JP2010022589A - Standing assist apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a standing assist apparatus assisting a user in standing up or sitting down, suited to a change in the user's posture. <P>SOLUTION: This standing assist apparatus includes: a guide 20 extending in the front/rear direction, being upward or downward curved and provided on a base 12; two steps or more links 40 and 42 located vertically and rotatably pivoted by intersecting two link arms LA1 and LA2/LA3 and LA4 at respective intermediate portions; and an extension/contraction link mechanism 38 where the link arms LA1 and LA2/LA3 and LA4 of the adjoining link parts 40 and 42 are mutually rotatably pivoted, and the link part 42 located at the uppermost step is connected to a seat member 22. One link arm LA1 of the link part 40 located at the lowermost step is pivoted to the base 12, while the other link arm LA2 is movably supported along the guide part 20 and, in a moving initial state where the seat member 22 moves from the seating position with the extension of the extension/contraction link mechanism 38, the seat member 22 is adapted to move drawing a trajectory being convex downward. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a stand-up assisting device that assists a user seated on a seating member in standing up and sitting.

  Difficulties in shifting from a sitting position to a standing position by yourself, such as those who have been living in bed for a long time due to injury or illness, those who have impaired leg function, or who have weak legs or legs Various stand-up assisting devices have been proposed for assisting new persons. As such a standing assistance device, a person sitting on a chair by using a driving means such as a motor or a cylinder to raise the seating member itself or the armrest members located on the left and right sides of the seating member. A standing assistance chair that assists standing (hereinafter referred to as a user) is known (see, for example, Patent Documents 1 and 2).

For example, in the standing auxiliary chair disclosed in Patent Document 1, the seat surface is divided into a front seat surface with a short depth and a rear seat surface with a longer depth than the front seat surface, and a lower front end of the rear seat surface and a rear end of the front seat surface. The front part of the rear seat surface and the leg part are connected by a front link, and the rear end part of the rear seat part and the leg part side are connected by a rear link. A seat lift mechanism comprising a link is provided. The rear seat surface is moved up and down with the inclination of the front seat surface by the expansion and contraction of the gas spring connecting the rear seat surface and the leg portion. Further, the standing auxiliary chair disclosed in Patent Document 2 has a vertical arm fixed to the lower side of the front portion of the seating surface, and the lower arm of the vertical arm and the rear portion of the leg are connected rotatably by the lower arm. And a seat surface lifting mechanism comprising a four-bar link formed by connecting the middle part of the vertical arm and the rear part of the leg part rotatably with the upper arm above the lower arm. The seat surface is raised and lowered with an inclination by the expansion and contraction of the gas spring connecting the upper arm and the leg. That is, by raising and lowering the seat surface, the user's waist also moves up and down with the movement of the seat surface, so that the user can easily perform the standing operation and the seating operation.
JP-A-10-179644 Japanese Patent Laid-Open No. 10-248669

  However, when the seat surface elevating mechanism is configured by a four-bar linkage mechanism as in Patent Document 1 or 2, the elevating orbit of the seat surface must be fan-shaped due to the configuration. That is, as shown in FIG. 5, when the seat surface is moved up and down by the four-bar linkage mechanism, when the seat surface moves from the seating position to the standing position, it is initially higher than the amount of forward movement. The seating surface moves while drawing a trajectory in which the amount of movement to is large and then the amount of forward movement gradually increases. For this reason, at the beginning of the movement when the seat surface starts to rise, the user is in a state of floating the foot that once gets off the floor surface, which reminds the user of anxiety and feels the use of the standing chair. It is decreasing. In addition, when sitting on the standing chair, the seat is moved to the sitting position by sitting on the seat in the raised position and moving the seat to the sitting position. As the seat moves while drawing a trajectory, it may cause foot lift or seat slip, which is also one of the factors that reduce the feeling of use of the standing assist chair.

