JP2016077360A - Assistance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an assistance device that is superior in versatility with a simple structure and can carry out the most suitable assistance for a care-receiver in a series of motion from the seating to the standing of the care-receiver.SOLUTION: An assistance device 1 is provided for assisting a series of motion from the seating to the standing of a care-receiver P. The assistance device includes: a handle 2 capable of supporting the care-receiver P; a moving mechanism 3 for rotatably hanging and supporting a handle 2 around an axis line circumference X of the vertical direction and moving the handle 2 in the vertical direction and longitudinal direction; and a controller 4 for controlling a drive of the moving mechanism 3. The controller 3 comprises: a locus recognition unit 41 capable of recognizing ideal movement loci T1, T2 corresponding to the care-receiver, the movement locus drawn by the handle 2 when the care-receiver P operates a series of motion from the seating to the standing; and a drive control unit 42 capable of controlling the drive of the moving mechanism 3 based on the ideal movement locus recognized by the locus recognition unit 41.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to an assistance device for assisting a series of operations from sitting to standing of a person being assisted.

In general, handrails are provided in the toilet room for gripping by the toilet user. However, some elderly people and physically handicapped people can sit or stand on the toilet seat alone with the handrail alone. It can be difficult, and in such cases, an assistant is required.
However, assisting a series of operations from sitting to standing in a narrow toilet room is a work that requires a great deal of labor for the assistant. There is also a demand for the care recipient to use the toilet with the help of one person as much as possible without the helper as much as possible because it involves a sensitive issue regarding privacy.

  Therefore, as a conventional technique in the field, there is a toilet assistance device disclosed in Patent Document 1, for example. The toilet assistance device of Patent Document 1 is a toilet assistance device installed in a toilet, and is provided with left and right guide rails disposed on the left and right sides of the toilet and the left and right guide rails. Left and right movable bases that move left and right in the front-rear direction, a handrail member that is supported between the left and right movable bases so as to move up and down, and moves back and forth integrally with the left and right movable bases, and left and right sides of the toilet And left and right footrest members that move back and forth in synchronization with the handrail member. And the handrail member and the left and right footrest members move back and forth, so that the user of the toilet is in a stable state where the body is supported by the handrail members and the feet are placed on the left and right footrest members, It is possible to move between the front position of the toilet and a predetermined seating position. Further, by moving the handrail member up and down at the seating position, it is possible to add the use in a stable state where the body is supported by the handrail member.

JP 2013-13544 A

Tanaka, Ikehara, Funayama, Shibuya, Hatsutomi, Miyake: "Mechanical design of a trunk-type standing upright machine that can be deformed to the supine position", Transactions of the Japan Society of Mechanical Engineers (C), 77, 775 (2011-3) 712-727

  However, the toilet assistance device of Patent Document 1 has a problem that it lacks versatility, such as requiring a dedicated toilet structure. Further, when the user of the toilet is seated or standing, the handrail member simply moves up and down, and an ideal posture (see Non-Patent Document 1) in the seating operation and the standing operation is considered. This was not sufficient as assistance for the toilet user to sit or stand.

  At least one embodiment of the present invention is an invention based on such a state of the art, and the object is to have a simple structure and excellent versatility, and from the sitting of a person being assisted An object of the present invention is to provide an assistance device that can perform assistance most suitable for the person being assisted in a series of operations up to standing.

(1) An assistance device according to at least one embodiment of the present invention includes:
An assistance device for assisting a series of operations from sitting to standing of a person being assisted,
A handle capable of supporting the person being assisted;
A suspension mechanism that supports the handle so as to be rotatable around an axis in the vertical direction, and a moving mechanism for moving the handle in the vertical direction and the front-rear direction;
A controller for controlling the driving of the moving mechanism body,
The controller is
A trajectory recognizing unit capable of recognizing an ideal trajectory corresponding to the person being assisted, which is a movement trajectory drawn by the handle when the person being assisted performs a series of operations from sitting to standing;
And a drive control unit capable of controlling the driving of the moving mechanism based on an ideal movement locus recognized by the locus recognition unit.

  According to the assistance device described in (1) above, when the person being assisted performs a series of operations from sitting to standing, the person being assisted is drawn so as to draw an ideal movement locus corresponding to the person being assisted. The movement of the steering wheel in the vertical direction and the front-back direction is controlled.

Here, the “ideal movement trajectory” is a movement trajectory that is considered to have the least physical burden on the person being assisted, and the present inventors have investigated that the trajectory of the hip joint is a straight line approximately 45 degrees diagonally. The locus of the center of gravity at the time of standing up is a locus that draws a downward substantially arc shape. Such “ideal movement trajectory” varies depending on the gender, height, weight, and other body types, and even if the person has the same body shape, It depends on how it is attached, whether or not there is an injured part, and its degree.
Therefore, in this embodiment, a trajectory recognition unit capable of recognizing an ideal movement trajectory corresponding to the person being assisted, and a drive control capable of controlling the driving of the moving mechanism based on the ideal movement trajectory recognized by the trajectory recognition unit. By providing a controller including the unit, it is possible to perform assistance most suitable for the person being assisted in a series of operations from sitting to standing of the person being assisted.

  Further, the assistance device of the present embodiment includes a handle that can support the person being assisted, and a moving mechanism body that suspends and supports the handle and moves the handle in the vertical direction and the front-rear direction. In this way, by adopting a structure that supports and supports the handle, the guide rail is arranged on the floor surface in the toilet room, and the handrail and the footrest are configured to move along the guide rail. Compared to the assistance device 1 and the like, the assistance device has a simple structure and excellent versatility.

  (2) In some embodiments, in the assistance device according to (1) above, the controller further includes a drive instruction receiving unit capable of receiving a drive instruction signal related to driving of the moving mechanism body. And a drive control part controls so that a drive of a moving mechanism body may advance or stop based on a drive instruction | indication signal.

