Abstract: A training device suppresses unintended operation of an operation rod when executing an operation mode in which 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 detector, a rotation information output sensor, a first command calculator, and a force corrector. The operation rod moves a limb. The motor operates the operation rod in a direction of degree of freedom. The force detector 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 corrector calculates a corrected force component value based on operation positions of the operation rod and force component signal. The first command calculator calculates a first motor control command based on the corrected force component value.

Abstract: Provided is a training device capable of executing a plurality of operation modes, in which an operation rod is appropriately operated according to an operation mode. The training device includes the operation rod, a plurality of motors, a plurality of force detection units, and a plurality of first command calculation units. The operation rod allows a limb to move. The plurality of motors operate the operation rod in the direction of degree of freedom in which the operation rod can move. Each of the force detection units detects a corresponding force component and outputs a force component signal. The first command calculation units are connected to the corresponding force detection units. Each of the first command calculation units calculates a first motor control command on the basis of the corresponding force component signal.

Abstract: A rehabilitation assistance device (1), provided with: an arm part (30) having a holding part (20) for holding a part of the upper limb or the lower limb of a user, the arm part (30) movably supporting the holding part (20); a memory unit (80) for storing training information, the memory unit (80) storing first training information defined in advance; a motion information acquisition unit (61) for acquiring motion information associated with the movement of the holding part (20), the motion information acquisition unit (61) acquiring first motion information for the holding part (20) moved on the basis of the first training information; a motion evaluation unit (72) for generating evaluation information in which the motion information is evaluated, the motion evaluation unit (72) evaluating the first motion information and generating first evaluation information; and a display (40) for displaying at least one of the training information, the motion information, and the evaluation information.

Abstract: A rehabilitation assistance device (1), provided with: an arm part (30) having a holding part (20) for holding a part of the upper limb or the lower limb of a user, the arm part (30) movably supporting the holding part (20); a memory unit (80) for storing training information, the memory unit (80) storing first training information defined in advance; a motion information acquisition unit (61) for acquiring motion information associated with the movement of the holding part (20), the motion information acquisition unit (61) acquiring first motion information for the holding part (20) moved on the basis of the first training information; a motion evaluation unit (72) for generating evaluation information in which the motion information is evaluated, the motion evaluation unit (72) evaluating the first motion information and generating first evaluation information; and a display (40) for displaying at least one of the training information, the motion information, and the evaluation information.

Abstract: A training apparatus includes a fixed frame, an training rod, a motor, a rotation information detection sensor, a tilt angle calculation unit, a feedback current detection unit, a position difference calculation unit, and a determination unit. The training rod tilts with at least one degree of freedom. The motor tilts the training rod. The rotation information detection sensor outputs an amount of rotation of the motor. The tilt angle calculation unit calculates a tilt angle. The feedback current detection unit detects a feedback current value. The position difference calculation unit calculates a position difference every time when a first time period elapses. The determination unit determines an error when the position difference generated during the first time period is a first threshold or higher, or when the feedback current value keeps a first current value or higher for a second time period or longer.

Abstract: A training apparatus includes a fixed frame, a training rod, a motor, rotation information detection sensor, tilt angle and position difference calculation units, determination, motor drive and position difference eliminating units. The training rod is supported by the fixed frame in a manner capable of being tilted by a motor about at least an X-axis or a Y-axis so as to hold the limb. The tilt angle calculation unit calculates a tilt angle of the training rod. The position difference calculation unit calculates a position difference. The determination unit obtains the position difference every time when a second time period elapses. If the position difference generated in the second time period is a first threshold or lower, the motor drive unit drives the motor so that the position difference is accumulated and maintained. The position difference eliminating unit resets the position difference at a predetermined timing.

Abstract: 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.

Abstract: Provided is a training device capable of executing a plurality of operation modes, in which an operation rod is appropriately operated according to an operation mode. The training device includes the operation rod, a plurality of motors, a plurality of force detection units, and a plurality of first command calculation units. The operation rod allows a limb to move. The plurality of motors operate the operation rod in the direction of degree of freedom in which the operation rod can move. Each of the force detection units detects a corresponding force component and outputs a force component signal. The first command calculation units are connected to the corresponding force detection units. Each of the first command calculation units calculates a first motor control command on the basis of the corresponding force component signal.

Abstract: A rehabilitation assistance device (1), provided with: an arm part (30) having a holding part (20) for holding a part of the upper limb or the lower limb of a user, the arm part (30) movably supporting the holding part (20); a memory unit (80) for storing training information, the memory unit (80) storing first training information defined in advance; a motion information acquisition unit (61) for acquiring motion information associated with the movement of the holding part (20), the motion information acquisition unit (61) acquiring first motion information for the holding part (20) moved on the basis of the first training information; a motion evaluation unit (72) for generating evaluation information in which the motion information is evaluated, the motion evaluation unit (72) evaluating the first motion information and generating first evaluation information; and a display (40) for displaying at least one of the training information, the motion information, and the evaluation information.

Abstract: A training apparatus includes a fixed frame, an training rod, a motor, a rotation information detection sensor, a tilt angle calculation unit, a feedback current detection unit, a position difference calculation unit, and a determination unit. The training rod tilts with at least one degree of freedom. The motor tilts the training rod. The rotation information detection sensor outputs an amount of rotation of the motor. The tilt angle calculation unit calculates a tilt angle. The feedback current detection unit detects a feedback current value. The position difference calculation unit calculates a position difference every time when a first time period elapses. The determination unit determines an error when the position difference generated during the first time period is a first threshold or higher, or when the feedback current value keeps a first current value or higher for a second time period or longer.

