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


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

September 17, 2009
December 19, 2009
April 20, 2010
continuous passive motion, CPM device, upper limbs, elbow joint disorder, impedance control
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.
Data files:
  1. [1] J. Furusho, K. Koyanagi, Y. Imada, Y. Fujii, K. Nakanishi, K. Domen, K. Miyakoshi, U. Ryu, S. Takenaka, and A. Inoue, “A 3-D Rehabilitation System for Upper limbs Developed 5-Year NEDO Project and its Clinical Testing,” Proc. of the 2005 Int. Conf. on Rehabilitation Robotics, pp. 53-56, 2005.
  2. [2] M. D. Duong, C. Teraoka, T. Imamura, T. Miyoshi, and K. Terashima, “Master-Slave System with Teleoperation for Rehabilitation,” 16th IFAC World Congress, Th-A01-TP/9, 2005.
  3. [3] N. Hogan, H. I. Krebs, B. Rohrer, J. J. Palazzolo, L. Dipietro, S. E. Fasoli, J. Stein, R. Hughes, W. R. Frontera, D. Lynch, and B. T. Volpe, “Motions or Muscle? Some Behavioral Factors Underlying Robotic Assistance of Motor Recovery,” The J. of Rehabilitation Research and Development, Vol.43, No.5, pp. 605-618, 2006.
  4. [4] W. O’Driscoll and N. J. Giori, “Continuous Passive Motion (CPM): Theory and Principles of Clinical Application,” The J. of Rehabilitation Research and Development, Vol.37, No.2, pp. 179-188, 2000.
  5. [5] R. B. Salter, “Continuous Passive Motion (CPM),” Williams & Wilkins, Inc., 1993.
  6. [6] N. Tanaka, Y. Okajima, M. Taki, S. Uchida, Y. Tomita, T. Horiuchi, T. Sakaki, and A. Kimura, “Effect of Continuous Range of Motion Exercise on Passive Resistive Joint Torque,” The Japanese J. of Rehabilitation Medicine, Vol.35, No.7, pp. 491-495, 1998. (in Japanese)
  7. [7] S. Kawaji and I. Sakurai, “R&D on User-friendly Passive Motion Device for Upper Limbs,” KINZOKU Materials Science and Technology, Vol.76, No.1, pp. 37-40, 2006. (in Japanese)
  8. [8] N. Matsunaga, S.Miyaguchi, K. Nojiri, and S. Kawaji, “Impedance Control of CPM Device with Flex-/Extension and Pro-/Supination for Upper Limbs,” Trans. of the Japan Society of Mechanical Engineers. Series C, Vol.73, No.733, pp. 2583-2590, 2007. (in Japanese)
  9. [9] W. Blauth and T. Jaeger, “Arthrolysis of the Elbow,” Orthopaedics and Traumatology, Vol.1, No.1, pp. 105-121, 1992.
  10. [10] A. M. Weinberg, I. T. Pietsch, M. B. Helm, J. Hesselbach, and H. Tscherne, “A New Kinematic Model of Pro- and Supination of Human Forearm,” J. of Biomechanics, Vol.33, No.4, pp. 487-491, 2000.
  11. [11] D. A. Neumann, “Kinesiology of the Musculoskeletal System,” Ishiyaku Publishers, Inc., 2002.
  12. [12] Y. Sasashige, M. Ochi, and Y. Ikuta, “Optimal Attachment Site for Reconstruction of the Ulnar Collateral Ligament. A Cadaver Study,” Archives of Orthopaedic and Trauma Surgery, Vol.113, No.5, pp. 265-270, 1994.
  13. [13] M. Safran, C. S. Ahmad, and N. S. Elattrache, “Current Concepts Ulnar Collateral Ligament of the Elbow,” The J. of Arthroscopic and Related Surgery, Vol.21, No.11, pp. 1381-1395, 2005.
  14. [14] A. Kecskemethy and A. Weinberg, “An Improved Elasto-Kinematic Model of The Humanforearm for Biofidelic Medical Diagnosis,” Multibody System Dynamics, Vol.14, No.1, pp. 1-21, 2005.
  15. [15] E. Kreyszig, “Advanced Engineering Mathematics, 8th Edition,” Wiley, 1998.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jul. 23, 2024