  Further, in the standing assistance chair disclosed in Patent Document 2, when the seat surface moves from the seating position to the standing position, the front lower portion of the seat surface draws a trajectory that moves backward while moving upward. As the surface rises, the horizontal distance between the foot position and the waist position becomes longer, and the body center-of-gravity movement distance until the user stands up after raising the seating surface becomes longer, so the standing motion is not always easy. Also, since the horizontal distance from the waist to the seating surface when sitting is increased, the user should sit down while twisting his / her body in order to confirm the seating position visually in order to sit securely on the seating surface. Alternatively, it is necessary to gradually bring the waist close to the seat while searching for the seat position by checking one's body posture one after another, which imposes a mental burden on the user and increases the feeling of use of the standing chair. There is a problem to lower.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a standing assistance device with excellent usability that can provide assistance suitable for a change in posture of a user performing a standing motion and a sitting motion.

In order to overcome the above-mentioned problems and achieve the intended purpose, a standing assistance device according to claim 1 of the present application is
In the standing assistance device configured to be able to move the seating member (22) between the seating position and the standing position forward and above the seating position,
The base (12),
A guide portion (20) provided on the base (12), extending in the front-rear direction and curved upward or downward;
Two link arms (LA1, LA2 / LA3, LA4) intersect each other at their intermediate positions and have two or more link parts (40, 42) that are pivotably attached to each other, and adjacent link parts ( 40, 42) link arms (LA1, LA2 / LA3, LA4) are pivotally attached to each other, and the link part (40) located at the bottom is connected to the base (12), The telescopic link mechanism (38) in which the link part (42) located in the upper stage is connected to the seating member (22),
Drive means (44) provided on the base (12) and connected to the telescopic link mechanism (38) to expand and contract the telescopic link mechanism (38),
In the telescopic link mechanism (38), the link portion (40) located at the lowest stage has one link arm (LA1) pivotally attached to the base (12), while the other link arm (LA2) In the initial stage of movement in which the seating member (22) moves from the seating position to the standing position as the telescopic link mechanism (38) is extended, and is supported so as to be movable along the guide portion (20), the seating member (22 ) Is configured to move in a downwardly projecting orbit.

  In the standing assistance device according to claim 2, the guide portion (20) is curved so as to protrude downward, and the telescopic link mechanism (38) is a link in the link portion (40, 42) positioned at the lowest level. The end located on the front side of the intersection (X1) of the arms (LA1, LA2 / LA3, LA4) is pivotally supported by the base (12), and the end located on the rear side of the intersection (X2) The gist is to be supported so as to move along the guide portion (20).

The stand-up assisting device according to claim 3 is characterized in that the telescopic link mechanism (38)
A first link arm (LA1) pivotally supported by the base (12) and extending rearward;
It is supported so as to be movable along the guide part (20), extends forward so as to intersect the first link arm (LA1), and rotates mutually at the intersecting position with the first link arm (LA1). A second link arm (LA2) pivotally attached,
A third link arm (LA3) pivotally supported by the rear end of the first link arm (LA1) and extending forward;
It is pivotally supported at the front end of the second link arm (LA2) and extends backward so as to intersect the third link arm (LA3), and rotates mutually at the intersecting position with the third link arm (LA3). A fourth link arm (LA4) pivotally attached
The fourth link arm (LA3) is pivotally supported by the rear end portion of the fourth link arm (LA3) and extends forward, and the front end portion is configured by a fifth link arm (LA5) pivotally attached to the seating member (22),
The gist is that the driving means (44) is connected to any one of the first to fifth link arms (LA1 to LA5).

  In the standing assistance device according to claim 4, the seating member (22) is connected to the telescopic link mechanism (38) and includes a base portion (26) including a seat portion (24) on which a user is seated, An armrest member (34) located at a position above the side of the seat portion (24), and connected to the base portion (26) and the armrest member (34), and the armrest member (34) has a posture with respect to the base portion (26). The gist of the invention is that it is provided with a link mechanism (36) that moves while maintaining the parallel movement.

