JP2013158386A - Robot for supporting standing-up movement - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot for supporting a standing-up action, capable of observing a starting point or an end point of an orbit.SOLUTION: A robot 1 for supporting a standing-up movement has a supporting part 23 for supporting a body of a person A to be nursed, and includes: a robot body 2 for supporting the standing movement of the person A to be nursed; and a controller 3 for controlling the movement of the supporting part 23 in accordance with the amount of operation of an operator. The orbit O of the supporting part 23 when the standing-up movement of the person A to be nursed is supported, is constant. Even when the amount of operation passing over the starting point a1 or the end point a5 of the orbit O is input to the controller 3 by the operator, the supporting part 23 does not pass over the starting point a1 or the end point a5.

Description

  The present invention relates to a standing motion support robot that supports motion when a cared person stands.

  Patent Document 1 discloses a teaching method for teaching the trajectory of the tip of an industrial robot. A manipulator used for operations such as welding, grinding, polishing, assembly processing, and movement of an article is attached to the tip of the robot. A manual pulse generator and a selection switch are used to teach the trajectory of the tip. A manual pulse generator is used to move the tip of the robot. The selection changeover switch is used to select the traveling direction of the tip (the x-axis direction and the z-axis direction orthogonal to each other). At the time of teaching, the operator first determines the traveling direction of the tip by using the selection switch. Next, the manual pulse generator is operated to move the tip. Since a manual pulse generator is used, the operator does not need to grasp and move the robot by hand. For this reason, teaching work is easy.

JP 2003-220588 A

  However, Patent Document 1 does not disclose compliance with the start point or end point of the trajectory. That is, the teaching method of Patent Document 1 is used to determine the trajectory of the tip part itself (that is, the start point and the end point). For this reason, it is not disclosed about complying with the start point or end point of a track.

  Patent Document 1 discloses a mode in which a selection changeover switch is selected and the tip is moved in order to quickly reach the tip of the robot to a predetermined position. Here, the operation of the tip is a two-joint combining operation. However, the tip is set to move along a predetermined straight line (X axis, Y axis).

  The standing motion support robot of the present invention has been completed in view of the above problems. It is an object of the present invention to provide a standing motion support robot that can observe the start point or end point of a trajectory along a trajectory set according to each care recipient.

  (1) In order to solve the above-described problem, the standing motion support robot of the present invention has a support portion that supports the body of the care recipient, the robot body that supports the standing motion of the care receiver, And a controller that controls the operation of the support unit according to an operation amount, wherein the support unit has a constant trajectory when supporting the cared person's standing operation, and the operation Even if a person inputs the operation amount exceeding the start point or end point of the trajectory to the controller, the support portion does not move beyond the start point or end point.

  Unlike the industrial robot described in Patent Document 1, in the case of a standing motion support robot, from the viewpoint of ensuring the safety of the cared person, the starting point of the trajectory (for example, corresponding to the sitting position of the cared person) or the end point (for example, It is important to comply with the caregiver's upright posture).

  In this regard, according to the standing motion support robot of the present invention, the trajectory of the support portion is constant. Further, even if the operator inputs an operation amount that exceeds the start point or end point of the trajectory to the controller, the support unit does not move beyond the start point or end point. For this reason, the start point or end point of the trajectory can be observed.

  (2) Preferably, in the configuration of (1) above, the robot body is configured to have a base disposed on the floor, a first arm movable with respect to the base, and movable with respect to the first arm. It is better to have a structure having a second arm and the support portion swingable with respect to the second arm.

  According to this configuration, the first arm is movable with respect to the base, and the second arm is movable with respect to the first arm. Further, the support portion can swing with respect to the second arm. For this reason, the freedom degree of the setting of the track | orbit of a support part becomes high.

  (2-1) Preferably, in the configuration of the above (2), the first arm is swingable in the vertical direction with respect to the base, and the second arm is in the vertical direction with respect to the first arm. It is preferable that the support portion is swingable and the support portion is swingable in the vertical direction with respect to the second arm.

  Here, the “longitudinal direction” is a direction (a direction perpendicular to the floor surface) in which the care receiver performs a standing motion. The robot body of this configuration includes three swing axes. For this reason, the freedom degree of the setting of the track | orbit of a support part becomes high.

  (3) Preferably, in the configuration of the above (1) or (2), the controller may be configured to change at least one of the moving speed and the moving direction of the support portion in the track. Good.

