Abstract: A training device for training a limb includes target parts to be touched with the limb and a force generator that generates a lifting force acting upward on the limb by electricity in a manner allowing the limb to move upward and downward.

Abstract: A training device is for training a limb. The training device includes switches that are manipulated with the limb and a load reliever that generates a counter force against the weight of the limb in a manner allowing the limb to move upward and downward.

Abstract: When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands Xref—L, Xref—U with respect to the electric motors and outputs model motor position commands &thgr;Mm—L, &thgr;Mm—U, model motor speed commands {dot over (&thgr;)}Mm—L, {dot over (&thgr;)}Mm—U, and model feed-forward commands UFF—L, UFF—U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces.