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JRM Vol.22 No.2 pp. 239-247
doi: 10.20965/jrm.2010.p0239
(2010)

Paper:

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Trajectory Generation of CPM Device for Upper Limbs Considering Constraint Caused by Joint Disorder

Shota Miyaguchi*, Nobutomo Matsunaga**, and Shigeyasu Kawaji**

*Omron Corporation, 9-1 Kizugawadai, Kizugawa-City, Kyoto 619-0283, Japan

**Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto-shi, Kumamoto 860-8555, Japan

Received:
September 17, 2009
Accepted:
December 19, 2009
Published:
April 20, 2010
Creative Commons License
Keywords:
continuous passive motion, CPM device, upper limbs, elbow joint disorder, impedance control
Abstract
Continuous Passive Motion (CPM) is a postoperative orthopedic treatment or physiotherapy. After surgery in Ulna Collateral Ligament (UCL) injury to the elbow, excessive UCL extension aggravates the injury. Postoperative large stiffness increases reaction force at hand of patient excessively near the end of the range of motion. Controlling pro/supination effectively suppresses the reaction force, but the UCL may be extended excessively by the pro/supination. In this paper, focusing on postoperative UCL treatment, we propose the trajectory generation method for controlling the pro/supination to suppress both the reaction force and the UCL extension based on a skeleton model. Finally, experimental results with simulated patient show the effectiveness of our proposal.1
Cite this article as:
S. Miyaguchi, N. Matsunaga, and S. Kawaji, “Trajectory Generation of CPM Device for Upper Limbs Considering Constraint Caused by Joint Disorder,” J. Robot. Mechatron., Vol.22 No.2, pp. 239-247, 2010.
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References
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