We have developed the programmable, Continuous Passive Motion device (0PM) to achieve the treatment with effective load reduction by following to the position of the knee rotation center axis and load sensor feedback to the motion. In order to decrease the load to the tibia, the posture of the tibia is modified according to the output of the strain gage mounted on the link by the tibia. The effect of the load sensor feedback to the motion was verified by the experiments with the CPM device.
