EP3360524B1 - Robot d'assistance - Google Patents

Robot d'assistance Download PDF

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Publication number
EP3360524B1
EP3360524B1 EP15905784.3A EP15905784A EP3360524B1 EP 3360524 B1 EP3360524 B1 EP 3360524B1 EP 15905784 A EP15905784 A EP 15905784A EP 3360524 B1 EP3360524 B1 EP 3360524B1
Authority
EP
European Patent Office
Prior art keywords
care receiver
elevator
arm
posture
standing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15905784.3A
Other languages
German (de)
English (en)
Other versions
EP3360524A1 (fr
EP3360524A4 (fr
Inventor
Nobuyuki Nakane
Joji Isozumi
Hideaki Nomura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Publication of EP3360524A1 publication Critical patent/EP3360524A1/fr
Publication of EP3360524A4 publication Critical patent/EP3360524A4/fr
Application granted granted Critical
Publication of EP3360524B1 publication Critical patent/EP3360524B1/fr
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1017—Pivoting arms, e.g. crane type mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/32—Specific positions of the patient lying
    • A61G2200/325—Specific positions of the patient lying prone
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/34—Specific positions of the patient sitting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/36—Specific positions of the patient standing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
    • A61G2200/52—Underarm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels

Definitions

  • the present invention relates to an assisting robot.
  • PTL 1 discloses an assisting robot that helps a care receiver to stand up.
  • the assisting robot has two drive axes: A shaft, as one of the drive axes, moves linearly in a vertical direction.
  • the other drive axis is a table provided to the upper end of the shaft in a pivotable manner.
  • PTL 2 discloses the preamble of claim 1.
  • the assisting robot first rotates the table forward while the elbows of the care receiver in the sitting posture are placed on the table. Since the table is raised by rotating forward, the upper body of the care receiver is lifted as the table starts rotating forward.
  • the center of gravity of the care receiver is normally separated away from the ground position in contact with feet of the care receiver.
  • a force is generated that causes the upper body of the care receiver to separate rearward from the table of the assisting robot. For this reason, the care receiver exerts force to keep from separating away from the table and feels discomfort as a result.
  • An assisting robot according to the present invention is defined in claim 1.
  • the first operation is an operation in which lowering the elevator and forward-rotating the arm are performed in a coordinated manner.
  • the upper body of the care receiver is tilted forward by forward-rotating the arm.
  • the holder is raised with respect to the elevator by forward-rotating the arm, but the elevator is lowered with respect to the base by lowering the elevator.
  • at least a portion of the raising of the holder with respect to the elevator by forward-rotating the arm is offset by lowering the elevator.
  • An assisting robot 1 assists a care receiver M (shown in FIG. 2 ) in standing up from a sitting posture to a standing posture, and assists the care receiver M in sitting down from a standing posture to the sitting posture.
  • the assisting robot 1 according to the present embodiment is primarily targeted to a care receiver M who has difficulty standing up by oneself, and is effectively used, for example, in assisting the pulling down and pulling up of bottoms (i.e., clothes worn on the lower body) of the care receiver M and assisting the care receiver M in performing a bowel movement.
  • the standing posture in the present embodiment refers to a state in which at least the lower body of the care receiver M is upright, and does not refer to a state in which both the upper body and the lower body are upright.
  • the assisting robot 1 of the present embodiment is described for the purpose of assisting in raising only the lower body of the care receiver M to a standing posture, it is also possible for the assisting robot 1 to assist in raising both the lower body and upper body of a care receiver M to the standing posture.
  • the assisting robot 1 has a base 10, wheels 20, an elevator 30, an arm 40, a holder 50, a grip 60, a lower leg contact section 70, and a control device 80.
  • a base 10 includes a frame 11, a support column 12, a footrest 13, and a fixed cover 14.
  • the frame 11 is located slightly apart from and is roughly horizontal with a ground surface 2 (floor, ground).
  • the support column 12 is fixed to the frame 11 and erected upward from the front of the upper surface of the frame 11.
  • the support column 12 is disposed at the center in the left-right direction at the front of the frame 11.
  • the assisting robot 1 has one support column 12, but two or more support columns 12 may be provided.
  • the footrest 13 is fixed to the rear of the top surface of the frame 11.
  • a contact mark 13a for the feet of the care receiver M is marked on the top surface of the footrest 13. That is, the contact mark 13a guides the position of the feet of the care receiver M.
