JP2016150206A - Standing support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a standing support device capable of guiding a user to a realistic standing motion hardly imposing an extra burden on the user's ankles, knees and waist.SOLUTION: A standing support device includes: a base part; a seat part on which a person sits; and a movement mechanism part for moving the seat part in such a manner that the center of a hip joint of the person sitting on the seat part draws a locus ascending on an S-shaped curve.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a standing support device that reduces the burden on the body when standing.

  Standing up is an operation that is indispensable in daily life, and is performed before various purposes such as walking. Therefore, if a person who cannot stand up by himself / herself, such as an elderly person with a low physical function or a person with a disability (hereinafter referred to as “a person who has difficulty standing up”), will not be able to act, the behavior will be limited.

  Those who have difficulty standing up feel physical burden and mental anxiety during standing motion due to a decrease in muscle strength and balance ability. Therefore, in order to alleviate such a problem, many devices for assisting the standing motion have been proposed.

  For example, Patent Literature 1 discloses a standing body including a fixed seat body and a movable seat body, a link mechanism that raises and lowers the movable seat body, and an air damper that urges the link mechanism and raises the movable seat body with a required force. Support devices (stand-up assistance chairs) have been proposed.

  Further, Patent Document 2 proposes an upright support device having a main damper and an auxiliary spring that urges the seating portion in a direction to open the seating portion with respect to the base while the seating portion is attached to the base via a hinge. .

JP 2012-152297 A JP 2013-90858 A

  The inventors of the present application analyze the measurement results of the standing motion, perform optimization calculation to reduce the physical load on the joint (foot, knee, hip) that the individual desires to reduce the burden, The standing motion with the smallest index value of body load was derived. Here, the derived standing motion was a standing motion posture slightly different from the natural standing motion of the subject. Although this operation shows slight differences in the magnitude and speed of movement depending on the individual and the height of the seat surface of the chair, it is generally as follows.

  Tilt the upper body around the buttocks and at the same time tilt the lower leg forward with the foot as a fulcrum and move the center of gravity and knee joint center forward, then lift the buttocks from the seat By extending the knee, the center of the knee joint moves backward, and at the same time the hip moves forward, so that the center of gravity rises while keeping the support base of the sole and the upper body It is an operation to get up and stand upright. In addition, the knee joint center viewed from the left-right direction at this time is a gentle arc trajectory suitable for an individual who moves forward and then returns to the rear, and the movement trajectory of the hip joint center viewed from the left-right direction also fits the individual. It is a gentle S-curve. Therefore, by performing such standing motion, it is guided to a posture to stand up from the chair more naturally by using the power of the lower limbs while reducing extra body load, and causes the chain of movement of the hip joint and lower leg. Can be expected.

Therefore, it is desirable to assist the standing support apparatus so that a motion that is as natural as possible can be performed even when a person who has difficulty standing up.
Moreover, since the person who has difficulty standing up has a physique difference in each person, and the standing-up motion also has individual differences strictly, it is preferable that the standing-up support apparatus corresponds to the person who has difficulty standing up.
Furthermore, some of the people who have difficulty standing up include those who can stand up by themselves by raising their hips a little, and those who cannot stand up by raising their waists high, so assistance according to the standing ability of those who have difficulty standing up is included. It is preferable to use a standing support device that can be used.

  On the other hand, the standing support device of Patent Document 1 is configured such that the movable seat body at the time of standing assistance moves along a partial circular arc trajectory centering on the axis of the lower front joint of the link mechanism. A person who has difficulty standing up due to the rise of the movable seat along the circular arc trajectory takes a middle waist posture. At this time, the waist is continuously pushed up diagonally forward with the foot landing on the floor and fixed.

  Therefore, in the standing support device of Patent Document 1, the waist of the person who has difficulty standing takes a standing motion that moves along the circular arc track, and the hip joint center moves naturally along a gentle S-curve. Must not. Therefore, a person who has difficulty standing must stand up with a motion different from the natural standing motion, and there is a risk that the ankle, knee, waist and the like may be burdened.

  Moreover, in the standing support apparatus of patent document 1, since it becomes an unnatural standing operation | movement, the person with difficulty standing up does not try to stand up by himself / herself, but relies entirely on the assistance by the standing support apparatus. There was a risk that the decrease in muscle strength could not be suppressed.

  In addition, the standing support device of Patent Document 2 is configured such that the seating part moves along a circular arc track that is a part of a circle centered on the axis of the hinge, and a person who has difficulty standing up floats from the seating part. The repulsive force of the main damper and auxiliary spring pushes up the seat, thereby assisting to stand up to the middle waist position.

  However, even with the standing support device of Patent Document 2, it is not possible to assist the natural standing motion, and there is a possibility that the load on the ankle, knee, waist, and the like becomes larger than that during the natural standing motion.

  Further, since the standing support devices of Patent Documents 1 and 2 are assistance for standing up to the middle waist posture, they cannot cope with a person who has difficulty standing up and needs assistance to lift the waist to a higher position.

  The present invention has been made in view of such a problem, and provides a standing support device capable of guiding a user to a standing action close to nature with a small extra burden on the ankle, knee and waist. Main purpose.

  Thus, according to the present invention, the base portion, the seat portion on which the person sits, and the moving mechanism for moving the seat portion so as to draw a locus in which the hip joint center of the person sitting on the seat portion rises on the S-curve. An upright support device comprising a unit is provided.

According to the standing support device of the present invention, when a person who has difficulty standing up stands up from a sitting posture, it is possible to assist standing operation close to nature.
This “stand-up motion close to nature” is a result of analyzing the measurement results of the stand-up motion and performing an optimization calculation to reduce the physical load at the joint (foot, knee, hip) that the individual wants to reduce the burden on. This is a motion derived so that the index value of the physical load during the standing motion is minimized. The “stand-up operation close to nature” has some differences in the magnitude and speed of movement depending on the individual and the height of the seat surface of the chair, but is generally as follows.

