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

Institute for Biomedical Engineering, Waseda University, Waseda Tsurumaki-cho 513, Shinjuku-ku, Tokyo 162-0041, Japan

Hiroki Koga

Graduate School of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 162-0041, Japan

Yuichi Obokawa

Graduate School of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 162-0041, Japan

Jorge Solis

Faculty of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku Tokyo 169-8555, Japan

Atsuo Takanishi

Faculty of Science and Engineering and Humanoid Research Institute, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 162-0041, Japan

Akitoshi Katsumata

Department of Oral Radiography, Asahi University, 1851-1 Hozumi, Mizuho-shi, Gifu 501-0296, Japan

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.

Key Words: medical robot • rehabilitation robot • temperomandibular joint disorder • dry mouth • impedance control • maxillofacial massage.

This version was published on September 1, 2009

The International Journal of Robotics Research, Vol. 28, No. 9, 1228-1239 (2009)
DOI: 10.1177/0278364909104295


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