  • the fixed cover 14 is fixed to the frame 11 or the support column 12, and encloses the periphery of the lower portion of an elevator main body 31 of the elevator 30 described later.
  • the wheels 20 are arranged at the four corners (front, rear, left and right) of the frame 11.
  • the wheels 20 have a locking function for restricting rotation.
  • the wheels 20 freely rotate, but the wheels 20 may be provided such that they are driven by a driving device.
  • the elevator 30 includes the elevator main body 31, a pivot support 32, and an elevator cover 33.
  • the elevator main body 31 has an elongated shape in the vertical direction and is provided to the front face of the support column 12 so as to be linearly movable in the vertical direction.
  • the elevator main body 31 is guided by a guide (not shown) on the front face of the support column 12 and is driven by a linear motion device (not shown) .
  • the elevator main body 31 is enclosed by the fixed cover 14.
  • the pivot support 32 is provided on the upper end of the elevator main body 31 and has a pivot axis 32a that is parallel to the left-right direction. Specifically, the pivot support 32 protrudes rearward from the upper end of the elevator main body 31. That is, the pivot axis 32a is positioned rearward of the support column 12 and the elevator main body 31.
  • the elevator cover 33 is fixed to the elevator 30 and encloses the elevator 30. Further, the elevator cover 33 encloses the support column 12 and the fixed cover 14. The elevator cover 33 also overlaps the fixed cover 14 even when the elevator 30 is in a raised position.
  • the assisting robot 1 has one elevator 30 because it has one support column 12, but if the assisting robot 1 has two or more support columns 12, the assisting robot 1 will be provided with a number of elevators 30 corresponding to the number of support columns 12.
  • the arm 40 is provided so as to be capable of pivoting about the pivot axis 32a of the pivot support 32 of the elevator 30 as a central axis.
  • the arm 40 is pivoted by an arm driving device (not shown).
  • the arm 40 pivots to a position higher than the pivot support 32. That is, the pivot range of the arm 40 spans from the state where the tip of the arm 40 extends to the rear of the pivot support 32 (shown in FIG. 2 ), to the state where the tip of the arm 40 is in the vicinity above the pivot support 32 or the elevator main body 31 (shown in FIG. 4 ).
  • the assisting robot 1 assists in standing, the arm 40 rotates forward from the rear-extended state, and when the assisting robot 1 assists in sitting down, the arm 40 rotates rearward to the rear-extended state.
  • the holder 50 is provided at the distal end of the arm 40 and holds the upper body of the care receiver M.
  • the holder 50 includes a trunk receiving section 51 that comes into contact with the trunk of the care receiver M and an underarm receiving part 52 that supports both underarms of the care receiver M.
  • the holder 50 may be provided with only one of the trunk receiving section 51 or the underarm receiving part 52.
  • the trunk receiving section 51 supports the trunk of the care receiver M from below.
  • the trunk receiving section 51 has a planar shape and is made of a cushion material.
  • the trunk receiving section 51 has an initial shape corresponding to the body of the standard care receiver M and is flexibly deformed to accommodate the body of each care receiver M. In the present embodiment, the trunk receiving section 51 comes into contact with the chest and abdomen of the care receiver M.
  • the underarm receiving part 52 has an arc shape and is disposed on the left and right sides of the trunk receiving section 51 such that an arc opening faces upward.
  • the underarm receiving part 52 supports the upper body of the care receiver M by supporting the underarms of the care receiver M from below. Further, by sandwiching both underarms of the care receiver M from the front and rear direction, the underarm receiving part 52 restricts back and forth movement of the care receiver M. Accordingly, the trunk receiving section 51 and the underarm receiving part 52 can control the shoulder position P of the care receiver M in a state held in place by the holder 50.
  • the center line in the left-right direction of the trunk receiving section 51 is pivoted in the range of 20° to 110° with respect to the vertical line.
  • the trunk receiving section 51 is directed upward and rearward.
  • the trunk receiving section 51 is directed upward and forward.
  • the grip 60 has a U-shape, and both ends of the U-shape of the grip 60 are fixed to the lower surface of the trunk receiving section 51.
  • the central portion of the grip 60 is located in front of the trunk receiving section 51 and gripped by the care receiver M held in the holder 50.
  • the lower leg contact section 70 determines the position and posture of the lower body of the care receiver M in the sitting posture by coming into contact with the front part of the lower leg (shin or knee) of the care receiver M in the sitting posture. In particular, the position of the feet is determined to some extent.
  • the lower leg contact section 70 is fixed to the support column 12 of the base 10.
