JP2000084012A - Assisting device for care - Google Patents

Abstract

PROBLEM TO BE SOLVED: To harmonize the hip and the leg movements of a care worker with the movements of the care worker by precisely detecting the displacement of the hip and legs of the care worker. SOLUTION: A first support member 17 is supported at the truck 15 of this device by means of parallel links 16 so that the support member 17 can be moved upward/downward. A second support member 21 is supported rotatably at the first support member 17 by means of a cross-link 20. The device has drive units 18 and 19 to drive the parallel links 16 and a drive unit 22 to drive the cross-link 20. An upper unit with arm members is mounted on the second support member 21. The device has also a first and second optical sensors 93 and 94 for detecting light from a light emitting means attached to the hip of a care worker. The drive units 18, 19 and 22 are driven so that these optical sensors will follow the movement of the light emitting means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an auxiliary device for nursing care for holding a care receiver such as a caretaker who is called a bedridden elderly.

[0002]

2. Description of the Related Art Conventionally, a care assisting device for reducing the physical burden on a caregiver who performs care work by transferring a cared person, such as a bedridden elderly person or a sick person who cannot get out of bed by himself, to a wheelchair or a moving bed. As described in, for example,
There is one disclosed in Japanese Patent Publication No. 165765.

The care assisting device disclosed in this publication is intended to reduce the burden on the forearm and the body of the caregiver holding the care recipient, and includes a leg and a vertically movable movable leg. A waist supported by the waist, an upper arm supported by the upper end of a support pivotally movable in the front-rear direction, and an upper arm supported by a front end of the upper arm in a vertical direction. And a forearm portion movably supported, and a relative displacement of each of these portions is detected by a detection device including a rotary encoder, and the respective driving portions drive the respective portions in accordance with the operation of the caregiver.

[0004] That is, in this care assisting device, when the caregiver performs a care work while wearing the caregiver, the movement of the caregiver is transmitted to the assisting device, and the forearm displacement, the upper arm displacement, the waist displacement and The displacement of the legs is detected by the detecting means, and the forearm driving means, the upper arm driving means, the waist driving means and the leg driving means of the apparatus respectively drive the respective parts.

When the care assisting device operates,
The forearm drive means bears the load exerted on the forearm by the weight of the forearm supporting the forearm of the caregiver and the weight of the care receiver. In addition, part of the weight of the forearm, the weight of the upper arm, and the weight exerted by the cared person's weight on the upper arm are borne by the upper arm driving means, and the weight of each member positioned above the waist, and the weight of each driving device. The load exerted on the lumbar region by the weight of the lumbar region and the weight of the care receiver is borne by the lumbar region driving means. Further, the leg portion driving means bears the weight of the legs and the members located above the legs, the weights of the respective driving devices, and the weight of the care receiver on the legs.

[0006] Since each driving means bears the load due to the weight of the cared person, the carer can easily lift the cared person from the bed and transfer it to a wheelchair or a moving bed. Although not described in the gazette, the assisting device for nursing adopts a use mode in which only the forearm is connected to the forearm of the caregiver, or connects the forearm to the forearm and connects the support column. It is presumed to adopt a usage pattern of connecting to the caregiver's waist.

[0007]

However, if the use mode in which only the forearm is connected to the caregiver is adopted, the caregiver's leg,
Since the movement of the lower back is not accurately transmitted to the nursing aid,
Displacement of the caregiver's waist and legs cannot be accurately detected.

For this reason, even if the waist driving means and the leg driving means are controlled based on the respective detection data of the waist displacement detecting means and the leg displacement detecting means, the waist and the leg are adjusted so as to coincide with the caregiver's operation. It cannot be activated. If the movements of the lower back and legs do not match the movements of the caregiver's lower body, the caregiver may feel cramped when raising or lowering the hips with the caregiver's upper body. . This means
The same is true even if the waist is connected.

