EP3417842B1 - Robot d'assistance - Google Patents

Robot d'assistance Download PDF

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Publication number
EP3417842B1
EP3417842B1 EP16890479.5A EP16890479A EP3417842B1 EP 3417842 B1 EP3417842 B1 EP 3417842B1 EP 16890479 A EP16890479 A EP 16890479A EP 3417842 B1 EP3417842 B1 EP 3417842B1
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EP
European Patent Office
Prior art keywords
holding member
path
sitting
standing
section
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EP16890479.5A
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German (de)
English (en)
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EP3417842A1 (fr
EP3417842A4 (fr
Inventor
Takehiro Hiraoka
Nobuyuki Nakane
Hideaki Nomura
Kazunari Ono
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Fuji Corp
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Fuji Corp
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Publication of EP3417842A4 publication Critical patent/EP3417842A4/fr
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    • 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
    • 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
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms

Definitions

  • the present invention relates to an assistance robot.
  • Patent literature 1 discloses an assistance robot that appropriately moves a holding member that holds a care receiver to assist the care receiver in a standing operation and a sitting operation. With such an assistance robot, it is desirable to appropriately position the holding member so as not to cause the care receiver discomfort.
  • the assistance robot of patent literature 1 is provided with different movement paths that each correspond to the standing operation and the sitting operation. Thus, by entering a standing operation or a sitting operation as a requested operation, the assistance robot performs control of the position of the holding member based on a movement path corresponding to the requested operation.
  • Patent literature 1 International publication WO2014/122752
  • the WO2015011837 discloses an assistance robot having a base, a holding member, a driving device and a driving control section. The trajectory can be corrected based on the foot position of the care receiver.
  • the present invention takes account of such problems, and an object thereof is to provide an assistance robot that assists standing and sitting operations of a care receiver by moving a holding member on a movement path in accordance with a usage state.
  • the assistance robot of claim 1 is provided with: a base, a holding member configured to hold an upper body of a care receiver; a driving device configured to move the holding member in an up-down direction and a left-right direction of the base; and a control device configured to control operation of the driving device.
  • the control device includes: a memory section configured to memorize a standing path that is a movement path of the holding member corresponding to a standing operation of the care receiver, and a sitting path that is a movement path of the holding member corresponding to a sitting operation of the care receiver; a path setting section configured to, in a case in which the standing operation or the sitting operation has been entered as a requested operation, select one of the standing path or the sitting path that corresponds to the requested operation, or one of the standing path or the sitting path that does not correspond to the requested operation, based on a usage state including a current position of the holding member, and set the selected movement path as a reference path; and a driving control section configured to move the holding member based on the set reference path.
  • the reference path is switched based on the current state of the holding member.
  • a movement path that does not correspond to the requested operation may be set.
  • a holding member that moves based on the reference path is moved based on the sitting path instead of the standing path even though the standing operation was requested, and cases in which the holding member that moves based on the reference path is moved based on the standing path instead of the sitting path even though the sitting operation was requested
  • the movement path can be set in accordance with the current state of the holding member, that is, the usage state of the assistance robot. This allows a care receiver to be assisted in a standing operation or a sitting operation without any discomfort to the care receiver or an operator operating the assistance robot.
  • Assistance robot 1 assists standing of care receiver M (shown in figs. 2 and 3 ) from a sitting posture to a standing posture and assists sitting from standing posture to a sitting posture.
  • assistance robot 1 can be maneuvered by only one caregiver such that care receiver M can be moved, for example, to a target location in a care facility.
  • a "standing posture” 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 the upper half of care receiver M is upright.
  • assistance robot 1 is provided with base 10, supporting device 20, controller 50, and control device 60.
  • base 10 is configured to allow care receiver M to get on and to move in a front-rear direction and a left-right direction while care receiver M is on base 10.
  • base 10 is provided with frame 11, support column 12, footrest 13, fixed cover 14, and multiple wheels 15.
  • Frame 11 of base 10 is positioned slightly above floor surface 2 (floor or ground) and is substantially horizontal with respect to floor surface 2.
  • 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 a rear upper surface of frame 11 for care receiver M to load their feet on.
  • 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. Fixed cover 14 covers the range of a lower portion of raising and lowering main body 31 of raising and lowering section 30 in driving device 23, which is described later, and protects the inside of driving device 23.
  • Multiple wheels 15 are provided on base 10 and support base 10 to be movable with respect to floor surface 2.
  • Supporting device 20 is provided on base 10 and is configured to support care receiver M in a standing posture (refer to fig. 3 ).
  • supporting device 20 includes holding member 21, lower limb contacting section 22, and driving device 23.
  • Holding member 21 holds the upper body of care receiver M.
