Impedance Control of Two d.o.f CPM Device for Upper Limb Disorders
نویسندگان
چکیده
Continuous passive motion (CPM) is an orthopedic treatment or a physiotherapy and is tried to apply after surgery for the injured radial collateral ligament (RCL) in the elbow joint. After the surgery, the reaction force at hand of the patient increases due to an increase of the joint stiffness and may be excessively large. For this, it is effective to reduce the excessive reaction force by controlling pro-/supination of forearm. Also, the RCL in the elbow joint is extended due to pro-/supination of forearm, and the extension may aggravate the injury of the RCL. Thus, it is required to suppress both the excessive extension of the RCL and the reaction force. In this paper, a novel impedance control of CPM device that can suppress both the excessive extension of the RCL and the reaction force is proposed.
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تاریخ انتشار 2008