
Journal of robotics and mechatronics, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, Hideaki Takanobu, Masayuki YoshidaAbstract:This paper discusses a Jaw Movement training robot implementing a 6-DOF (degrees of freedom) parallel mechanism, and its application to mouth opening and closing and lateral Movement training. Temporomandibular joints (TMJ) syndrome prevents patients from opening their mouths or moving their Jaws easily due to problems with mandibular joints, mastication muscles, and other organs involved in food chewing. Conventional therapy involves simple mouth opening apparatuses, although individual techniques vary with the physician. We developed and improved a Jaw Movement training robot that aids Jaw opening and closing and lateral Jaw Movement training. This system consists of a 6-DOF slave manipulator representing a patient manipulator and a 2-DOF or 3-DOF master manipulator representing the doctor command manipulator.
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ICRA - Development of a clinical Jaw Movement training robot for intermaxillary traction therapy
IEEE International Conference on Robotics and Automation 2004. Proceedings. ICRA '04. 2004, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, T. Nasu, Y. Fujii, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, M. OhnishiAbstract:We developed a Jaw Movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to Jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological Movements, whereby the patients' Jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their Jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training Movements of the training robot were evaluated.
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Development of a clinical Jaw Movement training robot for intermaxillary traction therapy
IEEE International Conference on Robotics and Automation 2004. Proceedings. ICRA '04. 2004, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, T. Nasu, Y. Fujii, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, M. OhnishiAbstract:We developed a Jaw Movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to Jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological Movements, whereby the patients' Jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their Jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training Movements of the training robot were evaluated.
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ICRA - A clinical Jaw Movement training robot for lateral Movement training
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, Y. NakanoAbstract:This paper describes a Jaw Movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral Movement raining. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their Jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a Jaw Movement training robot system, which provides not only Jaw open and close training but also consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.
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A clinical Jaw Movement training robot for lateral Movement training
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, Y. NakanoAbstract:This paper describes a Jaw Movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral Movement raining. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their Jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a Jaw Movement training robot system, which provides not only Jaw open and close training but also consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.
Akihisa Okino - One of the best experts on this subject based on the ideXlab platform.
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A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training
Journal of robotics and mechatronics, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, Hideaki Takanobu, Masayuki YoshidaAbstract:This paper discusses a Jaw Movement training robot implementing a 6-DOF (degrees of freedom) parallel mechanism, and its application to mouth opening and closing and lateral Movement training. Temporomandibular joints (TMJ) syndrome prevents patients from opening their mouths or moving their Jaws easily due to problems with mandibular joints, mastication muscles, and other organs involved in food chewing. Conventional therapy involves simple mouth opening apparatuses, although individual techniques vary with the physician. We developed and improved a Jaw Movement training robot that aids Jaw opening and closing and lateral Jaw Movement training. This system consists of a 6-DOF slave manipulator representing a patient manipulator and a 2-DOF or 3-DOF master manipulator representing the doctor command manipulator.
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ICRA - Development of a clinical Jaw Movement training robot for intermaxillary traction therapy
IEEE International Conference on Robotics and Automation 2004. Proceedings. ICRA '04. 2004, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, T. Nasu, Y. Fujii, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, M. OhnishiAbstract:We developed a Jaw Movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to Jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological Movements, whereby the patients' Jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their Jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training Movements of the training robot were evaluated.
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Development of a clinical Jaw Movement training robot for intermaxillary traction therapy
IEEE International Conference on Robotics and Automation 2004. Proceedings. ICRA '04. 2004, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, T. Nasu, Y. Fujii, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, M. OhnishiAbstract:We developed a Jaw Movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to Jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological Movements, whereby the patients' Jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their Jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training Movements of the training robot were evaluated.
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ICRA - A clinical Jaw Movement training robot for lateral Movement training
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, Y. NakanoAbstract:This paper describes a Jaw Movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral Movement raining. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their Jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a Jaw Movement training robot system, which provides not only Jaw open and close training but also consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.
