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Path generator control system and virtual compliance calculator for maxillofacial massage robots
Hiroyuki Ishii1, Hiroki Koga, Yuichi Obokawa
1Institute for Biomedical Engineering, Waseda University, Tokyo, Japan. hiroyuki@ruri.waseda.jp
International Journal of Computer Assisted Radiology and Surgery
|December 25, 2009
Summary
This study introduces a novel control system for an oral rehabilitation robot designed for maxillofacial massage. The system, featuring virtual compliance control, ensures safer and more adaptable massage therapy for oral disorders.
Area of Science:
- Robotics
- Biomedical Engineering
- Rehabilitation Technology
Background:
- Oral disorders like temporomandibular joint disorders (TMD) and dry mouth are prevalent and necessitate treatment.
- Maxillofacial massage is a recognized complementary therapy for these conditions.
Purpose of the Study:
- To propose and implement a control system for an oral rehabilitation robot designed for maxillofacial massage.
- To enhance the safety and efficacy of robotic maxillofacial massage therapy.
Main Methods:
- Developed a control system integrating a massage path generator, virtual compliance calculator, and inverse kinematics calculator.
- Utilized a human head model derived from MRI data for path generation.
- Implemented virtual compliance control with force sensors on robot manipulators.
Main Results:
- The WAO-1 prototype demonstrated effective massage delivery to human subjects.
- Virtual compliance control enabled the robot to modulate massage force accurately, matching target forces.
- Massage paths adapted to individual patient head shapes when virtual compliance control was active.
Conclusions:
- The developed control system, particularly virtual compliance control, is feasible for robotic maxillofacial massage.
- This technology offers a safe and potentially effective approach to maxillofacial massage therapy for oral disorders.
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