Development of the oral rehabilitation robot WAO-1

Hiroki Koga, Yuichi Usuda, Masao Matsuno, Yu Ogura, Hiroyuki Ishii, Jorge Solis, Atsuo Takanishi, Akitoshi Katsumata

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

    9 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. Authors have proposed the development of a novel rehabilitation robot designed to provide massage to maxillofacial region (as a therapy to patients with dry mouth, etc.). In this year, we have succeeded in developing the Waseda-Asahi Oral-Rehabilitation Robot No. 1 (WAO-1). WAO-1 is composed by two 6-DOF arms with plungers attached at their end-effector. A virtual compliance control has been implemented to control the positioning and the applied force by the plunger during the massage. Preliminary experiments were carried out to confirm the effectiveness of the proposed system. From the experimental results, we could detect the effectiveness of stimulating the production of saliva, and increasing the skin temperature as well as the size of masseter muscle on volunteers after providing the massage with WAO-1.

    Original languageEnglish
    Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
    Pages556-561
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ
    Duration: 2008 Oct 192008 Oct 22

    Other

    Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
    CityScottsdale, AZ
    Period08/10/1908/10/22

    Fingerprint

    Patient rehabilitation
    Robots
    Compliance control
    End effectors
    Medical problems
    Muscle
    Skin
    Experiments
    Temperature

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Biomedical Engineering

    Cite this

    Koga, H., Usuda, Y., Matsuno, M., Ogura, Y., Ishii, H., Solis, J., ... Katsumata, A. (2008). Development of the oral rehabilitation robot WAO-1. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 (pp. 556-561). [4762801] https://doi.org/10.1109/BIOROB.2008.4762801

    Development of the oral rehabilitation robot WAO-1. / Koga, Hiroki; Usuda, Yuichi; Matsuno, Masao; Ogura, Yu; Ishii, Hiroyuki; Solis, Jorge; Takanishi, Atsuo; Katsumata, Akitoshi.

    Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 556-561 4762801.

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

    Koga, H, Usuda, Y, Matsuno, M, Ogura, Y, Ishii, H, Solis, J, Takanishi, A & Katsumata, A 2008, Development of the oral rehabilitation robot WAO-1. in Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008., 4762801, pp. 556-561, 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, Scottsdale, AZ, 08/10/19. https://doi.org/10.1109/BIOROB.2008.4762801
    Koga H, Usuda Y, Matsuno M, Ogura Y, Ishii H, Solis J et al. Development of the oral rehabilitation robot WAO-1. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 556-561. 4762801 https://doi.org/10.1109/BIOROB.2008.4762801
    Koga, Hiroki ; Usuda, Yuichi ; Matsuno, Masao ; Ogura, Yu ; Ishii, Hiroyuki ; Solis, Jorge ; Takanishi, Atsuo ; Katsumata, Akitoshi. / Development of the oral rehabilitation robot WAO-1. Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. pp. 556-561
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