The purpose of this study was to develop a prototype handy mandibular tracking device with six degrees of freedom using the optoelectronic kinematic data acquisition system and to evaluate its accuracy. The system consisted of the light-weight sensor part mounted on the mandibular incisor portion and two 2-D PSD cameras positioned in front of the patient. On the sensor part, three light emitting diodes (LEDs) were attached in triangular form. Displacements of the sensor part were detected by two cameras, transformed into electric signals, and sampled by A/D converter in a desktop computer. Since the overall accuracy of this system was about 0.03 mm in the displacement and 0.06 degrees in the rotation angles, this system was proven to be capable for the wide range of clinical application.