  According to the embodiment described in (2) above, the driving of the moving mechanism is controlled based on the drive instruction signal related to the driving of the moving mechanism. Therefore, for example, by configuring the driving instruction signal to be transmitted to the controller by the operation of the person being assisted, the driving of the moving mechanism body can be controlled according to the will of the person being assisted.

  (3) In some embodiments, in the assistance device according to the above (1) or (2), the locus recognition unit includes a locus storage unit that stores an ideal movement locus corresponding to the person being assisted in advance, A caregiver recognizing unit for recognizing a specific person being assisted from a specific person being assisted, and a person being assisted by the person being recognized by the person being recognized from the ideal movement locus stored in the locus storage unit And a trajectory selection unit for selecting an ideal movement trajectory corresponding to.

  According to the embodiment described in (3) above, a specific person being assisted is recognized from among unspecified persons, and the person being assisted is recognized from an ideal movement trajectory stored in advance. Select the ideal movement trajectory. Therefore, a series of actions from sitting to standing can be assisted for an unspecified person being assisted based on an ideal movement locus corresponding to each person being assisted.

  (4) In some embodiments, in the assistance device according to (3) above, the assistance device further includes an operation detection sensor capable of detecting the operation of the person being assisted.

  According to the embodiment described in the above (4), the information on the movement of the person being assisted detected by the movement detection sensor can be used for assisting a series of movements from sitting to standing of the person being assisted. .

  (5) In some embodiments, in the assistance device according to (4) above, the controller is configured to store the person being assisted stored in the trajectory storage unit based on the movement of the person being assisted detected by the motion detection sensor. And a trajectory correction unit for correcting an ideal movement trajectory corresponding to.

  According to the embodiment described in (5) above, the ideal movement trajectory corresponding to the person being assisted stored in the trajectory storage unit is corrected based on the information related to the person being assisted detected by the motion detection sensor. A learning function can be added to the assistance device.

  (6) In some embodiments, in the assistance device according to any one of (3) to (5), the assistance device further includes a voice recognition sensor capable of recognizing a voice uttered by the person being assisted.

  According to the embodiment described in the above (6), the voice uttered by the person being assisted can be used to assist a series of operations from sitting to standing of the person being assisted.

  (7) In some embodiments, in the assistance device described in (6) above, the person being assisted recognizer is an unspecified person being assisted based on the voice uttered by the person being assisted recognized by the voice recognition sensor. It is configured to recognize a specific person being assisted.

  According to the embodiment described in (7) above, the specific person being assisted can be recognized from the person being assisted by the voice uttered by the person being assisted. Therefore, for example, when selecting an ideal movement trajectory corresponding to a specific person to be attended from among the ideal movement trajectories described in advance, a specific person to be attended can be easily selected from among unspecified persons to be attended. Can be recognized.

  (8) In some embodiments, in the assistance device according to (2) above, the assistance device further includes a turntable capable of turning the direction of the person being assisted by the handle. Then, the drive control unit performs control so as to advance or stop the rotational drive of the turntable based on the drive instruction signal.

  According to the embodiment described in (8) above, the orientation of the person being assisted can be turned by the turntable. Therefore, for example, when turning the direction of the person being assisted in a narrow place such as a toilet room, the direction of the person being assisted can be easily changed. Further, the rotation drive of the turntable is controlled based on the drive instruction signal described above. Therefore, for example, by configuring the driving instruction signal to be transmitted to the controller by the operation of the person being assisted, the rotational drive of the turntable can be controlled according to the will of the person being assisted.

(9) In some embodiments, in the assistance device according to (8), the assistance device further includes a drive instruction device capable of transmitting a drive instruction signal.
The drive control unit then pushes the push button of the drive instruction device so as to assist a series of operations from sitting to standing of the person being assisted after turning the person's body by a specified angle. When the push button is not pushed, the drive of the moving mechanism is stopped or the rotation drive of the turntable is stopped. Configured.

According to the embodiment described in (9) above, it further includes a drive instruction device capable of transmitting a drive instruction signal. Therefore, for example, when the person being assisted operates the drive instruction device, a turntable or movement is made depending on the will of the person being assisted so as to assist a series of movements from the sitting direction to the standing position of the person being assisted. The drive of the mechanism can be controlled.
Further, the driving of the moving mechanism or the rotational driving of the turntable is performed only while the push button of the drive instruction device is pushed. Therefore, when the push button is released, the drive of the moving mechanism or the rotational drive of the turntable stops, so there is little possibility that the drive of the moving mechanism or the rotational drive of the turntable will proceed against the intention of the person being assisted. Excellent in properties.

  (10) In some embodiments, in the assistance device according to any one of (1) to (9), the handle includes a pair of gripping portions extending in the vertical direction, and a pair of gripping portions. It includes a pair of curved hook portions respectively formed at the distal end portions and a connecting portion extending in the horizontal direction for connecting the base end portions of the pair of gripping portions. And the connection part is suspended and supported by the moving mechanism body.

  According to the embodiment described in (10) above, a simple handle structure including a gripping portion, a hook portion, and a connecting portion can be provided. Further, the person being assisted is supported by the handle in such a posture that the pair of hook portions are sandwiched between the both sides while the pair of grip portions are gripped with both hands. Therefore, according to the handle of such an embodiment, the person being assisted can be supported in a stable posture.

  (11) In some embodiments, in the assistance device described in (10) above, the handle is configured to be tiltable in the front-rear direction so that the tip of the curved hook portion tilts downward.

  According to the embodiment described in (11) above, the person being assisted can easily sandwich the pair of hook portions on both sides.

