1A1-A29 Trajectory Generation of CPM Device based on Reaction Force and Upper Limbs Motion

Abstract

CPM(Continuous Passive Motion) is a surgical treatment or physiotherapy following surgery or trauma. CPM devices have been mainly applied to disorders in the lower limbs. One of the problems of CPM devices for upper limbs is that most of CPM devices were not taken into account that the forearm pronate and supinate while CPM for the elbow joint. In this paper, CPM of healthy subject is considered as ideal motion. The motion is analyzed using a regression analysis. And we suggested trajectory generation of pro-/supination based on elbow extension angle and reaction force in CPM.