| 摘要 |
<P>PROBLEM TO BE SOLVED: To allow a subject to safely perform muscle force measuring and/or training without imposing an excessive load on the subject by correctly imparting the intended load on the muscles of four limbs of the subject. Ž<P>SOLUTION: Before starting the muscle force measuring and/or training, a self-weight support axial torque to be generated in a joint shaft by the self-weight of an upper or lower limb and the self-weight of a robot arm 12 is measured. Relation between the measured self-weight support axial torque and the angle of the joint shaft is recorded. The axial torque of the joint shaft is corrected in the muscle force measuring and/or training, based on the recorded relation between the self-weight support axial torque and the angle of the joint shaft. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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