  (12) In some embodiments, in the assistance device according to any one of (1) to (11), the moving mechanism body includes a front / rear actuator for moving the handle in the front / rear direction, and a handle up / down. And an elevating actuator for moving in the direction. Each of the front / rear actuator and the lifting / lowering actuator includes a ball screw accommodated in a housing, a servo motor capable of rotating the ball screw, and a slider movable along the extending direction of the ball screw as the ball screw rotates. It consists of a single axis actuator having. The drive control unit is configured to control the driving of the moving mechanism body by controlling the rotation of the servo motor.

  According to the embodiment described in (12) above, since the moving mechanism body can be configured using a single-axis actuator that is a general-purpose component, it is excellent in manufacturability and cost.

  (13) In some embodiments, in the assistance device according to (12), the front / rear actuator is fixed to a slider of the front / rear actuator, and extends horizontally from both ends of the horizontal portion. It has a front and rear slider formed in a downward U-shape having a pair of arm portions extending downward. Two lifting / lowering actuators are fixed to each of the arm portions of each of the pair of arm portions. The two lifting actuators have a single lifting slider fixed to the sliders of the two lifting actuators, and a handle is connected to the lifting slider.

  According to the embodiment described in (13) above, the handle can be moved in the front-rear direction and the vertical direction by a simple structure including one front-rear actuator and two elevating actuators.

  (14) In some embodiments, in the assistance device according to any one of (1) to (13), the assistance device includes a toilet assistance device provided in a toilet room in which a toilet seat is disposed.

  As described above, the assistance device for assisting the series of operations from sitting to standing of the person being assisted can be suitably used as a toilet assistance device provided in a toilet room in which the toilet seat is disposed.

  (15) In some embodiments, in the release device according to the above (14), the controller further includes a leaving recognition unit capable of recognizing that an assistant has left the toilet room. The drive control unit is configured to rotate the handle around the axis so that the rotation position of the handle is in a predetermined initial state when the exit recognition unit recognizes that the assistant has left the toilet room. The

  According to the embodiment described in (15) above, when the assistant recognizes that he has left the toilet room, the handle automatically rotates so that the rotational position of the handle is in the initial state. Therefore, it is not necessary to return the handle to the initial state at the next use, which is convenient.

  According to at least one embodiment of the present invention, a simple structure and excellent versatility, and assistance that can provide assistance most suitable for the person being assisted in a series of operations from sitting to standing of the person being assisted. A device can be provided.

1 is an overall configuration diagram illustrating an overall configuration of an assistance device according to an embodiment of the present invention. It is the block diagram which showed the system configuration | structure of the assistance apparatus concerning one Embodiment of this invention. It is the perspective view which showed the assistance apparatus concerning one Embodiment of this invention. It is the side view which showed the assistance apparatus concerning one Embodiment of this invention. It is the front view which showed the assistance apparatus concerning one Embodiment of this invention. It is the top view which showed the assistance apparatus concerning one Embodiment of this invention. It is the AA arrow line view which visually recognized the assistance apparatus concerning one Embodiment of this invention from the AA direction of FIG. It is a figure for demonstrating the general single axis | shaft actuator which comprises one part of the assistance apparatus concerning one Embodiment of this invention. It is a figure for demonstrating operation | movement of the assistance apparatus concerning one Embodiment of this invention, Comprising: It is the figure which showed a series of operation | movement until a to-be-supported person stands from the standing state. It is a figure for demonstrating operation | movement of the assistance apparatus concerning one Embodiment of this invention, Comprising: It is the figure which showed a series of operation | movement until a to-be-supported person stands from the standing state. It is a figure for demonstrating operation | movement of the assistance apparatus concerning one Embodiment of this invention, Comprising: It is the figure which showed a series of operation | movement until a to-be-supported person stands from the standing state. It is a figure for demonstrating operation | movement of the assistance apparatus concerning one Embodiment of this invention, Comprising: It is the figure which showed a series of operation | movement until it raises from the state in which the care receiver was seated. It is a figure for demonstrating operation | movement of the assistance apparatus concerning one Embodiment of this invention, Comprising: It is the figure which showed a series of operation | movement until a to-be-supported person stands from the standing state. It is a figure for demonstrating operation | movement of the assistance apparatus concerning one Embodiment of this invention, Comprising: It is the figure which showed a series of operation | movement until a to-be-supported person stands from the standing state.

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described in the embodiments or shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative examples. Absent.
For example, expressions expressing relative or absolute arrangements such as “in a certain direction”, “along a certain direction”, “parallel”, “orthogonal”, “center”, “concentric” or “coaxial” are strictly In addition to such an arrangement, it is also possible to represent a state of relative displacement with an angle or a distance such that tolerance or the same function can be obtained.
For example, an expression indicating that things such as “identical”, “equal”, and “homogeneous” are in an equal state not only represents an exactly equal state, but also has a tolerance or a difference that can provide the same function. It also represents the existing state.
For example, expressions representing shapes such as quadrangular shapes and cylindrical shapes represent not only geometrically strict shapes such as quadrangular shapes and cylindrical shapes, but also irregularities and chamfers as long as the same effects can be obtained. A shape including a part or the like is also expressed.
On the other hand, the expressions “comprising”, “comprising”, “comprising”, “including”, or “having” one constituent element are not exclusive expressions for excluding the existence of the other constituent elements.

FIG. 1 is an overall configuration diagram showing an overall configuration of an assistance device according to an embodiment of the present invention. FIG. 2 is a block diagram showing a system configuration of the assistance device according to the embodiment of the present invention.
The assistance device 1 according to an embodiment of the present invention is a device for assisting a series of operations from sitting to standing of the person being assisted, for example, the person P being erected on the toilet 5 in the toilet room. It is a device for assisting the operation of sitting from the state and the operation of standing up from the seated state. In the following embodiments, the case where the assistance device 1 is a toilet assistance device provided in a toilet room where a toilet seat is disposed will be described as an example.