  • holding member 21 is provided with torso receiving section 21a that contacts the torso of care receiver M and underarm receiving sections 21b that support the underarms of care receiver M. Note that, holding member 21 may be provided with only one of torso receiving section 21a and underarm receiving sections 21b.
  • Torso receiving section 21a supports the torso of care receiver M from below. Torso receiving section 21a has a wide surface and is made of a cushion material. Torso receiving section 21a 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 21a contacts care receiver M from the chest to the abdomen.
  • Underarm receiving sections 21b are formed to have an arc shape and are provided on the right and left sides of torso receiving section 21a such that the arc opening faces upward. Underarm receiving sections 21b support the underarms of care receiver M from below so as to support the upper body of care receiver M. Further, underarm receiving sections 21b 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 21a and underarm receiving sections 21b regulate the shoulder position of care receiver M being held by holding member 21.
  • Lower limb contacting section 22 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 22 is fixed to support column 12 of base 10.
  • Lower limb contacting section 22 is provided with two support members 22a and lower limb contacting main body 22b.
  • Support members 22a are L-shaped. One end of the L shape of support member 22a is fixed to support column 12, and the other end of the L shape of support member 22a is positioned to the rear of support column 12.
  • Lower limb contacting main body 22b is fixed to the other end of support member 22a and is positioned to the rear of raising and lowering cover 33 and below oscillation support section 32.
  • Lower limb contacting main body 22b 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.
  • Driving device 23 supports holding member 21 to be movable with respect to the up-down direction and the front-rear direction of base 10, and moves holding member 21 along multiple different movement paths.
  • driving device 23 includes raising and lowering section 30 and oscillating section 40. Raising and lowering section 30 moves in the up-down direction with respect to base 10. 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.
  • Raising and lowering main body 31 is provided on a rear 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 rear 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.
  • raising and lowering cover 33 is fixed to raising and lowering section 30 and encloses raising and lowering main body 31 and oscillation support section 32. Further, raising and lowering cover 33 encloses support column 12 and fixed cover 14. Note that, in the present embodiment, assistance robot 1 includes one raising and lowering section 30 with respect to one support column 12. However, in a case where two or more support columns 12 are provided, a quantity of raising and lowering sections 30 may be provided corresponding to the quantity of support columns 12.
  • Oscillating section 40 moves holding member 21 with respect to raising and lowering section 30 in the front-rear direction of base 10, and rotates holding member 21 around an axis parallel to the left-right direction of base 10.
  • Oscillating section 40 is provided with oscillation main body 41, arm 42, and grip 43.
  • Oscillation main body 41 is removably attached to torso receiving section 21a of holding member 21.
  • Arm 40 is provided to rotate around oscillating shaft center 32a of oscillation support section 32 of raising and lowering section 30.
  • Arm 42 is rotated by an arm driving device (not shown).
  • arm 42 pivots forwards from a state extending to the rear.
  • arm 42 pivots rearwards to a state extending to the rear.
  • Grip 43 is U-shaped as seen from the front-rear direction, and both ends of the U shape of grip 43 are fixed to oscillation main body 41.
  • the center section of grip 43 is positioned to the front of torso receiving section 21a and oscillation main body 41 and is gripped by care receiver M who is being held by holding member 21. Also, grip 43 is used when a caregiver is pulling assistance robot 1 and so on.
  • oscillating section 40 rotates holding member 21 attached to oscillation main body 41 on the front end of arm 42 around an axis (oscillating shaft center 32a) parallel to the left-right direction of base 10.
  • Oscillating section 40 by rotating holding member 21, oscillates holding member 21 to be at an angle regulated with respect to the position of holding member 21 in the front-rear direction.
  • Controller 50 is an input device for receiving inputs by an operator (caregiver or care receiver M).
  • controller 50 includes standing switch 51, sitting switch 52, raising switch 53, and lowering switch 54.
  • Standing switch 51 receives an instruction for an operation request of a standing operation for assisting care receiver M to a standing posture from the current state including the current position and current angle of holding member 21.
  • Sitting switch 52 receives an instruction for an operation request of a sitting operation for assisting care receiver M to a sitting posture from the current state of holding member 21.
  • Raising switch 53 receives an instruction for an operation request for a raising operation for raising holding member 21 from the current position.
  • Lowering switch 54 receives an instruction for an operation request for a lowering operation for lowering holding member 21 from the current position.
  • Controller 50 is connected to control device 60 such that communication is possible, and in a case in which only one of the switches is pushed, sends the operation corresponding to the pushed switch as an operation request to control device 60.
  • Control device 60 controls operation of driving device 23 such that holding member 21 is lowered and raised and oscillated in accordance with the operation request sent from controller 50.
  • Control device 60 is fixed to frame 11 of base 10 to the side of support column 12.
  • Control device 60 includes memory section 61, path setting section 62, and driving control section 63.
  • Memory section 61 memorizes standing operation data 71 and sitting operation data 72.
  • Standing operation data 71 is two-dimensional coordinate data representing standing path 81 (refer to fig. 5 ) that is a movement path of holding member 21 corresponding to standing operation of a care receiver M.
