Control scheme of two d.o.f. CPM device to suppress the extension of ligament of the elbow

Continuous passive motion (CPM) is an orthopedic treatment or a physiotherapy and has been applied after surgery. After surgery for the injured ulna collateral ligament (UCL) which is a major clinical case in the elbow joint, the reaction force at the hand of the patient increases and may be excessively large due to an increase of the joint stiffness. For this, it will be effective to reduce the excessive reaction force by controlling pro-/supination of forearm. The UCL in the elbow joint is extended due to pro-/supination of forearm, but the excessive extension may aggravate the injury of the UCL. Thus, it is required to suppress both the excessive extension of the UCL and the reaction force. In this paper, a control scheme of CPM device that can suppress both the excessive extension of the UCL and the reaction force is proposed, and its effectiveness is confirmed from the experimental results.