The resistance compensation, especially the friction compensation in the Bowden cable transmission is a difficult issue to be handled. Aimed to the resistance reduction requirement in the active rehabilitative motion, a resistance compensation control method is proposed. Based on the simplified transmission model, the resistance, including the cable friction as well as the mechanical moment of inertial, is formulated. To realize the compensation, force sensors are used to measure the force exerted by the human fingertip. With the proposed algorithm, the maximum finger-exerted force is reduced to less than one third of before. The experimental result demonstrates the validity of the proposed method.

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A training device capable of converting kinetic energy of an agent into electric energy while applying to the agent a resistance force of a variation behavior appropriate to a motion behavior of the agent. According to the training device, a strength and a direction of a resistance force applied to the agent can be varied via a regenerative braking on a motor according to at least one of a variation behavior of a relative posture between an upper body and a leg of the agent and a temporal variation behavior of the relative posture therebetween.

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