In the human body, the bending between the upper limb and the back, that is, the rotation of the waist, is anatomically shown between the pubic bone 2 and the femur 3 below the pelvis forming the pelvis 1 as shown in FIG. Joints, iliac bone 4 and sacrum 5 in the upper pelvis forming pelvis 1
And the joint between the sacrum 5 and the lowermost lumbar vertebra 6 and the joints between the lumbar vertebrae 6 and the like. In FIG. 14, the waist is indicated by reference numeral 7.

That is, of these joints, the one having a large range of motion is the joint between the pubic bone 2 and the femur 3, and the movement of the waist 7, which is located away from the joint, is controlled via the support column. Even if it is detected by the waist displacement detecting means or the leg displacement detecting means, the displacement of the waist or the leg of the caregiver cannot be correctly detected.

When the waist of the caregiver is connected to the device, the connection between the caregiver and the care assistance device increases, so that the caregiver wears or removes the care assistance device. The work becomes complicated and inconvenient.

The present invention has been made in order to solve such a problem, and accurately detects the displacement of the waist and the legs of the caregiver so that the motion of the waist and the legs coincides with the motion of the caregiver. It is a first object to provide an assisting device for nursing care. It is a second object of the present invention to provide a care assistance device that can be easily worn and removed by a caregiver.

[0013]

According to the present invention, there is provided a nursing assisting device comprising: a bogie comprising a pair of bogie bodies connected to each other and configured to be able to run on the floor on both left and right sides; A first support member movably supported in a vertical direction via a link, first driving means for moving the first support member in a vertical direction, and a cross link to the first support member. A second support member which is swingably supported around a horizontal axis at an interval in a vertical direction, and a second drive for swinging the second support member with respect to the first support member. Means and an arm member to assist the caregiver's arm,
An upper device supported on the second support member, and a controller for controlling each drive unit, wherein the first support member includes a first light emitting unit held on a thigh of a caregiver. A first optical sensor for detection is provided, and a second optical sensor for detecting a second light emitting means held on the waist of a caregiver is provided on the second support member, and the controller is controlled by feedback control. The first and second optical sensors drive the respective driving means so as to respectively follow the light emitting means.

According to the present invention, the position of the caregiver's waist is determined by the first position.
And the second optical sensor, the operation of the first support member and the operation of the second support member coincide with the operation of the caregiver. In addition, the assisting device for care according to the present invention operates in a non-contact state with respect to the waist of the caregiver.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a care assisting device according to the present invention will be described below in detail with reference to FIGS. FIG. 1 is a side view showing a care assisting device according to the present invention, FIG. 2 is a side view showing a state in which the caregiver is lowered, and FIG. 3 is a state showing the caregiver wearing a belt with light emitting diodes. FIG. 4 is a perspective view of a care assisting device according to the present invention, FIG. 5 is a longitudinal sectional view of a lower link member drive unit, FIG. 6 is a sectional view taken along line VI-VI in FIG. 5, and FIG. 5
FIG. 7 is a sectional view taken along line VII-VII in FIG.

FIG. 8 is a front view of the lower link member auxiliary load unit, FIG. 9 is a sectional view taken along line IX-IX in FIG. 8, FIG. 10 is a side view of the first and second support members, and FIG. And FIG. 12 is a plan view showing a part of the second support member.
FIG. 13 is a cross-sectional view taken along line XII-XII of the cross link drive unit in FIG.

In these figures, reference numeral 11 denotes a care assisting device according to this embodiment, and reference numeral 12 denotes a caregiver. This auxiliary device for nursing care 11 is a lower device 1 that operates to imitate the operation of the lower body of the caregiver 12.
3 and an upper device 14 for assisting the arm 12a of the caregiver 2.

