JP2013056041A - Standing assistance system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a standing assistance system capable of assisting standing up motion with appropriate force according to a posture of a person to be assisted.SOLUTION: The standing assistance system 1 includes an assisting chair 2 capable of pushing a seat surface 21 of a seating part 13 in which the person H to be assisted sits. The standing assistance system 1 includes a knee angle sensor 41 for detecting a knee angle θk and a chair controlling device 29 for controlling the operation of a chair driving device 28 for pushing up the seat surface 21 base on the knee angle θk detected by the knee angle sensor 41.

Description

  The present invention relates to a startup assistance system.

  2. Description of the Related Art Conventionally, an auxiliary chair capable of assisting a standing person's standing motion seated on a seating portion is known (see, for example, Patent Document 1). In such an auxiliary chair, the seat surface of the seating part is pushed up above the normal position, and when the person to be assisted stands up, a force (knee joint torque) for extending the knee joint is indirectly applied. Even if the person's legs are bad, it is possible to stand up easily.

JP 2001-178777 A

  By the way, although a large knee joint torque is required at the beginning of the rising motion, a very large knee joint torque is not required at the end of the rising motion. That is, the knee joint torque required for standing up is large in a state close to a seated posture and decreases as the posture approaches an upright posture. However, in the above-mentioned Patent Document 1, there is no mention of a change in knee joint torque necessary for the standing-up motion according to the posture of the person being assisted, and there is still room for improvement in this respect.

  The present invention has been made paying attention to such problems existing in the prior art, and its purpose is to be able to assist the rising motion with an appropriate force according to the posture of the person being assisted. It is to provide an auxiliary system.

  In order to achieve the above object, the present invention provides an auxiliary chair capable of pushing up a seating surface of a seating portion on which an assistant is seated above a normal position, and a knee joint of an assistant seated on the seating portion. A knee angle sensor that detects an angle, and a chair control device that controls the operation of the auxiliary chair based on a knee angle detected by the knee angle sensor.

  In the stand-up assist system, an auxiliary device that can be attached to the leg of the person being assisted and can assist the bending and stretching of the knee joint, and an orthosis control that controls the operation of the auxiliary device based on the knee angle detected by the knee angle sensor. And an apparatus.

It is preferable that the start-up assist system further includes a exerted joint torque detecting unit that detects a exerted joint torque that the assisted person exhibits to change the knee angle.
The rising assistance system preferably includes rising judgment means for judging whether or not the person being assisted is about to stand up.

  In the rising assist system, the rising determination means includes a seating load sensor that detects a seating load applied to the seating surface, an armrest load sensor that detects an armrest load applied to an armrest on which the arm of the person being assisted is placed, and Provided with at least one load sensor of a foot load sensor for detecting a foot load applied to a foot rest portion on which the assisting person's foot is placed, and the assisting person rises based on the increase or decrease of the load detected by the load sensor. It is preferable to determine whether or not it is going.

  In the start-up assistance system, the stand-up determination means includes a intention sensor that detects a biological signal related to the person's intention to start up, and whether or not the assistant is about to stand up based on the biological signal detected by the intention sensor. It is preferable to determine whether or not.

  The start-up assistance system preferably includes an exercise amount sensor that detects a biological signal related to the exercise amount of the person being assisted.

  ADVANTAGE OF THE INVENTION According to this invention, the stand-up assistance system which can assist stand-up operation with the appropriate force according to the assistance subject's attitude | position can be provided.

The schematic block diagram which shows the stand-up assistance system of 1st Embodiment of this invention. The block diagram which shows the electrical structure of the stand-up assistance system of 1st Embodiment. The graph which shows the relationship between a knee angle and the knee joint torque (required torque) required when standing up. The schematic diagram which shows the assistance operation | movement by the stand-up assistance system of 1st Embodiment. The schematic block diagram which shows the stand-up assistance system of 2nd Embodiment. The block diagram which shows the electric constitution of the stand-up assistance system of 2nd Embodiment. The schematic block diagram which shows the stand-up assistance system of another example.