  As shown in FIG. 1, the assistance device 1 suspends and supports a handle 2 that can support the person being assisted P, and the handle 2 so as to be rotatable about an axis X in the vertical direction. A moving mechanism body 3 for moving the moving mechanism body 3 and a controller 4 for controlling the driving of the moving mechanism body 3.

The controller 4 includes a microcomputer including a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), an I / O interface, and the like.
As shown in FIG. 2, the controller 4 recognizes an ideal movement locus corresponding to the person being assisted by the handle 2 when the person being assisted P performs a series of operations from sitting to standing. A possible trajectory recognition unit 41 and a drive control unit 42 that can control the driving of the moving mechanism 3 based on an ideal movement trajectory recognized by the trajectory recognition unit 41. The movement mechanism body 3 moves the handle 2 in the vertical direction and the front-rear direction based on the ideal movement locus recognized by the locus recognition unit 41.

  According to such an assistance device 1, when the person being assisted P performs a series of operations from sitting to standing, the person being assisted is supported so as to draw an ideal movement locus corresponding to the person being assisted. The movement of the handle 2 is controlled in the vertical direction and the front-rear direction.

  Here, the “ideal movement trajectory” is a movement trajectory that is considered to have the least physical burden on the person being assisted. As a result of the study by the present inventors, the locus of the hip joint extends linearly at an angle of approximately 45 degrees as shown by the arrow (a) in FIG. 1, and when standing up as shown by the arrow (b) in FIG. The trajectory of the center of gravity in FIG. Reference numeral T1 in FIG. 4 described later indicates an example of an ideal movement locus when sitting, and reference numeral T2 indicates an example of an ideal movement locus when standing. The moving mechanism 3 moves the handle 2 in the vertical direction and the front-rear direction so as to draw a trajectory T1 when sitting, and to draw a trajectory T2 when standing.

  Such “ideal movement trajectory” varies depending on the gender, height, weight, and other body types, and even if the person has the same body shape, It depends on how it is attached, whether or not there is an injured part, and its degree.

  Therefore, in the present embodiment, the trajectory recognition unit 41 that can recognize the ideal movement trajectory corresponding to the person being assisted P, and the driving of the moving mechanism 3 are controlled based on the ideal movement trajectory recognized by the trajectory recognition unit 41. By including the controller 4 including the possible drive control unit 42, the most suitable assistance for the person being assisted P can be performed in a series of operations from sitting to standing of the person being assisted. .

  Further, the assistance device 1 of the present embodiment includes a handle 2 that can support the person being assisted P, and a moving mechanism body 3 that suspends and supports the handle 2 and moves the handle 2 in the vertical direction and the front-rear direction. Prepare. As described above, the structure in which the handle 2 is suspended and supported, the guide rail is disposed on the floor surface in the toilet room, and the handrail and the footrest are configured to move along the guide rail. Compared with the assistance apparatus etc. of patent document 1 of this, it is an assistance apparatus excellent in versatility with a simple structure.

  In some embodiments, as illustrated in FIG. 2, the controller further includes a drive instruction receiving unit 43 that can receive a drive instruction signal related to driving of the moving mechanism 3. And the drive control part 42 is controlled based on a drive instruction | indication signal so that the drive of the moving mechanism body 3 may be advanced or stopped.

  Here, the driving instruction signal may be configured to be transmitted to the controller 4 by operating the driving instruction device 8 fixed by the handle 2 or the like, as will be described later. Further, the motion detection sensor 6 may recognize the specific motion of the person being assisted P so that the drive signal is transmitted from the motion detection sensor 6 to the controller 4. Alternatively, the voice recognition sensor 9 may recognize the specific voice generated by the person being assisted P so that a drive instruction signal is transmitted from the voice recognition sensor 9 to the controller 4. In addition, a driving instruction signal may be transmitted from the remote controller to the controller 4 when the assistant who assists the person P is operating a remote controller or the like.

  According to such an embodiment, the driving of the moving mechanism 3 is controlled based on the drive instruction signal related to the driving of the moving mechanism 3. Therefore, for example, by configuring the driving instruction signal to be transmitted to the controller 4 by the operation of the person being assisted P, the driving of the moving mechanism body can be controlled by the will of the person being assisted P. In addition, by configuring the assistant who assists the person P to transmit a drive instruction signal to the controller 4 by operating a remote controller or the like, the moving mechanism 3 can be driven under appropriate monitoring of the assistant. Can be controlled.

  In some embodiments, as shown in FIG. 2, the trajectory recognition unit 41 described above includes a trajectory storage unit 44 that stores in advance an ideal movement trajectory corresponding to the person being assisted P, and an unspecified person being assisted. The person being assisted by the person being recognized by the person being assisted by recognizing 45 from the ideal movement trajectory stored in the locus storage part 44 and the person being assisted by recognizing the specific person being assisted by P. And a trajectory selection unit 46 for selecting an ideal movement trajectory corresponding to.

  The trajectory storage unit 44 stores a plurality of ideal movement trajectories corresponding to a plurality of people being assisted in association with the person being assisted. The care recipient recognition unit 45 stores identification information for identifying the person being assisted, and when the identification information about the person being assisted is transmitted to the care receiver recognition unit 45, the transmitted identification information and the storage are stored. By comparing with the identification information that has been made, a specific person P is recognized from among unspecified persons. The trajectory selection unit 46 selects an ideal movement trajectory corresponding to a specific person being assisted from a plurality of ideal movement trajectories stored in the trajectory storage unit 44.

  Here, as the identification information, any information can be used as long as it can recognize a specific person P among unspecified persons, for example, a voice that can be recognized by a voice recognition sensor 9 described later. There may be. Further, it may be a fingerprint recognizable by a separately provided fingerprint recognition sensor or a face shape recognizable by the face recognition sensor.

