JRM Vol.34 No.1 pp. 28-39
doi: 10.20965/jrm.2022.p0028


Prototype of a Continuous Passive Motion Device for the Knee Joint with a Function of Active Exercise

Masaharu Tagami*1, Masaki Hasegawa*2, Wataru Tanahara*3, and Yasutaka Tagawa*4

*1Faculty of Engineering, Kindai University
1 Takaya Umenobe, Higashi-Hiroshima, Hiroshima 739-2116, Japan

*2Faculty of Health and Welfare, Prefectural University of Hiroshima
1-1 Gakuen-cho, Mihara, Hiroshima 723-0053, Japan

*3Graduate School of Systems Engineering, Kindai University
1 Takaya Umenobe, Higashi-Hiroshima, Hiroshima 739-2116, Japan

*4Faculty of Engineering, Tokyo University of Agriculture and Technology
2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan

February 26, 2021
September 10, 2021
February 20, 2022
active exercise, continuous passive motion, friction force, impedance control, knee joint
Prototype of a Continuous Passive Motion Device for the Knee Joint with a Function of Active Exercise

CPM device with a muscle training function

In this study, an active exercise function was added to a continuous passive motion device, which is widely used in rehabilitation therapy for function enhancement. The objective is to reduce physical overwork on the part of physical therapists and promote self-rehabilitation in patients. Impedance control based on position control was applied to provide active exercise load. Various active exercise loads are required to reproduce daily life muscle activity. Accordingly, a friction load model was introduced in the impedance control system. The effects of increasing the types of active exercise loads were evaluated by analysis of muscle activity during experimental tests, and a new muscle activity that could not be attained by the conventional spring-mass-damper load model was confirmed.

Cite this article as:
Masaharu Tagami, Masaki Hasegawa, Wataru Tanahara, and Yasutaka Tagawa, “Prototype of a Continuous Passive Motion Device for the Knee Joint with a Function of Active Exercise,” J. Robot. Mechatron., Vol.34, No.1, pp. 28-39, 2022.
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Last updated on May. 20, 2022