  According to this configuration, at least one of the moving speed and the moving direction of the support portion can be manually changed. For example, the moving speed of the support portion can be increased or decreased. Further, the moving direction of the support portion can be switched from the start point to the end point, or from the end point to the start point.

  (4) Preferably, in the configuration of (3), the controller is a manual pulse generator that has a dial that can be rotated by the operator and generates a pulse in accordance with a rotation angle of the dial. Is better. According to this configuration, the moving speed of the support portion can be changed by the rotation speed of the dial. Moreover, the moving direction of a support part can be changed with the rotation direction of a dial.

  (5) Preferably, in the configuration of the above (4), the movement distance of the support portion per rotation of the dial is not constant over the entire length of the track. According to this structure, even if the rotational speed of a dial is constant, the moving speed of a support part can be changed.

  For this reason, for example, a low-speed section where the moving speed is slow even if the dial rotation speed is constant and a high-speed section where the moving speed is fast even if the dial rotation speed is constant can be set in the trajectory. it can. Further, the acceleration in the low speed section and the high speed section can be increased or decreased.

  ADVANTAGE OF THE INVENTION According to this invention, the standing-up movement assistance robot which can observe the start point or end point of a track | orbit can be provided.

It is a perspective view of the robot main body of the standing motion support robot which is one embodiment of the standing motion support robot of the present invention. It is a front view of the manual pulse generator of the standing motion support robot. It is a block diagram of the standing motion support robot. (A) is a schematic diagram of a cared person and a robot body in a sitting state. (B) is a schematic diagram of the cared person and the robot body in the first standing state. (C) is a schematic diagram of the cared person and the robot body in the standing second state. (D) is a schematic diagram of the cared person and the robot body in the standing third state. (E) is a schematic diagram of a cared person and a robot body in an upright state. (F) is a trajectory of the support part of the robot body in (a) to (e). It is a schematic diagram which shows the relationship between the time in the track | orbit of a support part, and moving speed.

  Hereinafter, embodiments of the standing motion support robot of the present invention will be described.

<Configuration of standing-up support robot>
First, the configuration of the standing motion support robot of this embodiment will be described. FIG. 1 is a perspective view of the robot body of the standing motion support robot of the present embodiment. FIG. 2 shows a front view of the manual pulse generator of the standing motion support robot. FIG. 3 shows a block diagram of the standing-up motion support robot. As shown in FIGS. 1 to 3, the standing motion support robot 1 includes a robot body 2, a manual pulse generator 3, and a control box 4.

[Robot body 2]
As shown in FIGS. 1 and 3, the robot body 2 includes a base 20, a pair of left and right first arms 21, a second arm 22, a support portion 23, and three servo systems 24. .

  The base 20 includes a base body 200, four stoppers 201, four wheels 202, four proximity sensors 203, a pair of left and right swing shafts 204, and a pair of left and right bearing blocks 205.

  The base body 200 has a C-shaped frame shape that opens forward. The care receiver can insert his / her foot into the frame of the base body 200 through the opening. The four wheels 202 are disposed at the four corners of the base body 200. When the four wheels 202 rotate on the floor surface, the robot body 2 can move. The four stoppers 201 are disposed at the four corners of the base body 200. The four stoppers 201 are movable in the vertical direction. The robot body 2 is fixed by the four stoppers 201 coming into contact with the floor surface. When supporting the care receiver's standing operation, the four stoppers 201 are in contact with the floor surface. The four proximity sensors 203 are arranged at four corners of the base body 200. The four proximity sensors 203 monitor obstacles around the robot body 2 when supporting the cared person's standing motion.

  The pair of left and right bearing blocks 205 are disposed near the center of both left and right edges of the base body 200. The pair of left and right oscillating shafts 204 are respectively supported by the bearing block 205 so as to be rotatable in the vertical direction (the direction of rotating from front → up → back → down or vice versa). Each of the pair of left and right swing shafts 204 extends in the left-right direction (horizontal direction).

  Each of the pair of left and right first arms 21 includes an arm main body 210, a swing shaft 211, and a bearing block 212. The lower ends of the pair of left and right arm bodies 210 are each attached to the swing shaft 204. The pair of left and right bearing blocks 212 are each attached to the upper end of the arm body 210. The swing shaft 211 is supported by a pair of left and right bearing blocks 212 so as to be rotatable in the vertical direction. The swing shaft 211 extends in the left-right direction.