As shown in FIG. 4, the lower device 13 has a carriage 15 configured to be able to run on the floor surface, and is supported by the carriage 15 so as to be vertically movable via a pair of left and right parallel links 16. A first support member 17, a lower link member drive unit 18 and an upper link member drive unit 19 for vertically moving the first support member 17, and a pair of left and right cross members on the first support member 17; A second support member 21 supported by a link 20 so as to be swingable about an axis in the left-right direction at an interval in the up-down direction, and a cross-link drive unit 22 for driving the second support member 21
And Note that the parallel links 16 are arranged in two stages, upper and lower, on each of the left and right sides, and the first support member 17 is movable not only vertically but also vertically and longitudinally.

The trolley 15 is composed of a pair of trolley bodies 23 located on both left and right sides of the caregiver, and a cross member 24 connecting the rear ends of the trolley bodies 23 to each other. It is formed in a U-shape. The bogie main body 23 is provided with a belt-type traveling device 25 at a lower portion, and connects a lower end portion of the parallel link 16 at an upper portion via a lower link member drive unit 18 and a lower link member auxiliary load unit 26. The traveling device 25 has a structure in which a traveling belt 25c is wound around a front wheel 25a driven by a motor (not shown) and a rear wheel 25b which is rotatable.

The parallel link 16 is formed by a front lower link member 27 and a rear lower link member 28 extending upward from the bogie main body 23, and is turned around the upper ends of the front and rear lower link members via a support shaft 29 in the front-rear direction. It comprises a front upper link member 30 and a rear link member 31 which are movably connected, and an intermediate frame 32 which connects the two support shafts 29 to each other. It is connected to the first support member 17.

The rear lower link member 2 of the parallel link 16
The lower link member drive unit 18 interposed between the carriage 8 and the carriage main body 23 rotates the drive shaft 34 by a bearing 35 on a support bracket 33 fixed to the carriage main body, as shown in FIGS. The drive shaft 34 is freely supported.
, The lower end of the rear lower link member 28 is connected, and the DC servo motor 3 is connected via a worm type speed reducer 36.
7 is connected.

As shown in FIG. 6, the connecting portion between the drive shaft 34 and the lower rear link member 28 and the connecting portion between the drive shaft 34 and the sector gear 38 of the worm type speed reducer 36 are integrally rotated. Key 39 is provided.

As shown in FIG. 7, the worm type speed reducer 36 supports the motor 37 and the worm 40 on the support bracket 33 so as to be parallel to each other, and connects the output shaft 37a of the motor 37 and the worm shaft 40a. A structure in which the gears are connected by gears 41 and 42 is adopted.
The worm 40 is meshed with 8. 5 and 7, reference numeral 43 denotes a bearing, and reference numeral 44 denotes a stopper for preventing the shaft from coming off.

According to the lower link member drive unit 18, the rotation of the motor 37 is controlled by the power transmission system including the gears 41, 42 → the worm shaft 40 a → the worm 40 → the sector gear 38 → the drive shaft 34. And the rear lower link member 28 can be swung about the drive shaft 34.

The lower link member auxiliary load unit 26 interposed between the front lower link member 27 of the parallel link 16 and the bogie main body 23 is fixed to the bogie main body 23 as shown in FIGS. The support shaft 45 is rotatably supported by the support bracket 45, and the lower end of the front lower link member 27 is connected to the center of the support shaft 46, and the pulley 47 is connected to both ends. A key 48 is interposed at a connecting portion between the support shaft 46 and the front lower link member 27 and at a connecting portion between the support shaft 46 and the pulley 47 so that they rotate integrally.

As shown in FIG. 9, the pulley 47 has an arcuate surface 47a formed at the rear, and the distal end of a constant load spring 49 is fixed to the arcuate surface 47a from behind by bolts 49a. The constant load spring 49 is formed of a leaf spring bent in a U shape, and is supported by the support bracket 45 via a spring holding shaft 50. The constant load spring 49
Acts to rotate the front lower link member 27 upward with a constant moment (rotational force) regardless of the rotation angle position of the front lower link member 27, and supports the weight of the upper structure. Thereby, the DC servomotor 37 can reduce the load on the power transmission system such as the gear 41.

