TRAINING APPARATUS AND METHOD FOR CORRECTING FORCE MAGNITUDE

摘要

The present invention suppresses an operating rod from making an unintended motion, when a training apparatus is in a moving mode in which the motion of the operating rod of the apparatus is controlled on the basis of the force (force magnitude) applied to the operating rod. This training apparatus comprises an operating rod, a motor, a force magnitude detecting part, a rotation information output sensor, a first command calculating part, and a force magnitude correcting part. The operating rod moves a held limb. The motor moves the operating rod in a degree-of-freedom direction. The force magnitude detecting part detects a force magnitude component and outputs a force magnitude component signal. The rotation information output sensor detects a corresponding moving position of the operating rod in the degree-of-freedom direction. The force magnitude correcting part calculates a correcting force magnitude component value on the basis of the moving position of the operating rod and the force magnitude component signal. The first command calculating part calculates a first motor control command on the basis of the correcting force magnitude component value.