TY - JOUR
T1 - Path generator control system and virtual compliance calculator for maxillofacial massage robots
AU - Ishii, Hiroyuki
AU - Koga, Hiroki
AU - Obokawa, Yuichi
AU - Solis, Jorge
AU - Takanishi, Atsuo
AU - Katsumata, Akitoshi
N1 - Funding Information:
Acknowledgments This study was supported in part by the special coordination fund for promoting science and technology from the MEXT, Japan, the “Humanoid Research Institute (HRI)” Waseda University, “the innovative research on symbiosis technologies for human and robots in the elderly dominated society”, 21st century center of excellence (COE) program, Japan society for the promotion of science. The authors would like to acknowledge the financial support of “the GIFU and OGAKI Robotics Advanced Medical Cluster”. The authors also would like to acknowledge the support of SolidWorks Japan K.K. and Nitta Corporation. Finally, the authors would like to thank Prof. Kaoru Kobayashi, Prof. Eiichiro Ariji, Prof. Masami Fujishita, Dr. Masahiro Izumi, Dr. Chinami Igarashi, Dr. Yoshiko Ariji, and Dr. Takashi Osano. This study was performed under the guideline of experiments with humans in Waseda University.
PY - 2010/1
Y1 - 2010/1
N2 - Purpose: Oral disorders such as temporomandibular joint disorders (TMD) and dry mouth are common and often require treatment. Maxillofacial massage is used as a complementary and alternative therapy for these disorders. We developed an oral rehabilitation robot that massages the maxillofacial tissues for this purpose. In this paper, we propose a control system for oral rehabilitation robots. Method: The control system consists of a massage path generator, virtual compliance calculator, and inverse kinematics calculator. The massage path generator computes a target massage path based on a human head model obtained from a reference MRI image of an adult male. The head model includes the shape and elastic modulus of each component, all of which were obtained experimentally. Virtual compliance control is used to control manipulators with position servo actuators. The manipulators, which have a force sensor at their end-effectors, move actively in the direction of the external force applied to their sensors via virtual compliance control. We implemented this control in WAO-1, our first prototype oral rehabilitation robot. Results: WAO-1 provided massage to three adult male subjects with and without virtual compliance control. One of the subjects was the adult male whose MRI image was used to synthesize the head model in the massage path generator. Without virtual compliance control, the actual massage force was greater than the target massage force, while that with virtual compliance control was less than the target massage force. Furthermore, with virtual compliance control, the massage paths conformed to the head shape of each patient. Conclusion: Implementation of virtual compliance control in the WAO-1 massage robot is feasible and useful for implementation of safe and potentially effective maxillofacial massage therapy.
AB - Purpose: Oral disorders such as temporomandibular joint disorders (TMD) and dry mouth are common and often require treatment. Maxillofacial massage is used as a complementary and alternative therapy for these disorders. We developed an oral rehabilitation robot that massages the maxillofacial tissues for this purpose. In this paper, we propose a control system for oral rehabilitation robots. Method: The control system consists of a massage path generator, virtual compliance calculator, and inverse kinematics calculator. The massage path generator computes a target massage path based on a human head model obtained from a reference MRI image of an adult male. The head model includes the shape and elastic modulus of each component, all of which were obtained experimentally. Virtual compliance control is used to control manipulators with position servo actuators. The manipulators, which have a force sensor at their end-effectors, move actively in the direction of the external force applied to their sensors via virtual compliance control. We implemented this control in WAO-1, our first prototype oral rehabilitation robot. Results: WAO-1 provided massage to three adult male subjects with and without virtual compliance control. One of the subjects was the adult male whose MRI image was used to synthesize the head model in the massage path generator. Without virtual compliance control, the actual massage force was greater than the target massage force, while that with virtual compliance control was less than the target massage force. Furthermore, with virtual compliance control, the massage paths conformed to the head shape of each patient. Conclusion: Implementation of virtual compliance control in the WAO-1 massage robot is feasible and useful for implementation of safe and potentially effective maxillofacial massage therapy.
KW - Drymouth
KW - Force control
KW - Maxillofacial massage
KW - Rehabilitation robot
KW - Robotic manipulator
KW - TMD
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U2 - 10.1007/s11548-009-0383-1
DO - 10.1007/s11548-009-0383-1
M3 - Article
C2 - 20033510
AN - SCOPUS:72349083563
SN - 1861-6410
VL - 5
SP - 77
EP - 84
JO - International Journal of Computer Assisted Radiology and Surgery
JF - International Journal of Computer Assisted Radiology and Surgery
IS - 1
ER -