EP3412269B1 - Hilfsroboter - Google Patents

Hilfsroboter Download PDF

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Publication number
EP3412269B1
EP3412269B1 EP16889301.4A EP16889301A EP3412269B1 EP 3412269 B1 EP3412269 B1 EP 3412269B1 EP 16889301 A EP16889301 A EP 16889301A EP 3412269 B1 EP3412269 B1 EP 3412269B1
Authority
EP
European Patent Office
Prior art keywords
holding member
care receiver
assistance
raising
section
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
EP16889301.4A
Other languages
English (en)
French (fr)
Other versions
EP3412269A4 (de
EP3412269A1 (de
Inventor
Hideaki Nomura
Joji Isozumi
Nobuyuki Nakane
Kuniyasu NAKANE
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
Application filed by Fuji Corp filed Critical Fuji Corp
Publication of EP3412269A1 publication Critical patent/EP3412269A1/de
Publication of EP3412269A4 publication Critical patent/EP3412269A4/de
Application granted granted Critical
Publication of EP3412269B1 publication Critical patent/EP3412269B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1086—Upper body
    • 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

Definitions

  • the present invention relates to an assistance robot.
  • Patent literature 1 discloses an assistance robot that assists a care receiver to stand up.
  • the assistance robot is provided with a shaft section that moves linearly in a vertical direction, and a holding member (table) that is provided to be swingable around an upper end of the shaft section.
  • the assistance robot lifts up the care receiver by, with a care receiver in a sitting posture with their elbows resting on the holding member, swinging (forward rotating) the holding member so as to move the elbows of the care receiver to a raising preparation position, then raising the holding member.
  • JP 201 1 217858 A Another assistance robot is known from JP 201 1 217858 A .
  • Patent literature 1 JP-A-2012-217686
  • the holding member may contact the foreign body.
  • An object of the present invention is to provide an assistance robot that softens an impact when a holding member contacts a foreign body that is below the holding member.
  • An assistance robot of the present invention includes: a base; a moving member configured to move at least up and down with respect to the base; a holding member configured to hold a portion of a body of a care receiver, the holding member being provided on the moving member; and a control section configured to control the moving of the moving member so as to perform standing assistance of the care receiver held by the holding member from a sitting posture to a standing posture and sitting assistance of the care receiver held by the holding member from a standing posture to a sitting posture, wherein the holding member is provided on the moving member so as to be freely inclinable between a lower usage position and an upper retract position.
  • the holding member is held to be freely inclinable, even if a foreign body is on a surface below the holding member while the holding member is being lowered, when the holding member positioned at the usage position contacts the foreign body, the holding member is inclined upwards from the usage position due to the contact force. Accordingly, the impact when the holding member and the foreign body contact each other is softened.
  • assistance robot 1 is provided with base 10, wheels 20, raising and lowering section 30, arm 40, holding member 50, grip 60, lower limb contacting section 70, and control device 80. Raising and lowering section 30, arm 40, and grip 60 function as a moving member.
  • the front-rear, left-right, and up-down directions are as seen by care receiver M (refer to fig. 4 ).
  • assistance robot 1 performs standing assistance of assisting care receiver M from a sitting posture to a standing posture, and sitting assistance of assisting care receiver M from a standing posture to a sitting posture.
  • assistance robot 1 of the present embodiment is to be mainly used by a care receiver M for whom standing by themself is difficult, for example, for assisting care receiver M to change their bottoms (clothing worn on the lower half of their body), for assisting care receiver M to go to the toilet, and so on.
  • assistance robot 1 By supporting the upper body of care receiver M in a standing posture, assistance robot 1 allows a care receiver M to perform the above actions with the aid of only one caregiver.
  • a standing posture in the present embodiment means a state in which at least the lower half of care receiver M is upright; it does not necessarily refer to a state in which both the upper half and lower half of care receiver M are upright.
