JP2009219647A - Upper limb operation assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an upper limb operation assisting device reducing a fault and an unpleasant feeling to be inflicted on a person to be assisted when being in contact with an arm, and easily dealing with the change of an assistance content. <P>SOLUTION: The upper limb operation assisting device for assisting the operation of an upper limb of the person to be assisted includes: a device body 12 placed on a table and storing a controller in a storage part 18 defined inside; a multi-joint arm 22 arranged in the device body 12, having an operation part 36 to be gripped and operated by the person to be assisted, and performing a three-dimensional movement in response to the movement of the person to be assisted; an assisting tool 44 arranged at the free end of the multi-joint arm 22; and a cushioning member 20 arranged on the upper surface of the device body 12. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an upper limb motion assisting device that assists an upper limb motion of a person with a disability in an upper limb such as a physically handicapped person or an elderly person.

Conventionally, robots that assist the movement of the upper limbs so that the elderly can not move the upper limbs freely according to their intentions, physically disabled persons, etc., so that they can perform meal operations and other daily life activities by themselves are known. (For example, Patent Document 1). In the upper limb motion assisting device described in Patent Document 1, a main body in which a base end portion of a multi-joint arm is connected to a base or the like is fixed to improve stability, and is provided on the free end side of the multi-joint arm. When the supporter moves the free end based on the force information applied to the supporter when the supporter moves, the upper limb movement is assisted. .
JP-A-11-253504

  As described above, such an upper limb movement assisting device is used by an elderly person or a handicapped person who is difficult to freely move based on his / her own intention. May be added. When the free end of the articulated arm moves in response to the force applied by the assistant against his or her intention, the articulated arm may come into contact with the main body or the base and cause a failure. It is pointed out that there is a problem that the touched person feels uncomfortable by the contact shock, and that the helped person becomes reluctant to use the upper limb movement assisting device. In addition, since the conventional upper limb motion assisting device assists one motion like assisting a meal motion, in order to assist different motions, it is necessary to prepare a device according to the assisting purpose individually. In addition, it imposes a great economic burden on the person to be assisted, which is not realistic, and it is required that a single device can support a wide range of operation assistance.

  SUMMARY OF THE INVENTION An object of the present invention is to provide an upper limb movement assisting device that can reduce failure and discomfort given to a person being assisted in contact with an arm, and can easily cope with changes in assisting contents. To do.

In order to overcome the above-mentioned problems and achieve the intended purpose, an upper limb movement assisting device according to claim 1 of the present application includes:
An upper limb movement assisting device for assisting an upper limb movement of an assistant,
An apparatus main body (12) placed on a table (50) and having a control device housed in a housing section (18) defined therein;
An articulated arm (22) provided on the apparatus main body (12) and having an operation unit (36) that can be gripped and operated by an assistant, and capable of three-dimensional movement according to the movement of the assistant,
An auxiliary instrument (44) provided on the free end side of the articulated arm (22);
A gist is provided with a buffer member (20) provided on the upper surface side of the apparatus main body (12).
As described above, the apparatus main body is configured to be placed on the table, so that the upper limb movement assisting device can be carried and used in any place, and the convenience of the person being assisted is greatly improved. Further, by providing the buffer member on the upper surface side of the apparatus main body, it is possible to prevent a failure at the time of contact between the articulated arm and the apparatus main body, and to reduce the impact given to the person being assisted.

In the upper limb movement assisting device according to claim 2, the operation portion (36) is provided at a free end portion of the articulated arm (22) and is formed in a hollow cylindrical shape, and the auxiliary instrument (44) The gist of the present invention is that an elastic member (48) that can be inserted into the operation portion (36) while being elastically deformed is provided.
As described above, since the auxiliary device can be attached to and detached from the operation unit, one device can be used for a wide range of auxiliary purposes by replacing the attached auxiliary device according to the auxiliary purpose, and the economy of the person being assisted. Can significantly reduce the burden on the public. Further, when exchanging the auxiliary instrument, after the auxiliary instrument is extracted from the cylindrical operation part, a simple operation may be performed such that the elastic member of another auxiliary instrument is elastically deformed and inserted into the cylindrical operation part. Therefore, the convenience of the person being assisted is enhanced, and the effect of promoting the use of the apparatus can be expected.

