Patent ID: 8181520

Claim:
A training device with a muscular force measurement function, comprising: a robot arm adjustable according to a length of either of an upper limb and a lower limb of a trainee; a mounting fixture for fastening said robot arm along either of the upper limb and the lower limb; an angular sensor for measuring a rotational angle of a joint axle rotating integrally with said robot arm, while linking said robot arm correspondingly to a joint of the trainee; and a controller for controlling an axial torque of the joint axle, said controller storing, when an angular rate of the joint axle in a direction of the axial torque exceeds a predetermined value, a value of the axial torque as a maximum muscular force of either of the upper limb and the lower limb, and stopping an application of the axial torque when the angular rate exceeds the predetermined value, wherein said controller stores, when the a change in angle of the joint axle from a default value is out of a predetermined range, the axial torque when the angular rate of the joint axle in the direction of the axial torque has exceeded the predetermined value as the maximum muscular force of either of the upper limb and the lower limb, and stops applying the axial torque when the angular rate exceeds the predetermined value.