  Tilt the upper body around the buttocks and at the same time tilt the lower leg forward with the foot as a fulcrum and move the center of gravity and knee joint center forward, then lift the buttocks from the seat By extending the knee, the center of the knee joint moves backward, and at the same time the hip moves forward, so that the center of gravity rises while keeping the support base of the sole and the upper body It is an operation to get up and stand upright. Therefore, in the “stand-up motion close to nature”, the knee joint center viewed from the left-right direction is a gentle circular locus suitable for individuals that moves forward and then returns backward, and the hip joint center viewed from the left-right direction. The movement trajectory is also a gentle S-curve adapted to the individual. Therefore, by performing `` stand-up motion close to nature '', it is guided to a posture that stands up from the chair more naturally using the power of the lower limbs while reducing extra body load, and the movement chain of the hip joint and lower leg Can be expected to cause.

  Therefore, those who have difficulty standing up can acquire the habit of trying to stand up by themselves without putting an extra burden on the ankle, knee, waist, etc. using the standing support device of the present invention. It can be expected to suppress muscular weakness, maintain muscular strength, and increase muscular strength in those who have difficulty standing.

  In addition, according to this standing-up support apparatus, it is possible to cope with the standing ability of a person who has difficulty standing up, and of course, it can be used as a chair, and can be incorporated into a toilet seat of a Western-style toilet. You can relieve those who have difficulty standing up from mental distress.

It is a perspective view which shows Embodiment 1 of the standing assistance apparatus of this invention. It is a perspective view of the state which removed the side plate in the standing support apparatus of FIG. It is a front view of the standing-up support apparatus of FIG. It is the right view which abbreviate | omitted a part of standing support apparatus of the initial state of FIG. It is a side view which shows the 1st movement state of the seat part following FIG. It is a side view which shows the 2nd movement state of the seat part following FIG. It is a side view which shows the 3rd movement state of the seat part following FIG. (A) shows the sitting posture corresponding to FIG. 4, (B) is explanatory drawing which shows the standing-up operation corresponding to FIG. (A) shows the standing motion corresponding to FIG. 6, and (B) is an explanatory diagram showing the standing motion corresponding to FIG. It is explanatory drawing of a human body model, (A) shows the upright state of a human body model, (B) shows a seating state. It is the figure which showed the movement mechanism part in this invention overlaid on the locus | trajectory of the hip joint center of a human body model, and a knee joint center. It is explanatory drawing of the 1st link mechanism of the knee joint in the movement mechanism part shown in FIG. 11, (A)-(D) show the movement when a 1st link mechanism raises from a sitting position to a standing position in steps. Yes. Is a diagram illustrating overlapping the circular locus of the second arm portion of radius l _K around the first rod (point P ₂₎ in the first link mechanism in the sitting and standing. It is explanatory drawing of the 2nd link mechanism of the hip joint in the movement mechanism part shown in FIG. 11, (A)-(D) has shown the motion when a 2nd link mechanism raises from a sitting position to a standing position in steps. . Sitting and illustrates superimposed the circular path of the swing arm portion of the radius l _H the second axis of the second link mechanism (point P _H) centered on standing. Is a diagram showing the intersection of the straight line connecting the circular path and the hip center and the knee joint center of the swing arm portion of the second link mechanism around the point P _H. It is a figure which shows the space | interval of the 1st gear and 2nd gear in a moving mechanism part. It is a figure which shows the space | interval of the 1st gear and 1st rod in a moving mechanism part. (A) illustrates the rotation angle of the first gear between the sitting position and the standing position, and (B) illustrates the rotation angle of the second gear.

  A standing support apparatus according to the present invention includes a base, a seat on which a person sits, and a moving mechanism that moves the seat so as to draw a locus in which the hip joint center of a person sitting on the seat rises on an S-shaped curve. And a section.

The standing support apparatus of the present invention may be configured as follows.
(A) The center coordinate of the ankle joint of the human body model sitting on the chair is P ₁ (x ₁ , y ₁ ), the center coordinate of the knee joint is P ₂ (x ₂ , y ₂ ), and the center coordinate of the hip joint is P ₃ (x ₃ , y ₃ ), the length of the lower leg is l ₁ , the length of the thigh is l ₂ , and the angle between the horizontal plane passing through the central coordinates P ₁ (x ₁ , y ₁ ) and the lower leg is φ ₁ , when the angle between the horizontal plane passing through the central coordinate P ₂ (x ₂ , y ₂ ) and the thigh is φ ₂ ,
When the human body model stands,
The position of the central coordinate P ₁ (x ₁ , y ₁ ) does not change,
The position of the center coordinate P ₂ (x ₂ , y ₂ ) is expressed by the following formula (A)
Draw a trajectory that moves back and forth on the circumference indicated by
The position of the central coordinate P ₃ (x ₃ , y ₃ ) is expressed by the following formula (B)
In order to draw a trajectory that rises on the S-curve indicated by
The moving mechanism portion is a position of the thigh when the seat portion is raised from a position where the thigh portion of the human body model sitting on the seat portion is supported while drawing the locus of the equations (A) and (B). May be raised (see FIGS. 10 to 12).

  In this way, when standing up, the knee of the person who has difficulty standing up moves forward and then returns to the rear, and the person who has difficulty standing up has a natural S-curve so that the center of the hip joint draws a gentle S-curve upward. An assisting moving mechanism can be obtained. In this case, as the moving mechanism unit, any member that moves the seat so that the person with difficulty standing can be supported in this manner can be used, and examples thereof include a link mechanism and an XY stage.

(B) The moving mechanism section sits on the seat section while interlocking with the first link mechanism for moving back and forth and the vertical direction of the knee joint center of the person sitting on the seat section. You may provide the 2nd link mechanism which moves a person's hip joint center to an up-down direction with a S-shaped curve.

  In this way, the center of the knee joint of a person sitting on the seat is reciprocated back and forth and up and down while being a relatively simple uniaxial control mechanism, and the hip center is raised with a gentle S-curve. By this, it is possible to assist the person who has difficulty standing up to stand up close to nature.

(C) The moving mechanism section includes a pair of left and right outer support plates extending vertically in the vertical direction on the left and right sides of the base section, and a front-back direction in the vertical direction provided on the left and right sides of the seat section. A pair of left and right inner support plates, a pair of left and right first link mechanisms movably connected to the pair of left and right outer support plates, and the pair of left and right inner support plates. A pair of left and right second link mechanisms interlocked with the pair of left and right first link mechanisms movably connected to the pair of left and right outer support plates at a position rearward of the front end of the pair of left and right first pairs And a synchronization mechanism that synchronizes the link mechanism.