  • assistance robot 1 of the present embodiment is described as assisting care receiver M to a standing posture in which only their lower half is upright, but assistance robot 1 may assist care receiver M to a standing posture in which both their lower half and upper half are upright.
  • base 10 is provided with frame 11, support column 12, footrest 13, and fixed cover 14.
  • Frame 11 is positioned slightly separated from ground surface 2 (floor or ground).
  • Support column 12 is fixed to frame 11 and stands upright on an upper front surface of frame 11.
  • Support column 12 is arranged centrally in the left-right direction towards the front of frame 11. Note that, in the present embodiment, assistance robot 1 includes one support column 12, but two or more support columns 12 may be provided.
  • Footrest 13 is fixed to an upper rear surface of frame 11.
  • Contact marks 13a for the feet of care receiver M are provided on an upper surface of footrest 13.
  • Contact marks 13a act as a foot positioning guide for care receiver M.
  • Fixed cover 14 is fixed to frame 11 or support column 12 so as to enclose the lower section of raising and lowering main body 31 of raising and lowering section 30, which are described later.
  • Wheels 20 are arranged at the four corners of frame 11. Wheels 20 include a locking function that restricts rotation. In the present embodiment, wheels 20 are provided to be freely rotating, by may be provided to be driven by a driving device.
  • Raising and lowering section 30 is provided with raising and lowering main body 31, oscillation support section 32, and raising and lowering cover 33. Raising and lowering main body 31 is formed elongated in the up-down direction, and is provided on a front surface of support column 12 to be movable linearly in the up-down direction.
  • Raising and lowering main body 31 is guided by a guide (not shown) on the front surface of support column 12, and is driven by a linear motion device (not shown). Raising and lowering main body 31 is enclosed by fixed cover 14.
  • Oscillation support section 32 is provided on an upper end side of raising and lowering main body 31 and includes oscillating shaft center 32a that is parallel to the left-right direction. Specifically, oscillation support section 32 is formed to project rearward from an upper end of raising and lowering main body 31. In other words, oscillating shaft center 32a is positioned to the rear of support column 12 and to the rear of raising and lowering main body 31.
  • Raising and lowering cover is fixed to raising and lowering section 30 so as to enclose raising and lowering section 30, support column 12, and fixed cover 14. Raising and lowering section cover 33 overlaps fixed cover 14 even when raising and lowering section 30 is at a raised position. Note that, in the present embodiment, because one support column 12 is provided, assistance robot 1 includes a single raising and lowering section 30; however, in a case where two or more support columns 12 are provided, a quantity of raising and lowering sections 30 is provided corresponding to the quantity of support columns 12.
  • Arm 40 is provided to oscillate around oscillating shaft center 32a of oscillation support section 32 of raising and lowering section 30. Arm 40 is oscillated by an arm oscillating device (not shown). Arm 40 oscillates to a higher position than oscillation support section 32. In other words, an oscillation range of arm 40 is set between a state in which the tip of arm 40 (the end section opposite to the end on the oscillation support section 32a side) extends to the rear of oscillation support section 32 (refer to fig. 6 ), and a state in which the tip of arm 40 is positioned approximately above oscillation support section 32 or the raising and lowering main body 31 (refer to fig. 8 ). Arm 40 rotates forward from a state extending to the rear in a case in which assistance robot 1 is performing standing assistance, and rotates rearward so as to extend to the rear in a case in which assistance robot 1 is performing sitting assistance.
  • Holding member 50 is provided to be freely inclinable on arm 40, and supports the upper body of care receiver M.
  • the freely inclining mechanism of holding member 50 is described below.
  • Holding member 50 is provided with torso receiving section 51 that contacts the torso of care receiver M and underarm receiving sections 52 that support the underarms of care receiver M. Note that, holding member 50 may be provided with only one of torso receiving section 51 and underarm receiving section 52.
  • Torso receiving section 51 supports the torso of care receiver M from below. Torso receiving section 51 has a wide surface and is made of a cushion material. Torso receiving section 51 is formed to have an initial shape that matches that of a typical care receiver M, and is flexible to change shape to match the torso of each individual care receiver M. In the present embodiment, torso receiving section 51 contacts care receiver M from the chest to the abdomen.
