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About WAO-2
Concept of WAO-2

WAO-2 was designed for the practical realization model of Oral Rehabilitation Robot. We achived reducing the number of DOFs and optimization of the manipulators without loss of the WAO-1R’s massage efficiency. And WAO-2 was designed for providing massage to the patients both in the supine and seated posture too. As a result, we realized the downsizing of Oral Rehabilitation Robot and high practical performance.

Reducing the number of DOFs

　WAO-1R consists of two 6-DOF manipulators. But most dentists that collaborate with us advice that 6-DOF is redundancy for maxillofacial massage and plunger position is much more influential in a feeling of patients than its orientation. And as a result of verification experiment, there is not significantly difference between massage without orientation moving and massage with 6-DOF. In conclusion, we designed new WAO-2 manipulator that has three DOFs (total six). Appearing below is DOF arrangement of WAO-2.

Genetic Algorithm

　　Some problems exist in WAO-2's design (following below).

1. Some Trade-off elements exist (etc. link length and joint torque)
2. Avoiding singular point

　Then, we defined the evaluation function (following below) to solve those problems at same time. And　we searched the smallest value of this evaluation function with Genetic Algorithm.

　As a result of GA, we decided the length of links. 　 (L₁:137[mm] L₂:166[mm])

Detail

　This is the Overview and Specification of WAO-2.

　 Please click here to refer to the details of controll system.

Movie

Massage to masseter muscle MPEG 11.5 MB

Massage to musculus temporalis MPEG 10.5 MB

Massage to parotid gland MPEG 10.2 MB

Preclinical test

　To confirm the effectiveness of WAO-2 massage, WAO-1R/WAO-2 provided massage to 7 healthy people (supine and seated, WAO-2). The effectiveness was evaluated using questionnaire with VAS (Visual Analog Scale).

Fig.5　Result

　There is not significantly difference between the massage effectiveness of WAO-2 and WAO-1R. In the future, we will confirm the effectiveness of WAO-2 massage through the clinical tests.

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