(First embodiment)
A first embodiment of the present invention will be described below with reference to the drawings.
The purpose of the assisting system for rising 1 shown in FIG. As shown in FIG. 1, the standing assistance system 1 includes an auxiliary chair 2 on which an assistant H is seated and an auxiliary equipment 3 that is attached to the leg of the assistant H. And the stand-up assistance system 1 assists the to-be-supported person's H stand-up operation | movement by coordinating the auxiliary chair 2 and the auxiliary | assistant equipment 3. FIG.

  More specifically, the auxiliary chair 2 has a flat base 11 placed on the floor 5, a frame 12 provided on the base 11, and a substantially rectangular parallelepiped fixed to the upper part of the frame 12. And a seating portion 13.

  At the rear end (the right end in FIG. 1) of the seating portion 13, a backrest portion 14 is provided for allowing the person H to lean on the back, and at the front end (the left end in FIG. 1) of the seating portion 13, a frame base is provided. A covering portion 15 that covers the front of 12 is provided. A pair of armrests 16 for placing the arm of the person H to be supported are fixed on both sides of the frame base 12 in the left-right direction (the direction orthogonal to the paper surface in FIG. 1). The armrest portion 16 is provided with a momentum sensor 17 that detects a pulse rate N as a biological signal related to the momentum of the assistant H, and an operation panel 18. The operation panel 18 is provided with an operation unit 18a for starting or stopping assistance by the rising assistance system 1, and a display unit 18b capable of displaying characters, numbers, and the like. At the front end of the base 11, there is provided a plate-like footrest portion 19 that is placed on the floor surface 5 and on which the foot of the person being assisted H is placed.

  In the auxiliary chair 2 of the present embodiment, the frame base 12 is connected to the base 11 so as to be rotatable, and by rotating the frame base 12 with respect to the base 11, the seating portion 13 is moved from the steady position. It is configured to be pushed upward. In the present embodiment, the position where the seating surface 21 of the seating portion 13 shown in FIG.

  Specifically, a pair of movable frames 22 are provided on both sides in the left-right direction of the base 11 so as to be rotatable about the front end portion 11 a of the base 11, and a pair of support frames 23 extending upward are provided on the front and rear sides of the base 11. It is fixed at the approximate center in the direction. Each support frame 23 is rotatably connected to a bent portion 24a of a connecting frame 24 bent substantially at a right angle. One end of each connection frame 24 is connected to the rear end of the movable frame 22 so as to be rotatable and slidable.

  On the other hand, the frame base 12 includes an upper frame 25 that contacts the bottom surface of the seating portion 13, a front frame 26 that is fixed to the front end of the upper frame 25, and a rear frame 27 that is fixed to the rear end of the upper frame 25. doing. The frame base 12 is connected to the front frame 26 so as to be rotatable toward the front of the movable frame 22, and the rear frame 27 is rotatable and slidable with respect to the other end of the connection frame 24. It is connected. The upper frame 25 is formed so as to abut on the upper end of the support frame 23 in a state where the seating surface 21 is in a steady position.

  The auxiliary chair 2 includes a chair drive device 28 that uses a motor as a drive source, and a chair control device 29 that controls the operation of the chair drive device 28. The chair control device 29 is connected to the momentum sensor 17 and the operation panel 18. The chair drive device 28 is provided on the base 11 so as to rotate the connecting frame 24 around the bent portion 24a. The auxiliary chair 2 is configured to be pushed upward while the seating surface 21 is inclined so that the front side thereof is downward when the connecting frame 24 is rotated. That is, the auxiliary chair 2 indirectly applies a force (knee joint torque) for extending the knee joint when the assistant H is standing up by lifting the waist of the assistant H.

Next, the configuration of the auxiliary equipment 3 will be described.
The auxiliary brace 3 includes a knee brace 31 to be attached to the knee joint portion of the person being assisted H, and a foot brace 32 to be attached to the ankle part of the person being assisted H.

  The knee brace 31 includes a thigh support portion 33 formed in a rod shape, a band 34 that fixes the thigh support portion 33 to the thigh portion of the person being supported H, a crus support portion 35 formed in a rod shape, and a crus support portion. And a band 36 for fixing 35 to the lower leg portion of the assistant H. The thigh support part 33 and the crus support part 35 are connected via a connection part 37 so as to be rotatable.

