Inverse Kinematics Analysis ofForearm inCPM BasedonBiomechanics

Continuous passive motion(CPM)isa surgical treatment orphysiotherapy after operations fordisorders. In therehabilitation withtheCPM device fortheupperlimb, because themusculoskeletal structure oftheupperlimbisnot clarified, therelationships betweentheupperlimbjoint and CPM arenotanalyzed. Especially, thejoint angleinformation byaccompanying pronosupination oftheforearm isnotclear. Inthispaper, amethodusingthewrist direction vector for calculating inverse kinematics oftheforearm isproposed and applied topronosupination modelbasedonthebiomechanics. In addition, theresults areverified bycomparing withthemeasure result oftheforearm.