Clinical application of robotic masticatory muscle massage

Abstract

WAO-1 (Waseda Asahi Oral-rehabilitation robot No. 1) is a robot system designed to perform appropriate massage therapy of the maxillofacial region. WAO-1 is composed of two 6-degree-of-freedom arms and plungers that rub the surface of the face. The massage is applied to the patient by controlling the force and position of the plunger. As a preliminary step toward clinical application, a robotic massage of masticatory muscles was performed. The results of massaging healthy subjects revealed that robotic massage was harmless and comfortable. Thirty-seven patients with temporomandibular disorders received robotic massage. After receiving massage therapy three times, the muscle pain was relieved in 73% of the treated patients, and improvement in mouth opening was noted in 50%. It was suggested that robotic masticatory muscle massage was an effective treatment for temporomandibular disorders, helping to relieve pain and improve mouth opening.