  In the connecting portion 37, a knee brace drive device 39 capable of changing the angle formed by the thigh support portion 33 and the crus support portion 35 using a motor as a drive source, and a brace control device 40 for controlling the operation of the knee brace drive device 39. And is housed. In addition, a knee angle sensor 41 for detecting a knee angle (an angle formed between the thigh and the lower leg) θk based on an angle formed by the thigh support 33 and the lower leg support 35 is accommodated in the connecting portion 37. Has been. In the present embodiment, the knee angle sensor 41 is configured by a known encoder. Furthermore, a torque sensor 42 is housed in the connecting portion 37 as a demonstrative joint torque detecting means for detecting a demonstrative joint torque Th exhibited by the assistant H to change the knee angle θk. Then, the knee brace 31 changes the angle between the thigh support part 33 and the crus support part 35 by the operation of the knee brace drive device 39, thereby flexing and stretching the knee joint of the assistant H and changing the knee angle θk. It is the composition which makes it. That is, the knee brace 31 directly applies the knee joint torque.

  The foot orthosis 32 includes a crus support portion 44 formed in a rod shape, a band 45 that fixes the crus support portion 44 to the crus portion of the person being supported H, an instep support portion 46 formed in a rod shape, and an instep And a band 47 for fixing the support portion 46 to the instep portion of the person being supported H. The lower leg support portion 44 and the instep support portion 46 are connected to each other via a connecting portion 48 so as to be rotatable. In the connecting portion 48, a foot orthosis driving device 49 capable of changing the angle formed by the crus support portion 44 and the instep support portion 46 using a motor as a drive source is housed. The operation of the foot orthosis driving device 49 is controlled by the orthosis control device 40. Then, the foot orthosis 32 changes the angle between the crus support part 44 and the instep support part 46 by the operation of the foot orthosis drive device 49, so that the ankle angle (angle formed between the crus part and the instep part). The configuration is such that θf is changed.

Next, the electrical configuration of the rising assist system will be described.
As shown in FIG. 2, the chair control device 29 is a signal between the control unit 51 that outputs a control signal for controlling the operation of the chair drive device 28, and between the control unit 51, the momentum sensor 17, and the operation panel 18. The communication part 52 which transmits is provided. Note that power is supplied from the power source 53 to the momentum sensor 17, the operation panel 18, the chair drive device 28, and the chair control device 29. On the other hand, the orthosis control device 40 transmits signals between the control unit 55 that outputs control signals to the knee orthosis drive device 39 and the foot orthosis drive device 49, and the control unit 55, the knee angle sensor 41, and the torque sensor 42, respectively. Communication unit 56. Note that power is supplied from the power source 57 to the knee orthosis driving device 39, the foot orthosis driving device 49, the knee angle sensor 41, and the torque sensor 42.

  The communication unit 52 of the chair control device 29 and the communication unit 56 of the appliance control device 40 are connected to each other. Thus, the knee angle θk detected by the knee angle sensor 41 and the demonstrative joint torque Th detected by the torque sensor 42 are input to the control unit 51 of the chair control device 29 via the communication units 52 and 56. On the other hand, the pulse rate N detected by the momentum sensor 17 and the output signal of the operation panel 18 are input to the control unit 55 of the appliance control device 40 via the communication units 52 and 56. Then, the chair control device 29 and the orthosis control device 40 control the operations of the chair drive device 28 and the knee orthosis drive device 39 based on the knee angle θk and the demonstrative joint torque Th, respectively.

  Here, although a large knee joint torque is required at the beginning of the rising motion, a very large knee joint torque is not required at the end of the rising motion. That is, as shown in FIG. 3, the knee joint torque required for standing up (necessary torque T) increases as the knee angle θk increases from the seating angle θks (approximately 90 ° in the present embodiment) indicating the seated state. Decrease gradually. The necessary torque T becomes substantially zero at an upright angle θke (in the present embodiment, about 180 °) indicating that the knee angle θk is upright.