  That is, by supporting the link arm of the link portion located at the lowermost stage of the telescopic link mechanism so as to be movable along a guide portion that curves upward or downward, the seating member is seated as the telescopic link mechanism is extended. In the initial stage of moving from the position to the standing position, the seating member can be moved while drawing a downwardly protruding track. As a result, the seating member can be raised in a track corresponding to the movement track of the waist during the standing motion of the user, and the standing motion can be assisted while preventing the user's feet from leaving the floor. The use feeling of the auxiliary device can be improved. On the other hand, when sitting from a standing posture, the seating member can be lowered without causing the user's feet to float or sit down while stably supporting the user's lower back. It is possible to assist the sitting operation without giving anxiety. Moreover, by moving the armrest member in parallel, the user can shift to a standing or sitting operation while stably supporting his / her posture, and the user's burden of attention can be reduced.

  According to the standing assistance device according to the present invention, the seating member can be moved along a track suitable for the posture change of the user when standing up or sitting, so that appropriate operation assistance can be performed without impairing stability. .

  A preferred embodiment of the standing assistance device according to the present invention will be described below in detail with reference to the accompanying drawings. Further, in the following description, “front”, “rear”, “left”, and “right” are designated based on the state in which the user is seated on the seating member. That is, the front side of the user is the front side, and the back side of the user is the rear side. The right hand side of the user is the right side, and the left hand side is the left side.

  As shown in FIGS. 1 to 3, the standing support chair (standing support device) 10 according to the embodiment includes a base 12 placed on the floor surface and a telescopic link mechanism 38 with respect to the base 12. The connected seating member 22 and the drive means 44 for extending and retracting the telescopic link mechanism 38 are basically provided, and the user can be seated by the telescopic link mechanism 38 extending and contracting by the drive of the drive means 44. The seating member 22 is configured to be moved between a seating position and a standing position forward and above the seating position. In the embodiment, the seating position means a position where the telescopic link mechanism 38 is most contracted and the seating member 22 is at the lowest position, and the standing position is used when the seating member 22 is used when the telescopic link mechanism 38 is extended. It means a position moved to a height position suitable for the person. That is, in the standing assistance chair 10 according to the embodiment, as described later, the height position of the seating member 22 can be adjusted according to the user, and the standing position is different for each user. In the embodiment, each of the telescopic link mechanism 38 and the driving means 44 is installed on each of the left and right sides of the seating member 22, and the pair of driving means 44 are synchronized by a control signal from a control device (not shown). To act integrally. The left and right telescopic link mechanisms 38 and the driving means 44 are basically the same in configuration, and therefore, in the following description, the telescopic link mechanisms 38 and the driving means 44 will be described without distinction between the left and right.

  As shown in FIGS. 1 to 3, the base 12 includes a pair of left and right legs formed in a frame shape from a front leg part 14, a rear leg part 16, and a connecting part 17 that connects the upper positions of the front and rear leg parts. The support frame 18 is connected by a connection frame (not shown), and the base 12 functions as a leg portion of the standing auxiliary chair 10. Further, the base 12 is provided with a support portion (not shown) with which the lower surface of the seating member 22 (base portion 26 described later) in the seating position comes into contact, and the seating member 22 is mounted on the support portion. By being placed, the seating member 22 is stably supported. Further, a guide portion 20 that is curved so as to protrude downward is formed at a rear position of the support frame 18, and as will be described later, a shaft portion that pivotally supports the link arm LA2 that constitutes the telescopic link mechanism 38. P2 is slidably supported by the guide portion 20.

  The seating member 22 includes a seat portion 24 for receiving a user's waist and a base portion 26 to which the seat portion 24 is fixed. The seating member 22 is based on a backrest portion 28 that can be tilted backward by a conventionally known reclining mechanism (not shown). It attaches to the part 26 and can adjust the inclination angle of the backrest part 28 suitably according to a user's seating attitude | position. Further, a connecting piece 30 is formed on the lower surface of the base portion 26 so as to protrude downward and to connect the telescopic link mechanism 38.

