抄録
We developed an oral-rehabilitation robot WAO-1 for use in cases of oral disorders such as TMJ (Temporomandibular Joint) 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 6-DOF arms with plungers, a body with head rest, a control box, a PC, and an automatic massage trajectory control system with virtual compliance control. The massage trajectories are generated using the face shape model of an adult male before the massage. During the massage, compliance displacement xcc is calculated based on the reaction force from the face in real time. Using the virtual compliance control, it is possible to apply the massage trajectories made from the facial shape model of an adult male to many people without modification of the model.