  In consideration of this point, the chair control device 29 and the brace control device 40 gradually increase the sum of the push-up force that pushes up the seat surface 21 in the auxiliary chair 2 and the auxiliary joint torque that extends the knee brace 31 as the knee angle θk increases. The operation of the auxiliary chair 2 (chair driving device 28) and the auxiliary orthosis 3 (knee orthosis driving device 39) is controlled so as to decrease. Then, the chair control device 29 and the orthosis control device 40 perform the training of the rising motion by controlling the sum of the push-up force and the auxiliary joint torque to be smaller than the necessary torque T corresponding to the knee angle θk. The required torque T is obtained in advance by experiments or the like.

  Specifically, the chair control device 29 assists the rising operation until the knee angle θk reaches a preset predetermined knee angle θkl, and the orthosis control device 40 performs the rising operation until the knee angle θk reaches the upright angle θke. Assist. That is, the assisting chair 2 and the assisting device 3 assist the seating angle θks to the predetermined knee angle θk, and the assisting device 3 assists the assisting device from the predetermined knee angle θk to the upright angle θke. The chair control device 29 and the orthosis control device 40 drive the chair drive device 28 and the knee orthosis so that only a part of the necessary torque T is assisted according to the demonstrative joint torque Th detected by the torque sensor 42. The operation of the device 39 is controlled.

  Further, the chair control device 29 causes the display unit 18 b of the operation panel 18 to display the ratio of the required joint torque Th detected by the torque sensor 42 to the necessary torque T and the pulse rate N detected by the momentum sensor 17. The orthosis control device 40 controls the operation of the foot orthosis driving device 49 so that the ankle angle θf is maintained within a predetermined angle range. This prevents the person being assisted H from falling over.

  In the start-up assist system 1 configured as described above, the assisting person H operates the operation unit 18a of the operation panel 18 to start assisting the start-up operation. As a result, as shown in FIG. 4, the seat surface 21 is pushed upward, and the knee brace 31 is extended to assist the standing-up operation of the person being assisted H, and the training is performed.

As described above, according to the present embodiment, the following operational effects can be achieved.
(1) The standing assistance system 1 includes the auxiliary chair 2 that can push up the seating surface 21 of the seating portion 13 on which the person H is seated above the normal position. The standing assistance system 1 includes a knee angle sensor 41 that detects the knee angle θk, and a chair control device 29 that controls the operation of the chair drive device 28 that pushes up the seat 21 based on the detected knee angle θk. Prepared.

  According to the above configuration, the chair control device 29 controls the operation of the chair drive device 28 on the basis of the knee angle θk detected by the knee angle sensor 41, so that the chair control device 29 appropriately pushes up according to the posture of the person being assisted H. It becomes possible to assist the rising motion with force.

  (2) The stand-up assist system 1 controls the operation of the knee brace drive device 39 based on the assist brace 3 that is attached to the leg of the person being assisted H and can assist the flexion and extension of the knee joint, and the detected knee angle θk. And an orthosis control device 40.

  According to the above configuration, the orthosis control device 40 controls the operation of the knee orthosis driving device 39 based on the knee angle θk detected by the knee angle sensor 41, so that the appropriateness according to the posture of the person being assisted H is appropriate. The rising motion can be assisted by the auxiliary joint torque.

  Here, particularly in the latter half of the rising motion, the position of the seating surface 21 that is optimal for assisting varies for each person to be assisted H due to individual differences such as the physique. It is difficult to fully assist to the end. In this regard, according to the above-described configuration, the assisting device 3 assists the stand-up operation of the assistant H by directly bending and extending the knee joint of the assistant H, and therefore sufficiently assists the end of the stand-up operation. Can do. In addition, since the auxiliary equipment 3 assists the rising operation in cooperation with the auxiliary chair 2, it is possible to suppress an increase in the size of the auxiliary equipment 3 as compared with the case where the auxiliary equipment 3 is supported only by the auxiliary equipment 3.

  (3) The chair control device 29 and the orthosis control device 40 are configured so that the sum of the push-up force and the auxiliary joint torque is smaller than the required torque T corresponding to the knee angle θk. Control the operation of Therefore, it is possible to assist with an appropriate force according to the posture of the person being assisted H, and it is possible to effectively train the standing up motion.