  According to such an embodiment, the specific person P is recognized from among unspecified persons, and the ideal corresponding to the person P recognized from the pre-stored ideal movement trajectory. Select the movement trajectory. Therefore, a series of actions from sitting to standing can be assisted for an unspecified person being assisted based on an ideal movement locus corresponding to each person being assisted. For this reason, for example, it can use suitably for the toilet room etc. which an unspecified care recipient uses, such as the toilet room installed in a care facility.

In some embodiments, as illustrated in FIG. 1, the assistance device 1 further includes an operation detection sensor 6 that can detect the operation of the person being assisted P.
As such a motion detection sensor 6, for example, a conventionally known motion detection sensor such as kinect (registered trademark) can be used. This type of motion detection sensor has a camera and a depth sensor, and can recognize the movement of a human joint or the like as image data having a depth. The installation position of the motion detection sensor 6 is not particularly limited as long as it can detect a series of motions from sitting to standing of the person being assisted P. Information about the operation of the person being assisted P detected by the operation detection sensor 6 is transmitted (feedback) to the controller 4 via wireless or wired communication.

  According to such an embodiment, the information about the movement of the person being assisted detected by the movement detection sensor 6 can be used to assist a series of movements from sitting to standing of the person being assisted P. .

  In some embodiments, as illustrated in FIG. 2, the controller 4 may determine whether the person being assisted P stored in the trajectory storage unit 44 is based on the movement of the person assisted P detected by the movement detection sensor 6. A trajectory correcting unit 47 for correcting the corresponding ideal movement trajectory is further included.

  In the illustrated embodiment, information related to the movement of the person being assisted P detected by the movement detection sensor 6 is configured to be transmitted to the trajectory correction unit 47. Then, if there is an unnatural place in the detected motion, the trajectory correction unit 47 determines that there is a deviation from the ideal movement trajectory that should be originally. Then, the stored ideal movement trajectory is corrected so that unnaturalness disappears from the operation of the person being assisted P.

  Specifically, the motion detection sensor 6 can detect each joint, trunk angle, hip joint, knee joint, ankle joint, arm position, head position, etc. of the person being assisted P. At this time, it is preferable that the floor reaction force at the standing position of the person being assisted P can be measured. On the other hand, the center of gravity position and the weight ratio of each part of the human body such as the head, trunk, thigh, and lower leg are calculated from existing materials, and a human body model is generated in advance based on these positions. In addition, the balance of static force in the human body model is calculated. Data including these human body models is stored in the controller 4. Then, based on the motion of the person being assisted P detected by the motion detection sensor 6 and the data including the human body model stored in the controller 4, how heavy is the burden on each joint when standing and sitting? Can be evaluated. Further, by measuring the floor reaction force, it is possible to calculate how much force the assistance device 1 is actually assisting. Then, based on these results, it is possible to evaluate how much deviation is from the ideal movement locus that should be originally intended, and to correct the stored ideal movement locus.

  Further, for example, together with the detection of the movement of the person being assisted P by the movement detection sensor 6, the voice or facial expression uttered by the person being assisted P is detected. It may be configured to determine whether or not there is a deviation from an ideal movement trajectory.

  According to such an embodiment, a learning function for correcting an ideal movement locus corresponding to the person being assisted P stored in the locus storage unit 44 based on the movement of the person being assisted P detected by the movement detection sensor 6. Can be added to the assistance device 1. Moreover, if the assistance apparatus 1 has such a learning function, the ideal movement locus memorize | stored according to the daily body change of the care receiver P will also be corrected gradually. Therefore, it is preferably used when, for example, instructing a caregiver P in the middle of rehabilitation on a desirable way of standing or sitting.

  In some embodiments, as illustrated in FIG. 1, the assistance device 1 further includes a voice recognition sensor 9 that can recognize a voice uttered by the person being assisted P.

  According to such an embodiment, as described above, it corresponds to the case of recognizing a specific person being assisted from unspecified persons being assisted or the person being assisted P stored in the trajectory storage unit 44. In the case of correcting an ideal movement trajectory, the voice generated by the person being assisted P can be used to assist a series of operations from sitting to standing of the person being assisted.

  In some embodiments, as described above, the person being assisted by the person being assisted 45 recognizes a specific person being assisted by an unspecified person to be assisted based on the sound uttered by the person assisted by the voice recognition sensor 9. It is configured to recognize P.

  According to such an embodiment, the specific person to be assisted P can be recognized from the person to be assisted from unspecified by the sound uttered by the person to be assisted P. Therefore, for example, when selecting an ideal movement trajectory corresponding to a specific person being assisted from among the ideal movement loci described in advance, a specific person to be assisted P is selected from among unspecified persons being assisted. It can be easily recognized.

  In some embodiments, as illustrated in FIG. 1, the assistance device 1 further includes a turntable 7 that can turn the body of the person being assisted P supported by the handle 2. And the drive control part 42 is controlled based on a drive instruction | indication signal so that the rotational drive of the turntable 7 may be advanced or stopped.

  According to such an embodiment, the body direction of the person being assisted P can be turned by the turntable 7. Therefore, for example, when turning the body of the person being assisted P in a narrow place such as a toilet room, the body direction of the person being assisted P can be easily turned. The rotational drive of the turntable 7 is controlled based on the drive instruction signal described above. Therefore, for example, by configuring the driving instruction signal to be transmitted to the controller 4 by the operation of the person being assisted P, the rotational drive of the turntable 7 can be controlled according to the will of the person being assisted.

In some embodiments, as illustrated in FIG. 1, the assistance device 1 further includes a drive instruction device 8 capable of transmitting a drive instruction signal.
The drive control unit 42 pushes the push button of the drive instruction device 8 so as to assist a series of operations from sitting to standing of the person being assisted P after turning the body direction of the person being assisted P by a predetermined angle. When the drive mechanism 8 is pushed, the drive of the moving mechanism 3 is advanced or the rotational drive of the turntable 7 is advanced. When the push button 8a is not pushed, the drive of the movable mechanism 3 is stopped or It is comprised so that the rotational drive of the turntable 7 may be stopped.

