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- Koga, H., et al.
(författare)
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Development of an Oral Rehabilitation Robot
- 2008
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Ingår i: Gerontechnology. - Eindhoven. - 1569-111X. ; 7:2, s. 142-142
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Tidskriftsartikel (refereegranskat)abstract
- It is well known that the massage therapy is useful for the rehabilitation of various diseases. Althoughvarious apparatus have been developed for the massage of the torso and limbs, a machineto perform precise massage therapy to maxillofacial region is not developed yet.Therefore, we developed a robot system that provides massage therapy to the maxillofacialregion. The name of our newly developed robot was WAO-1. WAO-1 has been designedto perform appropriate massage to the patients with dry mouth. System descriptionThe mechanism of WAO-1 consists of two main parts: robot arms and the plungerdevice. The robot arms consist of two 6-DOF (degrees of freedom) manipulators used tocontrol the movement of the plunger device attached to the end-effector of each manipulator(Figure 1). The plunger device is the only part of the robot having direct contact withthe patient face. In order to control the motion of the plungers attached at each arm ofWAO-1, a position control system is implemented. The control system of WAO-1 is composedby a Massage Pattern Generator and Virtual Compliance Control1. Method Anevaluation experiment of WAO-1 is performed. In this experiment, WAO-1 provides themassage to 6 healthy volunteers (without any maxillofacial disorders). Each subject isprovided the massage to its parotid gland for 2 minutes. In order to confirm the effectivenessof the massage provide by WAO-1, the production of saliva was considered as aperformance index. This index is measured by using the Saxon test2; which is a standardmethod to confirm the effectiveness of the massage therapy. Results and discussionThe average production of saliva was increased by 0.63 g after providing the massage. Byanalyzing the collected data with a t-test, we found a significant difference (p < 0.05). Thusthe effectiveness of the massage to the parotid gland by WAO-1 is confirmed. On theother hand, when the doctor gives the massage to the parotid gland of the people, productionof saliva increases 1.4 g (average of 6 people). Therefore, the effect of WAO-1’s massageis less than that of doctor’s massage. We developed a robot system (WAO-1) whichcan massage the face. We think clinical trial is necessary to collect the data to certify theeffectiveness of robotic massage. The goal of this study is to establish robot massagetherapy as physiotherapy.
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- Koga, H., et al.
(författare)
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Development of an Oral Rehabilitation Robot for Massage Therapy
- 2007
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Ingår i: Information Technology Applications in Biomedicine, 2007. ITAB 2007. 6th International Special Topic Conference on. - : IEEE. - 9781424418671 - 9781424418688 ; , s. 111-114
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Konferensbidrag (refereegranskat)abstract
- It is well known that the massage therapy is useful for the rehabilitation of various diseases. Although various apparatus have been developed for the massage of the torso and limbs, a machine to perform precise massage therapy to maxillofacial region is not developed yet. Therefore, we developed a robot system that provides massage therapy to maxillofacial region. The name of our newly developed robot was WAO-1. WAO-1 has been designed to perform appropriate massage to the patients with dry mouth, etc. WAO-1 is composed by two 6-degree of freedom arms with plungers attached at the end-effectors. The massage is applied to the patient by controlling the force and position of the plunger (virtual compliance). As a preliminary step of the clinical application, a simulation therapy of robotic massage to stimulate salivary flow from parotid gland was performed. The dynamic force on patient's head during the massage using WAO-1 was evaluated. The results suggested that WAO-1 could perform equivalent massage to human hand. We expect that WAO-1 will be useful to provide massage therapy to several patients with oral health problems. This will aim in reducing the therapy costs due to the need of human efforts when long-time therapies are needed
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