  • Sitting operation data 72 is two-dimensional coordinate data representing sitting path 82 (refer to fig. 5 ) that is a movement path of holding member 21 corresponding to sitting operation of a care receiver M.
  • the origin point of the two-dimensional coordinate data may be a given reference point in the moving range of holding member 21, or the position of the center of gravity of assistance robot 1.
  • standing path 81 and sitting path 82 of holding member 21, for example, are paths along which a reference point of holding member 21 is moved by operation of driving device 23.
  • standing path 81 is a curved path from first position P1 to second position P2.
  • sitting path 82 is a path configured from a curved path from second position P2 to third position P3 and a straight path from third position P3 to first position P1.
  • Path setting section 62 in a case in which a standing operation or a sitting operation is input as an operation request, sets either of standing path 81 or sitting path 82 as a reference path based on the current state including the current position of holding member 21.
  • Driving control section 63 moves holding member 21 based on the set reference path. Specifically, driving control section 63 synchronizes operation of raising and lowering section 30 and oscillating section 40 and controls operation of driving device 23 such that holding member 21 is moved along the reference path.
  • control device 60 for example, in a case in which sitting switch 52 of controller 50 is pushed, controls movement of holding member 21 along standing path 81 in addition to controlling movement of holding member 21 along sitting path 82. Similarly, this applies when standing switch 51 of controller 50 is pushed. In this manner, the purpose of executing operation processing of holding member 21 based a movement path not corresponding to the requested operation is so that holding member 21 is moved along a movement path corresponding to the usage state of assistance robot 1.
  • path setting section 62 in a case in which standing switch 51 or sitting switch 52 is pushed so as to input a requested operation, sets the reference path of the requested operation based on at least one of the current position and the current angle of holding member 21 that are included in the current state of holding member 21.
  • path setting section 62 sets the reference path of the requested operation based on the current position of holding member 21 and area information 73 memorized in memory section 61.
  • the above area information 73 represents multiple areas demarcated by a specified position of holding member 21 in at least one of the up-down direction and the front-rear direction with respect to base 10.
  • specified position Pr is a position of holding member 21 in the front-rear direction with respect to base 10 and is set based on the angle of holding member 21.
  • driving device 23 of the embodiment is configured to move holding member 21 in the front-rear direction and to rotate holding member 21 around oscillation shaft center 32a by rotating arm 42 of oscillating section 40. That is, as shown in the lower section of fig. 5 , oscillating section 40 oscillates holding member 21 to be at an angle ⁇ regulated with respect to the position of holding member 21 in the front-rear direction. As shown in figs. 2 and 3 , angle ⁇ of holding member 21 is an angle with respect to a vertical axis, and increases as holding member 21 moves forward.
  • the buttock portion Mb of the care receiver M is raised from the seat of chair and their body weight is leaning towards supporting device 20.
  • the position of holding member 21 in the front-rear direction corresponding to specified angle ⁇ t of holding member 21 in the above state is set as the above specified position Pr.
  • Included in the multiple areas represented by area information 73 are standing priority area Ar and sitting priority area As generated by demarcating the moving region Rn of holding member 21 in the front-rear direction via specified position Pr.
  • Standing priority area Ar is an area for which path setting section 62 gives priority to setting standing path 81 as the reference path in a case in which holding member 21 is positioned in that area.
  • Standing priority area As is an area for which path setting section 62 gives priority to setting sitting path 82 as the reference path in a case in which holding member 21 is positioned in that area.
  • standing priority area Ar is positioned to the rear of sitting priority area As.
  • Reference path setting processing by path setting section 62 of control device 60 is described below with reference to figs. 5 to 8 .
  • Reference path setting processing is executed when, for example, standing switch 51 or sitting switch 52 of controller 60 is pushed so as to input a standing operation or a sitting operation as a requested operation. Note that, when raising switch 53 or lowering switch 54 of controller 50 are pushed, because operation of raising and lowering section 30 is controlled without using the reference path, reference path setting processing is not executed.
  • path setting section 62 of control device 60 first, determines whether the requested operation and the previous operation that moved holding member 21 to the current position are the same (step 11 [hereinafter, "step” is abbreviated to "S"]). For this, path setting section 62 acquires information representing the previous operation that is temporarily memorized in memory section 61. This information includes, as the previous operation, a standing operation, a sitting operation, a raising operation, and a lowering operation. Also, in a case in which information representing the previous operation is not memorized, path setting section 62 determines that the power switch (not shown) has just been turned on, and that the previous operation was turning on the power.
  • Path setting section 62 when determining that the previous operation and the requested operation are the same (S11: yes), sets the movement path of holding member 21 corresponding to the requested operation as the reference path regardless of the current state of holding member 21 (S15). Then, the same operation as the previous operation is restarted by controlling driving control section 63.
  • This operation assumes a case in which, for example, an operator released standing switch 51 during standing operation, and then pushed standing switch 51 again (patterns N11 and N12 in fig. 7 ).
