Inverse Dynamics Analysis of Forearm in CPM

Abstract

In the rehabilitation with the continuous passive motion (CPM) device for the upper limb, the musculoskeletal structure of the upper limb has not been clarified. In this paper, we regard the forearm as a skeleton model with an elastokinematic coupling between axial displacement and lateral swaying of the humero-ulnar (elbow) articulation. The solution of the inverse dynamics is obtained by using the geometric constraint, and validity of the inverse dynamics is evaluated by simulation