  Further, the left and right side portions of the seat portion 24 of the seating member 22 are pivotally supported at the lower ends of a pair of parallel front and rear parallel link rods 32, 32, and are armrested at the upper ends of the parallel link rods 32, 32. The member 34 is pivotally supported so that the armrest member 34 is positioned above the left and right side portions of the seat portion 24. That is, the parallel link mechanism 36 is comprised by the base part 26, the parallel link rods 32 and 32, and the armrest member 34, The armrest member 34 can be moved in parallel, maintaining the attitude | position with respect to the base part 26. FIG. . Here, the length dimension of each of the parallel link rods 32, 32 is such that when the armrest member 34 maintains a substantially parallel posture with respect to the seating member 22, the armrest member 34 is moved when the armrest member 34 is moved forward. The member 34 is set so as to be positioned in front of the seating member 22 (seat portion 24), and the armrest member can be used regardless of whether the user is seated on the seating member 22 or standing on the front side of the seating member 22. 34 can be supported (gripped).

  Further, the telescopic link mechanism 38 for connecting the base 12 and the seating member 22 is a link portion 40 that is pivotably mounted by intersecting two link arms LA1, LA2 / LA3, LA4 at their intermediate positions. , 42 in the vertical direction and the link arms LA1, LA2 / LA3, LA4 of the adjacent link portions 40, 42 are pivotally attached to each other so as to be rotatable relative to each other. Of the link portions 40, 42 constituting the telescopic link mechanism 38, the link portion 40 positioned at the lowermost level is connected to the base 12, and the link portion 42 positioned at the uppermost level is connected to the seating member 22. Yes.

  Specifically, the standing auxiliary chair 10 according to the embodiment includes a first link part 40 that is positioned at the lower stage and connected to the base 12, and the seating member that is positioned at the upper stage of the first link part 40. The second link portion 42 connected to the second link portion 42 is connected. The first link portion 40 includes a first link arm LA1 and a second link arm LA2 that are pivotally supported at an intermediate position therebetween via a shaft portion X1, and is located on the front side of the shaft portion X1. The end portion of the first link arm LA1 is pivotally supported via the shaft portion P1 with respect to the lower portion of the front leg of the base 12, and the end portion of the second link arm LA2 located behind the shaft portion X1. Is pivotally supported so as to be rotatable with respect to the shaft portion P2 supported so as to be movable along the guide portion 20.

  The second link portion 42 includes a third link arm LA3 and a fourth link arm LA4 that are pivotally supported via a shaft portion X2 so as to be rotatable at an intermediate position between the second link portion 42 and the rear side of the shaft portion X2. The end portion of the third link arm LA3 positioned is pivotally supported via the shaft portion P3 with respect to the end portion of the first link arm LA1 positioned on the rear side of the shaft portion X1, and the shaft portion The end portion of the fourth link arm LA4 located in front of X2 is pivotally supported via the shaft portion P4 with respect to the end portion of the second link arm LA2 located in front of the shaft portion X1. Further, the fifth link arm LA5 is pivotally supported at the end of the fourth link arm LA4 located on the rear side of the shaft portion X2 via the shaft portion P5. The end portion of the third link arm LA3 located on the front side of the shaft portion X2 is pivotally supported via the shaft portion P6 with respect to the connecting piece 30 provided on the seating member 22, and the fifth An end portion of the link arm LA5 is pivotally supported by a connecting piece 30 provided on the seating member 22 via a shaft portion P7. In addition, each axial part P1-P7, X1, X2 is provided so that it may extend in the left-right direction. The shaft portion P7 that pivotally supports the fifth link arm LA5 to the connecting piece 30 is positioned closer to the base portion 26 side of the seating member 22 than the shaft portion P6 that pivotally supports the third link arm LA3 to the connecting piece 30. It is configured as follows.