  • the lower leg contact section 70 includes two support members 71 and a lower leg pad 72.
  • the support members 71 have an L-shape. One end of the L-shaped support member 71 is fixed to the support column 12, and the other end of the L-shaped support member 71 is positioned behind the support column 12.
  • the lower leg contact main body 72 is fixed to the other end of the support member 71 and is positioned behind the elevator cover 33 and below the pivot support 32.
  • the lower leg pad contact main body 72 is a part that comes in contact with the front part of the lower leg of the care receiver M, has a planar shape, and is made of the cushion material.
  • the control device 80 is fixed to a frame 11 of the base 10 and erected upward from the front top surface of the frame 11.
  • the control device 80 is positioned next to the support column 12.
  • the control device 80 controls vertical movement of the elevator 30 and pivoting of the arm 40 to assist the care receiver M in standing up and sitting down.
  • the control device 80 controls only the vertical movement of the elevator 30 and does not pivot the arm 40 at this time. That is, the control device 80 adjusts the standing start height according to the elongation of the care receiver M.
  • a standing-assistance program to be used during a standing-assistance operation is stored in the control device 80 beforehand.
  • the control device 80 executes the standing-assistance program and controls the vertical movement of the elevator 30 and pivoting of the arm 40.
  • a sitting-assistance program to be used during a sitting-assistance operation is stored in the control device 80 beforehand.
  • the control device 80 executes the sitting-assistance program and controls the vertical movement of the elevator 30 and pivoting of the arm 40. Further, the control device 80 corrects the standing-assistance program and the sitting-assistance program in accordance with the standing start height.
  • the standing-assistance operation with respect to the care receiver M by the assisting robot 1 will be described with reference to FIGS. 2 to 4 .
  • the bold solid line shows the trace of the shoulder position P during a standing operation of the care receiver M
  • the thick broken line shows the trace of the center of gravity G during the standing operation of the care receiver M.
  • the standing-assistance operation is an operation that moves the assisting robot 1 from an initial state shown in FIG. 2 , to an intermediate state shown in FIG. 3 , and then to a final state shown in FIG. 4 . That is, by way of the standing-assistance operation, the care receiver M moves from an initial sitting posture shown in FIG. 2 , to an intermediate posture shown in FIG. 3 , and then to a standing posture shown in FIG. 4 . That is, the control device 80 conducts the vertical movement of the elevator 30 and forward rotation of the arm 40 so that the shoulder position P moves along the trace shown in FIGS. 2 to 4 .
  • the care receiver M is seated on a seat surface 3 (the sitting posture) .
  • the assisting robot 1 is set to the initial state of the standing-assistance operation by operation of the care receiver M or a caregiver.
  • the initial state of the assisting robot 1 is a state in which the holder 50 is positioned furthest to the rear. That is, the initial state of the assisting robot 1 is a state in which the arm 40 extends rearward.
  • the lower body of the care receiver M is disposed in a space below the holder 50.
  • the feet of the care receiver M are positioned on the contact mark 13a.
  • the lower legs of the care receiver M come in contact with the rear surface of the lower leg pad 72.
  • the control device 80 moves the elevator 30 vertically as a result of the care receiver M or the caregiver performing a vertical movement operation of only the elevator 30 according to the height of the upper body of the care receiver M who is in a sitting posture on the seating surface 3.
  • the front surface of the trunk of the care receiver M comes into contact with a trunk holding surface of the trunk receiving section 51.
  • the care receiver M places the underarms on the underarm receiving part 52, and the care receiver M grips the grip 60.
  • the upper body of the care receiver M is in a slightly forward-leaning posture.
  • the position of the center of gravity G1 in the front-rear direction of the care receiver M in the initial state is located behind the front-rear span F of the feet of the care receiver M.
  • the control device 80 lowers the elevator 30 and forward-rotates the arm 40 in a coordinated manner in accordance with the standing-assistance program.
  • the operation from the initial sitting posture to the intermediate posture of the care receiver M is referred to as the first operation. That is, the first operation is an operation in which lowering the elevator 30 and forward-rotating the arm 40 is performed in a coordinated manner for at least a part of a period of time from the initial sitting posture to the intermediate posture.
  • the coordinated operation of lowering the elevator 30 and forward-rotating the arm 40 is performed for the entire period from the initial sitting posture to the intermediate posture.
