It is called contracture that a joint’s range of motion is restricted. Range of motion exercise is effective to prevent contracture. However, if range of motion exercise by the physiotherapist is performed, a range of motion will improve, but if time not to exercise is long, contracture will decrease again. Then, a rehabilitation instrument for passive range-of-motion exercise which can use after exercise by the physiotherapist is required. A CPM for a knee is developed as such an instrument, and it is also used for an ankle. But, most of instrument used motors to get a high power. So, those are heavy and large size. Installation and movement of instruments at facilities are difficult, and it is also difficult to use freely at home.

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