Development of oral rehabilitation robot WAO-1R designed to provide various massage techniques

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

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    12 Citations (Scopus)

    Abstract

    It is well known that the massage therapy is useful for the rehabilitation of various diseases (i.e. oral health problems, etc.). Although various apparatus have been developed for the massage of the torso and limbs, a machine to perform precise massage therapy to maxillofacial region is not developed yet. The ability of a robotic system to exert itself without fatigue aims in providing more hours of therapy per day, resulting in an increased number of patients that can be treated. This increased potential for treatment would benefit the elderly persons as well allowing more frequent treatments and more convenience in scheduling. For this purpose, the authors have developed the Oral-Rehabilitation Robot which provides massage of the maxillofacial region as a therapy to patients with temporomandibular joint disorders, etc. Then, we developed the Waseda-Asahi Oral-Rehabilitation Robot No.1 Refined (WAO-1R) by redesigning the arms of WAO-1 to increase variety of massage. By this improvement, the angular limitation of end-effector is increased from 60° to 360°. In order to assess the effectives of the massage provided by the robotics system, different performances indexes were proposed based on the medical literature and from our discussion with experts. A set of experiments were carried out to confirm if the mechanical improvements enhanced or not the effect of the massage provided by the WAO-1R. From the experimental results, we could detect increasing the thickness of masseter muscle on volunteers and the amount of mouth-opening after providing the massage with WAO-1R compared with the previous robot.

    Original languageEnglish
    Title of host publication2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
    Pages457-462
    Number of pages6
    DOIs
    Publication statusPublished - 2009
    Event2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto
    Duration: 2009 Jun 232009 Jun 26

    Other

    Other2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
    CityKyoto
    Period09/6/2309/6/26

    Fingerprint

    Patient rehabilitation
    Robots
    Robotics
    End effectors
    Medical problems
    Muscle
    Scheduling
    Fatigue of materials
    Experiments
    Temporomandibular Joint

    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition
    • Electrical and Electronic Engineering

    Cite this

    Solis, J., Obokawa, Y., Ishii, H., Koga, H., Takanishi, A., & Katsumata, A. (2009). Development of oral rehabilitation robot WAO-1R designed to provide various massage techniques. In 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 (pp. 457-462). [5209562] https://doi.org/10.1109/ICORR.2009.5209562

    Development of oral rehabilitation robot WAO-1R designed to provide various massage techniques. / Solis, Jorge; Obokawa, Yuichi; Ishii, Hiroyuki; Koga, Hiroki; Takanishi, Atsuo; Katsumata, Akitoshi.

    2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009. 2009. p. 457-462 5209562.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Solis, J, Obokawa, Y, Ishii, H, Koga, H, Takanishi, A & Katsumata, A 2009, Development of oral rehabilitation robot WAO-1R designed to provide various massage techniques. in 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009., 5209562, pp. 457-462, 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009, Kyoto, 09/6/23. https://doi.org/10.1109/ICORR.2009.5209562
    Solis J, Obokawa Y, Ishii H, Koga H, Takanishi A, Katsumata A. Development of oral rehabilitation robot WAO-1R designed to provide various massage techniques. In 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009. 2009. p. 457-462. 5209562 https://doi.org/10.1109/ICORR.2009.5209562
    Solis, Jorge ; Obokawa, Yuichi ; Ishii, Hiroyuki ; Koga, Hiroki ; Takanishi, Atsuo ; Katsumata, Akitoshi. / Development of oral rehabilitation robot WAO-1R designed to provide various massage techniques. 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009. 2009. pp. 457-462
    @inproceedings{27c20fb669c642bd84b0a4e893566d72,
    title = "Development of oral rehabilitation robot WAO-1R designed to provide various massage techniques",
    abstract = "It is well known that the massage therapy is useful for the rehabilitation of various diseases (i.e. oral health problems, etc.). Although various apparatus have been developed for the massage of the torso and limbs, a machine to perform precise massage therapy to maxillofacial region is not developed yet. The ability of a robotic system to exert itself without fatigue aims in providing more hours of therapy per day, resulting in an increased number of patients that can be treated. This increased potential for treatment would benefit the elderly persons as well allowing more frequent treatments and more convenience in scheduling. For this purpose, the authors have developed the Oral-Rehabilitation Robot which provides massage of the maxillofacial region as a therapy to patients with temporomandibular joint disorders, etc. Then, we developed the Waseda-Asahi Oral-Rehabilitation Robot No.1 Refined (WAO-1R) by redesigning the arms of WAO-1 to increase variety of massage. By this improvement, the angular limitation of end-effector is increased from 60° to 360°. In order to assess the effectives of the massage provided by the robotics system, different performances indexes were proposed based on the medical literature and from our discussion with experts. A set of experiments were carried out to confirm if the mechanical improvements enhanced or not the effect of the massage provided by the WAO-1R. From the experimental results, we could detect increasing the thickness of masseter muscle on volunteers and the amount of mouth-opening after providing the massage with WAO-1R compared with the previous robot.",
    author = "Jorge Solis and Yuichi Obokawa and Hiroyuki Ishii and Hiroki Koga and Atsuo Takanishi and Akitoshi Katsumata",
    year = "2009",
    doi = "10.1109/ICORR.2009.5209562",
    language = "English",
    isbn = "9781424437894",
    pages = "457--462",
    booktitle = "2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009",