  • coordinated operation can also be executed for only a part of the period.
  • the arm 40 only forward-rotates and does not rearward-rotate, and the elevator 30 only descends and does not rise.
  • the first operation moves the shoulder position P of the care receiver M forward in a roughly horizontal manner.
  • the holder 50 rises with respect to the elevator 30 by forward rotation of the arm 40.
  • the shoulder position P moves in a roughly horizontal manner.
  • “roughly horizontal” includes states that are slightly inclined upward or downward with respect to the horizontal.
  • the trunk holding surface of the trunk receiving section 51 tilts forward and moves forward. Therefore, due to the coordinated first operation, the shoulder position P of the care receiver M moves forward and the rear end of the trunk receiving section 51 rises. Accordingly, the upper body of the care receiver M tilts forward and the vicinity of the abdomen of the care receiver M is lifted. As a result of such a first operation, while the buttocks of the care receiver M are kept in contact with the seat surface 3, the back muscles of the care receiver M extend and the pelvis stands upright. In this way, the holder 50 supports the care receiver M having such a posture in a stable manner.
  • the care receiver M in the intermediate posture, the position in the front-rear direction of the center of gravity G2 of the care receiver M enters the front-rear span F of the ground surface in contact with the feet of the care receiver M. Accordingly, although the care receiver M can not stand up on his/her own, in the intermediate posture, the care receiver M is in a posture that makes it easy for him/her to support him/herself in a stable manner with his/her own feet.
  • Whether or not the position of the center of gravity G2 of the care receiver M in the front-rear direction is within the front-rear span F of the ground surface in contact with the feet can be predicted by the extension and the weight of the care receiver M. Therefore, by predicting the center of gravity G of the care receiver M in advance and setting vertical movement of the elevator 30 and the angle of forward rotation of the arm 40, the above can be realized.
  • the above judgment by measuring the mass on the holder 50 and determining whether or not the mass reaches a predetermined percentage of the mass of the upper body of the care receiver M. Further, the above judgment can be made based on whether or not the rear load received by the holder 50 from the care receiver M has reached a value that is equal to or less than a predetermined value. Furthermore, the above judgment can also be made depending on whether or not the inclination of the upper body of the care receiver M has reached a predetermined value or more.
  • the control device 80 switches the operation of the elevator 30 from lowering to raising.
  • the control device 80 coordinates upward movement of the elevator 30 and forward rotation of the arm 40 in accordance with the standing-assistance program.
  • the operation from the intermediate posture of the care receiver M to the standing posture is referred to as a second operation. That is, in the second operation, the coordination between raising of the elevator 30 and forward rotation of the arm 40 is performed for at least a part of a period from the intermediate posture to the standing posture.
  • the coordinated operation of raising the elevator 30 and forward-rotating the arm 40 is performed for the entire period from the intermediate posture to the standing posture.
  • coordinated operation can also be executed for only a part of the period.
  • the arm 40 is only rotating forward and does not rotate rearward, and the elevator 30 only rises and does not descend.
  • the shoulder position P of the care receiver M rises upward in a roughly direct manner while slightly moving forward from the intermediate posture. That is, the holder 50 moves slightly forward due to forward rotation of the arm 40 and rises mainly due to rising of the elevator 30.
  • the buttocks of the care receiver M moves upward and away from the seating surface 3.
  • the trunk holding surface of the trunk receiving portion 51 further tilts forward.
  • the upper body of the care receiver M is raised and further tilted forward. Accordingly, by way of the second operation, when the upper body of the care receiver M rises, a state in which the back muscles of the care receiver M are extended is maintained. Therefore, during the second operation, the holder 50 can support the care receiver M in a stable manner.
  • the position (G2 to G3) of the center of gravity G of the care receiver M in the front-rear direction is located within the front-rear span F of the ground surface in contact with the feet of the care receiver M. In this way, the care receiver M feels secure when the upper body of the care receiver M rises.
  • the position of the pivot axis 32a will be described with reference to FIGS. 2 to 4 .
  • the height from the top surface of the footrest 13 to the pivot axis 32a moves up and down within a range of 400 to 1000 mm through the vertical movement of the elevator 30.
  • the pivot axis 32a is positioned at the lowest position, and when the assisting robot 1 is in the final state shown in FIG. 4 , the pivot axis 32a is positioned at the highest position.