  The second arm 22 includes an arm main body 220 and a swing shaft 221. The rear end of the arm body 220 is attached to the swing shaft 211. The swing shaft 221 is attached to the front end of the arm body 220. The swing shaft 221 extends in the left-right direction.

  The support portion 23 includes a support portion main body 230, a pair of brackets 231, and a pair of handles 232. The support body 230 has a C-shaped plate opening forward. A cushion material (not shown) is disposed on the front surface of the support body 230. When supporting the cared person's standing operation, the support body 230 supports the breast of the cared person. The pair of brackets 231 is disposed on the rear surface of the support body 230. The pair of brackets 231 supports the front and rear ends of the swing shaft 221 so as to be rotatable in the vertical direction. Each of the pair of handles 232 protrudes upward from the bracket 231. When supporting the cared person's standing operation, the pair of handles 232 are gripped by the cared person.

  The three servo systems 24 can rotate the swing shafts 204, 211, and 221. As shown in FIG. 3, the three servo systems 24 each include a servo motor 240, a servo amplifier 241, and an encoder 242. The three servo motors 240 are rigidly attached to the swing shafts 204, 211, and 221. Alternatively, the three servo motors 240 are attached to an arm (not shown) on the base 20 side. The arm is connected to the swing shafts 204, 211, and 221 via gears attached to the swing shafts 204, 211, and 221 to be driven by the servo motor 240. Can be advantageous.

[Manual pulse generator 3]
As shown in FIG. 2, the manual pulse generator 3 includes a dial 30, an emergency stop button 31, a generator body 32, a changeover switch 33, and an automatic mode execution switch 34. The dial 30 is disposed on the generator body 32. Depending on the rotation angle of the dial 30, the manual pulse generator 3 generates a pulse. The emergency stop button 31 is disposed on the generator body 32. The emergency stop button 31 is used when the power supply to the three servo motors 240 is forcibly cut off. When the emergency stop button 31 is pressed, the brakes of the servo motors 240 are activated. For this reason, the robot body 2 stops while maintaining the state when the emergency stop button 31 is pressed. The changeover switch 33 is disposed in the generator main body 32. The operation mode of the robot body 2 can be switched between the automatic mode and the manual mode by the changeover switch 33. The automatic mode execution switch 34 is disposed on the generator main body 32. When the automatic mode execution switch 34 is pressed in the automatic mode, the first arm 21, the second arm 22, and the support portion 23 can be moved. That is, the position of the support part 23 can be changed.

[Control box 4]
As shown in FIG. 3, the control box 4 includes an input device 40, a computer 41, an input / output interface 42, and a motion controller 43. The input / output interface 42 is electrically connected to the input device 40, the computer 41, the manual pulse generator 3, the motion controller 43, and the four proximity sensors 203.

  The computer 41 includes a CPU (Central Processing Unit) 410 and a memory 411. The CPU 410 can calculate the trajectory, the moving speed, the required time, the start point, and the end point (hereinafter, these data are collectively referred to as “trajectory data”) of the support portion 23. The memory 411 stores trajectory data of the support portion 23 calculated from the movement data of the first arm 21, the second arm 22, and the support portion 23. The input device 40 is a touch panel. The operator can input the physical characteristics (height, sitting height, etc.) of the cared person into the computer 41 via the input device 40. The CPU 410 can correct the trajectory data according to the inputted physical characteristics of the care recipient.

  The motion controller 43 is electrically connected to the three servo systems 24. The motion controller 43 controls the three servo systems 24 in real time so as to comply with the trajectory data stored in the memory 411.

  The situation around the robot body 2 is transmitted from the four proximity sensors 203 to the computer 41. When the proximity sensor 203 finds an obstacle that is likely to interfere with the operation of the robot body 2 when assisting the standing-up operation of the cared person, the computer 41 can make the robot body 2 stop emergency.

<Motion of standing-up support robot>
Next, the movement of the standing motion support robot of this embodiment will be described. FIG. 4A shows a schematic diagram of a cared person and a robot body in a sitting state. FIG. 4B is a schematic diagram of the cared person in the first standing state and the robot body. FIG. 4C shows a schematic diagram of the cared person and the robot body in the second standing state. FIG. 4D shows a schematic diagram of the cared person in the third standing state and the robot body. FIG. 4E shows a schematic diagram of the cared person and the robot body in an upright state. FIG. 4 (f) shows the trajectory of the support portion of the robot body in FIGS. 4 (a) to 4 (e).