  • Underarm receiving sections 52 are formed to have an arc shape and are provided on the right and left sides of torso receiving section 51 such that the arc opening faces upward. Underarm receiving sections 52 support the underarms of care receiver M from below so as to support the upper body of care receiver M. Further, underarm receiving sections 52 regulate forward and rearward movement of care receiver M by sandwiching both underarm portions of care receiver M from the front and rear. Accordingly, torso receiving section 51 and underarm receiving sections 52 regulate position P of the shoulder of of care receiver M being held by holding member 50.
  • the center line in the left-right direction of torso receiving section 51 oscillates in a range of 20 to 110 degrees with respect to a vertical line by arm 40 oscillating with respect to raising and lowering section 30.
  • torso receiving section 51 is pointing upwards and to the rear.
  • torso receiving section 51 is pointing upwards and to the front.
  • Grip 60 is U-shaped, and both ends of the U shape of grip 60 are fixed on a lower surface of torso receiving section 51.
  • the center section of grip 60 is positioned to the front of torso receiving section 51 and is gripped by care receiver M who is being held by holding member 50.
  • Lower limb contacting section 70 contacts a front portion (shin or knee) of the lower limbs of care receiver M in a sitting posture, thereby helping to decide the position and posture of the lower body of care receiver M in a sitting posture. In particular, the positions of the legs are decided to a certain extent.
  • Lower limb contacting section 70 is fixed to support column 12 of base 10.
  • Lower limb contacting section 70 is provided with two support members 71 and lower limb contacting main body 72.
  • Support members 71 are L-shaped. One end of the L shape of support member 71 is fixed to support column 12, and the other end of the L shape of support member 71 is positioned to the rear of support column 12.
  • Lower limb contacting main body 72 is fixed to the other end of support member 71 and is positioned to the rear of raising and lowering cover 33 and below oscillation support section 32.
  • Lower limb contacting main body 72 is a portion for contacting the front of the lower limbs of care receiver M, has a wide surface, and is formed of a cushion material.
  • Control device 80 is fixed to frame 11 of base 10 and stands upright facing upwards from the upper front surface of frame 11. Control device 80 is arranged to the side of support column 12. Control device 80 controls the up-down movement of raising and lowering section 30 and the oscillation of arm 40 so as to perform sitting assistance and standing assistance for a care receiver M. When an operator (care receiver M or a caregiver) performs adjustment operation for adjusting the start height for standing, control device 80 performs control only of the up-down movement of raising and lowering section 30 and does not oscillate arm 40 at this time. That is, control section 80 adjusts the start height for standing in accordance with the body height of care receiver M.
  • a standing assistance program for performing standing assistance operation is memorized in advance on control device 80.
  • control device 80 executes the standing assistance program and controls the up-down movement of raising and lowering section 30 and the oscillation of arm 40.
  • a sitting assistance program for performing sitting assistance operation is memorized in advance on control device 80.
  • control device 80 executes the sitting assistance program and controls the up-down movement of raising and lowering section 30 and the oscillation of arm 40.
  • control device 80 corrects the standing assistance program and the sitting assistance program depending on a standing start height.
  • holding member 50 is freely rotatable around rotation shaft center 53 provided on an end of arm 40. That is, holding member 50 is provided to be rotatable by an external force, for example, the manual power of care receiver M or a caregiver without being controlled by control device 80.
  • Holding member 50 is provided to be freely rotatable in a direction from a usage position (the position shown in fig. 2A ) at which holding member 50 contacts an end section of the rear side of grip 60, and a retract position (the position shown in fig. 2B ) upwards towards care receiver M.
  • the usage position is a position at which rotation downwards of the lower end of holding member 50 is regulated by the regulating section provided on grip 60; the retract position is any position at which the lower end of holding member 50 has been rotated to be above the usage position.
