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 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. 