TAILIEUCHUNG - Study on mechanical adaptive design, construction and control of knee continuous passive motion machine
In this study, the authors' afford is to solve three basic problems remaining in current Knee Continuous Passive Motion (CPM) machine, that is designing to reduce production costs in accordance with the conditions of Vietnam, structural adaptive design to help minimize relative sliding between leg, thigh and device's linkages and design the controller with the purpose of having diversity. | Journal of Automation and Control Engineering Vol. 1, No. 3, September 2013 Study on Mechanical Adaptive Design, Construction and Control of Knee Continuous Passive Motion Machine Ngoc-Bich Le, Huu-Nghia Nguyen, and Duy-Anh Nguyen Vietnam National University, HCM city University of Technology Email: {lngbichmt, duyanhkmu}@ Hoang-Duy Vo Ton Duc Thang University, HCM city, Vietnam vhduy@ Abstract—In this study, the authors' afford is to solve three basic problems remaining in current Knee Continuous Passive Motion (CPM) machine, that is designing to reduce production costs in accordance with the conditions of Vietnam, structural adaptive design to help minimize relative sliding between leg, thigh and device's linkages and design the controller with the purpose of having diversity operation modes, user-friendly interface and easy operation. Furthermore, many attempts were made to ensure the device appearance, stability and safety. In order to minimize relative sliding, parallelogram joint mechanism was proposed, designed, verified and implemented. Both simulation results and experimental result reflect very good results and fulfill the design objective. Furthermore, controller was design to help diversify the operation mode and increase the interaction between user and device. Index Terms—knee physical training, CPM machine, parallelogram mechanism I. INTRODUCTION The knee joint is a complex and important part of the human body. Part of its complexity lies in the fact that knee movement involves a set of coupled translations and rotations [1]. The knee can move in one of two ways. Active motion of the knee joint occurs when the muscles surrounding the knee contract and induce motion. Passive motion involves the movement of the knee joint by an outs ide force, such as that applied by a doctor or physical therapist. The knee plays an important role in many everyday activities, incl uding walking, running and kneeling, making it vulnerable to a
đang nạp các trang xem trước