As shown in FIG. 4, the first support member 17 is formed in a U-shape which is released forward in a plan view, and as shown in FIG. It is connected to the link member 31 via the upper link member drive unit 19 and is connected to the front upper link member 30 via the upper link member auxiliary load unit 51.

The upper link member drive unit 19 includes:
It has the same structure as the drive unit 18 for the lower link member. That is, the rotation of the motor (not shown) is controlled by the drive shaft 52 (see FIGS. 4 and 10) and the sector gear 53.
(See FIGS. 4 and 11) Rear upper link member 3
1 to the upper end. By operating the drive unit 19 for the upper link member and the drive unit 18 for the lower link member, the parallel link 16 is moved to the position shown in FIGS.
Bends and stretches as shown in FIG.

In this embodiment, the lower link member 27,
The intermediate frame 32 located at the connecting portion between the upper link member 28 and the upper link members 30 and 31 is configured to move in the up-down direction and the front-back direction at the same position as the caregiver's knee in side view. The drive unit 18 for the lower link member and the drive unit 19 for the upper link member constitute a first drive unit according to the present invention.

The upper link member auxiliary load unit 51
Has the same structure as the lower link member auxiliary load unit 26. Upper link member auxiliary load unit 51
In FIG. 10, reference numeral 54 denotes a support bracket, reference numeral 55 denotes a support shaft for the front upper link member 30, and reference numeral 56 denotes a spring holding shaft.

By thus interposing the auxiliary load unit 51 between the front upper link member 30 and the first support member 17, the load of the motor and gears is also applied to the upper end of the front upper link member 30. A reducing moment can be applied.

As shown in FIG. 10, the cross link 20 connecting the first support member 17 and the second support member 21 is formed so as to be relatively short, and extends first upward. It comprises a link member 57 and a second link member 58 which is formed to be relatively long and extends downward. Note that, like the first support member 17, the second support member 21 is formed in a U-shape that is opened forward in a plan view.

The first link member 57 allows a front end to be rotatably supported by a bracket 59 protruding from the lower surface of the first support member 17 via a support shaft 60 and the second support member 21. The support shaft 6 is attached to the bracket 61 protruding from the lower surface of the
The rear end portion is rotatably supported via a second member 2. Also,
As shown in FIGS. 4 and 11, the first link member 57 extends upward from below the first support member 17 through an opening 63 formed in the first support member 17.

The second link member 58 supports a front end of the bracket 64 projecting from the lower surface of the second support member 21 via a support shaft 65 so as to be rotatable. The rear end is rotatably supported via a drive shaft 67 by a bracket 66 protruding from the lower surface of the bracket. The second link member 58 extends downward from above the first support member 17 through an opening 68 formed in the first support member 17 as shown in FIG.

In the drive shaft 67, the second link member 58 of the left cross link 20 is fixed to the left end, and the second link member 58 of the right cross link 20 is fixed to the right end. The cross link drive unit 22 is connected between these two ends.

The cross link drive unit 22 includes:
As shown in FIG. 12, a sector gear 69 fixed to the drive shaft 67 and a worm 7 meshing with the sector gear 69 are provided.
0, a DC servo motor 71 connected to the worm shaft 70a of the worm 70 to rotate the worm 70, and a support bracket 72 for supporting the worm 70 and the DC servo motor 71. The sector gear 6
9 is fixed so as not to rotate with respect to the drive shaft 67 by the key 7. The worm shaft 70a of the worm 70 is mounted on the support bracket 72 provided on the first support member 17 so that the drive shaft 67 passes therethrough.
It is rotatably supported via.

According to the cross link drive unit 22 configured as described above, the rotation of the motor 71
The power is transmitted to the rear end of the second link member 58 by a power transmission system composed of → sector gear 69 → drive shaft 67, so that the second link member 58 can swing about the drive shaft 67.