  • the holding member is positioned at the usage position whenever assistance robot 1 performs standing assistance operation or sitting assistance operation.
  • holding member 50 is provided to be freely rotatable in this manner, care receiver M or a caregiver can rotate holding member 50 at the usage position upwards from the usage position by, for example, raising holding member 50 manually. Further, when care receiver M or a caregiver has rotated holding member 50 to a given retract position, holding member can be held by hand at that retract position. Then, when returning holding member 50 being held at the retract position to the usage position, care receiver M or the caregiver weakens their manual support such that holding member 50 rotates back to the usage position under its own weight.
  • holding member 50 is provided to be freely rotatable, even if a foreign body is on ground surface 2 below holding member 50 while holding member 50 (raising and lowering section 30) is being lowered, when holding member 50 positioned at the usage position contacts the foreign body, holding member 50 is rotated upwards from the usage position due to the contact force. Accordingly, the impact when holding member 50 and the foreign body contact each other is softened.
  • sensor 54 for example, an optical type sensor, a mechanical type sensor, or an electrostatic capacity type sensor, is provided on the tip of arm 40, and is connected to control device 80.
  • a warning means for warning when a detection signal cannot be received from sensor 54 even though it is necessary for holding member 50 to be positioned at the usage position for example, a buzzer or a lamp (not shown) is connected to control device 80.
  • control device 80 is unable to receive a detection signal from sensor 54, therefore lowering of holding member 50 (raising and lowering section 30) is stopped, and a buzzer or lamp can warn care receiver M or a caregiver. In this case, care receiver M or the caregiver will perform actions to remove the foreign matter sandwiched between holding body and ground surface 2.
  • standing assistance operation for care receiver M by assistance robot 1 is described with reference to figs. 4 to 8 .
  • the thick solid lines represent a path of position P of a shoulder during standing operation of care receiver M.
  • Control device 80 performs control for up-down movement of raising and lowering section 30 and forward rotation of arm 40 such that shoulder position P moves along the path shown in figs. 6 to 8 .
  • care receiver M in the initial state for standing assistance operation, care receiver M is sitting on seat 3 (in a sitting posture) and assistance robot 1 is stopped in front of care receiver M.
  • Care receiver M or a caregiver must move assistance robot 1 towards care receiver M, but, as given above, height h of the lower end of holding member 50 is positioned lower than height H of the top of the knee of care receiver M.
  • care receiver M or a caregiver manually raises holding member 50 by gripping the lower end of holding member 50 with their hand, and moves holding member 50 from the usage position upwards to a retract position by rotating holding member 50 around rotation shaft center 53. Then, as shown in fig. 5 , care receiver M or a caregiver moves assistance robot 1 towards care receiver M with holding member 50 in a rotated state.
  • care receiver M or a caregiver is able to pass the top of the knee of care receiver M under the lower end of holding member 50, holding member 50 can be made to contact the upper body of care receiver M smoothly.
  • Care receiver M or a caregiver after stopping assistance robot 1, rotates holding member 50 to the usage position.
  • the lower body of care receiver M is arranged in a space below holding member 50.
  • the feet of care receiver M are positioned on contact marks 13a. Further, the lower limbs of care receiver M contact the rear surface of lower limb contacting main body 72.
  • assistance robot 1 is set in an initial state of standing assistance operation by an operation performed by care receiver M or a caregiver.
  • the initial state of assistance robot 1 is a state in which holding member 50 is positioned furthest to the rear. That is, the initial state of assistance robot 1 is a state in which arm 40 extends rearward.
  • control device 80 moves raising and lowering section 30 vertically due to care receiver M or a caregiver performing an up-down movement operation of only raising and lowering section 30 in accordance with the height of the upper body of the care receiver M who is in a sitting posture on seat 3.
  • the front surface of the torso of care receiver M contacts the torso holding surface of torso receiving section 51.
  • care receiver M rests their underarms on underarm receiving sections 52 and grips grip 60.
