PROBLEM TO BE SOLVED: To provide a lower limb training device capable of calculating respective joint torque without attaching a measurement device for measuring a torque to respective joints of a user who is a measurement object during a leg extension operation which is a multi-joint motion.SOLUTION: A lower limb training device 1 comprises: a slide part 2 for sliding and moving in linkage with a leg extension operation in which a user A extends his/her legs from a flexed state load generation means 3 for applying a load to the user A movement amount measurement means 4 for measuring a movement amount of the slide part 2 following to the leg extension operation floor reaction force measurement means 5 for measuring floor reaction force during the leg extension operation and calculation means for, using the movement amount of the slide part, the floor reaction force, respective joint angles, and a human body model in which, rigid body segments of a trunk part, thigh parts, lower leg parts, and foot parts are coupled with a hip joint, knee joints and foot joints and expressed, for calculating the joint torque of respective joint by reverse kinetics calculation.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2017,JPO&INPIT【課題】 多関節運動である脚伸展動作時の計測対象となる使用者の各関節にトルクを計測するための計測装置を装着することなく、各関節トルクを算出することができる下肢トレーニング装置を提供する。【解決手段】 使用者Aが脚を屈曲させた状態から伸展させる脚伸展動作に連動してスライド移動するスライド部2と、使用者Aに負荷を与える負荷発生手段3と、脚伸展動作に伴うスライド部2の移動量を計測する移動量計測手段4と、脚伸展動作時の床反力を計測する床反力計測手段5と、使用者の股関節、膝関節、及び足関節の関節角度を計測する関節角度計測手段と、スライド部の移動量と、床反力と、各関節角度と、胴体、大腿部、下腿部、足部の剛体セグメントが股関節、膝関節、足関節の関節で連結されて表現される人体モデルとを用いて逆動力学計算により、各関節の関節トルクを算出する演算手段とを備える下肢トレーニング装置1。【選択図】図1