When the second link member 58 is swung counterclockwise from the position shown in FIG. 10 by the cross link drive unit 22, as shown in FIG. Swings so as to be inclined forward and downward with respect to the support member 17. The cross link drive unit 22 constitutes a second drive unit according to the present invention.

The second support member 21 has an upper device 14 mounted on a left side portion 21a and a right side portion 21b extending in the front-rear direction. Therefore, as described above, the entire upper device 14 can be swung in the front-rear direction by the cross link drive unit 22.

As shown in FIGS. 1 and 2, the upper device 14 includes a back member 8 extending upward from the second support member 21.
1, an upper arm member 83 rotatably attached to an upper end portion of the back member 81 via an upper arm member drive unit 82 (see FIG. 13), and a forearm member drive unit 84 at the front end of the upper arm member 83. (See FIG. 13) and a forearm member 85 which is rotatably mounted via a forearm member 85. The forearm member 85 is mounted on the arm 12a of the caregiver 12.

The forearm member 85 includes a caregiver 12
A load sensor 86 (see FIG. 13) for detecting the load applied to the arm 12a of the care receiver, that is, the weight of the care receiver acting on holding the care receiver (not shown); And a load sensor 87 (see FIG. 13) for detecting an operating force for detecting the direction in which the. The load sensors 86 and 87 and the drive units 82 and 84 are connected to a controller indicated by reference numeral 88 in FIG.

The controller 88 includes upper device control means 89 for controlling the respective drive units 82 and 84 of the upper device 14 and lower device control means for controlling the respective drive units and the truck motor of the lower device 13. Means 90
And

The upper device control means 89 employs a circuit for controlling the upper arm drive unit 82 and the forearm drive unit 84 based on the output values of the load sensors 86 and 87. That is, the upper device control means 89
The upper arm member drive unit 82 and the upper arm member drive unit 82 generate a force capable of supporting substantially all of the weight of the cared person detected by the weight detection load sensor 86 while the carer 12 is holding the cared person. A configuration for controlling a motor (not shown) of the forearm member drive unit 84 is employed.

When the caregiver 12 moves the arm 12a back and forth or up and down, the upper device control means 89 moves the arm 12a in the same direction as the movement direction of the arm 12a detected by the load sensor 87 for detecting the operation force. The motors of the upper arm member drive unit 82 and the forearm member drive unit 84 are controlled so that the forearm member 85 moves.

The lower device control means 90 controls the lower device 1
3, the left lower link member drive unit 18, the left upper link member drive unit 19,
Right lower link member drive unit 18, right upper link member drive unit 19, cross link drive unit 2
2 and the traveling motor of the carriage 15 are connected to the first support member 17 according to the movement of the waist of the caregiver 12.
And a circuit for controlling the second support member 21 to move.

In order to detect the movement of the waist of the caregiver 12, the light of the first and second light emitting means 91 and 92 located on the caregiver side as shown in FIG. First
And the first and second optical sensors 9 each comprising a plurality of optical sensor elements provided on the second support members 17 and 21.
The detection is performed at 3,94.

The first and second light emitting means 91 and 92
Is an abdominal band 9 made of a light emitting diode in this embodiment and formed so that the caregiver 12 can wear it.
5 is attached to each of the left and right sides. A battery (not shown) serving as a power source for these light emitting means 91 and 92 and a circuit board (not shown) are also attached to the abdominal band 95, respectively.

The position where the first and second light emitting means 91 and 92 are attached to the abdominal band 95 is, as shown in FIG.
5 with the caregiver 12 wearing the first light emitting means 91
Is located at a position corresponding to the base of the femur 3 of the caregiver 12 (joint between the pubic bone 2 and the femur 3), and the second light emitting means 92 is provided at the waist of the caregiver 12 (the sacrum 5 and the lowermost part). (The part corresponding to the joint between the lumbar spine 6).