  The drive means 44 includes a casing 46, a rod 48 assembled to the casing 46 so as to be extendable and contractable, and a motor (not shown) that extends and contracts the rod 48 with respect to the casing 46. . The casing 46 is pivotally supported at the lower end of the rear leg 16 of the base 12 so as to be swingable in the vertical direction, and the protruding end of the rod 48 is swingable on the first link arm LA1. Each of the casing 46 and the rod 48 is held in a posture that faces obliquely upward on the front side. Accordingly, when the rod 48 is extended by driving the motor, the first link arm LA1 is pushed up and the shaft portion P2 moves forward along the guide portion 20, whereby the telescopic link mechanism 38 is extended. When the seating member 22 is raised and the rod 48 is contracted by driving the motor, the first link arm LA1 is pulled down, and the shaft portion P2 moves rearward along the guide portion 20, so that the telescopic link mechanism 38 contracts. Thus, the seating member 22 is lowered.

  That is, in the embodiment, in a state where the seating member 22 is in the seating position (a state where the telescopic link mechanism 38 is contracted), the shaft portion P2 that pivotally supports the second link arm LA2 is the rear end portion of the guide portion 20. As the telescopic link mechanism 38 extends, the shaft portion P2 moves while being displaced arcuately along the guide portion 20. As a result, as shown by the solid line in FIG. 4, the seating member 22 moves in a downwardly projecting path in the initial stage of movement when the telescopic link mechanism 38 moves from the seating position to the standing position. To do. FIG. 4 shows the trajectory of the position (reference numeral M in FIG. 1) where the user's waist comes into contact. Further, when the seating member 22 is in the seating position, the seat portion 24 is held horizontally or tilted backward, and when the seating member 22 is in the standing position, the seat portion 24 is held horizontal or tilted forward. Is done. FIG. 3 shows a state where the telescopic link mechanism 38 is extended to the maximum extent.

  In the embodiment, the standing assist chair 10 is provided with an operation unit (not shown) for driving the driving means 44 integrally or detachably, and the driving means 44 is operated by operating the operation unit. The expansion and contraction link mechanism 38 is expanded and stopped by being driven and stopped. In other words, the user can stop the seating member 22 at a height position (standing position) suitable for standing and sitting by operating the operation unit. From the viewpoint of workability of the operation unit, it is preferable to provide the operation unit with respect to the armrest member 34.

(Effects of Example)
Next, the operation of the standing auxiliary chair 10 according to the embodiment configured as described above will be described. In addition, it demonstrates on the basis of the state which the seating member 22 exists in a seating position.

  When a user sitting on the standing auxiliary chair 10 according to the embodiment operates the operation unit, the motor of the driving means 44 is driven and the rod 48 extends from the casing 46. Here, since the projecting end portion of the rod 48 is pivotally supported by the first link arm LA1 in the telescopic link mechanism 38, a force for extending the telescopic link mechanism 38 acts. At this time, since the second link arm LA2 of the telescopic link mechanism 38 is pivotally supported by the shaft portion P2 that can move along the guide portion 20 formed on the base 12, the expansion of the telescopic link mechanism 38 is extended. As a result, the trajectory along which the seating member 22 moves gradually changes. As a result, at the initial stage of movement in which the seating member 22 moves from the seating position to the standing position, the seating member 22 moves along a path whose amount of movement in the horizontal front direction is larger than the amount of upward movement. Then, as the extension of the telescopic link mechanism 38 progresses, the amount of movement upward becomes larger than the amount of movement toward the front side in the horizontal direction, and the seating member 22 moves along a path that protrudes downward.