  • the vertical movement of the elevator 30 can be suitably adjusted, the lowest position and the highest position of the pivot axis 32a can be changed according to the elongation of the care receiver M.
  • the center in the left-right direction of the trunk receiving section 51 comes into contact with the center in the left-right direction of a front surface of the body of the care receiver M.
  • the distance L (shown in FIGS. 2 and 4 ) between a line passing through the shoulder position P and parallel to the trunk holding surface, which is provided for the care receiver M by the trunk receiving section 51 of the holder 50, and the pivot axis 32a of the arm 40 is 230 to 290 mm. In particular, the distance L is preferably 250 to 270 mm.
  • the pivot axis 32a is located in front of the front-rear span F of the ground surface in contact with the feet of the care receiver M.
  • the pivot axis 32a is located 250 to 450 mm in front of the ground contact position of the heel of the foot of the care receiver M.
  • the distance between the pivot axis 32a and said ground contact position is preferably 300 to 400 mm.
  • the pivot axis 32a descends within the height range of the upper body of the care receiver M, that is, within the range from the lower surface (the seat surface 3) of the buttocks of the care receiver M to the top of the head.
  • the pivot axis 32a descends within the height range of the body (chest and abdomen) of the care receiver M during the first operation.
  • the pivot axis 32a is located in front of the head of the care receiver M in the initial sitting posture. Further, as shown in FIG. 4 , the pivot axis 32a is located behind the head of the care receiver M in the standing posture while the care receiver M is held in the holder 50.
  • T1, T2, and T3 represent times
  • P1(T1), P2(T2) and P3(T3) represent the shoulder positions at T1, T2, and T3, respectively.
  • Ta1, Ta2, Ta3 and Ta4 represent times
  • Pa1 (Ta1), Pa2 (Ta2), Pa3 (Ta3), Pa4 (Ta4) represent the shoulder positions at Ta1, Ta2, Ta3, and Ta4, respectively.
  • the trace of the shoulder position P of the care receiver M and the change of the angle ⁇ of the trunk receiving section 51 as well as the trace of the shoulder position Pa of the healthy subject and the change of the angle ⁇ a of the trunk are different, for example, depending on the extended length, sitting height, the length of the legs, and the like.
  • the shoulder position P of the care receiver M is positioned at P1 at the time T1 when the care receiver M is in the initial sitting posture, at P2 at the time of the intermediate posture T2, and at P3 at the time of the standing posture T3.
  • the shoulder position P moves forward in a roughly horizontal manner from P1 to P2. Thereafter, the shoulder position P moves forward from P2 and rises to reach P3.
  • the shoulder position P rises while moving forward from P1 to P3.
  • P1 is the lowest position
  • P3 is the highest position.
  • the angle ⁇ of the trunk receiving section 51 (equivalent to the angle of the trunk of the care receiver M), as shown in FIGS. 5A and 5B , is 35° at time T1 when the care receiver M is in the initial sitting posture, 64° at time T2 of the intermediate posture, and 95° at time T3 of the standing posture. As shown in Figure 5B , the angle ⁇ trends upward.
  • the shoulder position Pa of the healthy subject is at position Pa1 at time Ta1 when the healthy subject is in the initial sitting posture and is positioned at the lowest position Pa2 at time Ta2 when the upper body is tilted forward and the buttocks are lifted away from the seating surface 3.
  • the shoulder position Pa of the healthy subject rises and is located at Pa4 at time Ta4 of the standing posture.
  • the trunk angle ⁇ a of the healthy subject at time Ta1 of the initial sitting posture is 5°, and by gradually tilting forward, at time Ta2, the angle ⁇ a reaches 44°, when the buttocks separates from the seat surface 3. Immediately after that at time Ta3, the trunk angle ⁇ a is maximized, and then the trunk rises as the angle ⁇ a becomes small.
  • the trunk angle ⁇ a is 3° at time Ta4 of the standing posture.
  • the shoulder position P of the care receiver M approximately follows the trace of the shoulder position Pa of the healthy subject from the vicinity of Pa2 to somewhere in between Pa3 and Pa4. Therefore, since the care receiver M stands up after slidong the upper body forward like the healthy subject, the care receiver M can comfortably stand up with the center of gravity G on the soles of the feet. However, whereas the trunk angle ⁇ a becomes small after becoming large in the healthy individuals, the angle ⁇ of the trunk receiving section 51 continues to become large. The reason for this difference is that the final standing posture is different.
  • the assisting robot 1 described above includes: the base 10, the elevator 30 for linear movement in the vertical direction with respect to the base 10, the arm 40 that is attached in a pivotable manner to the elevator 30 with the predetermined pivot axis 32a, a holder 50 provided at the end of the arm 40 for holding the upper body of the care receiver M, and the control device 80 that controls vertical movement of the elevator 30 and pivoting of the arm 40 to assist the care receiver M in standing up from the sitting posture to the standing posture.