The first and second optical sensors 93 and 94
Is configured to transmit a detection signal to the controller 88 when receiving light, and the first optical sensor 93 is connected to the left portion 17a and the right portion 17b of the first support member 17.
The second optical sensor 94 is attached to the inner surface 17c of the second support member 21 and the left and right portions 21a and 21b of the second support member 21.
Is mounted on the inner surface 21c.

That is, the light from the first light emitting means 91 is
The optical sensor 93 detects the detection signal and outputs the detection signal to the controller 88.
And the light of the second light emitting means 92 is transmitted to the second optical sensor 9.
4 detects and sends a detection signal to the controller 88. Further, the first and second optical sensors 9
3, 94 also detects the distribution of the light amount of the light incident on the light receiving unit by a plurality of optical sensor elements, and determines the direction in which the light amount distribution is biased (the direction in which the light moves), ie, the direction in which the waist of the caregiver 12 moves. The direction signal shown is sent to the lower device control means 90. The lower device control means 90 controls each motor of the lower device 13 so as to follow the movement of the waist of the caregiver 12 based on the direction signal.

Next, the operation of the nursing assistance device 11 configured as described above will be described. In order to use the care assisting device 11, first, the care giver 12 wears the abdominal band 95 and fixes the arm 12a (forearm) to the forearm member 85. After the mounting work is completed, a power switch (not shown) is turned on to start a care work.

During the care work, the upper device 14
The arm 12a moves in the same direction as the arm 12a, and applies an auxiliary power for supporting the cared person to the arm 12a. In the lower device 13, the first and second optical sensors 9
3, 94 are the first and second light emitting means 9 on the caregiver 12 side.
The first support member 17 and the second support member 21 move so as to track 1,92.

For example, when the caregiver 12 bends and stretches the knee to move the waist position up and down, the parallel link 16 of the lower device 13 bends and stretches to correspond to the knee as shown in FIGS. The first and second support members 17, 21 and the upper device 14 move in the vertical direction. When the caregiver 12 leans forward so as to bend forward, the cross link 20 operates and the second support member 21 leans forward as shown in FIG. Further, when the caregiver 12 moves forward or backward, the traveling device 25
The lower device 13 moves on the floor together with the upper device 14 in the same direction as the caregiver 12 moves.

Therefore, according to the care assisting device 11, the waist position of the caregiver 12 can be detected by the first and second optical sensors 93 and 94, so that the first
The operation of the support member 17 and the second support member 21 can be matched with the operation of the caregiver 12. For this reason, it becomes possible to accurately follow the displacement of the waist and the displacement of the legs of the caregiver 12.

Further, since this care assisting device 11 operates without contact with the waist of the caregiver 12, the caregiver 12 removes the abdomen band 95 having the first and second light emitting means 91 and 92. Wear and arm 12a with forearm member 85
The nursing assisting device 11 can be used simply by fixing the device. For this reason, the care assistant 12 can be easily worn or removed by the caregiver 12.

Further, since the care assisting device 11 follows the waist movement of the caregiver 12, the operation range of the upper arm member 83 and the forearm member 85 of the upper device 14 can be set relatively narrow. That is, in the conventional device that follows the movement of the caregiver with the arm portion extending from the device body, the movement range of the arm member must be set wide to follow the wide movement range of the caregiver. Although the size is increased, the nursing assisting device 11 according to this embodiment is
As described above, the operating range of the arm members (the upper arm member 83 and the forearm member 85) can be set relatively narrow as described above, and the overall size of the apparatus can be reduced.

Further, the care assisting device 11
Parallel link 16 so as to imitate the lower body of the caregiver 12
Since the second support member 21 operates, the caregiver 12 is not forced to take an excessive posture during the care work.

