To provide a standing-up training machine capable of assisting a standing-up movement with only a force necessary for the standing-up movement and also training a preparatory movement of the standing-up.

This standing-up training machine is provided with a hoist means upward hoisting a user's body S, and a joint moment measuring means estimating a lower limb joint moment applied in the standing-up movement of the user in real time. The hoist means consists of a rope 1 suspended from the upper part of the user's body, a motor 2 hoisting up the rope, a hoisting load measuring means 3 measuring a tensile force applied to the rope as a hoisting load applied to the user's body, and a control means 4 controlling the driving of the motor, and the control means calculates a difference between the lower limb joint moment necessary for the user to stand up by his/her own ability and a lower limb joint moment estimated by the joint moment measuring means, and adjusts the hoisting load by controlling the driving of the motor so that the difference becomes zero or a slightly minus.

COPYRIGHT: (C)2008,JPO&INPIT