  (4) A torque sensor 42 that measures the demonstrative joint torque Th exhibited by the person H to change the knee angle θk is provided. The chair control device 29 and the orthosis control device 40 control operations of the chair drive device 28 and the knee orthosis drive device 39 so that only a part of the necessary torque T is assisted according to the demonstrative joint torque Th. , Standing up training can be performed more effectively.

  (5) The chair control device 29 displays the ratio of the demonstrative joint torque Th to the required torque T on the display unit 18b of the operation panel 18, so that the assistant H can quantitatively determine the training amount. Become.

  (6) The auxiliary chair 2 is provided with a momentum sensor 17 for measuring the pulse rate N. And since the chair control apparatus 29 displays the pulse rate N on the display part 18b of the operation panel 18, in response to the health condition of the assistance person H, training of standing-up action is performed, or it joins the assistance person H by training. The load can be determined quantitatively.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings. For convenience of explanation, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The purpose of the assistance system 1 for standing up shown in FIG. 5 is to eliminate the burden caused by the standing action of the person H. As shown in the figure, a seating surface load sensor 61 for detecting a seating surface load W <b> 1 applied to the seating surface 21 is provided in the seating portion 13. In addition, the armrest portion 16 is provided with an armrest load sensor 62 that detects an armrest load W <b> 2 applied to the armrest portion 16. Further, the footrest portion 19 is provided with a footrest load sensor 63 that detects a footrest load W3 applied to the footrest portion 19. In the present embodiment, a known load cell is employed for each of the load sensors 61 to 63.

  As shown in FIG. 6, the load sensors 61 to 63 are connected to the chair control device 29. The knee angle θk detected by the knee angle sensor 41 is input to the control unit 51 of the chair control device 29 via the communication units 52 and 56. On the other hand, the loads W1 to W3 are input to the control unit 55 of the appliance control device 40 via the communication units 52 and 56.

  The chair control device 29 and the orthosis control device 40 are configured so that the sum of the push-up force of the auxiliary chair 2 and the auxiliary joint torque of the auxiliary orthosis 3 gradually decreases as the knee angle θk increases. The operation of the appliance driving device 39 is controlled. The chair control device 29 and the orthosis control device 40 control the sum of the push-up force and the auxiliary joint torque to be larger than the necessary torque T corresponding to the knee angle θk, thereby eliminating the burden due to the rising motion. I am doing so. Note that the chair control device 29 of the present embodiment controls the push-up force so that the seating load W1 detected by the seating load sensor 61 becomes a predetermined load set in advance.

  Further, the chair control device 29 determines whether or not the assistant H is about to stand up based on the increase or decrease of the loads W1 to W3 detected by the load sensors 61 to 63, and the chair is based on the determination result. The driving device 28 is driven to start assisting the rising operation. Specifically, in the chair control device 29, when the seating surface load W1 decreases by a predetermined value or more and the armrest load W2 and the footrest load W3 increase by a predetermined value or more, the assistant H is about to stand up. Is determined. Similarly, the orthosis control device 40 drives the knee orthosis driving device 39 and the foot orthosis driving device 49 based on the increase / decrease of the loads W1 to W3 detected by the load sensors 61 to 63, and assists the rising operation. Start. In other words, in the present embodiment, each of the load sensors 61 to 63, the chair control device 29, and the appliance control device 40 constitute a rising determination unit.

  In the stand-up assist system 1 configured as described above, the chair drive device 28 and the knee brace drive device are automatically operated when the center of gravity of the supportee H moves when the supportee H tries to stand up from the seated portion 13. 39 and the foot orthosis driving device 49 are driven. And like the said 1st Embodiment, while the seat surface 21 is pushed up upwards and the knee brace 31 expand | extends, the standing-up operation | movement of the to-be-supported person H is assisted (refer FIG. 4).