In addition, since a worm-type reduction unit is used for the drive unit 19 for the upper link member and the drive unit 18 for the lower link member for driving the parallel link 16 of the lower device 13, a reverse rotation preventing mechanism and the like are used. Need not be provided. That is, the rotation of the sector gear 38 due to the load when the power supply to the DC servomotor 37 is cut off can be prevented by the worm 40.

The load applied to the parallel link 16 when the power supply to the DC servo motor 37 is cut off is:
In addition to the sector gear 38 and the worm 40, the auxiliary load units 26 provided at the upper end and the lower end of the parallel link 16,
Also supports 51. For this reason, the load on the sector gear 38 and the worm 40 can be reduced by the auxiliary load units 26 and 51, so that the strength of the sector gear 38 and the worm 40 can be relatively reduced, and the two drive units 18 and 19 can be reduced. Can be reduced in size.

[0060]

As described above, according to the present invention, the waist position of the caregiver can be detected by the first and second optical sensors, so that the first support member and the second support member can be detected. Can match the action of the caregiver. For this reason, it is possible to provide a care assistance device that accurately follows the displacement of the waist and the legs of the caregiver.

Further, since the care assisting device according to the present invention operates without contact with the waist of the caregiver, the caregiver wears the first and second light-emitting means and puts his / her arm on the arm. The care assistant can be used simply by connecting to the member. For this reason, the care assistant can be easily worn and removed by the caregiver, and is convenient.

[Brief description of the drawings]

FIG. 1 is a side view showing a care assisting device according to the present invention.

FIG. 2 is a side view showing a state in which a caregiver lowers a waist in the care assistance device according to the present invention.

FIG. 3 is a side view showing a state in which a caregiver wears a belt with light-emitting diodes.

FIG. 4 is a perspective view of a care assisting device according to the present invention.

FIG. 5 is a longitudinal sectional view of a drive unit for a lower link member.

6 is a sectional view taken along line VI-VI in FIG.

FIG. 7 is a sectional view taken along line VII-VII in FIG.

FIG. 8 is a front view of an auxiliary load unit for a lower link member.

9 is a sectional view taken along line IX-IX in FIG.

FIG. 10 is a side view of the first and second support members.

FIG. 11 is a plan view showing a part of the first and second support members.

12 is a cross-sectional view of the cross link drive unit taken along line XII-XII in FIG. 11;

FIG. 13 is a block diagram showing a control system of the care assistance device according to the present invention.

FIG. 14 is a diagram showing a skeleton of a pelvis portion of a human body.

[Explanation of symbols]

11: Nursing assistance device, 12: Caregiver, 13: Lower device, 14: Upper device, 15: Dolly, 16: Parallel link,
17: First support member, 18: Drive unit for lower link member, 19: Drive unit for upper link member, 20: Cross link, 21: Second support member, 22: Drive unit for cross link, 83: Upper arm Member, 85 ... forearm member, 8
8 ... controller, 91 ... first light emitting means, 92 ... second
, A first light sensor, and a second light sensor.

Claims (1)

[Claims] A trolley formed by connecting a pair of trolley bodies configured to be able to run on the floor on both left and right sides of a caregiver;
A first support member movably supported in a vertical direction on the bogie main body via a parallel link, a first driving means for moving the first support member in a vertical direction, and the first support A second support member, which is supported on the member via a cross link so as to be swingable about a horizontal axis at an interval in a vertical direction, and a rotation of the second support member with respect to the first support member. A second drive unit to move, an upper device having an arm member for assisting a caregiver's arm, an upper device supported on the second support member, and a controller for controlling each drive unit,
The first support member is provided with a first optical sensor for detecting the first light emitting means held on the thigh of the caregiver, and the second support member is held on the waist of the caregiver. A second optical sensor for detecting the second light emitting means, wherein the controller drives the respective driving means such that the first and second optical sensors respectively follow the light emitting means by feedback control. An auxiliary device for nursing care. Auxiliary device for nursing care.