  The drive instructing device 8 is integrally attached to the assisting device 1 at a portion where the person being assisted P such as the handle 2 can easily operate. In the illustrated embodiment, the drive instruction device 8 is fixed to a portion of the handle 2 that is held by the person being assisted P. The rotation angle of the turntable 7 is defined by the structure of the toilet room (the direction of the toilet and the position of the door of the toilet room). For example, when the toilet is placed in front of the door of the toilet room, the turntable 7 rotates 180 degrees. It is prescribed as follows.

  According to such an embodiment, the driving instruction device 8 that can transmit a driving instruction signal is further provided. Therefore, for example, when the person being assisted P operates the drive instruction device 8, the person who is assisted by the person assisted by the person P will be able to assist in a series of actions from turning the body of the person being assisted and sitting to standing. The drive of the turntable 7 or the moving mechanism body 3 can be controlled.

  Further, the driving of the moving mechanism 3 or the rotational driving of the turntable 7 proceeds only while the push button 8a of the drive instruction device 8 is pushed. Accordingly, when the push button 8a is released, the driving of the moving mechanism 3 or the rotating drive of the turntable 7 is stopped, so that the driving of the moving mechanism 3 or the rotating drive of the turntable 7 proceeds against the intention of the person being assisted. There is little possibility of doing, and it is excellent in safety.

  In some embodiments, as illustrated in FIG. 2, the controller 4 further includes a leaving recognition unit 48 that can recognize that the assistant P has left the toilet room. Then, when the exit recognition unit 48 recognizes that the assistant P has left the toilet room, the drive control unit 42 rotates the handle 2 around the axis so that the rotational position of the handle 2 is in a predetermined initial state. Configured as follows.

  In the illustrated embodiment, the leaving recognition unit 48 recognizes that the assistant P has left the toilet room based on the action of the assistant P detected by the motion detection sensor 6 described above. Further, for example, the room leaving recognition unit 48 may be configured to recognize that the assistant P has left the toilet room based on a detection signal from a sensor capable of detecting opening and closing of the door of the toilet room.

  According to such an embodiment, when the assistant P recognizes that he has left the toilet room, the handle 2 automatically rotates so that the rotational position of the handle 2 is in the initial state. Therefore, it is not necessary to return the handle 2 to the initial state at the next use, which is excellent in convenience.

  FIG. 3 is a perspective view showing an assistance device according to an embodiment of the present invention. FIG. 4 is a side view showing an assistance device according to an embodiment of the present invention. FIG. 5 is a front view showing an assistance device according to an embodiment of the present invention. FIG. 6 is a plan view showing an assistance device according to an embodiment of the present invention. FIG. 7 is an AA arrow view of the assistance device according to the embodiment of the present invention viewed from the AA direction in FIG. 4. 3 to 7, the controller 4, the motion detection sensor 6, the drive instruction device 8, the voice recognition sensor 9, and the like described above are not illustrated.

  In some embodiments, as shown in FIGS. 3 to 7, the handle has a pair of gripping portions 2 a extending in the vertical direction and a curved shape formed respectively at the distal ends of the pair of gripping portions 2 a. A pair of hook portions 2b and a connecting portion 2c extending in the horizontal direction for connecting the base end portions of the pair of gripping portions 2a. The connecting portion 2 c is suspended and supported by the moving mechanism body 3.

  According to such embodiment, it can be set as the simple handle structure which consists of the holding part 2a, the hook part 2b, and the connection part 2c. Further, as will be described later, the person being assisted P is supported by the handle 2 in such a posture that the pair of hook portions 2b are sandwiched between the both sides while holding the pair of grip portions 2a with both hands. Therefore, according to the handle 2 of such an embodiment, the person being assisted P can be supported in a stable posture.

  In some embodiments, as shown in FIGS. 9A and 9B described later, the handle 2 can tilt in the front-rear direction so that the tip of the curved hook portion 2b tilts downward. Composed.

  According to such an embodiment, it is easy for the person being assisted P to sandwich the pair of hook portions 2b on both sides.

  In some embodiments, as shown in FIGS. 3 to 7, the moving mechanism 3 includes a front / rear actuator 31 for moving the handle 2 in the front-rear direction and a lift for moving the handle 2 in the up-down direction. Actuator 32.

FIG. 8 is a view for explaining a general single-axis actuator constituting one part of the assistance device according to the embodiment of the present invention.
As shown in FIG. 8, each of the front / rear actuator 31 and the lifting / lowering actuator 32 is configured to rotate the ball screw 52, a ball screw 52 housed in the housing 51, a servo motor 53 that can rotate the ball screw 52, and the ball screw 52. Accordingly, it comprises a single-axis actuator 50 having a slider 54 movable along the extending direction of the ball screw 52. In the embodiment shown in FIG. 8, the ball screw 52 is rotatably accommodated in the housing 51 by the intermediate support 55. The opening of the casing 51 is covered with a cover 56. A gap a in which the slider 54 can move is formed between the cover 56 and the casing 51.

  The drive control unit 42 described above is configured to control the drive of the moving mechanism 3 by controlling the rotation of the servo motor 53.

  According to such an embodiment, since the moving mechanism body 3 can be configured using the single-axis actuator 50 that is a general-purpose component, it is excellent in manufacturability and cost.

  In some embodiments, as shown in FIGS. 3 to 7, the front / rear actuator 31 is fixed to the slider 54 a of the front / rear actuator 31 and extends in the horizontal direction and both ends of the horizontal portion 31 </ b> Ah. And a front / rear slider 31 </ b> A formed in a downward U-shape having a pair of arm portions 31 </ b> Aa extending downward. The horizontal portion 31Ah extends in the lateral direction of the assistance device 1. In each of the pair of arm portions 31Aa, two lifting / lowering actuators 32 are fixed to each of the arm portions 31Aa along the extending direction of the arm portion 31Aa. The two lifting / lowering actuators 32 have a single lifting / lowering slider 32A fixed to the slider 54b of each of the two lifting / lowering actuators 32, and the handle 2 is connected to the lifting / lowering slider 32A.