  • the upper body of care receiver M is in a state slightly leaning forward.
  • control device 80 performs lowering of raising and lowering section 30 and forward rotation of arm 40 to move care receiver M from the sitting posture to an intermediate posture.
  • position P of the shoulder of care receiver M moves forward in a substantially horizontal direction.
  • the torso holding surface of torso receiving section 51 inclines forward and is moved forward by the forward rotation of arm 40.
  • position P of the shoulder of care receiver M moves forward as the rear end of torso receiving section 51 is raised.
  • the upper body of care receiver M inclines forward, and the abdomen and surrounding portions of care receiver M are raised.
  • the back muscles of care receiver M extend and the the pelvis moves to an upright state while the buttocks of care receiver M remain in contact with seat 3. Accordingly, the care receiver M with such a posture is supported stably by holding member 50.
  • control device 80 switches operation of raising and lowering section 30 from lowering to raising.
  • control device 80 performs raising of raising and lowering section 30 in conjunction with forward rotation of arm 40 in accordance with the standing assistance program such that care receiver M moves from the intermediate posture to the standing posture.
  • position P of the shoulder of care receiver M is raised substantially straight up while care receiver M moves slightly forward from the position of the intermediate posture.
  • the buttocks of care receiver M move up and away from seat 3.
  • the torso holding surface of torso receiving portion 51 inclines forward further.
  • the upper body of care receiver M is inclined forward further while being raised. Accordingly, by way of the second movement operation, when the upper body of care receiver M is raised, a state in which the back muscles of care receiver M are extended is maintained. Therefore, during the second movement operation, holding member 50 stably supports care receiver M.
  • operation of assistance robot 1 from the standing posture to the sitting posture is performed in the opposite order to operation of assistance robot 1 from the sitting posture to the standing posture, that is, in the order of the operations shown in figs. 8, 7 , and 6 respectively, therefore detailed explanations are omitted.
  • holding member 50 can be separated smoothly from the upper body of care receiver M.
  • care receiver M or the caregiver may move assistance robot 1 away from care receiver M with the upper portion of the thighs of care receiver M contacting holding member 50 without raising holding member 50 manually.
  • holding member 50 rotates freely upon contacting the upper portion of the thighs of care receiver M, holding member 50 can be separated smoothly from care receiver M.
  • holding member 50 is configured to be freely rotatable from a usage position in which holding member 50 contacts a rear end section of grip section (the position shown in fig. 2A ) in a direction towards a retract position (the position shown in fig. 2B ) upwards towards care receiver M.
  • the configuration may be such that first, second, and third regulating members 55a, 55b, and 55c are provided to regulate the free rotation within a specified range.
  • first regulating member 55a that protrudes from the circumferential surface of rotation shaft center 53 is provided on rotation shaft center 53, and second and third regulating members 55b and 55c that contact regulating member 55a when regulating member 55a is rotated due to the rotation around rotation shaft center 53 are provided on the tip of arm 40 at a specified angle ⁇ .
  • holding member 50 is freely rotatable within a range (angle ⁇ range) from the usage position (the position shown in fig. 9A ) at which first regulating member 55a is contacting second regulating member 55b, and the retract position (the position shown in fig. 9B ) upwards towards care receiver M at which first regulating member 55a is contacting third regulating member 55c.
  • tension spring 57a for positioning holding member 50 at the usage position may be additionally provided on first regulating member 55a. Accordingly, holding member 50 is usually positioned at the usage position when there is no external force being applied.
  • tension spring 57b for positioning holding member 50 at the retract position may be additionally provided on first regulating member 55a. Accordingly, holding member 50 is usually positioned at the retract position when there is no external force being applied.
  • a fourth alternative form is described with respect to the main embodiment described earlier, in which holding member 50 is configured to be freely rotatable around rotation shaft center 53 provided on the tip of arm 40. As shown in figs. 12A and 12B , cam mechanism 56 may be provided instead of rotation shaft center 53 as a configuration that allows free swinging.