As described above, according to the present embodiment, in addition to the effects (1) and (2) of the first embodiment, the following effects can be achieved.
(7) The chair control device 29 and the orthosis control device 40 are configured so that the sum of the push-up force and the auxiliary joint torque is larger than the necessary torque T corresponding to the knee angle θk. 39 is controlled. Therefore, it is possible to assist with an appropriate force according to the posture of the person being assisted H, and to quickly start up without destroying the posture of the person being assisted.

  (8) The chair control device 29 and the appliance control device 40 determine whether or not the person H is going to stand up based on the increase or decrease of the loads W1 to W3 detected by the load sensors 61 to 63. When the chair control device 29 and the appliance control device 40 determine that the person being supported H is about to stand up, the chair control device 29 and the brace control device 40 start assisting the stand-up operation.

  According to the said structure, the assistance by the auxiliary chair 2 and the auxiliary equipment 3 can be started automatically. In particular, in this embodiment, since the determination is performed based on the increase / decrease of the loads W1 to W3 detected by the plurality of load sensors 61 to 63, the rising operation can be automatically and accurately assisted.

  (9) The chair control device 29 controls the push-up force so that the seating surface load W1 detected by the seating surface load sensor 61 becomes a predetermined load set in advance. Can assist.

In addition, each said embodiment can also be implemented in the following aspects which changed this suitably.
In the first embodiment, the torque joint 42 detects the exerted joint torque Th exhibited by the assistant H. However, the present invention is not limited to this. For example, a seating surface load sensor, an armrest load sensor, or the like is provided. The joint torque Th may be estimated. Further, the demonstrative joint torque Th may be estimated based on the required torque T corresponding to the knee angle and the load of the motor provided in the knee brace driving device 39. Further, the joint torque Th may be estimated based on a plurality of estimated values estimated based on the load sensors 61 to 63 and the motor load.

  In the first embodiment, the ratio of the required joint torque Th to the required torque T is displayed on the display unit 18b of the operation panel 18. However, the present invention is not limited to this. For example, the numerical value of the exhibited joint torque Th may be displayed. Good.

  In the first embodiment, the health state of the assistant H is managed by displaying the pulse rate N measured by the momentum sensor 17 on the display unit 18b of the operation panel 18. However, the present invention is not limited to this. For example, the chair control device 29 and the brace control device 40 determine whether or not training can be performed according to the pulse rate N, and the magnitudes of the push-up force and the auxiliary joint torque (the person being assisted by the rising motion). The load applied to H) may be adjusted. Moreover, although the pulse rate N was measured with the momentum sensor 17, it is not restricted to this, You may measure an electrocardiogram, a blood pressure value, or a respiration rate.

  In the second embodiment, the chair control device 29 and the brace control device 40 determine whether or not the person to be assisted H is standing up based on the increase or decrease of the loads W1 to W3 detected by the load sensors 61 to 63. Judgment was made. However, the determination is not limited to this, and the determination may be made based on at least one increase / decrease in each of the loads W1 to W3. For example, the determination may be made based only on the increase / decrease in the seating load W1. For example, as shown in FIG. 7, the knee brace 31 is provided with a intention sensor 71 that measures myoelectricity (muscle action potential) as a biological signal related to the rising intention of the assistant H, and the muscle detected by the intention sensor 71 is provided. You may determine whether it is going to stand up based on electricity. The intention sensor 71 may measure an electroencephalogram, a cerebral blood flow, or the like as a biological signal related to the rising intention to be measured. Similarly, in the first embodiment, assistance may be automatically started.

-In 2nd Embodiment, as the said 1st Embodiment, the assistance person H may start assistance by operating the operation part of an operation panel.
-In the said 2nd Embodiment, although each load sensor 61-63 was provided one by one in the auxiliary chair 2, you may provide not only this but multiple each of the load sensors 61-63. Thereby, it is possible to accurately determine whether or not the assistant H is about to stand up.

  In each of the above embodiments, the weight of the person being assisted H is measured by each of the load sensors 61 to 63, the physique is estimated based on the weight, and the seat when assisting the rising motion according to the estimated physique The height and angle of the surface 21 may be changed.