  In this way, the seat portion can be supported from both the left and right sides, so the load resistance is improved. Further, by driving the synchronization mechanism, the left and right first link mechanisms and the left and right second link mechanisms can be driven synchronously and stably by uniaxial control.

(D) The pair of left and right outer support plates have outer slits extending in the front-rear direction,
The pair of left and right inner support plates each have an inner slit extending in the front-rear direction,
The pair of left and right first link mechanisms are attached to a predetermined portion of the outer support plate so as to be rotatable about a first axial center in the left and right direction, and to be integrally rotated with the first gear. A first arm portion, a second arm portion having a proximal end pivotally attached to the first arm portion via a pin, and pivotally attached to a distal end of the second arm portion through the outer slit and the inner side Each having a first rod fixed to the front end of the support plate,
The pair of left and right second link mechanisms includes a second gear provided at a predetermined position of the outer support plate so as to be meshed with the first gear so as to be rotatable about a second axial center in the left-right direction. A swing arm portion provided so as to be rotatable integrally with the gear, and a second rod fixed to the tip of the swing arm portion through the inner slit,
The synchronization mechanism synchronizes the pair of left and right third gears provided on the same axis in the pair of left and right outer support plates so as to mesh with the pair of left and right first gears, and the pair of left and right third gears. You may have a connecting shaft which connects these so that it may rotate.

  In this way, the uniaxial control mechanism can be realized.

(E) The outer slit may be formed in an arc shape.
In this way, when the person with difficulty standing up stands from the seat, the movement mechanism unit allows the person with difficulty standing up to perform a more natural arc trajectory operation by moving the knee forward and then returning backward. Can be moved.

(F) You may further provide the motor which rotates one of the left-right pair of said 1st gear, the left-right pair of said 2nd gear, or the left-right pair of 3rd gear.
In this way, the moving mechanism can be easily driven by the motor without manually moving the moving mechanism by a person who has difficulty standing or an assistant. Alternatively, a tension spring may be used instead of the motor. In this case, for example, the tension force of the tension spring is transmitted to any one of the first to third gears via a pulley and a belt to raise the seat. In the case of manual operation, for example, if ring-shaped handles are attached to the left and right ends of the connecting shaft of the synchronization mechanism, the seat can be raised by turning the handle.

  Hereinafter, specific embodiments of the standing support apparatus of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
FIG. 1 is a perspective view showing Embodiment 1 of the standing support apparatus of the present invention, and FIG. 2 is a perspective view showing a state in which a side plate is removed from the standing support apparatus of FIG. 3 is a front view of the standing support apparatus of FIG. 1, and FIG. 4 is a right side view in which a part of the standing support apparatus in the initial state of FIG. 1 is omitted.

<About the configuration of the standing support device>
The standing support device 10 according to the first embodiment includes a base 11, a seat 12 on which a person sits, and a seat 12 so that a hip joint center of a person sitting on the seat 12 rises on an S-shaped curve. It is a device that includes a moving mechanism unit 13 that moves, and raises the seat portion 12 by the moving mechanism unit 13 to assist standing up of a person who has difficulty standing up. In the present specification, the front / rear / left / right directions in the standing support device 10 are front / rear / right / left directions based on the user sitting on the seat 12.

  The base portion 11 includes a central plate portion 11a that receives the seat portion 12, and a protruding plate portion 11b that protrudes forward from the left and right positions of the front end of the central plate portion 11a. In the case of the first embodiment, the base portion 11 is supported at a predetermined height position by a plurality of support legs 11x connected to the left and right bottom surfaces, the left and right ends, and the rear end of the base portion 11. The plurality of support legs 11 x connected to the left and right ends and the rear end of the base portion 11 also function as panels that cover the left and right sides and the rear of the base portion 11.

  The seat portion 12 is made of a rectangular plate and is disposed on the central plate portion 11 a of the base portion 11 in the initial state of the standing support device 10. In the first embodiment, the cushioning material 11y that absorbs the impact with the seat 12 at the time of lowering is disposed at the contact portion with the seat 12 in the central plate portion 11a of the base 11.

  The moving mechanism 13 includes a first link mechanism 13A that reciprocates the center of the knee joint of a person sitting on the seat 12 in the front-rear and vertical directions, and a person sitting on the seat 12 while interlocking with the first link mechanism 13A. A second link mechanism 13B that moves the center of the hip joint up and down along an S-shaped curve.

More specifically, the moving mechanism unit 13 is provided vertically on a pair of left and right outer support plates 13 </ b> D extending in the front-rear direction provided vertically on both left and right sides of the base unit 11, and on both left and right sides of the seat 12. and a pair of left and right inner support plate 13E extending in the longitudinal direction, a first link mechanism 13A the pair of left and right front end portion 13Ee ₁ and movably coupled to the pair of left and right outer support plate 13D of the pair of left and right inner support plate 13E a pair of left and right inner support plate 13E forward end 13Ee ₁ second link rear position the pair of left and right outer support plate 13D movably linked possible interlocking a pair of right and left first link mechanisms 13A of the left and right in than the A mechanism 13B, a synchronization mechanism 13C that synchronizes the pair of left and right first link mechanisms 13A, and a drive unit 13F that drives the synchronization mechanism 13C are provided.

  That is, the moving mechanism unit 13 includes first and second link mechanisms 13A and 13B, an outer support plate 13D, and an inner support plate 13E that are disposed on both the left and right sides of the seat portion 12. The mechanical parts are symmetrically the same. Therefore, in the description of the moving mechanism unit 13, the right-side mechanism unit, the synchronization mechanism 13C, and the driving unit 13F in the initial state will be described.

The outer support plate 13D is fixed in a vertical state to the upper surface of the base portion 11 from the inner end portion of the protruding plate portion 11b to the middle portion in the front-rear direction of the central plate portion 11a. Further, the outer support plate 13D has an arcuate outer slit 13Da extending in the front-rear direction on the front end portion 13De side of the upper portion thereof. In this case, the outer slit 13Da has an arc shape in which the front end portion 13Da ₁ is slightly lowered.

  The inner support plate 13E is fixed so that the lower end portion of the rear half portion thereof is perpendicular to the right end portion of the seat portion 12, and the front half portion projects to the vicinity of the front end portion 13De of the outer support plate 13D. Further, the inner support plate 13E has a straight inner slit 13Ea extending in the front-rear direction at an intermediate portion in the front-rear direction.