  • path setting section 62 determines whether the previous operation was any of the raising operation, the lowering operation, or turning on the power (S12). If the previous action is determined to be one of the raising operation, the lowering operation, or turning on the power (S12: yes), path setting section 62 sets the movement path of holding member 21 corresponding to the requested operation as the reference path regardless of the current state of holding member 21. Then, holding member 21 is moved from the current position and the current angle along the reference path corresponding to the requested operation by control of driving control section 63 (patterns N15 and N16 in fig. 7 and patterns N25 and N26 in fig. 8 ).
  • Path setting section 62 in a case in which the previous is none of the raising operation, the lowering operation, or turning on the power (S12: no), that is, the requested operation is the standing operation and the previous operation was the sitting operation, or the requested operation was the sitting operation and the previous operation was the standing operation, acquires the current state of holding member 21 (S13). In the embodiment, path setting section 62 acquires current position Pc of holding member 21 as the current state.
  • path setting section 62 selects one of standing path 81 or sitting path 82 based on the current position of holding member 21 and area information 73, and sets that path as the reference path of the requested operation (S14). Specifically, if the area to which current position Pc of holding member 21 belongs is standing priority area Ar, standing path 81 is set as the reference path of the requested operation. On the other hand, if the area to which current position Pc of holding member 21 belongs is sitting priority area As, sitting path 82 is set as the reference path of the requested operation.
  • standing path 81 is set as the reference path (pattern N13 in fig. 7 ).
  • the reference path of the requested operation is set as the movement path (standing path 81) corresponding to the requested operation.
  • sitting path 82 is set as the reference path (pattern N14 of fig. 7 ).
  • the reference path of the requested operation is set as the movement path (sitting path 82) that does not correspond to the requested operation (standing operation).
  • the requested operation is the sitting operation and the previous operation is the standing operation
  • sitting path 82 is set as the reference path (pattern N22 in fig. 8 ).
  • the reference path of the requested operation is set as the movement path (sitting path 82) corresponding to the requested operation.
  • standing path 81 is set as the reference path (pattern N21 of fig. 8 ).
  • the reference path of the requested operation is set as the movement path (standing path 82) that does not correspond to the requested operation (sitting operation).
  • path setting section 62 selects a movement path that does not correspond to the requested operation and sets that movement path as the reference path in accordance with the current state of holding member 21 (pattern N14 of fig. 7 and pattern N21 of fig. 8 ). Accordingly, during subsequent operation, holding member 21, instead of being moved along the movement path corresponding to the requested operation, is moved along a movement path that does not correspond to the requested operation (that is, the movement path corresponding to the previous operation).
  • Such control means that operation according to the desire of the operator is performed while considering safety based on the loaded state of the body weight of care receiver M with respect to holding member 21 and the like.
  • holding member 21 is moved from the current position and the current angle along the reference path by control of driving control section 63. In this manner, assistance robot 1 moves holding member 21 along a movement path in accordance with various usage states, so as to assist a standing operation and a sitting operation of care receiver M.
  • Assistance robot 1 is provided with: base 10, holding member 21 configured to hold an upper body of care receiver M; driving device 23 configured to move holding member 21 in an up-down direction and a left-right direction of base 10; and control device 60 configured to control operation of driving device 23.
  • Control device 60 includes: memory section 61 configured to memorize standing path 81 that is a movement path of holding member 21 corresponding to a standing operation of care receiver M, and sitting path 82 that is a movement path of holding member 21 corresponding to a sitting operation of care receiver M, path setting section 62 configured to, in a case in which the standing operation or the sitting operation has been entered as a requested operation, select one of standing path 81 or sitting path 82 that corresponds to the requested operation, or one of standing path 81 or sitting path 82 that does not correspond to the requested operation, based on a usage state including current position Pc of holding member 21, and set the selected movement path as a reference path, and driving control section 63 configured to move holding member 21 based on the set reference path.
  • the reference path is switched based on the current state of holding member 21.
  • the movement path can be set in accordance with the current state of holding member 21, that is, the usage state of assistance robot 1. This allows care receiver M to be assisted in a standing operation or a sitting operation without any discomfort to care receiver M or an operator operating assistance robot 1.
  • path setting section 62 when determining that the requested operation and the previous operation that moved holding member 21 to current position Pc are the same (S11: yes), sets the movement path of holding member 21 corresponding to the requested operation as the reference path regardless of the current state of holding member 21 (S15). If the previous state and the requested state as the same (S11: yes), for example, it can be assumed that it is being requested to perform the requested operation in stages.
  • a movement path corresponding to the requested operation (standing path 81 if the requested operation is the standing operation; sitting path 82 if the requested operation is the sitting operation) is set as the reference path without switching the reference path based on the current state of holding member 21. Accordingly, the control processing load is reduced, and control can respond quickly to requests of the operator.