  In each of the above-described embodiments, a switch for switching the push-up force generated in the auxiliary chair 2 and the magnitude of the auxiliary joint torque generated in the auxiliary brace 3 is provided to reduce the load caused by the mode intended for training and the stand-up operation. The target mode may be switched. Moreover, in the said 1st Embodiment, you may enable it to change the load of training of standing-up operation | movement with the said switch.

  In each of the above embodiments, the chair control device 29 that controls the operation of the chair drive device 28 and the orthosis control device 40 that controls the operation of the knee orthosis drive device 39 and the foot orthosis drive device 49 are provided. However, the present invention is not limited to this, and the operation of the chair drive device 28, the knee brace drive device 39, and the foot brace drive device 49 may be controlled by one control device.

In each of the above embodiments, the armrest portion 16 and the footrest portion 19 are provided on the auxiliary chair 2, but the present invention is not limited thereto, and the armrest portion 16 and the footrest portion 19 may not be provided on the auxiliary chair 2.
In each of the above embodiments, the auxiliary device 3 includes the knee device 31 and the foot device 32. However, the present invention is not limited thereto, and the auxiliary device 3 may include only the knee device 31.

  In each of the above-described embodiments, the knee brace 31 is provided with the knee brace drive device 39 so that the auxiliary joint torque can be applied. However, the present invention is not limited thereto, and the knee brace drive device 39 is not provided, and only the knee angle sensor 41 is provided. It is good also as a structure to have. In this case, only the auxiliary chair 2 assists the standing-up operation of the person being supported H.

  DESCRIPTION OF SYMBOLS 1 ... Standing assistance system, 2 ... Auxiliary chair, 3 ... Auxiliary orthosis, 13 ... Seating part, 16 ... Armrest part, 17 ... Momentum sensor, 18 ... Operation panel, 18a ... Operation part, 18b ... Display part, 19 ... Footrest , 21 ... Seat surface, 28 ... Chair drive device, 29 ... Chair control device, 31 ... Knee orthosis, 32 ... Foot orthosis, 39 ... Knee orthosis drive device, 40 ... Orthosis control device, 41 ... Knee angle sensor, 49 ... Foot orthosis driving device, 61 ... seat load sensor, 62 ... armrest load sensor, 63 ... footrest load sensor, 71 ... intention sensor, H ... assistant, Th ... exertion joint torque, W1 ... seat load, W2 ... Armrest load, W3: Footrest load, θk: Knee angle.

Claims (7)

An auxiliary chair capable of pushing up the seating surface of the seating portion on which the assistant is seated above the normal position;
A knee angle sensor for detecting the angle of the knee joint of the assistant seated on the seat;
And a chair control device that controls the operation of the auxiliary chair based on a knee angle detected by the knee angle sensor. The start-up assistance system according to claim 1,
An auxiliary device that is attached to the leg of the person being assisted and can assist in bending and stretching the knee joint;
And a brace control device that controls the operation of the auxiliary brace based on the knee angle detected by the knee angle sensor. The start-up assistance system according to claim 1 or 2,
A stand-up assist system comprising a exerted joint torque detecting means for detecting a exerted joint torque exhibited by a person being assisted to change the knee angle. In the stand-up assistance system as described in any one of Claims 1-3,
A rising assistance system comprising rising judgment means for judging whether or not an assistant is going to stand up. The start-up assistance system according to claim 4,
The rising determination means includes a seating load sensor that detects a seating surface load applied to the seating surface, an armrest load sensor that detects an armrest load applied to an armrest portion on which the arm of the assistant is placed, and a leg of the assistant It is provided with at least one load sensor of a foot load sensor for detecting a foot load applied to the foot rest to be placed, and whether or not the assistant is going to stand up based on the increase or decrease of the load detected by the load sensor. A stand-up assist system characterized by judging. The start-up assistance system according to claim 4 or 5,
The rising determination means includes a intention sensor that detects a biological signal related to the rising intention of the assistant, and determines whether or not the assistant is going to stand up based on the biological signal detected by the intention sensor. A featured start-up assist system. In the rising assistance system as described in any one of Claims 1-6,
A stand-up assistance system comprising a momentum sensor for detecting a biological signal related to a momentum of a person being assisted.

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