| 摘要 |
PROBLEM TO BE SOLVED: To provide a limb driving apparatus capable preventing rapid and excessive loads on the limbs and capable of training joints in a movable area and stretching of muscles. SOLUTION: This apparatus has a mechanical part 1, which supports and exercises the limbs of a patient, a load measurement means 5, which is placed in the mechanical part 1 and measures loads on the patient's limbs, a track setting means 10, which presets a track for movement of the mechanical part 1, and a track correction means 9, which corrects the setup track set with the track setting means 10 according to the load amount and direction obtained from the load measurement means 5. Receiving the information of the load from the load measurement means 5, the track correction means 9 finds the position error by using either a second system dynamic force model consisting of a virtual inertia of the loads, which is driven by the mechanical part 1, a virtual viscosity and a virtual rigidity, or a primary system dynamic force model consisting of a virtual viscosity and a virtual rigidity, and a virtual impedance model that has a calculator, which calculates terms of integral calculus. Then, the correction means 9 corrects the track by adding the position error to track information in the track setting means 10. |