The first link mechanism 13A is a crank mechanism to respond to longitudinal movement of the standing difficulties on knee joint during standing, rotating about a first axis to Q ₁ horizontal direction at a predetermined position of the outer support plate 13D a first gear 13A ₁ which is capable of providing, a first arm portion 13A ₂ mounted integrally rotatably to the first gear 13A _1, through a pin 13Ap ₁ is pivotally mounted to the first arm portion 13A ₂ and a second arm portion 13A ₃ having a proximal end, a first rod 13Ap ₂ which is fixed to the front end portion 13Ee ₁ tip of pivotally mounted and the inner support plate 13E of the second arm portion 13A ₃ through the outer slit 13Da And have. Incidentally, between the inner support plate 13E and the outer support plate 13D of the first rod 13Ap ₂ so does not wobble the inner support plate 13E is thicker than the width of the outer slit 13Da. Also, which is thicker between the outer indication plate 13D and the second arm portion 13A _3.

The second link mechanism 13B is a linear slider to respond to vertical oscillation of the thigh of the standing person who has difficulty orthostatic, a predetermined portion of the outer support plate 13D to the first gear 13A ₁ meshes A fan-shaped second gear 13B ₁ provided to be rotatable about a second axis Q ₂ in the left-right direction, a swing arm portion 13B ₂ provided to be rotatable integrally with the second gear 13B ₁ , The second rod 13Bp ₁ is fixed to the tip of the swing arm portion 13B ₂ through the slit 13Ea. In the drawing, the gear teeth are not shown.

A slit cover 13Eac having a slit 13Eac ₁ narrower than the inner slit 13Ea is attached around the inner slit 13Ea on the outer surface of the inner support plate 13E, and a roller 13Bp ₂ is provided at the tip of the second rod 13Bp _1. cage, and is configured to roller 13 bp ₂ is running in the inner slit 13Ea. Incidentally, as the second and rod 13 bp ₁ is pushed into the roller 13 bp ₂ does not Datsuwa from the inner slit 13Ea to the seat 12 side, a portion of the second outer circumference of the rod 13 bp ₁ is in contact with the slit cover 13Eac second A flange of the second rod 13Bp ₁ is provided to prevent the rod 13Bp _{1 from} being pushed in.

The synchronization mechanism 13C includes a pair of left and right third gears 13C ₁ provided on the same third axis Q ₃ in the pair of left and right outer support plates 13D so as to mesh with the pair of left and right first gears 13A _1. A pair of third gears 13C ₁ have a connecting shaft 13C ₂ that connects them to rotate synchronously. Incidentally, the outer end of the shaft of axis Q ₂ of the connecting shaft 13C ₂ and the second link mechanism 13B of the synchronization mechanism 13C is rotatably supported through a bearing on the left and right panels of the base portion 11.

The drive unit 13F is, for example, a motor that drives the synchronization mechanism 13C. In this case, connecting the output shaft of the motor directly coupled shaft @ 13 C _2, or provided with a transmission gear for transmitting a rotational force of the motor to the third gear @ 13 C ₁ (including rack and pinion), or connecting the rotational force of the motor A pulley and a belt for transmitting to the shaft 13C ₂ are provided. Further, using a hydraulic or pneumatic cylinder in place of the motor may be transmitted to the stroke of the cylinder to the connecting shaft @ 13 C ₂ via a pulley and a belt. Alternatively, a tension spring may be used instead of the motor. In this case, for example, the tension force of the tension spring is transmitted to any one of the first to third gears via a pulley and a belt to raise the seat.

  The standing-up support apparatus 10 of the present invention includes a control unit (not shown) having a sensor (for example, a limiter switch), a microcomputer, etc. in order to limit the movable range of the seat unit 12 by the moving mechanism unit 13. The drive of the drive unit 13F is controlled. Further, a person who has difficulty standing up using the standing up support apparatus 10 may drive and stop the driving unit 13F at a desired timing by the controller, or the controller may select the movable range of the moving mechanism unit 13. . As a result, the rising seat portion 12 can be stopped at an arbitrary height, so that assistance according to the standing ability of the person having difficulty standing can be performed, excessive standing support can be suppressed, and It can be expected to suppress muscular weakness.

Regarding the design of the moving mechanism unit 13 configured in this way, for example, the position, shape and length of the outer slit 13Da, the position, shape and length of the inner slit 13Ea, and the first and second gears 13A ₁ and 13B ₁ The settings of the position and gear ratio, the initial positions of the first and second rods 13Ap ₂ and 13Bp _{1 and} the like are obtained by analyzing optimum standing assistance for a person who has difficulty standing. This will be described in detail in an example described later.

<Operation of the standing support device>
5 is a side view showing a first movement state of the seat portion subsequent to FIG. 4, FIG. 6 is a side view showing a second movement state of the seat portion following FIG. 5, and FIG. It is a side view which shows the 3rd movement state of the subsequent seat part. FIG. 8A shows a sitting posture corresponding to FIG. 4, and FIG. 8B is an explanatory view showing a standing motion corresponding to FIG. Further, FIG. 9A shows the standing motion corresponding to FIG. 6, and FIG. 9B is an explanatory diagram showing the standing motion corresponding to FIG.

As shown in FIGS. 4 and 8A, in a use state (initial state) where a person M having difficulty standing is seated on the seat 12 of the standing support device 10, the seat 12 is a base portion via a cushioning material 11y. 11 is arranged at the lowest position on the board. At this time, the moving mechanism 13, the front end first arm portion 13A ₂ and the second arm portion 13A ₃ bent in L-shape, and the first rod 13Ap ₂ is outside the slit 13Da of the first link mechanism 13A 13Da ₁ It is located closer to the middle in the front-rear direction. The second rod 13Bp ₁ of the second link mechanism 13B is located closer to the middle in the front-rear direction than the rear end 13Ea ₂ of the inner slit 13Ea.

By driving the drive unit 13F from this initial state, as shown in FIG. 5, the third gear 13C ₁ rotates in the direction of arrow A (clockwise), and accordingly, the first gear 13A ₁ moves in the direction of arrow B. The second gear 13B ₁ rotates in the direction of arrow C (clockwise). When the first gear 13A ₁ rotates in the direction of arrow B, the first and second arm portions 13A ₂ and 13A ₃ extend straight, whereby the first rod 13Ap ₂ moves to the front end portion 13Da ₁ side of the outer slit 13Da. To do. The first rod 13Ap ₂ motion corresponds to the motion of the human knee joint.

