In:
The International Journal of Robotics Research, SAGE Publications, Vol. 28, No. 9 ( 2009-09), p. 1228-1239
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.
Type of Medium:
Online Resource
ISSN:
0278-3649
,
1741-3176
DOI:
10.1177/0278364909104295
Language:
English
Publisher:
SAGE Publications
Publication Date:
2009
detail.hit.zdb_id:
2015221-8
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