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 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: 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 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.