  In this way, at the initial stage of movement when the seating member 22 moves from the seating position to the standing position, the seating member 22 is moved so as to draw a trajectory that protrudes downward, so that the movement trajectory of the seating member 22 is raised by the user. It can be approximated to the movement trajectory of the lumbar region based on the joint angle change of the limbs in movement, so it can assist the standing motion while preventing the user's foot from moving away from the floor, and it can move without causing anxiety during the standing motion Can assist. Further, when the user of the standing assistance chair 10 changes, the height position of the waist in the standing posture changes greatly, and therefore the seating member 22 is required to rise to a height corresponding to the standing posture of the user. In particular, when the standing assist chair 10 is used by a disabled person, an elderly person, or the like, the standing posture varies greatly depending on the user. On the other hand, in the configuration in which the seating member 22 is moved up and down using the four-bar linkage mechanism as described in Patent Documents 1 and 2, the height position at which the seating member 22 can be raised is limited, and each user The seating member 22 cannot be moved to a height position suitable for the standing posture. Here, in the standing assistance chair 10 according to the embodiment, when the seating member 22 is moved from the seating position to the standing position, the seating member 22 is always pushed upward by the extension of the telescopic link mechanism 38. The seating member 22 can be raised and the transition to the standing operation can be easily performed.

  On the other hand, when sitting from a standing posture, the amount of downward movement of the seating member 22 is larger than the amount of movement of the seating member 22 in the rearward direction in the horizontal direction. The seating member 22 can be lowered without inducing a person's foot lift or slipping. Therefore, the user can safely deposit his / her weight with respect to the seating member 22, and the user's seating operation can be assisted without giving anxiety.

  Further, the armrest member 34 can be translated with respect to the seating member 22 by the parallel link mechanism 36, and substantially the entire armrest member 34 is positioned in front of the seating member 22, that is, on both the left and right sides of the standing user. Since the armrest member 34 can be moved so that the armrest member 34 can be moved, the standing user can bend the armrest moderately and stabilize the armrest member 34 in a stable posture (position with a low center of gravity and a low risk of falling). It can be gripped and the user can stably support his / her posture. Therefore, the burden on the user at the time of standing is reduced, and a smooth transition to walking motion is realized. Similarly, since the armrest members 34 are positioned on both the left and right sides of the standing user, the user can be seated on the seating member 22 while grasping the armrest member 34, so that the user can sit down while stably supporting his / her posture. There is an advantage that the burden on the user's attention can be reduced.

[Example of change]
In addition, the standing assistance apparatus which concerns on an Example is not restricted to the structure mentioned above, A various change is possible. For example, in the embodiment, the expansion / contraction link mechanism that moves the seating member between the seating position and the standing position by expansion / contraction has a two-stage structure including a first link portion and a second link portion. The structure provided with a part may be sufficient. In other words, the telescopic link mechanism has two or more link parts that are pivotably attached to each other by crossing two link arms at their intermediate positions, and the link arms of adjacent link parts can rotate with each other. It can be set as the structure pivotally attached to. By providing three or more link portions, the height position at which the seating member can be raised can be increased, and it is possible to use standing and assisting seating operations suitable for users of various heights and postures.

  In the embodiment, the armrest member is configured to move in parallel while maintaining the posture with respect to the seating member by the parallel link mechanism. However, the present invention is not limited to this, and various mechanisms such as a gear mechanism and a crank mechanism can be adopted. Moreover, although the example which supports an armrest member to a seating member was shown in the Example, you may make it support with respect to a base, and it is also possible to abbreviate | omit an armrest member.

  In the embodiment, the second link arm is pivotally supported on the shaft portion movable along the guide portion. However, the second link arm is pivotally supported with respect to the base, and is attached to the guide portion. Even if the first link arm is pivotally supported with respect to the axially movable shaft portion, it is possible to obtain the same effect as the embodiment. In the embodiment, the guide portion is formed to bend downward, but may be curved upward. That is, by appropriately adjusting the inter-axis distance of each link arm and the curvature and length of the guide portion in the telescopic link mechanism, the seating member can be moved along a track indicated by a two-dot chain line in FIG. In the initial stage of movement in which the seating member moves from the seating position to the standing position as the link mechanism extends, the seating member can be moved in a downwardly projecting path.

