Training Apparatus

摘要

A training apparatus includes an operating rod, a strength detector, a motion position detector, a strength speed calculator, a boundary line arrival speed calculator, and a motion speed calculator. The operating rod moves a held limb. The strength detector outputs a strength component signal based on a magnitude of a strength component. The motion position detector detects a motion position of the operating rod. The strength speed calculator calculates a strength speed. The boundary line arrival speed calculator calculates a boundary line arrival speed whose absolute value is smaller as a boundary line distance is shorter. The motion speed calculator calculates a lower one of the strength speed and the boundary line arrival speed as the motion speed at which the operating rod should move.

主权项

1. A training apparatus for training a user's four limbs including upper limbs and/or lower limbs according to a predetermined training program, the apparatus comprising:
an operating rod for moving a held limb, the operating rod being supported to a stationary frame placed on or near a floor surface so as to be movable at one or more degrees of freedom; a strength detector for detecting a strength component that is a component of a strength applied to the operating rod in each freedom degree direction where the operating rod is movable, and outputting a strength component signal based on a magnitude of the detected strength component; a motion position detector for detecting a motion position of the operating rod in the corresponding freedom degree direction where the operating rod is movable; a strength speed calculator for calculating a strength speed of the operating rod based on the strength component signal output from the strength detector; a boundary line arrival speed calculator for calculating a boundary line arrival speed whose absolute value is smaller as a boundary line distance is shorter, the boundary line distance being from a current motion position of the operating rod to a mobile region boundary line for defining a boundary of an operating rod mobile region for setting a range where the operating rod is movable; and a motion speed calculator for calculating a lower one of the strength speed and the boundary line arrival speed as a motion speed at which the operating rod is to be moved.