  • cam pins each, 561a and 562a (561b and 562b), that protrude to the outside to the left and right are provided on the top end of arm 40.
  • Cam plates 563a (563b) are provided on the left and right of holding member 50.
  • Cam groove 564a (564b) that engages with cam pins 561a and 562a (561b and 562b) is formed in cam plate 563a (563b).
  • Cam groove 564a (564b) is formed such that the front side is a straight line and the rear side is an arc.
  • Holding member 50 is connected to arm 40 via cam mechanism 56 to be inclinable and movable in a front-rear direction. That is, holding member 50 moves forwards along the straight line portion of cam groove 564a (564b). Further, holding member inclines along the arc portion of cam groove 564a (564b).
  • Assistance robot 1 described above is provided with: base 10, a moving member (raising and lowering section 30, arm 40, grip 60) configured to move at least up and down with respect to the base; holding member 50 configured to hold a portion of a body of care receiver M, holding member 50 being provided on the moving member (raising and lowering section 30, arm 40, grip 60); and control section 80 configured to control the moving of the moving member (raising and lowering section 30, arm 40, grip 60) so as to perform standing assistance of the care receiver held by holding member 50 from a sitting posture to a standing posture and sitting assistance of the care receiver held by holding member 50 from a standing posture to a sitting posture. Further, holding member 50 is provided on the moving member (raising and lowering section 30, arm 40, grip 60) so as to be freely inclinable between a lower usage position and an upper retract position.
  • holding member 50 is provided to be freely rotatable, even if a foreign body is on ground surface 2 below holding member 50 while holding member 50 (raising and lowering section 30) is being lowered, when holding member 50 positioned at the usage position contacts the foreign body, holding member 50 is rotated upwards from the usage position due to the contact force. Accordingly, the impact when holding member 50 and the foreign body contact each other is softened.
  • holding member 50 is provided to be freely inclinable when an external force of a specified size or greater is applied to holding member 50, a driving source for inclining holding member 50 is not required, so costs are curtailed. Further, because holding member 50 is positioned at the usage position or the retract position by the biasing force of a biasing means (tension spring 55a or 55b), shifting of holding member 50 while not in use is curtailed.
  • a biasing means tension spring 55a or 55b
  • control device 80 is provided with a detecting means (sensor 54) for detecting that holding member 50 is positioned at the usage position. Accordingly, in a case in which a foreign body is sandwiched between ground surface 2 and holding member 50 after holding member 50 has contacted the foreign body and rotated up from the usage position, control device 80 is unable to receive a detection signal from the detecting means (sensor 54), therefore lowering of holding member 50 (raising and lowering section 30) is stopped, and a buzzer or lamp can warn care receiver M or a caregiver.
  • a detecting means sensor 54
  • the moving member (raising and lowering section 30, arm 40, grip 60) is configured to movable up and down and swingable, but only up and down movement is essential. Also, any of the following configurations are possible: a single up-down movement axis, a single swinging axis only, a combination of multiple linear axes, a combination of multiple swinging axes, and a combination of linear and swinging axes. Also, in an embodiment above, holding member 50 is configured to be regulated to not rotate downwards from a usage position at which holding member 50 contacts the rear end section of grip 60, but the configuration of the holding member is not particularly limited to that of the embodiment, so long as the holding member is regulated to not rotate downwards from the usage position.