  • memory section 61 also memorizes area information 73 representing multiple areas demarcated by specified position Pr of holding member 21 in at least one of the up-down direction and the front-rear direction with respect to base 10. Included in the multiple areas are standing priority area Ar in which standing path 81 is made the reference path, and sitting priority area As in which sitting path 82 is made the reference path.
  • Path setting section 62 sets the reference path of the requested operation based on current position Pc of holding member 21 and area information 73. According to such a configuration, due to area information 73 being used in setting the reference path of the requested operation, the control processing load is reduced, and control can respond quickly to requests of the operator.
  • driving device 23 includes raising and lowering section 30 that moves in an up-down direction with respect to base 10, and oscillating section 40 that moves holding member 21 with respect to raising and lowering section 30 in the front-rear direction of base 10, and rotates holding member 21 around an axis parallel to the left-right direction of base 10, such that holding member 21 is at an angle regulated with respect to the position of holding member 21 in the front-rear direction.
  • Specified position Pr is a position of holding member 21 in the front-rear direction with respect to base 10 and is set based on the angle of holding member 21.
  • standing priority area Ar is positioned to the rear of sitting priority area As. According to such a configuration, areas are appropriately demarcated, and care receiver M can be assisted in a standing operation and a sitting operation without care receiver M or an operator feeling discomfort.
  • path setting section 62 selects one of standing path 81 or sitting path 82 based on the current position of holding member 21 and area information 73, and sets that path as the reference path of the requested operation (S14).
  • path setting section 62 may be configured to set the reference path of the requested operation based on the angle included in the current state of holding member 21.
  • the current angle of holding member is included in the current state of holding member 21.
  • path setting section 62 sets the reference path of the requested operation based on at least one of current position Pc and the angle of holding member 21 included in the current state.
  • the angle of holding member 21 may be acquired, for example, based on a detection result of an angle detecting apparatus on at an arm driving device that drives arm 42.
  • path setting section 62 switches the reference path in accordance with the current angle of holding member 21.
  • path setting section 62 switches the reference path in accordance with the current angle of holding member 21.
  • specified position Pr that demarcates moving region Rn of holding member 21 is set based on the angle (specified angle ⁇ t) of holding member 21.
  • specified position Pr may be configured to be set in addition to or instead of the angle of holding member 21. Accordingly, standing priority area Ar and sitting priority area As can be demarcated, for example, along a boundary line inclined with respect to the vertical axis.
  • multiple specified positions, Pr1 and Pr2 may be set in the front-rear direction of holding member 21 to demarcate three areas.
  • included in the multiple areas is intermediate area Am positioned between standing priority area Ar and sitting priority area As.
  • specified positions Pr1 and Pr2 are positions in the front-rear direction of holding member 21 corresponding to, for example, first angle ⁇ t1 and second angle ⁇ t2 of holding member 21.
  • intermediate area Am when holding member 21 is positioned in that area, may be an area for which path setting section 62 gives priority to setting the movement path of holding member 21 corresponding to the previous operation as the reference path.
  • path setting section 62 gives priority to setting the movement path of holding member 21 corresponding to the previous operation as the reference path.
  • a movement path (standing path 81) that does not correspond to the requested operation (sitting operation) is set as the reference path. According to such a configuration, compared to a case of demarcating two priority areas, it is possible to set the reference path in more detail in accordance with the current state.
  • driving device 23 is configured from raising and lowering section 30 that moves in an up-down direction with respect to base 10, and oscillating section 40 that oscillates holding member 21.
  • driving device 23 may come in various forms so long as it supports holding member 21 to be movable with respect to the up-down direction and the front-rear direction of the base, and moves holding member 21 along multiple different movement paths.
  • oscillating section 40 in addition to rotating arm 42 and rotating oscillation main body 41 around an axis while moving oscillation main body 41 in the front-rear direction, for example, may be configured to support oscillation main body 41 by a rail inclined in the front-rear direction on an upper section of raising and lowering section 30. With such a configuration, due to the movement of oscillation main body 41 along the rail, it is possible to move holding member 21 attached to oscillation main body 41 in the front-rear direction and to make holding member 21 inclined.
  • driving device 23 may be configured from a rotation member provided on base 10 that rotates around an axis that is parallel to the left-right direction, and an extending arm that is provided on the rotation member and is extendable in the diameter direction of the rotation member. Also, driving device 23 may be configured including a first rotation member that rotates around a shaft parallel to the left-right direction, and a second rotation member that is provided on the first rotation member and that rotates around an axis parallel to the rotation axis of the first rotation member.
  • holding member 21 is able to move in the up-down direction and the front-rear direction of base 10, and is able to move in accordance with multiple movement paths. Also, when moving holding member 21 along multiple movement paths, by setting the reference path of the requested operation based on the current state of holding member 21, similar effects to the main embodiment are achieved.

