Impedance control of pro-/supination based on the skeleton model of upper limbs

Author

Miyaguchi, Shota ; Nojiri, Kousei ; Matsunaga, Nobutomo ; Kawaji, Shigeyasu

Author_Institution

Kumamoto Univ., Kumamoto

fYear

2007

fDate

17-20 Oct. 2007

Firstpage

968

Lastpage

973

Abstract

Continuous passive motion (CPM) is an orthopedic treatment or physiotherapy method after surgery or injury by external continuous force. In CPM for the elbow joint, it is effective to reduce an excessive reaction force from a subject by controlling pro-/supination of forearm. The ulna collateral ligament in the elbow joint is extended due to pro-/supination of forearm, and it appears that extension of the ligament aggravate contracture disorders. Thus, it is required to suppress the excessive extension of the ligament. In this paper, an impedance control which suppress the excessive extension of the ligament due to the pro-/supination of CPM device is proposed, and the trajectory of extension of the ligament while CPM training with proposed controller is clarified by skeleton model.

Keywords

medical control systems; patient rehabilitation; patient treatment; continuous passive motion; impedance control; ligament aggravate contracture disorders; orthopedic treatment; physiotherapy method; skeleton model; upper limbs; Automatic control; Elbow; Force control; Impedance; Injuries; Joints; Ligaments; Orthopedic surgery; Read only memory; Skeleton; CPM device; Continuous passive Motion; Rehabilitation; Skeleton model;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-6-2

Electronic_ISBN

978-89-950038-6-2

Type

conf

DOI

10.1109/ICCAS.2007.4407044

Filename

4407044