The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 16, 2020
Filed:
Oct. 13, 2015
Murata Machinery, Ltd., Kyoto-shi, Kyoto, JP;
Teijin Pharma Limited, Chiyoda-ku, Tokyo, JP;
Yuichiro Minato, Kyoto, JP;
Fumi Fujita, Tokyo, JP;
Akihiro Maeda, Tokyo, JP;
Jun Takeda, Tokyo, JP;
Murata Machinery, Ltd., Kyoto, JP;
Teijin Pharma Limited, Tokyo, JP;
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.