    }

    TY - GEN

    T1 - Development of oral rehabilitation robot WAO-1R designed to provide various massage techniques

    AU - Solis, Jorge

    AU - Obokawa, Yuichi

    AU - Ishii, Hiroyuki

    AU - Koga, Hiroki

    AU - Takanishi, Atsuo

    AU - Katsumata, Akitoshi

    PY - 2009

    Y1 - 2009

    N2 - It is well known that the massage therapy is useful for the rehabilitation of various diseases (i.e. oral health problems, etc.). Although various apparatus have been developed for the massage of the torso and limbs, a machine to perform precise massage therapy to maxillofacial region is not developed yet. The ability of a robotic system to exert itself without fatigue aims in providing more hours of therapy per day, resulting in an increased number of patients that can be treated. This increased potential for treatment would benefit the elderly persons as well allowing more frequent treatments and more convenience in scheduling. For this purpose, the authors have developed the Oral-Rehabilitation Robot which provides massage of the maxillofacial region as a therapy to patients with temporomandibular joint disorders, etc. Then, we developed the Waseda-Asahi Oral-Rehabilitation Robot No.1 Refined (WAO-1R) by redesigning the arms of WAO-1 to increase variety of massage. By this improvement, the angular limitation of end-effector is increased from 60° to 360°. In order to assess the effectives of the massage provided by the robotics system, different performances indexes were proposed based on the medical literature and from our discussion with experts. A set of experiments were carried out to confirm if the mechanical improvements enhanced or not the effect of the massage provided by the WAO-1R. From the experimental results, we could detect increasing the thickness of masseter muscle on volunteers and the amount of mouth-opening after providing the massage with WAO-1R compared with the previous robot.

    AB - It is well known that the massage therapy is useful for the rehabilitation of various diseases (i.e. oral health problems, etc.). Although various apparatus have been developed for the massage of the torso and limbs, a machine to perform precise massage therapy to maxillofacial region is not developed yet. The ability of a robotic system to exert itself without fatigue aims in providing more hours of therapy per day, resulting in an increased number of patients that can be treated. This increased potential for treatment would benefit the elderly persons as well allowing more frequent treatments and more convenience in scheduling. For this purpose, the authors have developed the Oral-Rehabilitation Robot which provides massage of the maxillofacial region as a therapy to patients with temporomandibular joint disorders, etc. Then, we developed the Waseda-Asahi Oral-Rehabilitation Robot No.1 Refined (WAO-1R) by redesigning the arms of WAO-1 to increase variety of massage. By this improvement, the angular limitation of end-effector is increased from 60° to 360°. In order to assess the effectives of the massage provided by the robotics system, different performances indexes were proposed based on the medical literature and from our discussion with experts. A set of experiments were carried out to confirm if the mechanical improvements enhanced or not the effect of the massage provided by the WAO-1R. From the experimental results, we could detect increasing the thickness of masseter muscle on volunteers and the amount of mouth-opening after providing the massage with WAO-1R compared with the previous robot.

    UR - http://www.scopus.com/inward/record.url?scp=70449378596&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=70449378596&partnerID=8YFLogxK

    U2 - 10.1109/ICORR.2009.5209562

    DO - 10.1109/ICORR.2009.5209562

    M3 - Conference contribution

    AN - SCOPUS:70449378596

    SN - 9781424437894

    SP - 457

    EP - 462

    BT - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

    ER -