[auto mode]
In the automatic mode, the robot body 2 automatically assists the care receiver A in the standing motion. First, the operator (not shown) rotates the four wheels 202 shown in FIG. 1 and arranges the robot body 2 near the care receiver A. Next, after the positioning of the robot body 2 is completed, the robot body 2 is fixed to the floor using the four stoppers 201 and a lock mechanism (not shown). Subsequently, the operator switches the operation mode of the robot body 2 to the automatic mode by the changeover switch 33 shown in FIG. Then, the operator keeps pressing the automatic mode execution switch 34.

  While the operator presses the automatic mode execution switch 34, the support portion 23 automatically moves. Specifically, the motion controller 43 drives the three servo systems 24 in accordance with preset trajectory data. That is, the trajectory from the start point a1 to the end point a5 as shown in FIG. 4 (f) so as to observe the coordinates a1 to a5 of the support portion 23 shown in FIGS. 4 (a) to 4 (e). In order to comply with O, the three servo motors 240 are driven to rotate the swing shafts 204, 211, and 221. As shown in FIG. 3, the rotation angles of the three servo motors 240 are input from the three encoders 242 to the motion controller 43. In this way, in the automatic mode, the robot body 2 automatically supports the care receiver A's standing operation.

[Manual mode]
In the manual mode, the operator supports the care receiver A's standing operation by moving the support portion 23 of the robot body 2 using the manual pulse generator 3 shown in FIG. When the manual mode is used, the moving speed and moving direction of the support portion 23 can be changed according to the state of the care recipient A.

  First, the operator switches the operation mode of the robot body 2 to the manual mode by the changeover switch 33 shown in FIG. Subsequently, the dial 30 is rotated. When the dial 30 is rotated, a pulse is generated according to the rotation angle. The motion controller 43 drives the three servo systems 24 according to the generated pulse. That is, the trajectory from the start point a1 to the end point a5 as shown in FIG. 4 (f) so as to observe the coordinates a1 to a5 of the support portion 23 shown in FIGS. 4 (a) to 4 (e). In order to comply with O, the three servo motors 240 are driven to rotate the swing shafts 204, 211, and 221.

  Here, if the rotation speed of the dial 30 is decreased, the number of pulses generated per unit time is reduced. For this reason, the support part 23 can be slowly moved while observing the track O. On the contrary, when the rotation speed of the dial 30 is increased, the number of pulses generated per unit time increases. For this reason, it is possible to move the support portion 23 quickly while observing the track O. Thus, when the manual mode is used, the moving speed of the support portion 23 can be changed according to the state of the care recipient A.

  Further, when the rotation direction of the dial 30 is clockwise, the support portion 23 can be moved in the direction from the start point a1 to the end point a5. On the other hand, when the dial 30 is rotated counterclockwise, the support portion 23 can be moved in the direction from the end point a5 toward the start point a1. Thus, when the manual mode is used, the moving direction of the support portion 23 can be changed according to the state of the care receiver A.

  FIG. 5 schematically shows the relationship between the time and the moving speed in the trajectory of the support portion. In the figure, the area of the hatched portion corresponds to the moving distance of the support portion 23 at time T corresponding to one rotation of the dial 30.

  According to the manual pulse generator 3 shown in FIG. 2, the moving distance of the support portion 23 corresponding to the unit pulse can be changed. For this reason, as shown in FIG. 5, even if the rotation speed of the dial 30 is constant (even when the time T corresponding to one rotation of the dial 30 is constant), Accordingly, the moving speed of the support portion 23 can be changed.

  Specifically, the trajectory O includes an acceleration section α, a constant speed section β, and a deceleration section γ. The acceleration section α is set at the initial stage of the trajectory O (the section from the start point a1 to the coordinate a2 shown in FIG. 4F). In the acceleration section α, the moving distance of the support portion 23 corresponding to the unit pulse is gradually increased. For this reason, when the operator rotates the dial 30 clockwise, the support portion 23 is gradually accelerated in the direction from the start point a1 to the end point a5 even though the rotation speed is constant. On the other hand, when the operator rotates the dial 30 counterclockwise, the support portion 23 gradually decelerates in the direction from the end point a5 toward the start point a1 even though the rotation speed is constant.

  The deceleration zone γ is set at the end of the orbit O (the zone from the coordinate a4 to the end point a5 shown in FIG. 4F). In the deceleration zone γ, the moving distance of the support portion 23 corresponding to the unit pulse is gradually shortened. For this reason, when the operator rotates the dial 30 clockwise, the support portion 23 gradually decelerates in the direction from the start point a1 to the end point a5 even though the rotation speed is constant. On the other hand, when the operator rotates the dial 30 counterclockwise, the support portion 23 gradually accelerates in the direction from the end point a5 to the start point a1 even though the rotation speed is constant.