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A clinical Jaw Movement training robot for lateral Movement training
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, Y. NakanoAbstract:This paper describes a Jaw Movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral Movement raining. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their Jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a Jaw Movement training robot system, which provides not only Jaw open and close training but also consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.
Atsuo Takanishi - One of the best experts on this subject based on the ideXlab platform.
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Development of an ultra-miniaturized inertial measurement unit for Jaw Movement analysis during free chewing
Journal of Computer Science, 2010Co-Authors: Zhuohua Lin, Hiroyuki Ishii, Massimiliano Zecca, Salvatore Sessa, Atsuo TakanishiAbstract:Problem statement: Jaw Movement analysis, as a clinical aid, can provide an objective basis for understanding and diagnosing Jaw musculoskeletal disorders. Therefore, the use and development of devices for quantitatively measuring and analyzing Jaw Movement have become more common and popular in the clinic. Many types of Jaw tracking devices have been developed, but most of them are still not handy and easy to be used. Approach: To improve the handiness and utility of the Jaw Movement analysis devices, we developed a simple to be used Jaw tracking prototype by using a new ultra-miniaturized Inertial Measurement Unit (IMU) named WB-3. The WB-3 IMU was composed by 3-axis gyroscope, 3-axis accelerometer and 3-aixs magnetometer, which can not only measure the acceleration and angular speed of Jaw Movement, but also can measure mouth opening angle. The IMU's extremely reduced weight and size allowed it to be easily adhered to mandible during normal tests without physical restriction to the subjects. A preliminary experiment for Jaw Movement analysis during free chewing of three types of food with different shapes and hardness was evaluated. A group of 15 healthy subjects aged from 21-36 years old kindly participated in the experiment. Results: The parameters of chewing time, chewing frequency, power spectrum density of Jaw's angular speed and acceleration, cumulative distribution function of Jaw's acceleration and mouth opening angle were presented. The experimental results clearly showed that the subjects used less chewing time, less chewing frequency, less acceleration cumulative distribution and energy to eat soft food; higher values were found in the case of hard food and there was no significant difference in mouth opening angle while eating these three foods. Conclusion: Our Jaw Movement analysis prototype using IMU WB-3 was proved to be a valid and handy method for Jaw Movement and pattern analysis which may be used clinically as an assistant system for dental therapy.
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A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training
Journal of robotics and mechatronics, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, Hideaki Takanobu, Masayuki YoshidaAbstract:This paper discusses a Jaw Movement training robot implementing a 6-DOF (degrees of freedom) parallel mechanism, and its application to mouth opening and closing and lateral Movement training. Temporomandibular joints (TMJ) syndrome prevents patients from opening their mouths or moving their Jaws easily due to problems with mandibular joints, mastication muscles, and other organs involved in food chewing. Conventional therapy involves simple mouth opening apparatuses, although individual techniques vary with the physician. We developed and improved a Jaw Movement training robot that aids Jaw opening and closing and lateral Jaw Movement training. This system consists of a 6-DOF slave manipulator representing a patient manipulator and a 2-DOF or 3-DOF master manipulator representing the doctor command manipulator.
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ICRA - Development of a clinical Jaw Movement training robot for intermaxillary traction therapy
IEEE International Conference on Robotics and Automation 2004. Proceedings. ICRA '04. 2004, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, T. Nasu, Y. Fujii, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, M. OhnishiAbstract:We developed a Jaw Movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to Jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological Movements, whereby the patients' Jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their Jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training Movements of the training robot were evaluated.
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Development of a clinical Jaw Movement training robot for intermaxillary traction therapy
IEEE International Conference on Robotics and Automation 2004. Proceedings. ICRA '04. 2004, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, T. Nasu, Y. Fujii, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, M. OhnishiAbstract:We developed a Jaw Movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to Jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological Movements, whereby the patients' Jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their Jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training Movements of the training robot were evaluated.
