{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:58:27Z","timestamp":1777715907732,"version":"3.51.4"},"reference-count":21,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2009,5,19]],"date-time":"2009-05-19T00:00:00Z","timestamp":1242691200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,9]]},"abstract":"<jats:p>We have developed an oral-rehabilitation robot WAO-1 (Waseda Asahi Oral-rehabilitation robot No. 1) for use in cases of oral disorders such as temperomandibular joint (TMJ) 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 six-degree-of-freedom arms with plungers, a body with headrest, a control box, a PC, and an automatic massage trajectory generation system with virtual compliance control. Two evaluation experiments were performed to verify the effectiveness of the oral massages of WAO-1 compared with the massages given by doctors. In the experiments, the massage to the parotid gland and duct by WAO-1 increased the amount of saliva in the subjects, and the massage to the masseter muscle by WAO-1 increased facial skin temperature and width of the masseter muscle in the subjects. We consider that these results indicate that massage by WAO-1 can be effective for patients with oral disorders.<\/jats:p>","DOI":"10.1177\/0278364909104295","type":"journal-article","created":{"date-parts":[[2009,5,19]],"date-time":"2009-05-19T22:09:33Z","timestamp":1242770973000},"page":"1228-1239","source":"Crossref","is-referenced-by-count":13,"title":["Development and Experimental Evaluation of Oral Rehabilitation Robot that                 Provides Maxillofacial Massage to Patients with Oral Disorders"],"prefix":"10.1177","volume":"28","author":[{"given":"Hiroyuki","family":"Ishii","sequence":"first","affiliation":[{"name":"Institute for Biomedical Engineering, Waseda University, Waseda                         Tsurumaki-cho 513, Shinjuku-ku, Tokyo 162-0041, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hiroki","family":"Koga","sequence":"additional","affiliation":[{"name":"Graduate School of Science and Engineering, Waseda University, 3-4-1                         Ookubo, Shinjuku-ku, Tokyo 162-0041, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuichi","family":"Obokawa","sequence":"additional","affiliation":[{"name":"Graduate School of Science and Engineering, Waseda University, 3-4-1                         Ookubo, Shinjuku-ku, Tokyo 162-0041, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jorge","family":"Solis","sequence":"additional","affiliation":[{"name":"Faculty of Science and Engineering, Waseda University, 3-4-1 Ookubo,                         Shinjuku-ku Tokyo 169-8555, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Atsuo","family":"Takanishi","sequence":"additional","affiliation":[{"name":"Faculty of Science and Engineering and Humanoid Research Institute,                         Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 162-0041, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Akitoshi","family":"Katsumata","sequence":"additional","affiliation":[{"name":"Department of Oral Radiography, Asahi University, 1851-1 Hozumi,                         Mizuho-shi, Gifu 501-0296, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,5,19]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1016\/S1072-7515(02)01750-7"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1600-0528.1996.tb00868.x"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.med.55.091902.105248"},{"issue":"3","key":"atypb4","first-page":"224","volume":"17","author":"DeBar, L.L.","year":"2003","journal-title":"Journal of Orofacial Pain"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1111\/j.1741-2358.2001.00021.x"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1177\/10454411950060030601"},{"key":"atypb7","first-page":"3063","author":"Hayashi, T.","year":"2005","journal-title":"Proceedings of Intelligent Robots and Systems"},{"key":"atypb8","volume-title":"Proceedings of Computer Assisted Radiology and Surgery","author":"Katsumata, A."},{"issue":"2","key":"atypb9","first-page":"265","volume":"17","author":"Klein, M.D.","year":"2007","journal-title":"Part A"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.903899"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1615\/JLongTermEffMedImplants.v13.i5.80"},{"key":"atypb12","volume-title":"Proceedings of the IEEE International Conference on Systems","author":"Lee, S."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1177\/08959374000140010701"},{"key":"atypb14","volume-title":"Dry mouth. 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