Abstract
CPM(Continuous passive motion) is an orthopedic treatment or a physiotherapy after surgery. After surgery for injury of UCL(ulna collateral ligament) in the elbow, excessive extension of the UCL aggravates the injury, and reaction force at hand of patient increases excessively near the end of the range of motion due to increased stiffness. The controlling of pro-/supination is effective to suppress the reaction force, but the UCL may be extended excessively by the pro-/supination. In this paper, we propose the trajectory generation method to control the pro-/supination so as to suppress both the reaction force and the UCL extension based on skeleton model. And, experimental results with simulated patient show the effectiveness of the proposed method.