Abstract: A training apparatus includes a fixed frame, a training rod, a motor, rotation information detection sensor, tilt angle and position difference calculation units, determination, a motor drive and position difference eliminating units. The training rod is supported by the fixed frame in a manner capable of being tilted by a motor about at least an X-axis or a Y-axis so as to hold the limb. The tilt angle calculation unit calculates a tilt angle of the training rod. The position difference calculation unit calculates a position difference. The determination unit obtains the position difference every time when a second time period elapses. If the position difference generated in the second time period is a first threshold or lower, the motor drive unit drives the motor so that the position difference is accumulated and maintained. The position difference eliminating unit resets the position difference at a predetermined timing.

Abstract: The computer system having a storage subsystem for storing data in a logical storage extent created in a physical storage device constituted of a physical storage medium, a host computer for reading/writing data from/to the logical storage extent via a network, and a management computer for managing the storage subsystem. The management computer records components of the storage subsystem, a connection relation between the components included in a network path, a correlation between the logical storage extent and the components, and a load of each component, specifies components included in a leading path from an interface through which the storage subsystem is connected with the network to the physical storage medium, measures loads of the specified components to improve performance.

Abstract: Provided is a computer system including a first storage subsystem and a second storage subsystem. The first storage subsystem has a first storage unit and a first control unit. The second storage subsystem has a second storage unit and a second control unit. The first control unit records journals, and identifies, when data stored in the first storage unit is to be migrated to the second storage unit, which ones of the recorded journals are related to the data that is to be migrated. The first control unit chooses the identified journals one at a time in reverse chronological order, and judges whether or not the chosen journal corresponds to a data update made at some point between a current time and a time that precedes the current time by a length of a journal retention term set for the second storage subsystem.

Abstract: A management computer includes a management unit for managing the load of the virtual storage extent and the threshold value thereof in the virtual storage subsystems for each prescribed period; and a migration command unit for commanding, when the load of the virtual storage extent managed by the management unit exceeds the threshold value and with the virtual storage extent as the virtual storage extent to be migrated, the migration of the virtual storage extent to be migrated to another virtual storage subsystem that is mutually communicable with a host computer provided with the virtual storage extent to be migrated and a storage subsystem having the storage extent associated with the virtual storage extent to be migrated; and wherein the virtual storage subsystem includes a migration unit for migrating the virtual storage extent to be migrated commanded by the migration command unit to the other virtual storage subsystem.

Abstract: Provided is a computer system including a plurality of data storage apparatus and manages a bandwidth of a data storage apparatus according to an attribute of a storage volume. A storage system includes an interface for processing access to the storage volume from a host computer, and a control unit for controlling allocation of the storage volume to the host computer. A management computer transmits a request of setting a bandwidth to be accessed by the host computer via the interface in the storage volume to the storage system. The control unit sets the bandwidth corresponding to a ratio of processing access to each storage volume in the storage system based on the request from the management computer, and allocates the storage volume having the bandwidth requested by the host computer set therein to the host computer to be accessed by the host computer to the allocated storage volume.

Abstract: Provided is a computer system including a first storage subsystem and a second storage subsystem. The first storage subsystem has a first storage unit and a first control unit. The second storage subsystem has a second storage unit and a second control unit. The first control unit records journals, and identifies, when data stored in the first storage unit is to be migrated to the second storage unit, which ones of the recorded journals are related to the data that is to be migrated. The first control unit chooses the identified journals one at a time in reverse chronological order, and judges whether or not the chosen journal corresponds to a data update made at some point between a current time and a time that precedes the current time by a length of a journal retention term set for the second storage subsystem.

Abstract: The computer system having a storage subsystem for storing data in a logical storage extent created in a physical storage device constituted of a physical storage medium, a host computer for reading/writing data from/to the logical storage extent via a network, and a management computer for managing the storage subsystem. The management computer records components of the storage subsystem, a connection relation between the components included in a network path, a correlation between the logical storage extent and the components, and a load of each component, specifies components included in a leading path from an interface through which the storage subsystem is connected with the network to the physical storage medium, measures loads of the specified components to improve performance.

Abstract: Provided is a computer system including a plurality of data storage apparatus and manages a bandwidth of a data storage apparatus according to an attribute of a storage volume. A storage system includes an interface for processing access to the storage volume from a host computer, and a control unit for controlling allocation of the storage volume to the host computer. A management computer transmits a request of setting a bandwidth to be accessed by the host computer via the interface in the storage volume to the storage system. The control unit sets the bandwidth corresponding to a ratio of processing access to each storage volume in the storage system based on the request from the management computer, and allocates the storage volume having the bandwidth requested by the host computer set therein to the host computer to be accessed by the host computer to the allocated storage volume.

Abstract: A management computer includes a management unit for managing the load of the virtual storage extent and the threshold value thereof in the virtual storage subsystems for each prescribed period; and a migration command unit for commanding, when the load of the virtual storage extent managed by the management unit exceeds the threshold value and with the virtual storage extent as the virtual storage extent to be migrated, the migration of the virtual storage extent to be migrated to another virtual storage subsystem that is mutually communicable with a host computer provided with the virtual storage extent to be migrated and a storage subsystem having the storage extent associated with the virtual storage extent to be migrated; and wherein the virtual storage subsystem includes a migration unit for migrating the virtual storage extent to be migrated commanded by the migration command unit to the other virtual storage subsystem.