Development of Oral Rehabilitation Robot WAO-1R designed to provide various massage techniques

Solı́s, Jorge; Obokawa, Yuichi; Ishii, Hiroyuki; Koga, H.; Takanishi, Atsuo; Katsumata, Akitoshi

doi:10.1109/icorr.2009.5209562

Cited by 17 publications

(21 citation statements)

References 12 publications

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“…By adjusting the various cases of the protrusion and the retrusion, we can also reproduce the individual difference of the patients. On the other hand, by applying Virtual Compliance Control [15], we can also reproduce the restricted cervical range and the restricted opening mouth. In the medical literature, the restricted opening mouth defines the distance between the incisor teeth of the upper jaw and the mandible is less than 30 -40[mm] [16], and the distance of normal opening mouth is greater than 40 [mm].…”

Section: Experiments and Resultsmentioning

confidence: 95%

Development of the airway management training system WKA-3: Integration of evaluation module to provide assessment of clinical competence and feedback module to reproduce different cases of airway difficulties

Noh

Shimomura

Sato

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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An active training system is characterized by providing quantitative information of the trainee's performance of the task to the trainee, simulating real-world conditions of the task, and assuring training effectiveness. For this purpose, the authors have been developing an Airway management training system. In particular, we have previously presented an evaluation model system to acquire quantitative information for the trainee's performance, and an actuated model system for real-world conditions of the task. In order to fulfill all of the characteristics of the active training system; in this paper, we would like to propose an integrated system, Waseda Kyotokagaku Airway No.3 (WKA-3) which integrates the function of both system models. For this reason, we have focused on embedding sensors and actuators with the link drive mechanism and the wire drive mechanism to a conventional patient model towards the development of a patient robot. In this paper, we present WKA-3 how to design the mechanism and how to redesign several organs to embed the sensors for the measurement of the trainee's performance. A set of experiment have been carried out to doctor subjects using the WKA-3 to verify the effectiveness of the proposed system by asking doctors to evaluate the proposed system.

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Section: Experiments and Resultsmentioning

confidence: 95%

Development of the airway management training system WKA-3: Integration of evaluation module to provide assessment of clinical competence and feedback module to reproduce different cases of airway difficulties

Noh

Shimomura

Sato

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

“…Therefore, safety precautions to avoid possible risk to the patient must be considered. As shown in Figure 15, a safety system has been proposed to ensure the safety of the patient, which is implemented by software, electrical and mechanical means, besides supervision by doctors and binocular vision24. First, the distance between the active wrist and the lesion must be greater than 40 cm after adjusting the passive arm.…”

Section: Methodsmentioning

confidence: 99%

Development and clinical evaluation of medical robot assisted photodynamic therapy of port wine stains

Wang

Duan

Huang

et al. 2011

Robotics Computer Surgery

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“…Subsequently, a novel PUMA562 robot platform was developed and designed for people [9]. Recently, some classical massage robots have been developed, such as the WAO-1 [10,11], a humanoid massage robot [12], a four-finger human hand robot [13], and a robotic hand [14]. To relieve lumbago and leg pain for middle/old-aged patients suffering from degenerative diseases, a Chinese-style massage robot was designed and investigated on the basis of Chinese medicinal massage theory [15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Chinese Medicine Based Humanoid Robotic Arm Massage System

Pang

Zhang

et al. 2019

Applied Sciences

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This paper presents a humanoid robotic arm massage system with an aim toward satisfying the clinical requirements of pain relief on the waist and legs of older patients during Chinese medicinal massage. On the basis of an in-depth analysis regarding the characteristics of arm joints of the human body and Chinese medicinal massage theory, a humanoid robotic arm massage system was designed by adapting a bottom to top modular method. The combined finite element and kinematic analysis led to an improved performance according to repeated positioning accuracy, massage strength accuracy, and massage effect. The developed humanoid robotic arm was characterized by a compact structure, high precision, light quality, and good stiffness, achieving a good bearing capacity. Due to the PID controller, the numerical simulations and experimental results provided valuable insight into the development of Chinese medicinal massage robots and massage treatments for patients who suffer from lumbar muscle strain.

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Development of Oral Rehabilitation Robot WAO-1R designed to provide various massage techniques

Cited by 17 publications

References 12 publications

Development of the airway management training system WKA-3: Integration of evaluation module to provide assessment of clinical competence and feedback module to reproduce different cases of airway difficulties

Development of the airway management training system WKA-3: Integration of evaluation module to provide assessment of clinical competence and feedback module to reproduce different cases of airway difficulties

Development and clinical evaluation of medical robot assisted photodynamic therapy of port wine stains

Design and Analysis of a Chinese Medicine Based Humanoid Robotic Arm Massage System

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