Trajectory Generation of CPM Device for Upper Limbs Considering Constraint Caused by Joint Disorder | Zendy

Shota Miyaguchi | Zendy; Nobutomo Matsunaga | Zendy; Shigeyasu Kawaji | Zendy

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Trajectory Generation of CPM Device for Upper Limbs Considering Constraint Caused by Joint Disorder

Author(s) -

Shota Miyaguchi,

Nobutomo Matsunaga,

Shigeyasu Kawaji

Publication year - 2010

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2010.p0239

Subject(s) - trajectory , elbow , range of motion , ligament , computer science , medicine , physical medicine and rehabilitation , control theory (sociology) , surgery , physics , artificial intelligence , control (management) , astronomy

Continuous Passive Motion (CPM) is a postoperative orthopedic treatment or physiotherapy. After surgery in Ulna Collateral Ligament (UCL) injury to the elbow, excessive UCL extension aggravates the injury. Postoperative large stiffness increases reaction force at hand of patient excessively near the end of the range of motion. Controlling pro/supination effectively suppresses the reaction force, but the UCL may be extended excessively by the pro/supination. In this paper, focusing on postoperative UCL treatment, we propose the trajectory generation method for controlling the pro/supination to suppress both the reaction force and the UCL extension based on a skeleton model. Finally, experimental results with simulated patient show the effectiveness of our proposal. 1

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