  The constant speed section β is set between the acceleration section α and the deceleration section γ (the section from the coordinates a2 to the coordinates a4 shown in FIG. 4 (f)). In the constant speed section β, the moving distance of the support portion 23 corresponding to the unit pulse is constant. For this reason, when the operator rotates the dial 30 while keeping the rotation speed constant, the support portion 23 moves while maintaining a constant movement speed.

  Thus, according to the manual mode, the operator can move the support part 23 of the robot body 2 using the manual pulse generator 3 shown in FIG. However, even if the operator rotates the dial 30 beyond the start point a1 and end point a5 of the track O, the support portion 23 does not exceed the start point a1 and end point a5. The motion controller 43 shown in FIG. 3 monitors the position of the support portion 23 via signals from the three encoders 242. For this reason, the movement of the support portion 23 beyond the track O is prohibited by the motion controller 43 shown in FIG.

<Effect>
Next, the effect of the standing motion support robot 1 of this embodiment will be described. According to the standing motion support robot 1 of the present embodiment, as shown in FIG. 4F, the trajectory O of the support portion 23 is constant. Further, even if the operator inputs an operation amount that exceeds the start point a1 or end point a5 of the trajectory O to the manual pulse generator 3 shown in FIG. 2, the support unit 23 exceeds the start point a1 or end point a5. Do not move. For this reason, the start point a1 or the end point a5 of the trajectory O can be observed.

  Further, according to the robot body 2 of the standing motion support robot 1 of the present embodiment, the first arm 21 with respect to the base 20, the second arm 22 with respect to the first arm 21, as shown in FIG. The support portions 23 are movable with respect to the two arms 22. That is, the robot body 2 includes three swing shafts 204, 211, and 221. For this reason, the freedom degree of the setting of the track | orbit O of the support part 23 becomes high.

  Further, according to the manual pulse generator 3 of the standing motion support robot 1 of the present embodiment, the moving speed and moving direction of the support portion 23 on the track O can be changed. Specifically, as shown in FIG. 2, the moving speed of the support portion 23 can be changed by the rotation speed of the dial 30. Further, the moving direction of the support portion 23 can be changed depending on the rotation direction of the dial 30.

  Further, according to the manual pulse generator 3 of the standing motion support robot 1 of the present embodiment, as shown in FIG. 5, the moving distance (the area of the hatched portion) of the support portion 23 per rotation of the dial 30 is the trajectory O. Is not constant over the entire length. For this reason, the acceleration section α, the constant speed section β, and the deceleration section γ can be set on the trajectory O. That is, the acceleration section α corresponds to the initial stage of the standing motion where the care recipient A wants to move slowly. Similarly, the deceleration zone γ corresponds to the end of the standing motion. For this reason, even if the operator is not particularly conscious (the operator does not consciously rotate the dial 30 slowly), the support portion 23 can be moved in accordance with the movement of the care receiver A.

  Further, according to the standing motion support robot 1 of the present embodiment, the trajectory O of the support portion 23 has already been determined at the latest (step of FIG. 4 (a)) before starting the support of the cared person A's standing motion. doing. All the operator needs to operate using the dial 30 is the moving speed and moving direction of the support portion 23. That is, a complicated operation is not required for the operator. For this reason, even a person who does not have specialized knowledge about the robot can easily support the standing motion of the care receiver A. Therefore, the standing motion support robot 1 of this embodiment is highly versatile.

  Further, according to the standing motion support robot 1 of the present embodiment, the base body 200 of the base 20 has a C-shaped frame shape that opens forward (on the side of the care receiver A). That is, a concave portion that opens forward is formed in the front portion of the base body 200. For this reason, as shown in FIG. 4A to FIG. 4E, the care receiver A can perform the standing operation in a state where his / her foot is put in the C-shaped frame of the base body 200. Therefore, the front-rear length of the robot body 2 can be shortened as compared with the case where the care receiver A has to put his feet in front of the base body 200. In addition, the length of the track O of the support portion 23 (the swing length of the first arm 21, the second arm 22, and the support portion 23) can be shortened.

