Development of Oral Rehabilitation Robot for Maxillofacial Tissue Massage

摘要

We developed the Oral Rehabilitation Robot WAO-1. WAO-1 has been designed to provide effective massage to patients with Temporomandibular arthrosis, mouth dryness syndrome and swallowing difficulties. WAO-1 is composed by two 6-DOF arms and a plunger. By implementing a virtual compliance control, the massage pressure and motion of the plunger around the face is done. Preliminary experiments were carried out by providing massage to healthy person's parotid by using WAO-1; where we registered the amount of the saliva secretion before massaged and while massaging by using WAO-1. Experimental results demonstrated its effectiveness.