  More specifically, in the illustrated embodiment, the assistance device 1 includes a pair of leg portions 61 that extend in the horizontal direction on the floor surface, and a pair of wall portions that extend in the vertical direction from one end of the leg portion 61. 62 and a pair of heads 63 extending in the horizontal direction from the front end of the wall part 62 and having a body part 60 formed in a U shape in a side view. The distal ends of the pair of heads 63 are connected by a distal end side connecting portion 64, and the base ends thereof are connected by a proximal end side connecting portion 65. Further, between the pair of head portions 63, a support portion 66 that connects the distal end side connection portion 64 and the proximal end side connection portion 65 extends, and the support portion 66 is disposed along the front-rear direction. The front / rear actuator 31 is supported. Further, guide rails 70 are respectively attached to the upper surfaces of the pair of heads 63 along the front-rear direction. The front / rear slider 31 </ b> A described above is configured to be guided along the guide rail 70. Further, the elevating slider 32 </ b> A and the handle 2 are connected via a connecting suspension portion 72. The connecting suspension 72 is connected to rotate around the vertical axis X with respect to the lifting slider 32A.

  According to such an embodiment, the handle 2 can be moved to two axes in the front-rear direction and the up-down direction by a simple structure including one front-rear actuator 31 and two elevating actuators 32.

Finally, operation | movement of the assistance apparatus 1 concerning one Embodiment of this invention is demonstrated. First, a series of operations from when the person being assisted P is seated on the toilet 5 will be described with reference to FIGS.
The person P who is standing in front of the toilet room with the door of the toilet room opened (FIG. 9A (a)) tilts the handle 2 in the front-rear direction so that the tip of the hook part 2b is inclined downward (see FIG. 9A). 9A (b), (c)) and stand on the turntable 7 in such a posture that the hook portion 2b is sandwiched between both sides (FIG. 9B (d)). At this time, both hands are holding the grip 2a of the handle 2.

  When the push button 8a of the drive instruction device 8 described above is pushed, the turntable 7 rotates slowly (FIG. 9B (e)) and stops after rotating 180 degrees (FIG. 9B (f)). The turntable 7 is driven to rotate only while the push button 8a is pushed. When the push button 8a is stopped, the turntable 7 immediately stops rotating.

  Then, when the push button 8a is further pushed from the state where the toilet 5 is raised with the back (FIG. 9B (f)), the moving mechanism body 3 corresponds to an ideal movement locus corresponding to the person being assisted (for example, FIG. 4). The movement is started in the biaxial direction of the vertical direction and the front-rear direction (FIG. 9C (g)). The person being assisted P is supported by the handle 2 during the operation of sitting on the toilet 5 (FIG. 9C (h)). When the person P is seated on the toilet bowl 5 (FIG. 9C (i)), the person being assisted P stops pushing the push button 8a of the drive instruction device 8. This completes a series of operations from standing up to sitting on the toilet 5.

  At this time, if the person being assisted P continues to push the push button 8a, there is a possibility that the operation of standing up from the next toilet 5 before the person assisted by the person P will be used. Therefore, when a series of operations from the standing state to sitting on the toilet 5 is completed, the push button 8a is not pushed and the push button 8a is not pushed again, so that the operation to stand from the next toilet 5 does not start. Can be made. Further, the following operation is started only when the voice recognition sensor 9 described above recognizes a specific voice uttered by the person being assisted, and the voice recognition sensor 9 recognizes a specific voice uttered by the person assisted by the person P. Until then, the next operation may not be started even if the push button 8a is pushed.

Next, a series of operations until the person being assisted rises from the state where the person P is seated on the toilet 5 will be described with reference to FIGS. 10A to 10C.
When the person P who is sitting on the toilet 5 (FIG. 10A (a)) pushes the push button 8a of the drive instruction device 8, the operation of standing up from the toilet 5 is started. When the person being assisted P continues to push the push button 8a (FIG. 10A (b)), the moving mechanism 3 moves up and down based on an ideal movement locus corresponding to the person assisted by the person P (for example, T2 shown in FIG. 4). The movement is started in the two axial directions of the direction and the front-rear direction (FIG. 10A (c)). The person being assisted P is supported by the handle 2 during the operation of sitting on the toilet 5 (FIG. 10B (d)). Then, when the person P is standing in front of the toilet 5 (FIG. 10B (e)), a series of operations from the state of being seated on the toilet 5 to standing is completed. Then, the person being assisted P lifts the handle 2, removes the handle 2 from both sides, and exits the toilet room (FIG. 10B (f) to FIG. 10C (g)).

When the assistant P leaves the toilet room, the lifted handle 2 automatically returns to the original initial state (FIG. 10C (h)), and the rotational position of the handle 2 is set to a predetermined initial state (that is, FIG. 9A ( The handle 2 is automatically rotated around the axis X so as to be in the state shown in FIG. 10C (i). These drive controls are performed by the above-described exit recognition unit 48 and drive control unit 42.
At this time, as with the handle 2, the turntable 7 may be configured to automatically rotate so that the rotational position of the turntable 7 is in a predetermined initial state.

  According to such at least one embodiment of the present invention, the simple structure is excellent in versatility, and in the series of operations from sitting to standing of the person being assisted P, assistance most suitable for the person being assisted is performed. The assistance device 1 that can be provided can be provided.

  As mentioned above, although the preferable form of this invention was demonstrated, this invention is not limited to said form. For example, the above-described embodiments may be combined, and various modifications can be made without departing from the object of the present invention.

