Impedance Control of Two d.o.f. CPM Device for Elbow Joint
Nobutomo Matsunaga, Shota Miyaguchi, Hiroshi Okajima,
and Shigeyasu Kawaji
Department of Computer Science and Electrical Engineering, Kumamoto University, 2-39-1 Kurokami, Cyuou-ku, Kumamoto 860-8555, Japan
Two d.o.f. CPM device
Continuous passive motion (CPM) involves orthopedic or post-surgery physiotherapy. Following surgery to correct ulna collateral ligament (UCL) injury in the elbow, for example, excessively extending the UCL aggravates the injury and reaction force of the arm increases excessively near the end of the range of motion (ROM). Controlling pro/supination, i.e., rotarymotion of the wrist, effectively suppresses reaction force, but may extend the UCL excessively. We propose a 2 d.o.f. (degrees of freedom) impedance controller as a CPM device for the elbow to suppress reaction force based on the musculoskeletal system.
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