  • the control device 80 lowers the elevator 30 and forward-rotates the arm 40 in a coordinated manner for at least a part of a period from when the care receiver M is in the initial sitting posture (T1 in FIG. 5A and FIG. 5B ), shown in FIG. 2 , to the intermediate posture (T2 of FIG. 5A and FIG. 5B ), shown in FIG. 3 . Furthermore, the control device 80 executes the second operation that raises the elevator 30 during a period from the intermediate posture shown in FIG. 3 (T2 of FIG. 5A and FIG. 5B ) to the standing posture as shown in FIG. 4 (T3 in FIGS. 5A and 5B ) .
  • the first operation by the control device 80 is an operation in which the lowering of the elevator 30 and forward rotation of the arm 40 are performed in a coordinated manner.
  • the upper body of the care receiver M is tilted by the forward rotation of the arm 40.
  • the first operation raises the holder 50 with respect to the elevator 30 by forward rotation of the arm 40
  • the elevator 30 is lowered with respect to the base 10.
  • at least a portion of the raising operation of the holder 50 with respect to the elevator 30 by the forward rotation of the arm 40 is offset by the lowering operation of the elevator 30.
  • the holder 50 includes the trunk receiving section 51 which comes into contact with the trunk of the care receiver M.
  • the first operation is an operation that raises the rear end of the trunk receiving section 51 by coordinating the lowering of the elevator 30 and the forward rotation of the arm 40. Through such a first operation, the spine of the care receiver M extends in a state in which the pelvis is upright. In this way, the holder 50 supports the care receiver M having such a posture in a stable manner. Further, in the second operation, the assisting robot 1 stabilizes the care receiver M and moves the care receiver M to a standing posture. In other words, the care receiver M is provided with a sense of security.
  • the first operation moves the shoulder position P of the care receiver M held by the holder 50 forward in an approximately horizontal manner.
  • the first operation and the second operation by the control device 80 include an operation for forward-rotating the arm 40 and do not include an operation for rearward-rotating the arm 40 . That is, the angle of the trunk of the care receiver M changes only in one direction. As shown in FIGS. 6A and 6B , in the case of the healthy subject, the angle of the trunk changes direction midway.
  • the assisting robot 1 is effective in the case in which the objective is to assist in raising only the lower body of the care receiver M to the standing posture.
  • the second operation is an operation in which the raising of the elevator 30 and the forward rotation of the arm 40 are performed in a coordinated manner. That is, the care receiver M moves into a head forward posture in the second operation.
  • the assisting robot 1 is effective in a case in which the objective is to assist in raising only the lower body of the care receiver M to a standing posture.
  • the pivot axis 32a of the arm 40 descends within the range of the upper body height of the care receiver M during the first operation. Furthermore, the pivot axis 32a of the arm 40 is positioned in front of the head of the care receiver M in the initial sitting posture and behind the head of the care receiver M in the standing posture. By positioning the pivot axis 32a of the arm 40 in the manner described above, the assisting robot 1 assists in standing without giving discomfort to the care receiver M.
  • distance L between a line passing through the shoulder position P of the care receiver M held by the holder 50 , with being parallel to the trunk holding surface defined by the holder 50 for the care receiver M, and the pivot axis 32a of the arm 40 is 230 to 290 mm.
  • the time T2 of the intermediate posture of the care receiver M may be any of the following.
  • the time T2 of the intermediate posture corresponds to all of the following but correspondence to at least one of the following will suffice.
  • the first intermediate posture time T2 of the care receiver M is when the buttocks of the care receiver M starts rising from the seat surface 3.
  • the second intermediate posture time T2 of the care receiver M is when the position in the front-rear direction of the center of gravity G of the care receiver M enters the front-rear span F of the ground surface in contact with the feet of the care receiver M.
  • the third intermediate posture time T2 of the care receiver M is when the mass supported by the holder 50 reaches a value that is equal to or greater than a predetermined percentage of the upper body mass of the care receiver M.
  • the fourth intermediate posture time T2 of the care receiver M is when the rear load on the assisting robot 1 from the care receiver M reaches a value that is equal to or less than the predetermined value.
  • the fifth intermediate posture time T2 of the care receiver M is when the inclination of the upper body of the care receiver M reaches a value that is equal to or greater than a predetermined value.

