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: A training apparatus includes an operating rod, a strength detector, a motion position detector, a boundary direction speed calculator, a motion position predicting unit, and a motion speed calculator. The operating rod moves a held limb. The strength detector outputs a strength component signal based on a magnitude of a strength component. The motion position detector detects a motion position of the operating rod. The boundary direction speed calculator calculates a boundary direction speed. The motion position predicting unit calculates a predicted motion position. The motion speed calculator calculates a speed including the boundary direction speed as the motion speed when the predicted motion position is predicted to be outside the operating rod mobile region.

Abstract: In a method and device for creating a moving route of a mobile body, a moving route that is appropriately shifted right or left with respect to a passage is created. The moving route creating method and device create a reference route on a passage present on an environment map representing an environment in which an autonomous mobile body moves, set a widthwise-shift attribute as an attribute region that is independent from the environment map, and create a traveling schedule for autonomous movement of the autonomous mobile body by shifting the reference route right or left based on the widthwise-shift attribute.

Abstract: In a method and device for creating a moving route of a mobile body, a moving route that is appropriately shifted right or left with respect to a passage is created. The moving route creating method and device create a reference route on a passage present on an environment map representing an environment in which an autonomous mobile body moves, set a widthwise-shift attribute as an attribute region that is independent from the environment map, and create a traveling schedule for autonomous movement of the autonomous mobile body by shifting the reference route right or left based on the widthwise-shift attribute.

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: A training apparatus includes an operating rod, a strength detector, a motion position detector, a strength speed calculator, a boundary line arrival speed calculator, and a motion speed calculator. The operating rod moves a held limb. The strength detector outputs a strength component signal based on a magnitude of a strength component. The motion position detector detects a motion position of the operating rod. The strength speed calculator calculates a strength speed. The boundary line arrival speed calculator calculates a boundary line arrival speed whose absolute value is smaller as a boundary line distance is shorter. The motion speed calculator calculates a lower one of the strength speed and the boundary line arrival speed as the motion speed at which the operating rod should move.

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: A training apparatus includes an operating rod, a strength detector, a motion position detector, a strength speed calculator, a boundary line arrival speed calculator, and a motion speed calculator. The operating rod moves a held limb. The strength detector outputs a strength component signal based on a magnitude of a strength component. The motion position detector detects a motion position of the operating rod. The strength speed calculator calculates a strength speed. The boundary line arrival speed calculator calculates a boundary line arrival speed whose absolute value is smaller as a boundary line distance is shorter. The motion speed calculator calculates a lower one of the strength speed and the boundary line arrival speed as the motion speed at which the operating rod should move.

Abstract: A training apparatus includes an operating rod, a strength detector, a motion position detector, a boundary direction speed calculator, a motion position predicting unit, and a motion speed calculator. The operating rod moves a held limb. The strength detector outputs a strength component signal based on a magnitude of a strength component. The motion position detector detects a motion position of the operating rod. The boundary direction speed calculator calculates a boundary direction speed. The motion position predicting unit calculates a predicted motion position. The motion speed calculator calculates a speed including the boundary direction speed as the motion speed when the predicted motion position is predicted to be outside the operating rod mobile region.