Development of a clinical jaw movement training robot for intermaxillary traction therapy

Okino, Akitoshi; Inoue, Tsuyoshi; Fujii, Yukio; Nasu, Takenori; Takanobu, Hideaki; Takanishi, Atsuo; Ohtsuki, Kayoko; Ohnishi, Masatoshi

doi:10.1109/robot.2004.1307435

Cited by 10 publications

(3 citation statements)

References 5 publications

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“…However, these are developed to act on the skin, rather than the facial tissues associated with oral disorders, meaning that they are ineffective for oral disorders. Takanobu et al (2003) and Okino et al (2004) developed opening jaw robots WY-5 and WY-6 and reported their effectiveness for people unable to open their mouths by themselves because of severe TMJ disorders. However, these robots are not effective for people in the first stages of TMJ disorders and dry mouth.…”

Section: Fig 1 Wao-1 (Waseda Asahi Oral-rehabilitation Robotmentioning

confidence: 99%

Development and Experimental Evaluation of Oral Rehabilitation Robot that Provides Maxillofacial Massage to Patients with Oral Disorders

Ishii

Koga

Obokawa

et al. 2009

The International Journal of Robotics Research

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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.

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Section: Fig 1 Wao-1 (Waseda Asahi Oral-rehabilitation Robotmentioning

confidence: 99%

Development and Experimental Evaluation of Oral Rehabilitation Robot that Provides Maxillofacial Massage to Patients with Oral Disorders

Ishii

Koga

Obokawa

et al. 2009

The International Journal of Robotics Research

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“…In order to determine the compliance position of the plunger, we used the virtual compliance control law defined as (1). As we may observe, the virtual compliance control is done by computing the actual position based on the reaction forces, assuming that a robot has virtual spring and damper elements [10]. Then, by using (2), the discrete value of x CC can be computed.…”

Section: Hemispherementioning

confidence: 99%

Development of oral-rehabilitation robot

Koga¹,

Usuda²,

Matsuno³

et al. 2008

Gerontechnology

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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, there is still little knowledge about their real effectiveness. However; thanks to recent advances in robot technology (such as actuators, sensors, control system, etc.), more effective advanced tools to provide massage therapy can be conceived. For this purpose, authors have proposed the development of a robotic system that provides massage therapy as an advanced evaluation tool to determine objectively the effectiveness of the therapy. In particular, a novel rehabilitation robot has been designed to provide massage of the maxillofacial region as a therapy to patients with dry mouth, etc. As a result of our research, in this year, we have succeeded in developing the Waseda-Asahi Oral-Rehabilitation No.1 (WAO-1). WAO-1 is composed by two 6-degree of freedom arms with plungers attached at their end-effector. In order to provide the massage, a virtual compliance control has been implemented to control the positioning and the applied force by the plunger. Preliminary experiments were carried out to confirm the effectiveness of the proposed system. In particular, WAO-1 was programmed to provide massage on two tissues: parotid gland and masseter muscle. 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. I. INTRODUCTION he expected aging of society in Japan will undoubtedly increase the needs of medical and dental treatment and rehabilitation. Due to the increase need of medical care for patients and elderly persons, more trained experts and financial resources are required for providing services Manuscript received April 30, 2008. This work was supported in part by the Knowledge Cluster Initiative, a project from the Ministry of Education, Culture, Sports, Science and Technology of Japan.

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“…Work on robotic interfaces for facial rehabilitation is much more sparse, perhaps due to the relative difficulty in mechanically sensing facial movements. Representative in this area are the Waseda Yamanashi series of mouth opening and closing training robots, which feature manipulators that extend into the patient's mouth [32].…”

Section: Robotic Therapy and Playmentioning

confidence: 99%

Untethered robotic play for repetitive physical tasks

Brööks¹,

Berlin²,

Gray³

2005

Proceedings of the 2005 ACM SIGCHI International Conference on Advances in Computer Entertainment Technology

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Personal robots are an increasingly promising new platform for human entertainment. In particular, socially interactive game playing can be used as a mechanism for imparting knowledge and skills to both the robot and the human player. Simultaneous advances in untethered sensing of human activity has widened the scope for inclusion of natural physical movement in these games. In particular, this places certain human health applications within the purview of entertainment robots. Socially responsive automata equipped with the ability to physically monitor unencumbered humans can help to motivate them to perform suitable repetitions of exercise and physical therapy tasks. We demonstrate this concept with two untethered playful interactions: arm exercise mediated by play with a physical robot, and facial exercise mediated by expression-based operation of a popular video game console.

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Development of a clinical jaw movement training robot for intermaxillary traction therapy

Cited by 10 publications

References 5 publications

Development and Experimental Evaluation of Oral Rehabilitation Robot that Provides Maxillofacial Massage to Patients with Oral Disorders

Development and Experimental Evaluation of Oral Rehabilitation Robot that Provides Maxillofacial Massage to Patients with Oral Disorders

Development of oral-rehabilitation robot

Untethered robotic play for repetitive physical tasks

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