PROBLEM TO BE SOLVED: To perform an optimum rehabilitation training according to the posture of a subject.SOLUTION: A rehabilitation apparatus comprises: operation means operated by a subject operation amount detection means for detecting an operation amount of the operation means drive means for driving the operation means control means for controlling the drive of the drive means posture detection means for detecting a posture of the subject external force detection means for detecting an external force applied to the operation means and display means for displaying an operation target position of the operation means. The control means calculates an operable ellipse which shows the operability of a body of the subject on the basis of the posture detected by the posture detection means, calculates the operation target position based on the operable ellipse, calculates a target value of the operation amount with respect to the operation means on the basis of the external force detected by the external force detection means and the operation target position, and controls the drive means so that the operation amount detected by the operation amount detection means follows the target value of the operation amount.COPYRIGHT: (C)2016,JPO&INPIT【課題】被験者の姿勢に応じた最適なリハビリテーション訓練を行うこと。【解決手段】リハビリテーション装置は、被験者によって操作される操作手段と、操作手段の操作量を検出する操作量検出手段と、操作手段を駆動する駆動手段と、駆動手段の駆動を制御する制御手段と、被験者の姿勢を検出する姿勢検出手段と、操作手段に作用する外力を検出する外力検出手段と、操作手段の操作目標位置を表示する表示手段と、を備える。制御手段は、姿勢検出手段により検出された姿勢に基づいて、被験者の身体の可操作性を示す可操作楕円を算出し、可操作楕円に基づいて操作目標位置を算出すると共に、外力検出手段により検出された外力と、操作目標位置と、に基づいて、操作手段に対する操作量の目標値を算出し、該操作量の目標値に操作量検出手段により検出された操作量が追従するように駆動手段を制御する。【選択図】図3