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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)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Claims (7)

  1. Robot d'assistance (1) comprenant :
    une base (10) ;
    un élément de retenue (21) conçu pour retenir un corps supérieur d'un bénéficiaire de soin (M) ;
    un dispositif d'entraînement (23) conçu pour déplacer l'élément de retenue (21) dans un sens haut-bas et dans un sens gauche-droit de la base (10) ; et
    un dispositif de commande (60) conçu pour commander le fonctionnement du dispositif d'entraînement (23), le dispositif de commande (60) comprenant
    une section mémoire (61) conçue pour mémoriser un trajet de position debout (81) qui est un trajet de mouvement de l'élément de retenue (21) correspondant à une opération de position debout du bénéficiaire de soin (M), et un trajet d'assise (82) qui est un trajet de mouvement de l'élément de retenue (21) correspondant à une opération de position assise du bénéficiaire de soin (M),
    une section de réglage de trajet (62) conçue pour, dans un cas dans lequel l'opération de position debout ou l'opération de position assise a été saisie comme opération requise, sélectionner l'un du trajet de position debout (81) ou du trajet d'assise (82) qui correspond à l'opération requise, ou l'un du trajet de position debout (81) ou du trajet d'assise (82) qui ne correspond pas à l'opération requise, sur la base d'un état d'utilisation comprenant une position présente (Pc) de l'élément de retenue (21), et pour définir le trajet de mouvement sélectionné comme trajet de référence, et
    une section de commande d'entraînement (63) conçue pour déplacer l'élément de retenue (21) sur la base du trajet de référence défini.
  2. Robot d'assistance selon la revendication 1,
    le dispositif d'entraînement (23) étant conçu pour faire tourner l'élément de retenue (21) autour d'un arbre parallèle au sens gauche-droit de la base (10),
    un angle présent (θ) de l'élément de retenue (21) étant compris dans l'état présent de l'élément de retenue (21), et
    la section de réglage de trajet (62) étant conçue pour, lorsque l'opération requise a été saisie, définir le trajet de référence de l'opération requise sur la base d'au moins l'une de la position présente (Pc) ou de l'angle présent (θ) de l'élément de retenue (21) compris dans l'état présent.
  3. Robot d'assistance selon la revendication 1 ou 2,
    la section de réglage de trajet (62) étant conçue pour, dans un cas dans lequel l'opération requise et l'opération précédente de déplacement de l'élément de retenue (21) vers la position présente (Pc) sont égales, régler comme trajet de référence un trajet de mouvement de l'élément de retenue (21) correspondant à l'opération requise quel que soit l'état présent de l'élément de retenue (21).
  4. Robot d'assistance selon l'une quelconque des revendications 1 à 3,
    la section mémoire (61) étant également conçue pour mémoriser les informations de zone (73) représentant les multiples zones démarquées par une position spécifiée (Pr) de l'élément de retenue (21) dans au moins l'un du sens haut-bas et du sens avant-arrière par rapport à la base (10),
    les multiples zones comprenant une zone de priorité de position debout pour laquelle le trajet de position debout (81) est constitué du trajet de référence, et une zone de priorité de position assise pour laquelle le trajet d'assise (82) est constitué comme trajet de référence, et
    la section de réglage de trajet (62) étant conçue pour régler le trajet de référence de l'opération requise sur la base des informations de zone (73) et de la position présente (Pc) de l'élément de retenue (21).
  5. Robot d'assistance selon la revendication 4,
    le dispositif d'entraînement (23) comprenant
    une section d'élévation et d'abaissement (30) conçue pour se déplacer dans le sens haut-bas par rapport à la base (10), et
    une section oscillante (40) conçue pour déplacer l'élément de retenue (21) dans un sens avant-arrière de la base (10) par rapport à la section d'élévation et d'abaissement (30) et pour faire tourner l'élément de retenue (21) autour d'un axe parallèle à un sens gauche-droit de la base (10), de sorte que l'élément de retenue (21) se trouve sous un angle régulé par rapport à la position de l'élément de retenue (21) dans le sens avant-arrière, et
    la position spécifiée (Pr) étant une position de l'élément de retenue (21) dans le sens avant-arrière par rapport à la base (10) et étant définie sur la base de l'angle (θ) de l'élément de retenue (21).
  6. Robot d'assistance selon la revendication 5,
    la zone de priorité de position debout étant positionnée à l'arrière de la zone de priorité de position assise.
  7. Robot d'assistance selon l'une quelconque des revendications 4 à 6,
    les multiples zones comprenant en outre une zone intermédiaire pour laquelle un trajet de mouvement de l'élément de retenue (21) correspondant à une opération précédente dans laquelle l'élément de retenue (21) était déplacé vers la position présente (Pc) est le trajet de référence.
EP16890479.5A 2016-02-15 2016-02-15 Robot d'assistance Active EP3417842B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/054343 WO2017141336A1 (fr) 2016-02-15 2016-02-15 Robot d'assistance

