OSHIMA, Osamu,OHMATSU, Hiroaki,FUJITA, Fumi,MAEDA, Akihiro,TAKEDA, Jun
申请号：
EP15854158
公开号：
EP3213731A4
申请日:
2015.10.13
申请国别(地区):
EP
年份:
2018
代理人:
摘要：
Provided is a training device that suppresses unintended operation of an operation rod when executing an operation mode in which the operation of the operation rod is controlled based on a force applied to the operation rod. The training device includes the operation rod, a motor, a force detection unit, a rotation information output sensor, a first command calculation unit, and a force correction unit. The operation rod moves a limb. The motor operates the operation rod in a direction of degree of freedom. The force detection unit detects a force component and outputs a force component signal. The rotation information output sensor detects an operation position of the operation rod in a corresponding direction of degree of freedom. The force correction unit calculates a corrected force component value based on the operation positions of the operation rod and the force component signal. The first command calculation unit calculates a first motor control command based on the corrected force component value.