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  • 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)
  • Manipulator (AREA)

Claims (4)

  1. Ein Hilfsroboter (1) umfassend:
    eine Basis (10);
    ein bewegliches Element (30, 40, 60), das konfiguriert ist, um sich in Bezug auf die Basis (10) mindestens auf und ab zu bewegen;
    ein Halteelement (50), das konfiguriert ist, um einen Teil eines Körpers eines Pflegeempfängers (M) zu halten, wobei das Halteelement (50) an dem sich bewegenden Element (30, 40, 60) angeordnet ist; und
    einen Steuerabschnitt (80), der konfiguriert ist, um die Bewegung des sich bewegenden Elements (30, 40, 60) zu steuern, um eine Aufstehunterstützung des Pflegeempfängers (M) durchzuführen, der von dem Halteelement (50) gehalten wird, von einer sitzenden Haltung zu einer stehenden Haltung und eine Setzunterstützung von einer stehenden Haltung zu einer sitzenden Haltung des Pflegebedürftigen (M), der vom Halteelement (50) gehalten wird,
    gekennzeichnet darin dass:
    das Halteelement (50) an dem beweglichen Element (30, 40, 60) angeordnet ist, so dass es durch eine äußere Kraft frei zwischen einer unteren Verwendungsposition und einer oberen Rückzugsposition geneigt werden kann, ohne von dem Steuerabschnitt (80) gesteuert zu werden, so dass ein unteres Ende des Halteelements (50) in Bezug auf das bewegliche Element (30, 40, 50) nach oben bewegt wird.
  2. Der Hilfsroboter (1) gemäß Anspruch 1, wobei
    das Halteelement (50) angeordnet ist um frei neigbar zu sein, wenn eine äußere Kraft einer bestimmten Größe oder größer auf das Halteelement (50) ausgeübt wird.
  3. Der Hilfsroboter (1) gemäß Anspruch 1 oder 2, wobei
    das Halteelement (50) durch eine Vorspannkraft eines Vorspannelements an der Verwendungsposition oder der Rückzugsposition positioniert ist.
  4. Der Hilfsroboter (1) gemäß einem der Ansprüche 1 bis 3, wobei
    der Steuerabschnitt (80) mit einer Erfassungseinrichtung (54) versehen ist, die konfiguriert ist, um zu erfassen, dass das Halteelement (50) an der Verwendungsposition positioniert ist.
EP16889301.4A 2016-02-05 2016-02-05 Hilfsroboter Active EP3412269B1 (de)

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CN109069333B (zh) * 2016-05-17 2020-07-17 株式会社富士 介助装置
KR102490709B1 (ko) * 2018-10-04 2023-01-19 가부시키가이샤 후지 시중 장치
WO2020178993A1 (ja) * 2019-03-05 2020-09-10 株式会社Ｆｕｊｉ 介助情報管理システム
JP7157874B2 (ja) * 2019-04-11 2022-10-20 株式会社Fuji 介助装置
JP7397779B2 (ja) * 2020-09-22 2023-12-13 公立大学法人 富山県立大学 立ち座り支援装置及び歩行器
CN113081587B (zh) * 2021-04-08 2022-02-01 济南市第三人民医院 一种门诊护理用重症患者辅助移动装置

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JPH09238988A (ja) * 1996-03-11 1997-09-16 Yoshimi Hayakawa 人体の移乗装置
EP1772132A1 (de) * 2005-10-10 2007-04-11 Ingenium Universal ApS Hilfsvorrichtung für behinderte Personen
JP5320572B2 (ja) * 2009-11-20 2013-10-23 日本発條株式会社 介護支援装置
JP2011217858A (ja) * 2010-04-07 2011-11-04 Toyota Motor Corp 移乗支援装置及びその制御方法
JP5915077B2 (ja) * 2011-10-26 2016-05-11 トヨタ自動車株式会社 移乗支援装置及び移乗支援装置制御方法
JP5891704B2 (ja) * 2011-10-26 2016-03-23 トヨタ自動車株式会社 移乗装置及び移乗方法

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DK177755B1 (en) * 2013-03-26 2014-05-26 Revac Aps Apparatus and method for assisting impaired or disabled persons

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SG11201806235UA (en) 2018-08-30
EP3412269A4 (de) 2018-12-19
JP6711848B2 (ja) 2020-06-17
WO2017134815A1 (ja) 2017-08-10
AU2016391449A1 (en) 2018-08-09
EP3412269A1 (de) 2018-12-12
AU2016391449B2 (en) 2019-08-01
JPWO2017134815A1 (ja) 2018-11-29

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