Further, when the second gear 13B ₁ rotates in the direction of arrow C, the swing arm portion 13B ₂ and the second rod 13Bp ₁ start an upward arc motion around the second axis Q ₂ .
That is, the first rod 13Ap ₂ is arranged in the vicinity of the lateral position of the human knee joint sit on the seat 12, the second rod 13 bp ₁ is disposed near the lateral position of the hip joint.
The driving force of the driving unit 13F since also transmitted to the third gear @ 13 C ₁ on the opposite side by the synchronization mechanism 13C, the left and right first and second link mechanisms 13A, 13B performs the operation synchronously.

As the first and second rods 13Ap ₂ and 13Bp ₁ move as described above, the rear end 13Ee ₂ rises while the front ends 13Ee ₁ of the left and right inner support plates 13E move forward. That is, the left and right inner support plates 13E are inclined while moving slightly forward from the initial position. At this time, the roller 13 bp ₂ of the second rod 13 bp ₁ tip travels toward the inner slit 13Ea to the rear end portion 13Ea _2.

  On the other hand, the seat 12 follows the movement of the left and right inner support plates 13E, so that the front end 12a and the rear end 12b rise while moving forward, and incline while moving slightly forward from the initial position. . As shown in FIG. 8 (B), this movement of the seat portion 12 is caused by the natural movement of a person who has difficulty standing up and moves the center of gravity of the body forward to lift the waist by moving the upper body and knees forward. Assists standing motion close to.

As shown in FIG. 6, when the left and right first gears 13A ₁ further rotate, the second arm portion 13A ₃ is pulled rearward by the first arm portion 13A ₂ , thereby causing the first rod 13Ap ₂ to move to the outer slit 13Da. It moves rearward from the front end 13Da ₁ . Further, when the left and right second gears 13B ₁ further rotate, the swing arm portion 13B ₂ and the second rod 13Bp ₁ continue the upward arc motion around the second axis Q ₂ .

As the first and second rods 13Ap ₂ and 13Bp ₁ move as described above, the rear end portion 13Ee ₂ further rises while the front end portions 13Ee ₁ of the left and right inner support plates 13E move rearward. That is, the left and right inner support plates 13E are further greatly inclined while returning slightly backward. At this time, the roller 13 bp ₂ of the second rod 13 bp ₁ tip travels toward the inner slit 13Ea to a front end portion 13Ea _1.

  On the other hand, the seat portion 12 rises while the front end portion 12a and the rear end portion 12b move rearward so as to follow the movement of the left and right inner support plates 13E, and is further greatly inclined. As shown in FIG. 9A, this movement of the seat portion 12 assists a standing-up motion close to nature of a person who has difficulty standing up and moves to a middle waist posture by further lifting the waist.

As shown in FIG. 7, when the left and right first gears 13A ₁ further rotate, the second arm portion 13A ₃ is pulled further rearward by the first arm portion 13A ₂ , thereby causing the first rod 13Ap ₂ to move to the outer slit 13Da. It moves to the vicinity of the rear end 13Da ₂ . Further, when the left and right second gears 13B ₁ further rotate, the swinging arm portion 13B ₂ and the second rod 13Bp ₁ continue to move upward in the arc centering on the second axis Q ₂ and close to the uppermost position. Reach.

As the first and second rods 13Ap ₂ and 13Bp ₁ move as described above, the front end 13Ee ₁ of the left and right inner support plates 13E further moves rearward and upward, and the rear end 13Ee ₂ further rises. That is, the left and right inner support plates 13E are further inclined while being retracted. At this time, the roller 13 bp ₂ of the second rod 13 bp ₁ tip travels toward the inner slit 13Ea further to the front end 13Ea _1.

  On the other hand, the seat portion 12 further rises and tilts further while the front end portion 12a and the rear end portion 12b move rearward and upward so as to follow the movement of the left and right inner support plates 13E. As shown in FIG. 9B, this movement of the seat portion 12 assists the standing-up motion close to nature of the standing-up difficult person M who moves to the standing posture.

  Further, according to the standing support apparatus 10 of the present invention, as shown in FIG. 7, the locus of the hip joint center of the person sitting on the seat 12 rises on a gentle S-curve indicated by a dotted line. Moving. Such a movement trajectory of the seat 12 is completely different from a simple arc trajectory as in the prior art, and is derived based on the idea that it is ideal to assist a person's natural standing motion. Has been.

  For example, the movement trajectory of the front end portion 12a of the seat portion 12 moves slightly forward at the start of ascent, but moves backward as it rises, and slightly advances from the initial position at the uppermost position. That is, when assisting standing of a person with difficulty in standing up whose muscle strength has been reduced or stiffened, the conventional standing support device described in Patent Documents 1 and 2 excessively places the buttocks of the person with difficulty standing up at the seat 12. Since a person who has difficulty standing up may push forward and only his / her upper body may move forward and fall down, such a risk can be avoided in the present invention.

  On the other hand, when the seat moves on a simple arcuate track, the front end of the seat moves forward while moving upward, so that the buttocks of a person who has difficulty standing up may be pushed too far to cause a fall. For this reason, in such a case, it is necessary to finish the assistance until the lower back of the middle waist posture is low, but this is insufficient as assistance to a person who has difficulty standing up from the middle waist posture.

10A and 10B are explanatory diagrams of the human body model, where FIG. 10A shows an upright state of the human body model, and FIG. 10B shows a sitting state.
The center coordinate of the ankle joint of the human body model sitting on the chair is P ₁ (x ₁ , y ₁ ), the center coordinate of the knee joint is P ₂ (x ₂ , y ₂ ), and the center coordinate of the hip joint is P ₃ (x ₃ , y ₃ ), the length of the lower leg is l ₁ , the length of the thigh is l ₂ , the angle between the horizontal plane passing through the central coordinates P ₁ (x ₁ , y ₁ ) and the lower leg is φ ₁ , When the angle between the horizontal plane passing through the central coordinate P ₂ (x ₂ , y ₂ ) and the thigh is φ ₂ ,
When the human body model stands,
The position of the central coordinate P ₁ (x ₁ , y ₁ ) does not change,
The position of the center coordinate P ₂ (x ₂ , y ₂ ) is expressed by the following formula (A)
Draw a trajectory that moves back and forth on the circumference indicated by
The position of the central coordinate P ₃ (x ₃ , y ₃ ) is expressed by the following formula (B)
In order to draw a trajectory that rises on the S-curve indicated by
The moving mechanism unit 13 is a position of the thigh when the seat unit 12 stands up from the position of supporting the thigh of the human body model sitting on the seat unit 12 along the trajectories of the formulas (A) and (B). It is comprised so that it may raise with respect to.
This will be described in detail in the following examples.