  Further, the robot body 2 of the standing motion support robot 1 of the present embodiment includes four proximity sensors 203 at the four corners as shown in FIG. For this reason, when the proximity sensor 203 finds an obstacle that is likely to interfere with the operation of the robot body 2 when assisting the standing-up operation of the care recipient A, the computer 41 can make the robot body 2 emergency stop. Further, the manual pulse generator 3 of the standing motion support robot 1 of this embodiment includes an emergency stop button 31 as shown in FIG. The emergency stop button 31 can be used to manually stop the robot body 2 manually. For this reason, the standing motion support robot 1 of this embodiment has high safety.

<Others>
The embodiment of the standing motion support robot of the present invention has been described above. However, the embodiment is not particularly limited to the above embodiment. Various modifications and improvements that can be made by those skilled in the art are also possible.

  The timing for executing the manual mode is not particularly limited. All of the trajectory O may be performed in the manual mode. Further, the manual mode may be intervened in the middle of the automatic mode while looking at the state of the care recipient A.

  The type of the proximity sensor 203 is not particularly limited. A high frequency oscillation type proximity sensor, a magnetic type proximity sensor, a capacitance type proximity sensor, a CCD (Charge-Coupled Device) image sensor, a CMOS (Complementary Metal-Oxide Semiconductor) image sensor, or the like may be used. The arrangement location and the number of arrangement of the proximity sensor 203 are not particularly limited.

  In the above embodiment, the three-axis robot main body 2 having three swing shafts 204 and 211 (but a pair of left and right) and 221 is used, but the number of swing shafts 204, 211, and 221 is particularly limited. do not do. A robot body such as a 2-axis type or a 4-axis type may be used. Further, a robot body that uses both a swing mechanism and a slide mechanism (for example, a mechanism in which the first arm 21 slides in the front-rear direction with respect to the base 20) may be used.

  Further, the body part of the cared person A supported by the support unit 23 is not limited to the chest. It may be the abdomen, neck, head, shoulder, waist, or the like. Moreover, you may support the several site | part of a body with the support part 23. FIG.

  Moreover, as shown in FIG. 5, the number of arrangement | positioning of the acceleration area (alpha), the constant speed area (beta), and the deceleration area (gamma) in the track | orbit O, an arrangement place, and section length are not specifically limited. For example, the entire section of the track O may be the constant speed section β. A plurality of acceleration sections α having different accelerations may be arranged. Moreover, you may arrange | position the some deceleration area (gamma) from which deceleration differs. Further, a plurality of constant speed sections β having different moving speeds may be arranged. Further, the moving speed may be continuously changed in a quadratic curve.

1: Standing motion support robot, 2: Robot body, 3: Manual pulse generator, 4: Control box.
20: base, 21: first arm, 22: second arm, 23: support, 24: servo system, 30: dial, 31: emergency stop button, 32: generator body, 33: changeover switch, 34: automatic Mode execution switch, 40: input device, 41: computer, 42: input / output interface, 43: motion controller.
200: Base body 201: Stopper 202: Wheel 203: Proximity sensor 204: Oscillating shaft 205: Bearing block 210: Arm body 211: Oscillating shaft 212: Bearing block 220: Arm body 221: oscillating shaft, 230: support body, 231: bracket, 232: handle, 240: servo motor, 241: servo amplifier, 242: encoder, 410: CPU, 411: memory.
A: cared person, O: trajectory, a1: start point, a5: end point, α: acceleration section, β: constant speed section, γ: deceleration section.

Claims (5)

A robot body having a support part for supporting the body of the cared person, and supporting the standing movement of the cared person;
A controller for controlling the operation of the support unit in accordance with the operation amount of the operator;
A standing motion support robot comprising:
When supporting the cared person's standing motion, the support part moves in a predetermined path,
Even if the operator inputs the operation amount that exceeds the start point or end point of the trajectory to the controller, the support unit does not move beyond the start point or end point. .   The robot body includes a base disposed on the floor, a first arm movable with respect to the base, a second arm movable with respect to the first arm, and a swing with respect to the second arm. The standing-up motion support robot according to claim 1, further comprising the movable support unit.   The standing motion support robot according to claim 1, wherein the controller is capable of changing at least one of a moving speed and a moving direction of the support portion in the track.   The standing motion support robot according to claim 3, wherein the controller is a manual pulse generator that has a dial that can be rotated by the operator and generates a pulse according to a rotation angle of the dial.   The standing-up motion support robot according to claim 4, wherein a movement distance of the support portion per one rotation of the dial is not constant over the entire length of the track.

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