  According to the upper limb movement assisting device according to the present invention, since the impact at the time of arm contact is alleviated, it is possible to prevent the device from being broken and to reduce discomfort given to the person being assisted, and further assisting the person being assisted It is possible to easily cope with changes in

  A preferred embodiment of the upper limb motion assisting apparatus according to the present invention will be described below in detail with reference to the accompanying drawings. In the following description, “front”, “back”, “left”, and “right” are designated with reference to the direction shown in FIG.

  As shown in FIG. 1, the upper limb movement assisting device 10 according to the embodiment includes a device main body 12 placed on various installation bases 50, an articulated arm 22 provided on the device main body 12, It is basically composed of an auxiliary device 44 provided on the free end portion side of the joint arm 22. The apparatus main body 12 is formed in a hollow box shape defining an accommodating portion 18 inside from a base body 14 installed on an installation base 50 and a cover body 16 detachable from the base body 14. In the housing portion 18, a control device, a power supply device, and the like that drive and control the articulated arm 22 are housed. Examples of the installation table 50 on which the apparatus main body 12 is placed include a desk, a washstand, a dressing table, a dedicated table for placing the upper limb movement assisting device 10, but are not limited thereto. Any device may be used as long as the upper limb motion assisting device 10 can be installed movably.

  Here, as shown in FIG. 1, the cover body 16 of the apparatus main body 12 is formed in a curved shape that is continuously curved from the front surface to the upper surface, and covers the front surface from the upper surface of the cover body 16. A buffer member 20 made of a flexible material is detachably disposed. As the buffer member 20, an elastic foam such as silicon rubber or polyurethane foam is suitably employed, but is not limited thereto, and various conventionally known materials that can be used as the buffer member 20 can be employed.

  As shown in FIG. 1, the articulated arm 22 is disposed at the rear part of the apparatus main body 12 and has a rotating shaft extending in the vertical direction. The articulated arm 22 is horizontally moved by a drive motor housed in the housing part 18. The first shaft portion 24 to be rotated and one end portion (the lower end portion in FIG. 1) are rotatably connected to the first shaft portion 24 and orthogonal to the rotation axis of the first shaft portion 24. A first arm portion 26 having a rotation axis extending in the direction of rotation, and the other end portion of the first arm portion 26 so as to be rotatable. The rotation axis is parallel to the rotation axis of the first arm portion 26. A second arm portion 28 extending to the second arm portion 28, a second shaft portion 30 rotatably connected to the second arm portion 28, and having a rotation axis extending along the second arm portion 28, and the second arm portion 28. A third arm that is rotatably connected to the biaxial portion 30 and whose rotational axis extends in a direction orthogonal to the second arm portion 28. 32, a third shaft portion 34 that is rotatably connected to the third arm portion 32, and whose rotation axis extends along the third arm portion 32, and the third shaft portion 34 integrally with each other. It is provided with an operation unit 36 that is provided so as to rotate and that can be gripped by an assistant. Further, the connecting position between the first shaft portion 24 and the first arm portion 26, the connecting position between the first arm portion 26 and the second arm portion 28, and the connecting position between the second arm portion 28 and the second shaft portion 30. A drive motor (not shown) connected to the control device is connected to the connecting position between the second shaft part 30 and the third arm part 32 and the connecting position between the third arm part 32 and the third shaft part 34, respectively. It is arranged independently, and the connecting position of each part can be rotated independently. That is, the first to third shaft parts 24, 30, 34 and the first to third arm parts 26, 28, 32 cooperate to move the free end part (operation part 36) three-dimensionally. Configured to get.

  Here, the operation part 36 is formed on a disk-shaped protection part 38 connected to the third shaft part 34, and on the opposite side of the protection part 38 from the third shaft part 34. It is composed of a hollow cylindrical gripping portion 40 set to a possible diameter size, and the protection portion 38 is formed to have a larger diameter than the gripping portion 40. Each of the protection portion 38 and the grip portion 40 is formed coaxially with the third shaft portion 34. A force sensor (not shown) connected to the control device is built in the protection unit 38, and the force sensor detects the force when the assistant moves the grip unit 40. Based on the detection of the force sensor, the control device drives each drive motor to operate the articulated arm 22. Further, similarly to the apparatus main body 12, a buffer member 42 made of a flexible material is detachably disposed on the outer peripheral surface of the protection portion 38.

