Design of CPM Training Machine of Recovery for Knee Joints

The purpose of this paper is to introduce a new design of CPM training machine of recovery for knee joints which provides a constant-speed, translational and steady recover environment. A parallelogram mechanism and a magnetorheological fluid mechanism are used to ensure the patients not only to perform passive train in the earlier period after operation but also do active train in different stages without the influence of gravity compensation. The training machine makes the recover motion meet the physiology need of the joint motion after operation and has the applicable significance in medical practice.