This paper describes a fuzzy control methodology for continuous passive motion equipment (CPM). The methodology combines fields such as artificial intelligence, through the fuzzy controller development; and control engineering, joining an optimization mechanism of movement with closed loop control. Following UML-MARTE profile is used to modeling the methodology. Based on system input/output and a set of defined rules to model the plant dynamic behavior a control algorithm is developed. Test analysis between laboratory and prototype experiments demonstrates the methodology applicability. In both scenarios the time constraints related to position feedback in stepper motor and DC motor are satisfactory.