PROBLEM TO BE SOLVED: To provide an upper limb motion training device dispensing with or simplifying switch operation and obtainable of sufficient training results.SOLUTION: A wire 15 is delivered when the tension obtained by a strain gauge 63 is larger than a predetermined value, the torque of a servomotor 36 is controlled so as to wind up the wire 15 when the tension is smaller than the predetermined value, the moving speed of a wire connection tool 16 is operated on the basis of a timewise change in the azimuth of a pulley obtained by an angle-of-rotation measuring means 43 and the rotational speed of the servomotor 36 is controlled on the basis of the obtained moving speed. The lifting and falling motion of the upper limb 84 of a patient 83 is assisted by controlling the torque of the servomotor 36. That is, switch operation for performing the winding-up or sending-out of the wire 15 is dispensed with. The switch operation is unnecessary or simple and a sufficient training result is obtained.COPYRIGHT: (C)2012,JPO&INPIT【課題】スイッチ操作が不要又は簡便で、十分な訓練の成果が得られる訓練装置の提供。【解決手段】歪みゲージ63で得た張力が所定値より大きいときにはワイヤ15を繰り出し、小さいときにはワイヤ15を巻取るようにサーボモータ36のトルクを制御し、回転角計測手段43で得たプーリの方位の時間変化に基づいてワイヤ結合具16の移動速度を演算し、得られた移動速度に基づいてサーボモータ36の回転速度を制御する。【効果】患者83が上肢84を昇降させようとする運動を、サーボモータ36のトルクを制御することで補助する。即ち、ワイヤ15の巻取りや送出しを行うためのスイッチ操作が不要である。スイッチ操作が不要又は簡便で、十分な訓練の成果が得られる訓練装置ということができる。【選択図】図2