  The standing-up support apparatus of the present invention that operates according to a standing motion (optimal standing motion trajectory) that is close to the naturalness of a person was manufactured as follows. In the following, a method for analyzing optimum standing assistance for a person who has difficulty standing up and deriving the optimum standing movement locus will be described.

  The inventors of the present application conducted a measurement experiment of standing motion using chairs having different heights. In addition, using a human body model tailored to the individual, we analyzed the dynamic behavior considering the seat reaction force, and obtained physical quantities such as joint moments and displacement of each body part when receiving support. Then, using regression analysis, which is a statistical method, find physical quantities that correlate with the height of the chair's seat from the experimental results, and use those physical quantities as index values. It was found that the physical load that is difficult to evaluate objectively can be expressed quantitatively.

Specifically, the absolute value of the t value is 2 or more, P value of 0.05 or less, a great physical weight of the decision R ^2, the physical quantity is said to vary in proportion to the height of the seat surface. If this physical quantity during the standing up motion can be appropriately adjusted by the support device, it is considered that effective standing up support can be performed, and the physical load can be reduced and optimized.

  Subsequently, using a genetic algorithm, which is an optimization calculation method, the standing motion with the smallest index value during the standing motion was derived. At this time, in order to reduce the physical load on the joint (foot, knee, hip joint) that the individual desires to reduce the burden, the physical quantity corresponding to the joint is selected as an index value for each individual. At the time of optimization calculation, the posture when the index value of the physical load is minimized is specified from various motion patterns, so if a person performs an operation with less extra physical load than a natural standing up motion I can expect. Here, the derived standing motion was a standing motion posture slightly different from the natural standing motion of the subject. Although this operation shows a slight difference in the magnitude and speed of movement depending on the subject and the height of the seat surface of the chair, it is generally as follows.

  Tilt the upper body around the buttocks and at the same time tilt the lower leg forward with the foot as a fulcrum and move the center of gravity and knee joint center forward, then lift the buttocks from the seat By extending the knee, the center of the knee joint moves backward, and at the same time the hip moves forward, so that the center of gravity rises while keeping the support base of the sole and the upper body It is an operation to get up and stand upright. In addition, the knee joint center viewed from the left-right direction at this time is a gentle arc trajectory suitable for an individual who moves forward and then returns to the rear, and the movement trajectory of the hip joint center viewed from the left-right direction also fits the individual. It is a gentle S-curve. In the present invention, this is referred to as “natural standing motion (optimal standing motion trajectory)”. As an example, for subjects who want to reduce the load on the knee joint, if the maximum value of the knee joint moment, which is the index value, is minimized, the lower leg is tilted forward and more smoothly than natural movement. A "natural standing up motion" that moves is derived. Therefore, by performing `` stand-up motion close to nature '', it is guided to a posture that stands up from the chair more naturally using the power of the lower limbs while reducing extra body load, and the movement chain of the hip joint and lower leg Can be expected to cause.

FIG. 11 is a diagram in which the moving mechanism unit according to the present invention is superimposed on the locus of the hip joint center and the knee joint center of the human body model.
Referring to FIGS. 4 and 11, an arc slider (a) (first slit 13Da) having the same radius and center as the arc trajectory of the knee joint center is produced, and a crank mechanism is formed along the arc slider (a). (b) The gear (c) (first gear 13A ₁ ) is determined so that the (first and second arm portions 13A ₂ , 13A ₃ ) move. Further, a linear slider (d) (second slit 13Ea) is formed on the same axis as the femur, and a gear (e.g., the swing arm portion 13B ₂ ) moves along the linear slider (d). f) (second gear 13B ₁ ) was determined.

[Variables used for mechanism design in the sagittal plane]
In the human body model, the ankle joint center (extrusus maximum point) position P ₁ is (x ₁ , y ₁ ), and the knee joint center (lateral epicondyle maximum point) position P ₂ is (x ₂ , y ₂ ). Similarly, the hip center (trochanter point) position P ₃ is also (x ₃ , y ₃ ). Here, each joint center position P ₁ (0) in the sitting posture is (x ₁ (0), y ₁ (0)) and P ₂ (0) is (x ₂ (0), y ₂ (0)) , P ₃ (0) is (x ₃ (0), y ₃ (0)). In the standing posture, the time of the standing posture is tu, and P ₁ (tu) is (x ₁ (tu), y ₁ (tu)) and P ₂ (tu) is (x ₂ (tu), y ₂ (tu)) and P ₃ (tu) are (x ₃ (tu), y ₃ (tu)).

The radius of the arc slider (a) is l ₁ because it is the lower leg length. The rotation center is ankle center position P _1. The link length of the second arm portion 13A ₃ of the crank mechanism (b) that moves along the arcuate slider (a) that is the locus of the knee joint center position P ₂ is l _K , and the crank radius (the length of the first arm portion 13A ₂ ). )) Is _rK . Also, the link length of the gear (f) for movement along the thigh linear slider and (d) and l _H. Further, the rotation center coordinate P _K of the crank mechanism (b) is assumed to be (x _K , y _K ). Further, the rotation center coordinates P _H of the gear (f) for movement along the thigh linear slider (d) and (x _H, y _H).

[Derivation of rotation angle of gear (c) for rotating knee joint crank mechanism]
FIG. 12 is an explanatory diagram of the first link mechanism of the knee joint in the movement mechanism section shown in FIG. 11, and (A) to (D) show the stepwise movement when the first link mechanism rises from the sitting position to the standing position. It shows.
As shown in FIGS. 12A to 12D, the knee joint mechanism is composed of two virtual links (broken lines) and a crank mechanism (b). 12A to 12D show the trajectory of the arc slider (a) that moves when the gear (c) rotates counterclockwise. In this case, the origin is the sole of the foot, that is, the ground.