  In addition, as shown in FIG. 2, the auxiliary instrument 44 is configured by attaching a rod-shaped elastic member 48 to an instrument body 46 (spoon in FIG. 2) adapted to the operation purpose of the person being assisted. The auxiliary device 44 is attached to the grip 40 by inserting the member 48 into the grip 40 while being elastically deformed. In FIG. 2, a spoon is shown as an example of the auxiliary instrument 44, but an auxiliary instrument 44 having an elastic member 48 attached thereto using a fork, a toothbrush, a writing instrument, etc. as an instrument main body 46 is prepared. The auxiliary device 44 can be exchanged. In addition, grooves extending along the longitudinal direction are formed on the outer peripheral surface of the elastic member 48 at a plurality of locations spaced in the circumferential direction, so that the elastic member 48 can be easily elastically deformed. ing.

(Effects of Example)
Next, the operation of the upper limb movement assisting apparatus 10 according to the embodiment configured as described above will be described. A spoon is attached to the free end portion (operation portion 36) of the articulated arm 22 as an auxiliary instrument 44.

  The upper limb movement assisting device 10 according to the embodiment is configured so that when the supportee grips and moves the grip portion 40 of the operation portion 36 provided on the free end side of the articulated arm 22, the protection portion of the operation portion 36 is provided. 38, the motion of the person being assisted is detected and the drive motors are driven and controlled, and the articulated arm 22 is moved so that the auxiliary device 44 moves based on the person's intention to operate. . That is, by giving the assistant a sense of movement by his / her will, the assistant's spontaneous movement is promoted, and a high rehabilitation effect can be expected. At this time, in the upper limb movement assisting device 10 of the embodiment, since the grip portion 40 is formed in a cylindrical shape, the articulated arm 22 can be moved by pushing and pulling the grip portion 40. Even a weak assisting person can assist the operation.

  By the way, in many cases, it is difficult to perform free movements based on self-intention, such as physically handicapped persons and elderly persons, and the upper limb movement assisting device 10 is not intended to be operated by the auxiliary persons. May be made. Since the articulated arm 22 has a wide movement range on the free end side, as shown in FIG. 3, the operation unit 36 provided on the free end side contacts the apparatus main body 12 depending on the movement of the person being assisted. To do. Here, the shock absorber 20 is disposed on the entire apparatus main body 12 from the upper surface to the front surface, so that the impact when the operation unit 36 contacts the apparatus main body 12 is reduced. The failure of the articulated arm 22 can be effectively prevented. Moreover, since the impact transmitted to the person being assisted during contact is reduced, discomfort given to the person being assisted can be suppressed, and the person being assisted can use the upper limb movement assist device 10 without scolding. Further, as shown in FIG. 1 or FIG. 3, the operation portion 36 has a diameter larger than that of the grip portion 40 on the base end side (the third shaft portion 34 side) from the grip portion 40 gripped by the assistant. By forming the protective portion 38, it is possible to prevent the fingers of the person who is holding the grip portion 40 from being caught when contacting the device main body 12, and the sense of security for using the device is improved.

  Further, depending on the movement of the person being assisted, as shown in FIG. 4, the operation unit 36 provided on the free end side may come into contact with the installation table 50. Here, the protection part 38 in the operation part 36 is formed to have a diameter larger than that of the grip part 40 to be gripped and operated by the assistant, and the protection part 38 comes into contact with the installation base 50. Since the buffer member 42 is provided on the outer peripheral surface of the protection portion 38, even when the protection portion 38 contacts the installation base 50, the impact is reduced and the failure of the articulated arm 22 is effectively prevented. In addition, the impact transmitted to the assistant during contact can be reduced, and discomfort given to the assistant can be suppressed. Furthermore, since the protective portion 38 is formed to have a larger diameter than the grip portion 40, when the protective portion 38 comes into contact with the installation base 50, as shown in FIG. A space is created, and the fingers of the person who is holding the holding portion 40 are prevented from being pinched, thereby improving the sense of security for using the device. As described above, the buffer member 20 is provided from the upper surface to the front surface of the device main body 12 and the buffer member 42 is also provided on the outer peripheral surface of the protection unit 38, thereby preventing the upper limb movement assisting device 10 from being damaged. Since the assistance person's anxiety with respect to the pinching of the fingers can be greatly reduced, the willingness to use the upper limb movement assisting device 10 is induced and a high rehabilitation effect is expected.