DESCRIPTION OF SYMBOLS 1 Assistance apparatus 2 Handle 2a Gripping part 2b Hook part 2c Connection part 3 Movement mechanism body 4 Controller 5 Toilet bowl 6 Motion detection sensor 7 Turntable 8 Drive instruction device 8a Push button 9 Voice recognition sensor 31 Front / rear actuator 31A Front / rear slider 31Aa Arm part 31Ah Horizontal section 32 Elevating actuator 32A Elevating slider 41 Trajectory recognition section 42 Drive control section 43 Drive instruction receiving section 44 Trajectory storage section 45 Helped person recognition section 46 Trajectory selection section 47 Trajectory correction section 48 Exit recognition section 50 Single-axis actuator 51 Housing 52 Ball screw 53 Servo motor 54 Slider 55 Intermediate support 56 Cover 60 Body portion 61 Leg portion 62 Wall portion 63 Head portion 64 Front end side connection portion 65 Base end side connection portion 66 Support portion 70 Guide rail 72 Connection suspension portion P Assisted T1 Ideal movement trajectory (sitting movement )
T2 Ideal movement trajectory (stand-up motion)

Claims (15)

An assistance device for assisting a series of operations from sitting to standing of a person being assisted,
A handle capable of supporting the person being assisted;
A suspension mechanism that supports the handle so as to be rotatable around an axis in the vertical direction, and a moving mechanism for moving the handle in the vertical direction and the front-rear direction;
A controller for controlling the driving of the moving mechanism body,
The controller is
A trajectory recognizing unit capable of recognizing an ideal trajectory corresponding to the person being assisted, which is a movement trajectory drawn by the handle when the person being assisted performs a series of operations from sitting to standing;
An assistance device including: a drive control unit capable of controlling driving of the moving mechanism body based on an ideal movement locus recognized by the locus recognition unit; The controller is
A drive instruction receiving unit capable of receiving a drive instruction signal related to driving of the moving mechanism body;
The drive control unit
The assistance apparatus according to claim 1, wherein the driving of the moving mechanism body is controlled to proceed or stop based on the driving instruction signal. The locus recognition unit
A trajectory storage unit that stores in advance an ideal movement trajectory corresponding to the person being assisted;
A caregiver recognition unit for recognizing a specific helper from unspecified helpers,
2. A trajectory selection unit for selecting an ideal movement trajectory corresponding to the person being assisted recognized by the person being assisted by the person being recognized from the ideal movement trajectory stored in the trajectory storage unit. Or the assistance apparatus of 2. The assistance device is:
The assistance device according to claim 3, further comprising an operation detection sensor capable of detecting the operation of the person being assisted. The controller is
The trajectory correction part which correct | amends the ideal movement locus | trajectory corresponding to the said caregiver memorize | stored in the said locus | trajectory memory | storage based on the operation | movement of the said caregiver detected by the said motion detection sensor further. The assistance device described. The assistance device is:
The assistance apparatus as described in any one of Claims 3-5 further equipped with the speech recognition sensor which can recognize the audio | voice which the said care receiver utters. The care recipient recognition unit
The assistance device according to claim 6, configured to recognize a specific person to be assisted from an unspecified person to be assisted based on a sound uttered by the person to be assisted recognized by the voice recognition sensor. The assistance device is:
A turntable capable of turning the body of the person being supported by the handle;
The drive control unit
The assistance device according to claim 2, wherein the rotation drive of the turntable is controlled to proceed or stop based on the drive instruction signal. The assistance device is:
A drive instruction device capable of transmitting the drive instruction signal;
The drive control unit
After turning the direction of the body of the person being assisted by a specified angle, so as to assist a series of operations from sitting to standing of the person being assisted.
When the push button of the drive instruction device is pushed, the drive of the moving mechanism is advanced or the rotation drive of the turntable is advanced, and when the push button is not pushed, The assistance device according to claim 8, configured to stop driving or to stop the rotation driving of the turntable. The handle is
A pair of gripping portions extending along the vertical direction;
A pair of curved hook portions respectively formed at the distal ends of the pair of gripping portions;
A connecting portion extending in the horizontal direction for connecting the base end portions of the pair of gripping portions, respectively,
The assistance device according to any one of claims 1 to 9, wherein the connecting portion is suspended and supported by the moving mechanism body.   The assisting device according to claim 10, wherein the handle is configured to be tiltable in a front-rear direction so that a distal end of the curved hook portion is tilted downward. The moving mechanism is
A front-rear actuator for moving the handle in the front-rear direction, and an elevating actuator for moving the handle in the up-down direction,
Each of the front and rear actuators and the lift actuator is
A ball screw housed in the housing;
A servo motor capable of rotating the ball screw;
A slider that can move along the direction in which the ball screw extends along with the rotation of the ball screw,
The drive control unit controls driving of the moving mechanism body by controlling rotation of the servo motor.
The assistance device according to any one of claims 1 to 11. The front / rear actuator is fixed to the slider of the front / rear actuator in a downward U-shape having a horizontal portion extending in the horizontal direction and a pair of arm portions extending downward from both ends of the horizontal portion. Having a front and rear slider formed,
In each of the pair of arm portions, two lifting actuators are fixed to each of the arm portions, and the two lifting actuators are fixed to the sliders of the two lifting actuators. The assistance device according to claim 12, further comprising: one lifting slider, wherein the handle is coupled to the lifting slider. The assistance apparatus as described in any one of Claim 1 to 13 which consists of a toilet assistance apparatus provided in the toilet room where a toilet seat is arrange | positioned. The controller further includes a leaving recognition unit capable of recognizing that the assistant has left the toilet room,
When the exit recognition unit recognizes that the assistant has left the toilet room, the drive control unit rotates the handle around the axis so that the rotation position of the handle is in a predetermined initial state. The assistance device according to claim 14 configured as described above.

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