A joint motion simulator to simulate biomechanical motion includes a mount to which a prosthetic device is mounted, actuators coupled to the mount to drive the mount, and a programmable controller to drive the actuators to translate the mount and to rotate the mount with a center of rotation controllable independent of translation. The simulator can include a linear actuator to translate the mount in a linear direction substantially parallel to the axis of rotation. The linear actuator can include a piston within a sleeve, the piston being coupled to the mount and being hydraulically driven to translate the mount, and the actuators can be coupled to the sleeve. The controller may be programmed to vary the center of rotation with linear translation and rotation of the mount. Sensors may be included that measure displacement of the actuators. The controller may drive the actuators based on the measured displacement.【課題】より向上した動作制御を人工装具シミュレータに提供する。【解決手段】生体力学的運動をシミュレートする関節動作シミュレータは、人工装具を取り付ける取り付け部と、取り付け部を駆動すべく取り付け部に結合されたアクチュエータと、取り付け部を並進させ、且つ並進とは独立に制御可能な回転中心の回りに取り付け部を回転させるべくアクチュエータを駆動するプログラム可能なコントローラとを含む。シミュレータは、取り付け部を回転軸にほぼ平行な直線方向に並進させるリニアアクチュエータを含み得る。