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ICRA - A clinical Jaw Movement training robot for lateral Movement training
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, Y. NakanoAbstract:This paper describes a Jaw Movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral Movement raining. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their Jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a Jaw Movement training robot system, which provides not only Jaw open and close training but also consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.
T. Inoue - One of the best experts on this subject based on the ideXlab platform.
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ICRA - Development of a clinical Jaw Movement training robot for intermaxillary traction therapy
IEEE International Conference on Robotics and Automation 2004. Proceedings. ICRA '04. 2004, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, T. Nasu, Y. Fujii, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, M. OhnishiAbstract:We developed a Jaw Movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to Jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological Movements, whereby the patients' Jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their Jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training Movements of the training robot were evaluated.
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Development of a clinical Jaw Movement training robot for intermaxillary traction therapy
IEEE International Conference on Robotics and Automation 2004. Proceedings. ICRA '04. 2004, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, T. Nasu, Y. Fujii, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, M. OhnishiAbstract:We developed a Jaw Movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to Jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological Movements, whereby the patients' Jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their Jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training Movements of the training robot were evaluated.
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ICRA - A clinical Jaw Movement training robot for lateral Movement training
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, Y. NakanoAbstract:This paper describes a Jaw Movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral Movement raining. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their Jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a Jaw Movement training robot system, which provides not only Jaw open and close training but also consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.
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A clinical Jaw Movement training robot for lateral Movement training
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, Y. NakanoAbstract:This paper describes a Jaw Movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral Movement raining. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their Jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a Jaw Movement training robot system, which provides not only Jaw open and close training but also consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.
Hideaki Takanobu - One of the best experts on this subject based on the ideXlab platform.
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A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training
Journal of robotics and mechatronics, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, Hideaki Takanobu, Masayuki YoshidaAbstract:This paper discusses a Jaw Movement training robot implementing a 6-DOF (degrees of freedom) parallel mechanism, and its application to mouth opening and closing and lateral Movement training. Temporomandibular joints (TMJ) syndrome prevents patients from opening their mouths or moving their Jaws easily due to problems with mandibular joints, mastication muscles, and other organs involved in food chewing. Conventional therapy involves simple mouth opening apparatuses, although individual techniques vary with the physician. We developed and improved a Jaw Movement training robot that aids Jaw opening and closing and lateral Jaw Movement training. This system consists of a 6-DOF slave manipulator representing a patient manipulator and a 2-DOF or 3-DOF master manipulator representing the doctor command manipulator.
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ICRA - Development of a clinical Jaw Movement training robot for intermaxillary traction therapy
IEEE International Conference on Robotics and Automation 2004. Proceedings. ICRA '04. 2004, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, T. Nasu, Y. Fujii, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, M. OhnishiAbstract:We developed a Jaw Movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to Jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological Movements, whereby the patients' Jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their Jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training Movements of the training robot were evaluated.
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Development of a clinical Jaw Movement training robot for intermaxillary traction therapy
IEEE International Conference on Robotics and Automation 2004. Proceedings. ICRA '04. 2004, 2004Co-Authors: Akihisa Okino, Kayoko Ohtsuki, T. Nasu, Y. Fujii, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, M. OhnishiAbstract:We developed a Jaw Movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to Jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological Movements, whereby the patients' Jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their Jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training Movements of the training robot were evaluated.
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ICRA - A clinical Jaw Movement training robot for lateral Movement training
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, Y. NakanoAbstract:This paper describes a Jaw Movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral Movement raining. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their Jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a Jaw Movement training robot system, which provides not only Jaw open and close training but also consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.
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A clinical Jaw Movement training robot for lateral Movement training
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Co-Authors: Akihisa Okino, Kayoko Ohtsuki, M. Ohnishi, Atsuo Takanishi, T. Inoue, Hideaki Takanobu, Y. NakanoAbstract:This paper describes a Jaw Movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral Movement raining. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their Jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a Jaw Movement training robot system, which provides not only Jaw open and close training but also consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.