The knee joint P ₂ moves on a circumference centered on the ankle joint P ₁ and having a radius l ₁ of the crus. This circle can be expressed by the following formula (A).

φ ₁ moves as determined by the optimization calculation. That is, this equation (A) is a locus shown by the arc slider (a) shown in FIG.

FIG. 13 is a diagram in which the circular trajectories of the second arm portion 13A ₃ having a radius l _K centered on the first rod 13Ap ₂ (point P ₂ ) in the first link mechanism in the sitting position and the standing position are superimposed.
As shown in FIGS. 12 and 13, the crank mechanism (b) (first arm portion 13A ₂ ) has a radius r _K and a center of rotation P _K represented by the following formula (1) as a sagittal plane. Draw (small circle with solid line in Fig. 12).

Further, the link (second arm portion 13A ₃ ) of the crank mechanism (b) draws a circle having a radius l _K and a rotation center P ₂ represented by the following equation (2) on a sagittal plane (in FIG. 12). Circle with a large dotted line).

A small circle with a solid line in FIG. 12 corresponds to the small circle in FIG. A circle with a large dotted line in FIG. 12 corresponds to a large circle in FIG. A large circle slightly to the right centering on P ₂ (0) indicates the position in the sitting posture. A large circle slightly to the left centering on P ₂ (tu) indicates the position in the standing posture. Thus, the center of the large circle in FIG. 13 moves along the locus (formula (A)) shown in the arc slider (a) shown in FIG.

The position Pm ₁ (xm ₁ , ym ₁ ) of the pin 13Ap ₁ that is the intersection of the two circles (Equations (1) and (2)) is expressed by the following equations (3) to (6).

Since the position of the intersection between the sitting position and the standing position is known, the gear angle θ _K in each posture can be obtained by the following equation (7).

As can be seen from FIG. 12 and formula (3), the intersection Pm ₁ of the two circles has two points at the sitting position and two points at the standing position, but one of the two points in each posture is selected. It is necessary for the designer to judge from the figure.

[Derivation of the rotation angle of the gear VI that moves the hip joint linear slider]
FIG. 14 is an explanatory view of the second link mechanism of the hip joint in the moving mechanism section shown in FIG. 11, and (A) to (D) show the stepwise movement when the second link mechanism rises from the sitting position to the standing position. Show.

  The hip joint mechanism is thus composed of one virtual link (broken line), a thigh linear motion slider (d), and a link (e). As the gear (f) rotates clockwise, the left end of the thigh linear motion slider (d) draws an S-shaped curve. The origin is the sole of the foot, that is, the ground.

The center P _{3 of the} hip joint and the center P _{2 of the} knee joint always maintain an equal distance (thigh length) l ₂ . Therefore, the formula to be satisfied by the hip joint center P ₃ can be expressed by the following formula (B).

φ ₂ moves as determined in the optimization calculation. It should be noted that, since the center P ₂ of the knee joint is moving from moment to moment, the trajectory of the hip does not draw a circle. That is, this equation (B) is an S-shaped curve shown in FIG.

Gear which moves along the thigh linear slider (d) (f) (solid line circle in FIG. 14) is a circle of rotation center P _H in which the link length l _H and radius sagittal plane (Fig. Dotted circle within 14). This circle can be expressed by the following equation (8).

FIG. 15 is a diagram showing the circular locus of the swinging arm portion 13B ₂ having a radius l _H centered on the second axis Q ₂ (point P _H ) in the second link mechanism in the sitting position and the standing position. .
Large dashed circle in FIG. 14 corresponds to a large circle around the point P _H in Figure 15. Thus, the center of the large circle in FIG. 15 does not move in the sitting and standing postures. A small circle with a solid line in FIG. 14 is not shown in FIG.

The thigh is a straight line connecting the knee joint center P ₂ and the hip joint center P ₃ . This straight line can be expressed by the following equations (9) to (12).

Figure 16 is a diagram showing the intersection of the second link mechanism of the swinging arm portion of the trajectory yen around the point P _H (formula (8)) and joining the hip center and the knee joint center straight line (Equation (9)) It is.
The coordinates of point A (x _A , y _A ) in FIG. 16 are expressed by equation (14) by setting the distance d between point P _H (x _H , y _H ) and point A to equation (13).

From the three-square theorem, the line segment APm ₂ is obtained by the following equation (15).

Circle link length l _H and the radius of the gear (e) for movement along the thigh linear slider (d) and (dotted circle within both FIGS. 14 and 16), representing the thigh The straight line (intersection Pm ₂ (xm ₂ , ym ₂ ) of the equation (9) is expressed by the following equations (16) and (17) from the equations (14) and (15).

Therefore, since the position of the intersection between the sitting position and the standing position is known, the gear angle θ _H in each posture is obtained. Angle theta _H gear is represented by the following formula (18).

As described above, the intersection Pm ₂ of the _two circles has two points at the sitting position and two points at the standing position, as can be seen from FIGS. 15 and 16 and Expression (16). It is necessary for the designer to determine which of the two points is selected from the figure.

[Derivation of reference circle diameter of gear]
FIG. 17 is a diagram illustrating the distance between the first gear and the second gear in the moving mechanism unit.
If the reference circle radius of the gear (c) that rotates the knee crank mechanism is rgk and the reference circle radius of the gear (f) that moves the thigh linear motion slider (d) of the hip joint is rgh, then two gears (c) , (F) is represented by the following equation (19) from the rotational center position of each gear, as shown in FIG.

Further, the following equation (20) is established from the rotation angles of the respective gears (c) and (f).

Therefore, the reference circle radii of the respective gears (c) and (f) are expressed by the following equations (21) and (22).

[Prototype design]
Using the above formulas, the link length and gear can be determined according to the body segment length of each user. Here, an apparatus that accurately reproduces the trajectory of the knee and hip joint during the optimum standing posture is designed for the subject.

