PROBLEM TO BE SOLVED: To finely adjust an exercise pattern corresponding to the change of the limbs by setting the track of the limbs and correcting the track so as to gradually correct the joint angle of the limbs. SOLUTION: A limb part 100 to be treated or trained is held by a limb holding part 101. Then, load information from a force sensor 102 provided in the limb holding part 101 and the exercise information 109 of a position and a posture, etc., from the respective kinds of the sensors of respective driving shafts 103, 105 and 107 are inputted to an operation control part 111. In the meantime, a track setting part 112 calculates the track of an operation main body including the limb holding part 101 and sends track information 113 to a track correction part 114. The track correction part 114 receives the track information 113, performs the correction of the track or the correction of virtual impedance and sends the corrected track information 115 to the operation control part 111. The operation control part 111 sends an exercise command 110 to the respective driving shafts 103, 105 and 107 based on the input information and adjusts the exercise pattern.
展开▼