  And since the apparatus main body 12 only mounts the apparatus main body 12 on the installation base 50, the upper limb movement assistance apparatus 10 which concerns on an Example can carry and use an apparatus to the place suitable for a support person's movement assistance. This can greatly improve the convenience of the person being assisted. For example, by moving between a rehabilitation facility and a home, it is possible to freely perform rehabilitation according to the convenience of the person being assisted. In addition, when used for assisting meal operation, the device can be placed on the table and used, and when used for assisting toothpaste, it is placed on the sink. Therefore, when assisting a plurality of operations, it is not necessary to prepare a device for the purpose of assistance, and an unnecessary economic burden is not imposed.

  Moreover, in order to perform different operation assistance, it is necessary to be able to exchange the auxiliary instrument 44 according to the operation to assist. In the upper limb movement assisting device 10 of the embodiment, the gripping portion 40 of the operation portion 36 is formed in a hollow cylindrical shape, and the auxiliary tool 44 can be exchanged by simply inserting and removing the auxiliary tool 44 with respect to the gripping portion 40. . That is, since the auxiliary instrument 44 can be attached to and detached from the operation unit 36 (gripping part 40), if the auxiliary instrument 44 attached to the gripping part 40 is changed, a wide range of operation assistance can be performed with one device. Therefore, it is not necessary to prepare a device according to the situation, and the financial burden on the assistant can be greatly reduced. Further, when replacing the auxiliary instrument 44, after the auxiliary instrument 44 is extracted from the cylindrical gripping part 40, the elastic member 48 provided on another auxiliary instrument 44 is simply inserted into the gripping part 40 while being elastically deformed. Easy operation. In other words, since the auxiliary device 44 can be exchanged without going through a complicated process, there is no burden on the person being assisted or the person being assisted. In addition, the elastic member 48 can be easily elastically deformed by forming grooves extending along the longitudinal direction at a plurality of locations spaced in the circumferential direction on the outer peripheral surface of the elastic member 48, and the auxiliary device 44 can be replaced more easily.

[Example of change]
The upper limb movement assisting device according to the embodiment is not limited to the above-described configuration, and various modifications can be made.
For example, in the embodiment, the buffer member is provided from the upper surface to the front surface of the apparatus main body, but the buffer member can also be provided on the side surface. That is, the buffer member may be provided at a portion where the articulated arm may come into contact with the apparatus main body.

  In the embodiment, the auxiliary device is configured to be inserted and removed from the operation unit. However, the present invention is not limited to this. A configuration using holes and other conventionally known configurations may be employed.

It is a perspective view which shows the upper limb movement assistance apparatus which concerns on the Example of this invention. It is a perspective view which decomposes | disassembles and shows the operation part and auxiliary instrument of the upper limb movement assistance apparatus which concern on an Example. It is a side view which shows the state which the operation part of the upper limb movement assistance apparatus which concerns on an Example contacted the apparatus main body. It is a side view which shows the state which the operation part of the upper limb movement assistance apparatus which concerns on an Example contacted the installation stand.

Explanation of symbols

DESCRIPTION OF SYMBOLS 12 Apparatus main body 18 Storage part 20 Buffer member 22 Articulated arm 36 Operation part 44 Auxiliary instrument 48 Elastic member 50 Installation stand (stand)

Claims (2)

An upper limb movement assisting device for assisting an upper limb movement of an assistant,
An apparatus main body placed on a table and having a control device housed in a housing section defined inside;
An articulated arm that is provided in the apparatus main body and has an operation unit that can be gripped and operated by an assistant, and that can perform a three-dimensional operation according to the movement of the assistant;
An auxiliary device provided on the free end side of the articulated arm;
An upper limb movement assisting device comprising a buffer member provided on the upper surface side of the device main body.   The operation portion is provided at a free end portion of the articulated arm and is formed in a hollow cylindrical shape, and the auxiliary device includes an elastic member that can be inserted into the operation portion while being elastically deformed. Item 1. Upper limb movement assisting device.

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