Development and experimental evaluation of oral rehabilitation robot that provides maxillofacial massage to patients with oral disorders

Hiroyuki Ishii, Hiroki Koga, Yuichi Obokawa, Jorge Solis, Atsuo Takanishi, Akitoshi Katsumata

    Research output: Contribution to journalArticle

    12 Citations (Scopus)

    Abstract

    We have developed an oral-rehabilitation robot WAO-1 (Waseda Asahi Oral-rehabilitation robot No. 1) for use in cases of oral disorders such as temperomandibular joint (TMJ) disorder and dry mouth. WAO-1 is the first robot designed to provide massage to the facial tissues of a patient with oral disorders. This robot provides massage to the masseter and temporal muscles and to the parotid gland and duct with simple operation. It consists of two six-degree-of-freedom arms with plungers, a body with headrest, a control box, a PC, and an automatic massage trajectory generation system with virtual compliance control. Two evaluation experiments were performed to verify the effectiveness of the oral massages of WAO-1 compared with the massages given by doctors. In the experiments, the massage to the parotid gland and duct by WAO-1 increased the amount of saliva in the subjects, and the massage to the masseter muscle by WAO-1 increased facial skin temperature and width of the masseter muscle in the subjects. We consider that these results indicate that massage by WAO-1 can be effective for patients with oral disorders.

    Original languageEnglish
    Pages (from-to)1228-1239
    Number of pages12
    JournalInternational Journal of Robotics Research
    Volume28
    Issue number9
    DOIs
    Publication statusPublished - 2009 Sep

    Fingerprint

    Rehabilitation
    Experimental Evaluation
    Patient rehabilitation
    Disorder
    Robot
    Muscle
    Robots
    Ducts
    Compliance control
    Trajectory Generation
    Compliance
    Skin
    Experiment
    Experiments
    Degree of freedom
    Trajectories
    Tissue
    Verify
    Evaluation
    Temperature

    Keywords

    • Dry mouth
    • Impedance control
    • Maxillofacial massage.
    • Medical robot
    • Rehabilitation robot
    • Temperomandibular joint disorder

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Mechanical Engineering
    • Software
    • Artificial Intelligence
    • Applied Mathematics
    • Modelling and Simulation

    Cite this

    Development and experimental evaluation of oral rehabilitation robot that provides maxillofacial massage to patients with oral disorders. / Ishii, Hiroyuki; Koga, Hiroki; Obokawa, Yuichi; Solis, Jorge; Takanishi, Atsuo; Katsumata, Akitoshi.

    In: International Journal of Robotics Research, Vol. 28, No. 9, 09.2009, p. 1228-1239.

    Research output: Contribution to journalArticle

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