Impedance control of CPM device with flex-/extension an pro-/supination of upper limbs

Author

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

Author_Institution

Kumamoto Univ., Kumamoto

fYear

2007

fDate

4-7 Sept. 2007

Firstpage

1

Lastpage

6

Abstract

Continuous passive motion (CPM) is an orthopedic treatment or physiotherapy after injury or operation. Most of CPM devices used for treatment of the elbow joint have one degree of freedom in flex-/extension. This causes that the patients are limited in pro-/supination of the forearm with flex- /extension of the elbow joint due to the movement of CPM device. In this paper, a novel impedance control scheme of pro- /supination is proposed for CPM device with flex-/extension and pro-/supination. Impedance control is designed for the reference trajectory measured from normal subject, and the parameters for impedance control are determined in order to suppress the excessive force at the end of the range of motion. The effectiveness of the proposed scheme is evaluated by experiments.

Keywords

medical control systems; orthopaedics; patient treatment; prosthetics; continuous passive motion device; elbow joint; forearm flex/extension; forearm pro/supination; impedance control; orthopedic treatment; physiotherapy; upper limbs; Elbow; Force control; Force measurement; Humans; Impedance measurement; Injuries; Motion control; Muscles; Orthopedic surgery; Read only memory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on

Conference_Location

Zurich

Print_ISBN

978-1-4244-1263-1

Electronic_ISBN

978-1-4244-1264-8

Type

conf

DOI

10.1109/AIM.2007.4412449

Filename

4412449