  In the embodiment, the expansion / contraction type cylinder is used as the driving means. However, the present invention is not limited to this, and it is also possible to use a driving device having a configuration in which a belt or gear drive is combined with a rotary actuator such as a motor. That is, conventionally known means can be used as the drive means as long as it can rotate any link arm of the telescopic link mechanism. Further, in the embodiment, the telescopic link mechanism and the driving means are arranged at the left and right positions of the seating member. However, one telescopic link mechanism and the driving means may be arranged at the center position of the left and right width of the seating member. Good.

It is a side view which shows the standing assistance chair which concerns on the Example of this invention, Comprising: The state which has a seating member in a standing position is shown. It is a side view which shows the standing assistance chair which concerns on an Example, Comprising: The state which has a seating member in a seating position is shown. It is a side view which shows the standing assistance chair which concerns on an Example, Comprising: The expansion-contraction link mechanism shows the state extended | stretched to the maximum. It is a graph which shows the movement locus | trajectory of the seating member in the standing assistance chair which concerns on an Example. It is a graph which shows the movement locus | trajectory of the seating member in the conventional standing assistance chair.

Explanation of symbols

DESCRIPTION OF SYMBOLS 12 Base 20 Guide part 24 Sheet part 26 Base part 34 Armrest member 36 Parallel link mechanism (link mechanism)
38 telescopic link mechanism 40 first link part (link part)
42 1st link part (link part)
44 Drive means LA1 First link arm (link arm)
LA2 Second link arm (link arm)
LA3 Third link arm (link arm)
LA4 4th link arm (link arm)
LA5 5th link arm X1 shaft (intersection)
X2 axis (intersection)

Claims (4)

In the standing assistance device configured to move the seating member between the seating position and the standing position in front of and above the seating position,
The base,
A guide portion provided on the base, extending in the front-rear direction and curved upward or downward;
There are two or more link parts that are pivotally attached to each other at two intermediate positions, and the link arms of adjacent link parts are pivotally attached to each other. A telescopic link mechanism in which a link part located in the lowest stage is connected to the base, and a link part located in the uppermost stage is connected to the seating member;
A driving means provided on the base and connected to the telescopic link mechanism to extend and contract the telescopic link mechanism;
In the telescopic link mechanism, one link arm of the link portion located at the lowermost stage is pivotally attached to the base, while the other link arm is supported so as to be movable along the guide portion. An apparatus for assisting standing up, wherein the seating member is configured to move along a path that protrudes downward in an initial stage of movement in which the seating member moves from a seating position to a standing position as the mechanism extends.   The guide portion is curved so as to protrude downward, and the telescopic link mechanism is pivotally supported by the base at an end portion located on the front side from the intersection of the link arms in the link portion located at the lowest level. The standing assisting device according to claim 1, wherein an end portion located behind the intersection is supported so as to be movable along the guide portion. The telescopic link mechanism is
A first link arm pivotally supported by the base and extending rearward;
A second link supported so as to be movable along the guide portion and extending forward so as to intersect with the first link arm, and pivotally attached to each other at the intersecting position with the first link arm. Arm,
A third link arm pivotally supported by the rear end of the first link arm and extending forward;
A fourth link pivotally supported by the front end portion of the second link arm and extending rearward so as to intersect the third link arm, and pivotally attached to each other at the intersecting position with the third link arm. Arm,
The fifth link arm is pivotally supported by the front end portion of the fourth link arm and extends forward, and the front end portion is pivotally attached to the seating member.
The standing assistance apparatus according to claim 2, wherein the driving means is connected to any one of the first to fifth link arms.   The seating member is connected to the base part having a seat part to which the user is seated, the armrest member positioned above the side part of the seat part, the base part and the armrest member, to which the telescopic link mechanism is connected. The standing assisting device according to any one of claims 1 to 3, further comprising a link mechanism that translates the armrest member while maintaining the posture with respect to the base portion.

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