Landscapes

  • Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Rehabilitation Tools (AREA)

Claims (3)

  1. Robot d'assistance (1), comprenant :
    une base (10) ;
    un élévateur (30) présentant un corps principal d'élévateur (31) qui est configuré pour se déplacer de façon linéaire dans une direction verticale par rapport à la base (10), et un support de pivot (32) disposé à une extrémité supérieure du corps principal d'élévateur (31) ;
    un bras (40) qui peut pivoter autour d'un axe de pivot prédéterminé (32a) du support de pivot (32) de l'élévateur (30) ;
    un support (50) disposé à une extrémité du bras (40) qui est configuré pour soutenir un haut du corps d'un bénéficiaire de soins (M), et
    un dispositif de commande (80) qui est configuré pour commander un mouvement vertical du corps principal d'élévateur (31) et un pivotement du bras (40) pour aider le bénéficiaire de soins (M) à se lever d'une position assise à une position debout, dans lequel le dispositif de commande (80) est configuré pour, après déplacement du corps principal d'élévateur (31) verticalement en tant que résultat du bénéficiaire de soins (M) ou d'un personnel soignant effectuant une opération de mouvement vertical du corps principal d'élévateur (31) selon la hauteur du corps du bénéficiaire de soins (M) qui se trouve dans une position assise initiale, exécuter une première opération qui coordonne un abaissement du corps principal d'élévateur (31) et un pivotement du bras (40) dans une rotation vers l'avant, qui consiste en une rotation qui fait monter le support (50) par rapport au corps principal d'élévateur (31), de sorte à déplacer une position d'épaule du bénéficiaire de soins (M) maintenu par le support (50) vers l'avant d'une manière approximativement horizontale, sur au moins une partie d'une période depuis le moment où le bénéficiaire de soins (M) se trouve dans une position assise initiale jusqu'à une position intermédiaire prédéterminée, et pour effectuer une deuxième opération qui lève le corps principal d'élévateur (31) sur une période allant d'un moment (T2) de la position intermédiaire prédéterminée à un moment (T3) de la position debout, caractérisé en ce que la première opération et la deuxième opération incluent une opération de rotation vers l'avant du bras (40) et n'incluent pas une opération de rotation vers l'arrière du bras (40).
  2. Le robot d'assistance selon la revendication 1, dans lequel le support (50) inclut une section d'accueil de tronc (51) qui est configurée pour entrer en contact avec le tronc du bénéficiaire de soins (M), et la première opération est une opération dans laquelle l'extrémité arrière de la section d'accueil du tronc (51) est levée en abaissant l'élévateur (30) et en tournant vers l'avant le bras (40) de manière coordonnée.
  3. Le robot d'assistance selon la revendication 1, dans lequel la deuxième opération est une opération qui coordonne le levage de l'élévateur (30) avec une rotation vers l'avant du bras (40) sur au moins une partie d'une période depuis la position intermédiaire prédéterminée jusqu'à la posture debout.
EP15905784.3A 2015-10-06 2015-10-06 Robot d'assistance Active EP3360524B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/078274 WO2017060964A1 (fr) 2015-10-06 2015-10-06 Robot d'assistance

