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发明授权
CN105764464B 训练装置 有权 转让

训练装置
摘要：
本发明涉及一种正确评价追随状态的训练装置，上述训练装置以根据追随状态能够继续进行肢部的训练的方式具备操作杆、固定框架、上述操作杆、马达、旋转信息输出传感器、倾转角度计算部1131、位置偏差计算部1132、判断部1134、马达驱动部1135、以及位置偏差修正部1133。上述操作杆被固定框架以通过马达能够至少绕X轴或Y轴倾转的方式支承，并保持肢部，上述倾转角度计算部1131算出上述操作杆的倾转角度，上述位置偏差计算部1132算出位置偏差，上述判断部1134每经过第二时间T2取得上述位置偏差，第二时间T2的期间发生的位置偏差在第一阈值φ1以下的情况下，上述马达驱动部1135以累积保持位置偏差的方式驱动马达，上述位置偏差修正部1133在规定时刻对位置偏差进行复位。
摘要（英）：

A training apparatus includes a fixed frame, a training rod, a motor, rotation information detection sensor, tilt angle and position difference calculation units, determination, motor drive and position difference eliminating units. The training rod is supported by the fixed frame in a manner capable of being tilted by a motor about at least an X-axis or a Y-axis so as to hold the limb. The tilt angle calculation unit calculates a tilt angle of the training rod. The position difference calculation unit calculates a position difference. The determination unit obtains the position difference every time when a second time period elapses. If the position difference generated in the second time period is a first threshold or lower, the motor drive unit drives the motor so that the position difference is accumulated and maintained. The position difference eliminating unit resets the position difference at a predetermined timing.

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