Abstract
In the rehabilitation with the CPM device for the upper limb, because the musculoskeletal structure of the upper limb is not clarified, the influences of the upper limb joint in CPM are not analyzed. Especially, the influences by accompanying pronosupination of forearm are uncertain. In this paper, we measured flexion and extention movements with pronosupination of forearm in CPM, and derived each joint tourque from the data of obtained each joint displacement and reaction force, by using skelton model of forearm based on the biomechanics and using FEM(finite element method) that Isobe proposed. Moreover, forearm motion is generated from the calculated joint torque, and the validity is verified.
