Path generator control system and virtual compliance calculator for maxillofacial massage robots

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

doi:10.1007/s11548-009-0383-1

Cited by 9 publications

(9 citation statements)

References 10 publications

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“…Although we have evaluated the system with a small group sample, namely, 25 potential patients and 10 specialists, we would like to point out that, in the clinical literature domain, there are works where similar statistical tests are applied with a similar number of participants, for instance [5,17,19]. In addition, the HCI literature suggests that the inclusion of ve experts during the evaluation stage makes it possible to detect 80 to 85% of the usability problems of a design proposal [30].…”

Section: Discussionmentioning

confidence: 99%

“…Massage therapy has been shown to a ect both structure and function of the musculoskeletal system by promoting a relaxation response, decreasing muscle tension, and decreasing tonic muscle contractions [13][14][15][16]. In recent years, the integration of mechanical instruments to support the implementation of massage therapies such as massage chairs [5][6][7], automatic massage systems [6], or robotic systems [17][18][19][20][21] has bene ted therapists and their patients.…”

Section: Related Workmentioning

confidence: 99%

“…For instance, the device described in [6] is capable of releasing modulated and controlled thermomechanical energy on the patient following a programmable and fully reproducible automatic treatment program selected by the operator. Another example of automatic massage systems is robotic systems that use massage patterns, for example, robots that provide maxillofacial massages [17], massage of the back [20,21,25], or feet massage [18]. Nevertheless, the implementation of massage therapy with these mechanical instruments needs "hard-wired" programmed routines, local supervision of the therapist, and manual therapy management programs [26].…”

Section: Related Workmentioning

confidence: 99%

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Massage Therapy of the Back Using a Real-Time Haptic-Enhanced Telerehabilitation System

Ramírez-Fernández

Meza-Kubo

García–Canseco

et al. 2017

Mobile Information Systems

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We present the usability evaluation of a haptic-enhanced telerehabilitation system for massage therapy of the back using the Vybe haptic gaming pad and the gesture sensor LEAP motion controller. e evaluated system includes features that allow for (i) administering online therapy programs, (ii) providing self-adjustable and safety treatment of back massages using a virtual environment, and (iii) saving and replaying massage sessions according to a patient's therapy program. e usability evaluation with 25 older adults and 10 specialists suggests that the haptic telerehabilitation system is perceived with high usability and pleasurable user experience, while providing personalized intensity of haptic therapy in a supervised, real-time, and secure way to treat the patient. Moreover, the specialists totally agree that the system design features, such as save and play, and delimiting therapy zones are the most important for back massage therapy, while the features of regulating feedback intensity and providing/receiving a massage remotely are also important. Finally, based on their comments, ve design insights aiming at improving the current version of the system were generated.

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Section: Discussionmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

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Massage Therapy of the Back Using a Real-Time Haptic-Enhanced Telerehabilitation System

Ramírez-Fernández

Meza-Kubo

García–Canseco

et al. 2017

Mobile Information Systems

View full text Add to dashboard Cite

show abstract

“…The existing massage apparatuses, which act like a human hand to perform massage operations by mechanical tool, airbags and electric device to promote blood circulation and eliminate muscle fatigue [3,4]. All over the world many research institutes made efforts to improve massage effect [5,6]. Ishii et al [7] developed a 6 DOF facial tissue massage robotic system for oral disease and achieved a simple manipulator of bite tendons and other parts of the parotid gland.…”

Section: Introductionmentioning

confidence: 99%

The force control and path planning of electromagnetic induction-based massage robot

Wang¹,

Zhang²,

Li³

et al. 2017

THC

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Abstract.BACKGROUND: Massage robot is considered as an effective physiological treatment to relieve fatigue, improve blood circulation, relax muscle tone, etc. The simple massage equipment quickly spread into market due to low cost, but they are not widely accepted due to restricted massage function. Complicated structure and high cost caused difficulties for developing multi-function massage equipment. OBJECTIVE: This paper presents a novel massage robot which can achieve tapping, rolling, kneading and other massage operations, and proposes an improved reciprocating path planning algorithm to improve massage effect. METHODS: The number of coil turns, the coil current and the distance between massage head and yoke were chosen to investigate the influence on massage force by finite element method. The control system model of the wheeled massage robot was established, including control subsystem of the motor, path algorithm control subsystem, parameter module of the massage robot and virtual reality interface module. The improved reciprocating path planning algorithm was proposed to improve regional coverage rate and massage effect. RESULTS: The influence caused by coil current, the number of coil turns and the distance between massage head and yoke were simulated in Maxwell. It indicated that coil current has more important influence compared to the other two factors. The path planning simulation of the massage robot was completed in Matlab, and the results show that the improved reciprocating path planning algorithm achieved higher coverage rate than the traditional algorithm. CONCLUSIONS: With the analysis of simulation results, it can be concluded that the number of coil turns and the distance between the moving iron core and the yoke could be determined prior to coil current, and the force can be controllable by optimizing structure parameters of massage head and adjusting coil current. Meanwhile, it demonstrates that the proposed algorithm could effectively improve path coverage rate during massage operations, therefore the massage effect can be improved.

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“…In the last 20 years, medical robotic technology has been widely studied with the aim of overcoming the limitations of manual operation and improving the accuracy and stability of surgical operations 12 13 14 15 16 17 . Compared to manual operation, robotic operation can provide potential benefits, including motion planning based on three-dimensional (3D) digital models to achieve a higher accuracy, stability to avoid trembling of the human hand and efficiency to reduce operation time.…”

mentioning

confidence: 99%

An automatic tooth preparation technique: A preliminary study

Yuan

Wang

Zhang

et al. 2016

Sci Rep

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The aim of this study is to validate the feasibility and accuracy of a new automatic tooth preparation technique in dental healthcare. An automatic tooth preparation robotic device with three-dimensional motion planning software was developed, which controlled an ultra-short pulse laser (USPL) beam (wavelength 1,064 nm, pulse width 15 ps, output power 30 W, and repeat frequency rate 100 kHz) to complete the tooth preparation process. A total of 15 freshly extracted human intact first molars were collected and fixed into a phantom head, and the target preparation shapes of these molars were designed using customised computer-aided design (CAD) software. The accuracy of tooth preparation was evaluated using the Geomagic Studio and Imageware software, and the preparing time of each tooth was recorded. Compared with the target preparation shape, the average shape error of the 15 prepared molars was 0.05–0.17 mm, the preparation depth error of the occlusal surface was approximately 0.097 mm, and the error of the convergence angle was approximately 1.0°. The average preparation time was 17 minutes. These results validated the accuracy and feasibility of the automatic tooth preparation technique.

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Path generator control system and virtual compliance calculator for maxillofacial massage robots

Abstract: Implementation of virtual compliance control in the WAO-1 massage robot is feasible and useful for implementation of safe and potentially effective maxillofacial massage therapy.

Cited by 9 publications

References 10 publications

Massage Therapy of the Back Using a Real-Time Haptic-Enhanced Telerehabilitation System

Massage Therapy of the Back Using a Real-Time Haptic-Enhanced Telerehabilitation System

The force control and path planning of electromagnetic induction-based massage robot

An automatic tooth preparation technique: A preliminary study

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