Publications (3)

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EP3417842A1 EP3417842A1 (fr) 2018-12-26
EP3417842A4 EP3417842A4 (fr) 2019-06-26
EP3417842B1 true EP3417842B1 (fr) 2021-06-16

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EP (1) EP3417842B1 (fr)
JP (1) JP6586474B2 (fr)
AU (1) AU2016393481B2 (fr)
SG (1) SG11201806237XA (fr)
WO (1) WO2017141336A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020027833A1 (fr) * 2018-08-01 2020-02-06 Fuji Corporation Système d'assistance

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5206393B2 (ja) * 2008-12-22 2013-06-12 トヨタ自動車株式会社 移乗支援装置、移乗支援装置の制御方法
JP5921228B2 (ja) * 2012-02-02 2016-05-24 富士機械製造株式会社 起立動作支援ロボット
WO2014122752A1 (fr) * 2013-02-07 2014-08-14 富士機械製造株式会社 Robot de soins de patient
DK3025693T3 (en) * 2013-07-26 2018-10-01 Fuji Corp Help Robot

Also Published As

Publication number Publication date
JP6586474B2 (ja) 2019-10-02
EP3417842A1 (fr) 2018-12-26
SG11201806237XA (en) 2018-08-30
AU2016393481B2 (en) 2019-05-02
EP3417842A4 (fr) 2019-06-26
AU2016393481A1 (en) 2018-08-09
WO2017141336A1 (fr) 2017-08-24
JPWO2017141336A1 (ja) 2018-12-06

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