Publications (3)

Publication Number Publication Date
EP3360524A1 EP3360524A1 (fr) 2018-08-15
EP3360524A4 EP3360524A4 (fr) 2018-10-24
EP3360524B1 true EP3360524B1 (fr) 2023-03-22

Family

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EP15905784.3A Active EP3360524B1 (fr) 2015-10-06 2015-10-06 Robot d'assistance

Country Status (5)

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EP (1) EP3360524B1 (fr)
JP (1) JP6737796B2 (fr)
AU (1) AU2015411108B2 (fr)
SG (1) SG11201802315SA (fr)
WO (1) WO2017060964A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6957600B2 (ja) 2017-03-14 2021-11-02 株式会社Ｆｕｊｉ 介助装置
JP7263237B2 (ja) * 2017-07-31 2023-04-24 株式会社Fuji 介助システム
WO2019111356A1 (fr) 2017-12-06 2019-06-13 株式会社Ｆｕｊｉ Dispositif d'aide
CN109481194A (zh) * 2018-12-20 2019-03-19 辽宁福之卉科技发展有限公司 一种全向智能移位机
CN109512612B (zh) * 2019-01-07 2023-10-27 中国科学院沈阳自动化研究所 一种适用于狭窄空间的伤员抢运机器人腰部起重关节
DE112019006983T5 (de) * 2019-03-05 2021-12-09 Fuji Corporation Assistenzinformationsverwaltungssystem
JP7157874B2 (ja) * 2019-04-11 2022-10-20 株式会社Fuji 介助装置
FR3127392B1 (fr) * 2021-09-24 2023-12-15 Alter Eco Sante Appareil médical pour aider un patient à se mettre debout, unité de commande et procédé de commande associé
CN114027614B (zh) * 2021-11-13 2023-04-07 安徽淘云科技股份有限公司 智能书桌高度微调方法、装置和设备
CN115462980A (zh) * 2022-09-26 2022-12-13 和也健康科技有限公司 一种辅助站立康养机器人

Family Cites Families (8)

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Publication number Priority date Publication date Assignee Title
JP5164095B2 (ja) * 2007-06-12 2013-03-13 パラマウントベッド株式会社 移動支援装置
JP5773718B2 (ja) * 2011-04-11 2015-09-02 富士機械製造株式会社 立ち上がり動作アシストロボット
JP5981158B2 (ja) * 2012-02-10 2016-08-31 富士機械製造株式会社 立ち座り動作支援ロボットおよび動作設定方法
JP6318503B2 (ja) * 2013-09-02 2018-05-09 株式会社今仙電機製作所 立ち上がり補助装置
JP6267215B2 (ja) * 2013-09-24 2018-01-24 富士機械製造株式会社 介助ロボット
JP5715270B2 (ja) * 2014-01-10 2015-05-07 富士機械製造株式会社 歩行介助装置
JP6233057B2 (ja) * 2014-01-29 2017-11-22 トヨタ自動車株式会社 介護支援装置
EP3123995A4 (fr) * 2014-03-28 2018-03-28 Fuji Machine Mfg. Co., Ltd. Robot d'assistance

Also Published As

Publication number Publication date
AU2015411108A1 (en) 2018-04-12
JP6737796B2 (ja) 2020-08-12
WO2017060964A1 (fr) 2017-04-13
AU2015411108B2 (en) 2019-11-21
SG11201802315SA (en) 2018-04-27
EP3360524A1 (fr) 2018-08-15
EP3360524A4 (fr) 2018-10-24
JPWO2017060964A1 (ja) 2018-07-26

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