FIG. 18 is a diagram illustrating a distance between the first gear and the first rod in the moving mechanism unit.
The position of the gear (c) that rotates the knee joint crank mechanism is P _K (0, 0.4), and the position of the gear (f) that moves the thigh linear motion slider (d) of the hip joint is P _H (0, 0.5). To do. The length of the lower leg of subject E is l ₂ = 0.44 m, and the center position of the ankle joint is P ₁ (0, 0.075). The link length is set to l _K = 0.160m and l _H = 0.180m. Relationship between the position P ₂ , max when the center of the knee joint comes out in the horizontal direction, the link length l _K , the position P _K of the gear (c) that rotates the knee joint crank mechanism, and the crank radius r _K Since the equation is the following equation (23) from FIG. 18, it was determined that r _K = 0.038 m.

Therefore, the angles of the gear (c) for rotating the knee joint crank mechanism in the sitting position and the standing position are θ _K (0) = − 45 ° and θ _K (tu) = 263.5 °. Therefore, the angle θ _K (FIG. 19A) at which this gear rotates from the sitting position to the standing position is 308.5 °. FIG. 19A illustrates the rotation angle of the first gear between the sitting position and the standing position, and FIG. 19B illustrates the rotation angle of the second gear.

The angles of the gear (f) for moving the thigh linear motion slider (d) in the sitting position and the standing position are θ _H (0) = 183.1 ° and θ _H (tu) = 79.6 °. Therefore, the angle θ _H (FIG. 19B) at which this gear rotates from the sitting position to the standing position is 103.5 °. In addition, it is necessary to determine the gear ratio in consideration of the arrival time of the angle by drawing a time history waveform of the rotation angle of each gear.
Based on the above, the reference circle diameter d _gk of the gear that rotates the knee joint crank mechanism is set to 50 mm, and the reference circle diameter d _gh of the gear that moves the thigh linear motion slider of the hip joint is set to 150 mm.

  In this prototype, the trajectory of the optimal standing motion of the individual is reproduced by changing the link length, gear ratio, and the like.

  The disclosed embodiments and examples are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

10: Standing support device 11: Base part 12: Seat part 12a: Front end part 12b: Rear end part 13: Movement mechanism part 13A: First link mechanism 13A ₁ : First gear 13A ₂ : First arm part 13A ₃ : the second arm portion 13Ap _1: pin 13Ap _2: first rod 13B: second link mechanism 13B _1: second gear 13B _2: swing arm 13 bp _1: second rod 13C: synchronization mechanism 13C _1: third gear 13C _2: connecting shaft 13D: outer support plate 13Da: outer slits 13E: inner support plate 13Ea: inner slit 13Ee _1: front end 13F: driver Q _1: the first axis Q _2: second axis Q _3: 3 Axis

Claims (7)

  A base portion, a seat portion on which a person sits, and a moving mechanism portion that moves the seat portion so as to draw a trajectory in which a hip joint center of a person sitting on the seat portion rises on an S-shaped curve. Standing support device. The center coordinate of the ankle joint of the human body model sitting on the chair is P ₁ (x ₁ , y ₁ ), the center coordinate of the knee joint is P ₂ (x ₂ , y ₂ ), and the center coordinate of the hip joint is P ₃ (x ₃ , y ₃ ), the length of the lower leg is l ₁ , the length of the thigh is l ₂ , the angle between the horizontal plane passing through the central coordinates P ₁ (x ₁ , y ₁ ) and the lower leg is φ ₁ , When the angle between the horizontal plane passing through the central coordinate P ₂ (x ₂ , y ₂ ) and the thigh is φ ₂ ,
When the human body model stands,
The position of the central coordinate P ₁ (x ₁ , y ₁ ) does not change,
The position of the center coordinate P ₂ (x ₂ , y ₂ ) is expressed by the following formula (A)
Draw a trajectory that moves back and forth on the circumference indicated by
The position of the central coordinate P ₃ (x ₃ , y ₃ ) is expressed by the following formula (B)
In order to draw a trajectory that rises on the S-curve indicated by
The moving mechanism portion is a position of the thigh when the seat portion is raised from a position where the thigh portion of the human body model sitting on the seat portion is supported while drawing the locus of the equations (A) and (B). The standing-up support device according to claim 1, wherein   The moving mechanism includes a first link mechanism for reciprocating a knee joint center of a person sitting on the seat portion in the front-rear and up-down directions, and a hip joint center of a person sitting on the seat portion in conjunction with the first link mechanism. The standing support apparatus according to claim 1, further comprising: a second link mechanism that moves the S-curve up and down along an S-shaped curve.   The moving mechanism section includes a pair of left and right outer support plates that are vertically provided on the left and right sides of the base section, and a left and right that are vertically provided on the left and right sides of the seat section. A pair of inner support plates, a pair of left and right first link mechanisms that movably connect front end portions of the pair of left and right inner support plates to the pair of left and right outer support plates, and the front ends of the pair of left and right inner support plates A pair of left and right second link mechanisms interlocked with the pair of left and right first link mechanisms movably connected to the pair of left and right outer support plates at a position rearward than the pair, and the pair of left and right first link mechanisms The standing-up support apparatus according to claim 1, further comprising a synchronization mechanism for synchronization. The pair of left and right outer support plates have outer slits extending in the front-rear direction,
The pair of left and right inner support plates each have an inner slit extending in the front-rear direction,
The pair of left and right first link mechanisms are attached to a predetermined portion of the outer support plate so as to be rotatable about a first axial center in the left and right direction, and to be integrally rotated with the first gear. A first arm portion, a second arm portion having a proximal end pivotally attached to the first arm portion via a pin, and pivotally attached to a distal end of the second arm portion through the outer slit and the inner side Each having a first rod fixed to the front end of the support plate,
The pair of left and right second link mechanisms includes a second gear provided at a predetermined position of the outer support plate so as to be meshed with the first gear so as to be rotatable about a second axial center in the left-right direction. A swing arm portion provided so as to be rotatable integrally with the gear, and a second rod fixed to the tip of the swing arm portion through the inner slit,
The synchronization mechanism synchronizes the pair of left and right third gears provided on the same axis in the pair of left and right outer support plates so as to mesh with the pair of left and right first gears, and the pair of left and right third gears. The standing-up support apparatus according to claim 4, further comprising a connecting shaft that connects them to rotate.   The standing support apparatus according to claim 5, wherein the outer slit is formed in an arc shape.   The motor according to claim 5 or 6, further comprising a motor that rotates one of the pair of left and right first gears, one of the pair of left and right second gears, or one of the pair of left and right third gears. The standing-up support apparatus described in 1.