Training apparatus

A training apparatus for training upper and/or lower limbs of a user in accordance with a predetermined training program, the training apparatus comprising:

• a fixed frame placed on or in the vicinity of a floor;
• a training rod supported by the fixed frame in a manner capable of tilting about a predetermined tilting axis with at least one degree of freedom, so as to hold a limb;
• a motor configured to tilt the training rod about the tilting axis;
• a rotation information detection sensor configured to output an amount of rotation of the motor;
• a tilt angle calculating unit configured to calculate a tilt angle of the training rod on the basis of the amount of rotation of the motor;
• a feedback current detection unit configured to detect a feedback current of the motor;
• a position difference calculation unit configured to calculate a position difference every time when a predetermined first time period elapses, the position difference being a difference between an actual tilt angle of the training rod and an instructed tilt angle of the training rod instructed by the training program;
• a determination unit configured to determine an error when the position difference during the first time period is a predetermined first threshold or higher, or when the feedback current is kept at a first current value or higher for a predetermined second time period or longer;
• and
• a feedback current limiting unit configured to limit the feedback current of the motor to a predetermined second current value or lower when the determination unit determines an error,
• wherein the second current value is calculated by multiplying a rated current of the motor by a predetermined number smaller than one.

A training apparatus for training upper and/or lower limbs of a user in accordance with a predetermined training program, the training apparatus comprising:

• a fixed frame placed on or in the vicinity of a floor;
• a training rod supported by the fixed frame in a manner capable of tilting about a predetermined tilting axis with at least one degree of freedom, so as to hold a limb;
• a motor configured to tilt the training rod about the tilting axis;
• a rotation information detection sensor configured to output an amount of rotation of the motor;
• a tilt angle calculating unit configured to calculate a tilt angle of the training rod on the basis of the amount of rotation of the motor;
• a feedback current detection unit configured to detect a feedback current of the motor;
• a position difference calculation unit configured to calculate a position difference every time when a predetermined first time period elapses, the position difference being a difference between an actual tilt angle of the training rod and an instructed tilt angle of the training rod instructed by the training program;
• a determination unit configured to determine an error when the position difference during the first time period is a predetermined first threshold or higher, or when the feedback current is kept at a first current value or higher for a predetermined second time period or longer;
• and
• an accumulated time measuring unit configured to measure an accumulated time when the position difference during the first time period is a second threshold or higher and lower than the first threshold, the second threshold being less than the first household,
• wherein the determination unit determines the error when the accumulated time is a predetermined third time period or longer.